/**
* Constructs an ExecutionTask with an associated ModelTask and a
* BTExecutor. The ModelTask represents the conceptual task that the
* ExecutionTask is running, and the BTExecutor is that in charge of the
* ExecutionTask. Also, the parent of the ExecutionTask must be provided.
*
* @param modelTask
* the ModelTask this ExecutionTask will run.
* @param executor
* the BTExecutor managing this task.
* @param parent
* the parent ExecutionTask, or null in case this is the root of
* the tree.
*/
protected ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
_modelTask = modelTask;
_executor = executor as BTExecutor;
_listeners = new List <ITaskListener>();
_spawnable = true;
_tickable = false;
_terminated = false;
_status = Status.Uninitialized;
_parent = parent;
if (_modelTask != null)
{
AlwaysFail = modelTask.AlwaysFail;
}
/* Compute the position of this node. */
if (parent == null)
{
_position = new Position();
}
else
{
_position = new Position(parent._position);
var nextMove = GetMove();
_position.AddMove(nextMove);
}
}
/**
* Constructs an ExecutionRandomSelector to run a specific ModelRandomSelector.
*
* @param modelTask
* the ModelRandomSelector to run.
* @param executor
* the BTExecutor that will manage this ExecutionRandomSelector.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionRandomSelector(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelRandomSelector))
{
throw new ArgumentException("The ModelTask must subclass ModelRandomSelector but it inherits from " + modelTask.GetType().Name);
}
}
/**
* Constructs an ExecutionLeaf to run a specific ModelLeaf.
*
* @param modelTask
* the ModelLeaf to run.
* @param executor
* the BTExecutor that will manage this ExecutionLeaf.
* @param parent
* the parent ExecutionTask of this task.
*/
protected ExecutionLeaf(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelLeaf))
{
throw new ArgumentException("The ModelTask must subclass ModelLeaf but it inherits from " + modelTask.GetType().Name);
}
}
/**
* Constructs an ExecutionAction that knows how to run a ModelAction.
*
* @param modelTask
* the ModelAction to run.
* @param executor
* the BTExecutor that will manage this ExecutionAction.
* @param parent
* the parent ExecutionTask of this task.
*/
protected ExecutionAction(ModelAction modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (modelTask == null )
{
throw new ArgumentException("The ModelTask must not be null" );
}
}
/**
* Creates an ExecutionPerformInterruption that is able to run a
* ModelPerformInterruption task and that is managed by a BTExecutor.
*
* @param modelTask
* the ModelPerformInterruption that this
* ExecutionPerformInterruption is going to run.
* @param executor
* the BTExecutor in charge of running this
* ExecutionPerformInterruption.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionPerformInterruption(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelPerformInterruption))
{
throw new ArgumentException("The ModelTask must subclass ModelPerformInterruption but it inherits from " +
modelTask.GetType().Name);
}
}
/**
* Constructs an ExecutionSafeContextManager that knows how to run a
* ModelSafeContextManager.
*
* @param modelTask
* the ModelSafeContextManager to run.
* @param executor
* the BTExecutor that will manage this
* ExecutionSafeContextManager.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionSafeContextManager(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelSafeContextManager))
{
throw new ArgumentException("The ModelTask must subclass ModelSafeContextManager but it inherits from " +
modelTask.GetType().Name);
}
}
public void CanRegisterAnInterrupter()
{
var executor = new BTExecutor(new ModelSuccess(null));
var modelInterrupter = new ModelInterrupter(null, new ModelSuccess(null));
executor.RegisterInterrupter((ExecutionInterrupter)modelInterrupter.CreateExecutor(executor, null));
Assert.NotNull(executor.GetExecutionInterrupter(modelInterrupter));
}
/**
* Constructs an ExecutionSubtreeLookup that knows how to run a
* ModelSubtreeLookup.
*
* @param modelTask
* the ModelSubtreeLookup to run.
* @param executor
* the BTExecutor that will manage this ExecutionSubtreeLookup.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionSubtreeLookup(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelSubtreeLookup))
{
throw new ArgumentException("The ModelTask must subclass ModelSubtreeLookup but it inherits from " +
modelTask.GetType().Name);
}
}
/**
* Constructs and ExecutionUntilFail that knows how to run a ModelUntilFail.
*
* @param modelTask
* the ModelUntilFail that this ExecutionUntilFail will run.
* @param executor
* the BTExecutor that will manage this ExecutionUntilFail.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionUntilFail(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelUntilFail))
{
throw new ArgumentException("The ModelTask must subclass ModelUntilFail but it inherits from " +
modelTask.GetType().Name);
}
}
/**
* Creates an ExecutionStaticPriorityList that is able to run a
* ModelStaticPriorityList task and that is managed by a BTExecutor.
*
* @param modelTask
* the ModelStaticPriorityList that this
* ExecutionStaticPriorityList is going to run.
* @param executor
* the BTExecutor in charge of running this
* ExecutionStaticPriorityList.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionStaticPriorityList(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelStaticPriorityList))
{
throw new ArgumentException("The ModelTask must subclass ModelStaticPriorityList but it inherits from " +
modelTask.GetType().Name);
}
}
/**
* Creates an ExecutionWait that is able to run a ModelWait task and that is
* managed by a BTExecutor.
*
* @param modelTask
* the ModelWait that this ExecutionWait is going to run.
* @param executor
* the BTExecutor in charge of running this ExecutionWait.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionWait(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelWait))
{
throw new ArgumentException("The ModelTask must subclass ModelWait but it inherits from " + modelTask.GetType().Name);
}
Initialize(modelTask);
}
/**
* Creates an ExecutionLimit that knows how to run a ModelLimit.
*
* @param modelTask
* the ModelLimit to run.
* @param executor
* the BTExecutor that will manage this ExecutionLimit.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionLimit(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelLimit))
{
throw new ArgumentException("The ModelTask must subclass ModelLimitbut it inherits from " + modelTask.GetType().Name);
}
_maxNumTimes = ((ModelLimit) ModelTask).getMaxNumTimes();
_numRunsSoFar = 0;
}
/**
* Constructs an ExecutionVariableRenamer that knows how to run a
* ModelVariableRenamer.
*
* @param modelTask
* the ModelVariableRenamer to run.
* @param executor
* the BTExecutor in charge of running this
* ExecutionVariableRenamer.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionVariableRenamer(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelVariableRenamer))
{
throw new ArgumentException("The ModelTask must subclass ModelVariableRenamer but it inherits from " +
modelTask.GetType().Name);
}
_variableName = ((ModelVariableRenamer) modelTask).VariableName;
_newVariableName = ((ModelVariableRenamer) modelTask).NewVariableName;
}
/**
* Creates an ExecutionParallel that is able to run a ModelParallel task and
* that is managed by a BTExecutor.
*
* @param modelTask
* the ModelParallel that this ExecutionParallel is going to run.
* @param executor
* the BTExecutor in charge of running this ExecutionParallel.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionParallel(ModelTask modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelParallel))
{
throw new ArgumentException("The ModelTask must subclass " + typeof (ModelParallel).Name + " but it inherits from " +
modelTask.GetType().Name);
}
_policy = ((ModelParallel)modelTask).Policy;
_modelChildren = modelTask.Children;
Initialize();
}
/**
* Returns an ExecutionDynamicPriorityList that is able to run this
* ModelDynamicPriorityList.
*
* @see jbt.model.core.ModelTask#createExecutor(jbt.execution.core.BTExecutor,
* ExecutionTask)
*/
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new ExecutionDynamicPriorityList(this, executor, parent);
}
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new TestInterrupterExecutor(this, executor, parent);
}
/**
* Copies the set of all tasks' states stored in <code>executor</code> into this BTExecutor.
* <p>
* <b>After calling this method, the set of all tasks' states is shared by both BTExecutor
* objects (<code>executor</code> and <code>this</code>), so if one modifies it, the other will
* notice the change.</b>
*/
public void CopyTasksStates(BTExecutor executor)
{
_tasksStates = executor._tasksStates;
}
/**
* Returns an ExecutionRandomSelector that knows how to run this
* ModelRandomSelector.
*
* @see jbt.model.core.ModelTask#createExecutor(jbt.execution.core.BTExecutor,
* ExecutionTask)
*/
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new ExecutionRandomSelector(this, executor, parent);
}
public MyAction(ModelAction modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
ReturnStatusForInternalTick = Status.Running;
}
/**
* Returns an ExecutionSubtreeLookup that is able to run this
* ModelSubtreeLookup.
*/
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new ExecutionSubtreeLookup(this, executor, parent);
}
/**
* Creates an ExecutionSequence that is able to run a ModelSequence task and
* that is managed by a BTExecutor.
*
* @param modelTask
* the ModelSequence that this ExecutionSequence is going to run.
* @param executor
* the BTExecutor in charge of running this ExecutionSequence.
* @param parent
* the parent ExecutionTask of this task.
*/
public ExecutionSequence(ModelSequence modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
}
///
///Interrupts the ExecutionInterrupter. This method causes the
///ExecutionInterrupter to terminate its child and set the status that will
///be returned to <code>status</code>. Also, it requests to be inserted into
///the list of tickable nodes, since the terminated child will no longer
///react to ticks after being terminated.
///<p>
///A task that have not been spawned cannot be interrupted. It should be
///noted that if the task has already been terminated, this method does
///nothing. Also, if the task has already been interrupted, this method does
///nothing too.
///
///@param status
/// the status that the ExecutionInterrupter will return.
///
public void Interrupt(Status status)
{
if (!_interrupted)
{
///
///If the task has not been spawned, throw an exception.
///
if (!Spawned)
{
throw new Exception("Cannot interrupt an ExecutionInterrupter that has not been spawned");
}
///
///Also it is important to note that that if the task has been
///terminated it cannot be interrupted, since by doing so the task
///would insert itself into the list of tickable nodes (see below),
///which should not be done since the task has been terminated.
///
if (!HasTerminated)
{
if (status != Status.Failure && status != Status.Success)
{
throw new ArgumentException("The specified status is not valid. Must be either Status.FAILURE or Status.SUCCESS");
}
if (_executionChild.ModelTask.Interrupter != null)
{
var executor = new BTExecutor(_executionChild.ModelTask.Interrupter, Context);
RunInterrupterBranch(executor, ((ModelInterrupter)ModelTask).NumInterrupterBranchTicks + 1);
}
_executionChild.Terminate();
///It is very important for the ExecutionInterrupter to be
///inserted into the list of tickable nodes. If not, after being
///interrupted, it will not inform its parent about the
///termination of its child. Keep in mind that after terminating
///its child, the child will not react to ticks (actually it
///will leave the list of tickable nodes in the next AI cycle),
///so it has to be the interrupter itself that informs its
///parent about termination.
Executor.RequestInsertionIntoList(BTExecutor.BTExecutorList.Tickable, this);
_interrupted = true;
_statusSet = status;
}
}
}
/**
* Constructs an ExecutionTask with an associated ModelTask and a
* BTExecutor. The ModelTask represents the conceptual task that the
* ExecutionTask is running, and the BTExecutor is that in charge of the
* ExecutionTask. Also, the parent of the ExecutionTask must be provided.
*
* @param modelTask
* the ModelTask this ExecutionTask will run.
* @param executor
* the BTExecutor managing this task.
* @param parent
* the parent ExecutionTask, or null in case this is the root of
* the tree.
*/
protected ExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
{
_modelTask = modelTask;
_executor = executor as BTExecutor;
_listeners = new List<ITaskListener>();
_spawnable = true;
_tickable = false;
_terminated = false;
_status = Status.Uninitialized;
_parent = parent;
if(_modelTask != null)
AlwaysFail = modelTask.AlwaysFail;
/* Compute the position of this node. */
if (parent == null)
{
_position = new Position();
}
else
{
_position = new Position(parent._position);
var nextMove = GetMove();
_position.AddMove(nextMove);
}
}
/**
* Returns an ExecutionSafeOutputContextManager that knows how to run this
* ModelSafeOutputContextManager.
*
* @see jbt.model.core.ModelTask#createExecutor(jbt.execution.core.BTExecutor,
* ExecutionTask)
*/
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new ExecutionSafeOutputContextManager(this, executor, parent);
}
/**
* Copies the set of all tasks' states stored in <code>executor</code> into this BTExecutor.
* <p>
* <b>After calling this method, the set of all tasks' states is shared by both BTExecutor
* objects (<code>executor</code> and <code>this</code>), so if one modifies it, the other will
* notice the change.</b>
*/
public void CopyTasksStates(BTExecutor executor)
{
_tasksStates = executor._tasksStates;
}
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return null;
}
/**
* Returns an ExecutionContextManager that knows how to run this
* ModelHierarchicalContextManager.
*
* @see jbt.model.core.ModelTask#createExecutor(jbt.execution.core.BTExecutor,
* ExecutionTask)
*/
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new ExecutionHierarchicalContextManager(this, executor, parent);
}
/**
* Resets the evaluation of all the guards. This method leaves all the guard
* executors ({@link #guardsExecutors}) ready to start again the evaluation
* of the guards. It internally terminates the IBTExecutor of each guard,
* creates a new one, and then ticks it.
*/
private void resetGuardsEvaluation()
{
for (int i = 0; i < _guardsExecutors.Count; i++)
{
BTExecutor guardExecutor = _guardsExecutors[i];
if (guardExecutor != null)
{
guardExecutor.Terminate();
guardsResults[i] = Status.Running;
var newExecutor = new BTExecutor(guardExecutor.GetBehaviourTree(),
Context);
newExecutor.CopyTasksStates(guardExecutor);
newExecutor.Tick();
_guardsExecutors[i] = newExecutor;
}
}
}
/**
* Constructs an ExecutionCondition that knows how to run a ModelCondition.
*
* @param modelTask
* the ModelCondition to run.
* @param executor
* the BTExecutor that will manage this ExecutionCondition.
* @param parent
* the parent ExecutionTask of this task.
*/
protected ExecutionCondition(ModelCondition modelTask, BTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
}
/** * Creates a suitable ExecutionTask that will be able to run this ModelTask * through the management of a BTExecutor. * * @param executor * the BTExecutor that will manage the returned ExecutionTask. * @param parent * the parent ExecutionTask for the returned ExecutionTask. * * @return an ExecutionTask that is able to run this ModelTask. */ public abstract ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent);
/**
* Returns a new {@link ExecutionVariableRenamer} that knows how to run this
* ModelVariableRenamer.
*
* @see jbt.model.core.ModelTask#createExecutor(jbt.execution.core.BTExecutor,
* jbt.execution.core.ExecutionTask)
*/
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new ExecutionVariableRenamer(this, executor, parent);
}
/**
* Returns an ExecutionForever that knows how to run this ModelRepeat.
*
* @see jbt.model.core.ModelTask#createExecutor(jbt.execution.core.BTExecutor,
* ExecutionTask)
*/
public override ExecutionTask CreateExecutor(BTExecutor executor, ExecutionTask parent)
{
return new ExecutionRepeat(this, executor, parent);
}
