public void LoadActionPlanStep(string actionName, OCAction.OCActionArgs arguments)
{
Debug.Log("OCActionController::LoadActionPlanStep: " + actionName);
TreeType treeType = _ActionNameDictionary[actionName];
Tree tree = _TreeTypeDictionary[treeType];
OCActionPlanStep actionPlanStep = OCScriptableObject.CreateInstance <OCActionPlanStep>();
actionPlanStep.Behaviour = tree;
actionPlanStep.Arguments = arguments;
_ActionPlanQueue.AddLast(actionPlanStep);
Debug.Log("Enqueued Action Step: " + actionPlanStep.Arguments.ActionName);
}
public void LoadActionPlanStep(string actionName, OCAction.OCActionArgs arguments)
{
//Debug.Log("OCActionController::LoadActionPlanStep: " + actionName);
TreeType treeType = _ActionNameDictionary[actionName];
Tree tree = _TreeTypeDictionary[treeType];
OCActionPlanStep actionPlanStep = OCScriptableObject.CreateInstance <OCActionPlanStep>();
actionPlanStep.Behaviour = tree;
actionPlanStep.Arguments = arguments;
_ActionPlanQueue.AddLast(actionPlanStep);
System.Console.WriteLine(OCLogSymbol.DETAILEDINFO + "Enqueued Action Step: " + actionPlanStep.Arguments.ActionName);
}
public void LoadLevel()
{
int verticalOffset = 85;
Debug.Log("About to load level folder: " + _fullMapPath + ".");
Substrate.AnvilWorld mcWorld = Substrate.AnvilWorld.Create(_fullMapPath);
Substrate.AnvilRegionManager mcAnvilRegionManager = mcWorld.GetRegionManager();
OpenCog.BlockSet.OCBlockSet blockSet = _map.GetBlockSet();
//_map.GetSunLightmap().SetSunHeight(20, 4, 4);
int createCount = 0;
System.Collections.Generic.Dictionary <int, int> unmappedBlockTypes = new System.Collections.Generic.Dictionary <int, int>();
//Debug.Log("In LoadLevel, there are " + blockSet.BlockCount + " blocks available.");
foreach (Substrate.AnvilRegion mcAnvilRegion in mcAnvilRegionManager)
{
// Loop through x-axis of chunks in this region
for (int iMCChunkX = 0; iMCChunkX < mcAnvilRegion.XDim; iMCChunkX++)
{
// Loop through z-axis of chunks in this region.
for (int iMCChunkZ = 0; iMCChunkZ < mcAnvilRegion.ZDim; iMCChunkZ++)
{
// Retrieve the chunk at the current position in our 2D loop...
Substrate.ChunkRef mcChunkRef = mcAnvilRegion.GetChunkRef(iMCChunkX, iMCChunkZ);
if (mcChunkRef != null)
{
if (mcChunkRef.IsTerrainPopulated)
{
// Ok...now to stick the blocks in...
int iMCChunkY = 0;
OCChunk chunk = null; //new OCChunk(_map, new Vector3i(iMCChunkX, iMCChunkY, iMCChunkZ));
OCChunk lastChunk = null;
Vector3i chunkPos = new Vector3i(mcAnvilRegion.ChunkGlobalX(iMCChunkX), iMCChunkY + verticalOffset, mcAnvilRegion.ChunkGlobalZ(iMCChunkZ));
Vector3i lastChunkPos = Vector3i.zero;
chunk = _map.GetChunkInstance(chunkPos);
for (int iMCChunkInternalY = 0; iMCChunkInternalY < mcChunkRef.Blocks.YDim; iMCChunkInternalY++)
{
if (iMCChunkInternalY / OCChunk.SIZE_Y > iMCChunkY)
{
lastChunk = chunk;
lastChunkPos = chunkPos;
chunkPos = new Vector3i(mcAnvilRegion.ChunkGlobalX(iMCChunkX), (iMCChunkInternalY + verticalOffset) / OCChunk.SIZE_Y, mcAnvilRegion.ChunkGlobalZ(iMCChunkZ));
chunk = _map.GetChunkInstance(chunkPos);
}
for (int iMCChunkInternalX = 0; iMCChunkInternalX < mcChunkRef.Blocks.XDim; iMCChunkInternalX++)
{
for (int iMCChunkInternalZ = 0; iMCChunkInternalZ < mcChunkRef.Blocks.ZDim; iMCChunkInternalZ++)
{
int iBlockID = mcChunkRef.Blocks.GetID(iMCChunkInternalX, iMCChunkInternalY, iMCChunkInternalZ);
if (iBlockID != 0)
{
Vector3i blockPos = new Vector3i(iMCChunkInternalX, iMCChunkInternalY % OCChunk.SIZE_Y, iMCChunkInternalZ);
int ourBlockID = -1;
// switch (iBlockID)
// {
// case 3: // Dirt to first grass
// ourBlockID = 1;
// break;
// case 12: // Grass to grass
// ourBlockID = 1;
// break;
// case 13: // Gravel to stone
// ourBlockID = 4;
// break;
// case 1: // Stone to second stone
// ourBlockID = 5;
// break;
// case 16: // Coal ore to fungus
// ourBlockID = 17;
// break;
// case 15: // Iron ore to pumpkin
// ourBlockID = 20;
// break;
// case 9: // Water to water
// ourBlockID = 8;
// //Debug.Log ("Creating some water at [" + blockPos.x + ", " + blockPos.y + ", " + blockPos.z + "]");
// break;
//// case 2:
//// iBlockID = 16;
//// break;
//// case 4:
//// iBlockID = 16;
//// break;
//// case 18:
//// iBlockID = 16;
//// break;
// default:
// {
// //Debug.Log ("Unmapped BlockID: " + iBlockID);
//
// if (!unmappedBlockTypes.ContainsKey (iBlockID))
// {
// unmappedBlockTypes.Add (iBlockID, 1);
// }
// else
// {
// unmappedBlockTypes[iBlockID] += 1;
// }
//
// break;
// }
// }
if (mcToOCBlockDictionary.ContainsKey(iBlockID))
{
ourBlockID = mcToOCBlockDictionary[iBlockID];
}
else
{
if (!unmappedBlockTypes.ContainsKey(iBlockID))
{
unmappedBlockTypes.Add(iBlockID, 1);
}
else
{
unmappedBlockTypes[iBlockID] += 1;
}
}
if (ourBlockID != -1)
{
OCBlock newBlock = blockSet.GetBlock(ourBlockID);
//OCBlockData block = new OpenCog.Map.OCBlockData(newBlock, blockPos);
OCBlockData block = (OCBlockData)OCScriptableObject.CreateInstance <OCBlockData>();
block.Init(newBlock, blockPos);
chunk.SetBlock(block, blockPos);
OpenCog.Map.Lighting.OCLightComputer.RecomputeLightAtPosition(_map, blockPos);
if (block.block.GetName() == "Battery")
{
GameObject batteryPrefab = OCMap.Instance.BatteryPrefab;
if (batteryPrefab == null)
{
UnityEngine.Debug.Log("OCBuilder::Update, batteryPrefab == null");
}
else
{
GameObject battery = (GameObject)GameObject.Instantiate(batteryPrefab);
battery.transform.position = blockPos;
battery.name = "Battery";
battery.transform.parent = OCMap.Instance.BatteriesSceneObject.transform;
}
}
if (block.block.GetName() == "Hearth")
{
GameObject hearthPrefab = OCMap.Instance.HearthPrefab;
if (hearthPrefab == null)
{
UnityEngine.Debug.Log("OCBuilder::Update, hearthPrefab == null");
}
else
{
GameObject hearth = (GameObject)GameObject.Instantiate(hearthPrefab);
hearth.transform.position = blockPos;
hearth.name = "Hearth";
hearth.transform.parent = OCMap.Instance.HearthsSceneObject.transform;
}
}
createCount += 1;
}
}
} // End for (int iMCChunkInternalZ = 0; iMCChunkInternalZ < mcChunkRef.Blocks.ZDim; iMCChunkInternalZ++)
} // End for (int iMCChunkInternalY = 0; iMCChunkInternalY < mcChunkRef.Blocks.YDim; iMCChunkInternalY++)
string chunkCoord = chunkPos.x + ", " + chunkPos.z;
if (!chunkList.ContainsKey(chunkCoord))
{
chunkList.Add(chunkCoord, chunkPos);
}
if (iMCChunkY < iMCChunkInternalY / OCChunk.SIZE_Y)
{
_map.Chunks.AddOrReplace(lastChunk, lastChunkPos);
_map.UpdateChunkLimits(lastChunkPos);
_map.SetDirty(lastChunkPos);
iMCChunkY = iMCChunkInternalY / OCChunk.SIZE_Y;
}
} // End for (int iMCChunkInternalX = 0; iMCChunkInternalX < mcChunkRef.Blocks.XDim; iMCChunkInternalX++)
} // End if (mcChunkRef.IsTerrainPopulated)
} // End if (mcChunkRef != null)
} // End for (int iMCChunkZ = 0; iMCChunkZ < mcAnvilRegion.ZDim; iMCChunkZ++)
} // End for (int iMCChunkX = 0; iMCChunkX < mcAnvilRegion.XDim; iMCChunkX++)
} // End foreach( Substrate.AnvilRegion mcAnvilRegion in mcAnvilRegionManager )
foreach (Vector3i chunkToLight in chunkList.Values)
{
OpenCog.Map.Lighting.OCChunkSunLightComputer.ComputeRays(_map, chunkToLight.x, chunkToLight.z);
OpenCog.Map.Lighting.OCChunkSunLightComputer.Scatter(_map, null, chunkToLight.x, chunkToLight.z);
}
foreach (System.Collections.Generic.KeyValuePair <int, int> unmappedBlockData in unmappedBlockTypes)
{
UnityEngine.Debug.Log("Unmapped BlockID '" + unmappedBlockData.Key + "' found " + unmappedBlockData.Value + " times.");
}
Debug.Log("Loaded level: " + _fullMapPath + ", created " + createCount + " blocks.");
_map.AddColliders();
} // End public void LoadLevel()
public void UpdateAI()
{
_ActionPlanList = _ActionPlanQueue.ToList();
if (_step == null && _ActionPlanQueue.Count != 0)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
}
else if (_step == null && _ActionPlanQueue.Count == 0)
{
_PlanSucceeded = true;
OCActionPlanStep step = OCScriptableObject.CreateInstance <OCActionPlanStep>();
step.Behaviour = _TreeTypeDictionary[_TreeType];
step.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
KeyValuePair <string, TreeType> keyValuePair = _ActionNameDictionary.First(s => s.Value == _TreeType);
step.Arguments.ActionName = keyValuePair.Key;
_step = step;
}
BehaveResult result = _step.Behaviour.Tick();
// if((_step.Behaviour.Name == _TreeTypeDictionary[TreeType.Character_IdleShow].Name) && result == BehaveResult.Success)
// {
// //iTween itween = _step.Arguments.Source.GetComponent<iTween>();
// iTween.Stop(_step.Arguments.Source);
// }
if (result != BehaveResult.Running)
{
OCAction.OCActionArgs args = _step.Arguments;
// if((_step.Behaviour.Name != _TreeTypeDictionary[_TreeType].Name)
// || ((_step.Behaviour.Name == _TreeTypeDictionary[_TreeType].Name)
// && (GameObject.Find("EndPointStub").transform.position != Vector3.zero)))
{
// if we have a goal...
if (_step.Arguments.EndTarget != null)
{
if (_step.Arguments.EndTarget.transform.position != Vector3.zero)
{
_PlanSucceeded &= result == BehaveResult.Success;
}
Vector3 startPosition = _step.Arguments.StartTarget.transform.position;
Vector3 endPosition = _step.Arguments.EndTarget.transform.position;
Vector3 sourcePosition = _step.Arguments.Source.transform.position;
sourcePosition.y = sourcePosition.y - 0.5f;
Vector3 startToEnd = endPosition - startPosition;
Vector3 sourceToEnd = endPosition - sourcePosition;
float startToEndManDist = Math.Abs(endPosition.x - startPosition.x) + Math.Abs(endPosition.y - startPosition.y) + Math.Abs(endPosition.z - startPosition.z);
float sourceToEndManDist = Math.Abs(endPosition.x - sourcePosition.x) + Math.Abs(endPosition.y - sourcePosition.y) + Math.Abs(endPosition.z - sourcePosition.z);
if (_step.Behaviour.Name == "Character.Move" || _step.Arguments.ActionName == "walk" || _step.Arguments.ActionName == "jump_toward")
{
// don't use euclideon distance
//_PlanSucceeded |= sourceToEnd.sqrMagnitude < startToEnd.sqrMagnitude;
// use manhattan distance
//_PlanSucceeded = sourceToEndManDist <= startToEndManDist;
if (VectorUtil.AreVectorsEqual(sourcePosition, endPosition))
{
_PlanSucceeded = true;
}
else
{
_PlanSucceeded = false;
}
}
if (_step.Behaviour.Name == "Character.Destroy" || _step.Arguments.ActionName == "eat")
{
_PlanSucceeded = (endPosition == Vector3.zero || _step.Arguments.EndTarget == null);
}
if (_step.Arguments.ActionName == "grab")
{
_PlanSucceeded = OCAction.IsEndTargetCloseForward(null, _step.Arguments);
}
// if(_step.Arguments.ActionName == "grab")
// {
// _PlanSucceeded = endPosition != startPosition && endPosition != null;
// }
if (_step.Arguments.ActionPlanID != null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries))
{
OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, _PlanSucceeded);
if (_step.Behaviour.Name != "Character.IdleShow" && !_step.Behaviour.Name.Contains("Behaviour"))
{
Debug.LogWarning("In OCActionController.UpdateAI, Result: " + (_PlanSucceeded ? "Success" : "Failure") + " for Action: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : (_step.Arguments.ActionName + " & Sequence: " + _step.Arguments.SequenceID)));
}
}
else if (_step.Arguments.ActionPlanID == null && (_PlanSucceeded || _step.Retry > OCActionPlanStep.MaxRetries) && OCConnectorSingleton.Instance.IsEstablished)
{
OCConnectorSingleton.Instance.HandleOtherAgentActionResult(_step, _PlanSucceeded);
}
}
// if(!_PlanSucceeded)
// Debug.LogWarning(" -- Step Failed: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : _step.Arguments.ActionName));
_step.Behaviour.Reset();
// if we failed, retry last step
if (_PlanSucceeded == false && OCActionPlanStep.MaxRetries > _step.Retry)
{
_ActionPlanQueue.AddFirst(_step);
_step.Retry += 1;
}
else if (_PlanSucceeded == false && OCActionPlanStep.MaxRetries <= _step.Retry)
{
_ActionPlanQueue.Clear();
_step = null;
}
else if (_step.Arguments.EndTarget)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent <OCFadeOutGameObject>();
if (fadeOut != null)
{
fadeOut.enabled = true;
}
}
if (_ActionPlanQueue.Count == 0)
{
if (_LastPlanID != null)
{
// if(result == BehaveResult.Failure)
// OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, true);
OCConnectorSingleton.Instance.SendActionPlanStatus(_LastPlanID, _PlanSucceeded);
if (_step != null && _step.Arguments.EndTarget != null)
{
OCFadeOutGameObject fadeOut = _step.Arguments.EndTarget.GetComponent <OCFadeOutGameObject>();
if (fadeOut != null)
{
fadeOut.enabled = true;
}
}
_LastPlanID = null;
}
_step = null;
}
else if (_LastPlanID != null)
{
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
if (_LastPlanID != _step.Arguments.ActionPlanID)
{
Debug.LogError("We've changed plans without reporting back to OpenCog!");
}
}
else
{
_LastPlanID = _step.Arguments.ActionPlanID;
_step = _ActionPlanQueue.First();
_ActionPlanQueue.RemoveFirst();
Debug.LogWarning("In OCActionController.UpdateAI, starting action step: " + _step.Arguments.ActionName + ", retry: " + _step.Retry);
}
}
}
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Public Member Functions
//---------------------------------------------------------------------------
public IEnumerator Start()
{
_TreeTypeDictionary = new Dictionary <TreeType, Tree>();
_ActionPlanQueue = new LinkedList <OCActionPlanStep>();
foreach (TreeType type in Enum.GetValues(typeof(TreeType)).Cast <TreeType>())
{
_TreeTypeDictionary.Add(type, BLOCBehaviours.InstantiateTree(type, this));
}
OCAction[] actions = gameObject.GetComponentsInChildren <OCAction>(true);
foreach (Tree tree in _TreeTypeDictionary.Values)
{
if (tree == null)
{
continue;
}
int index = tree.Name.LastIndexOf(".") + 1;
if (index < 0 || index > tree.Name.Count())
{
index = 0;
}
string treeName = tree.Name.Substring(index);
foreach (OCAction action in actions)
{
if (((action.FullName.Contains(treeName) || treeName.Contains("Behaviour")) &&
!(treeName == "GhostBehaviour" && action.name.Contains("Create")) &&
!(treeName == "GhostBehaviour" && action.name.Contains("Destroy"))) ||
(treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreate") ||
(treeName == "TurnAndCreate" && action.FullName == "HoldRightHandCreateBelow") ||
(treeName == "TurnAndCreate" && action.FullName == "StandTurnLeftMove") ||
(treeName == "TurnAndCreate" && action.FullName == "StandTurnRightMove") ||
(treeName == "TurnAndCreate" && action.FullName == "StandIdleShow") ||
(treeName == "TurnAndCreate" && action.FullName == "FallIdleShow") ||
(treeName == "TurnLeftOrRight" && action.FullName == "StandTurnLeftMove") ||
(treeName == "TurnLeftOrRight" && action.FullName == "StandTurnRightMove") ||
(treeName == "TurnLeftOrRight" && action.FullName == "StandIdleShow") ||
(treeName == "TurnLeftOrRight" && action.FullName == "FallIdleShow") ||
(treeName == "BothHandsTransfer" && action.FullName == "HoldBothHandsTransfer")
)
{
int actionTypeID = (int)Enum.Parse(typeof(BLOCBehaviours.ActionType), action.FullName);
tree.SetTickForward(actionTypeID, action.ExecuteBehave);
}
}
}
OCActionPlanStep firstStep = OCScriptableObject.CreateInstance <OCActionPlanStep>();
firstStep.Behaviour = _TreeTypeDictionary[_TreeType];
firstStep.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
KeyValuePair <string, TreeType> keyValuePair = _ActionNameDictionary.First(s => s.Value == _TreeType);
firstStep.Arguments.ActionName = keyValuePair.Key;
_ActionPlanQueue.AddLast(firstStep);
RunningActions = new List <string>();
//RunningActions.Add("StandIdleShow");
// vvvv Testing Nil's action for the SantaFe problem vvvv
/////////////////////////////////////////////////////////////////////////////////
// XmlDocument doc = new XmlDocument();
// doc.LoadXml("<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"no\" ?>\n<oc:action-plan xmlns:oc=\"http://www.opencog.org/brain\" demand=\"\" entity-id=\"OAC_AGI_Robot\" id=\"0\">\n<action name=\"step_forward\" sequence=\"1\"/>\n</oc:action-plan>");
//
// XmlNodeList list = doc.GetElementsByTagName(OCEmbodimentXMLTags.ACTION_PLAN_ELEMENT);
// XmlElement root = (XmlElement)list.Item(0);//MakeXMLElementRoot(doc);
//
// CharacterController charControl = gameObject.GetComponent<CharacterController>();
// bool tryParse = true;
/////////////////////////////////////////////////////////////////////////////////
while (Application.isPlaying)
{
yield return(new WaitForSeconds(1.0f / 100.0f));
UpdateAI();
// if(tryParse && charControl.isGrounded)
// {
// OCConnectorSingleton.Instance.ParseActionPlanElement(root);
// tryParse = false;
// }
}
}