/**
* Spawns the child task.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(
Executor, this);
child.AddTaskListener(this);
child.Spawn(Context);
}
/**
* 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 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" );
}
}
/**
* Spawns the only child.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
/* Just spawn the only child. */
child = ((ModelInverter) ModelTask).getChild().CreateExecutor(
Executor, this);
child.AddTaskListener(this);
child.Spawn(Context);
}
/**
* 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);
}
}
/**
* Spawns the first child of the sequence.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
_activeChildIndex = 0;
_children = ModelTask.Children;
_activeChild = _children[0].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
}
/**
* Spawns the child task. This method creates a new HierarchicalContext,
* sets its parent to the context of the ExecutionHierarchicalContextManager, and spawns
* the child task using this HierarchicalContext.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
var newContext = new HierarchicalContext();
newContext.SetParent(Context);
_child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(
Executor, this);
_child.AddTaskListener(this);
_child.Spawn(newContext);
}
/**
* 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);
}
}
/**
* 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 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);
}
}
/**
* Spawns the child task. This method creates a new SafeOutputContext, and
* spawns the child task using this SafeContext. The input context of the
* SafeOutputContext is that of this ExecutionSafeOutputContextManager task.
* The list of output variables of the SafeOutputContext is retrieved from
* the ModelSafeOutputContextManager associated to this task.
*
* @see jbt.execution.core.ExecutionTask#internalSpawn()
*/
protected override void InternalSpawn()
{
var newContext = new SafeOutputContext(Context,
((ModelSafeOutputContextManager) ModelTask).getOutputVariables());
child = ((ModelDecorator) ModelTask).getChild().CreateExecutor(
Executor, this);
child.AddTaskListener(this);
child.Spawn(newContext);
}
/**
* 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);
}
}
public static void LogTick(ExecutionTask task)
{
if (ActiveDebugger == null)
{
return;
}
ActiveDebugger.LogTick(task);
}
/**
* Creates an ExecutionComposite that is able to run a particular
* ModelComposite task.
*
* @param modelTask
* the ModelComposite task to run.
* @param executor
* the BTExecutor that will manage this ExecutionComposite.
* @param parent
* the parent ExecutionTask of this task.
*/
protected ExecutionComposite(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, executor, parent)
{
if (!(modelTask is ModelComposite))
{
throw new ArgumentException("The ModelTask must subclass " + typeof (ModelComposite).Name + " 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 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);
}
/**
* Cancels a previous request of removal from one of the lists that the BTExecutor handles. If
* no such removal request was made, this method does nothing.
*
* @param listType
* the list from which the removal request will be canceled.
* @param t
* the task whose removal will be canceled.
*/
public void CancelRemovalRequest(BTExecutorList listType, ExecutionTask t)
{
if (listType == BTExecutorList.Open)
{
_currentOpenRemovals.Remove(t);
}
else
{
_currentTickableRemovals.Remove(t);
}
}
/**
* 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();
}
/**
* Method used to request the BTExecutor to remove an ExecutionTask from one of the list that
* the BTExecutor handles. The removal is not performed right away, but delayed until:
*
* <ul>
* <li>Either the current game AI cycle (call to {@link #tick()}) finishes. This happens if the
* removal is requested in the middle of an AI cycle, that is, if <code>tick()</code> is still
* running.
* <li>Or the next AI cycle starts. This happens if the removal is requested when the BTExecutor
* is not ticking the underlying BT. In this case, the next time <code>tick()</code> is called,
* the removal will be processed just before the BT is actually ticked.
* </ul>
*
* @param listType
* the type of the list from which the task will be removed.
* @param t
* the task that wants to be removed from the list of type <code>listType</code>.
*/
public void RequestRemovalFromList(BTExecutorList listType, ExecutionTask t)
{
if (listType == BTExecutorList.Open)
{
if (!_currentOpenRemovals.Contains(t))
{
_currentOpenRemovals.Add(t);
}
}
else
{
if (!_currentTickableRemovals.Contains(t))
{
_currentTickableRemovals.Add(t);
}
}
}
/**
* Method used to request the BTExecutor to insert an ExecutionTask into one of the list that it
* handles. The insertion is not performed right away, but delayed until:
*
* <ul>
* <li>Either the current game AI cycle (call to {@link #tick()}) finishes. This happens if the
* insertion is requested in the middle of an AI cycle, that is, if <code>tick()</code> is still
* running.
* <li>Or the next AI cycle starts. This happens if the insertion is requested when the
* BTExecutor is not ticking the underlying BT. In this case, the next time <code>tick()</code>
* is called, the insertion will be processed just before the BT is actually ticked.
* </ul>
*
* @param listType
* the type of the list that the task will be inserted into.
* @param t
* the task that wants to be inserted into the list of type <code>listType</code>.
*/
public void RequestInsertionIntoList(BTExecutorList listType, ExecutionTask t)
{
if (listType == BTExecutorList.Open)
{
if (!_currentOpenInsertions.Contains(t))
{
_currentOpenInsertions.Add(t);
}
}
else
{
if (!_currentTickableInsertions.Contains(t))
{
_currentTickableInsertions.Add(t);
}
}
}
public void Tick()
{
/*
* The ticking algorithm works as follows:
*
* If it is the very first time that this method is called, an ExecutionTask is created from
* the root ModelTask (that is, the root of the behaviour tree that this BTExecutor is going
* to run). Then, that task is spawned.
*
* From then on, tick() will just call tick() on all the ExecutionTasks in the list of
* tickable tasks.
*
* It is important to note that insertions and removals from the list of tickable and open
* tasks are processed at the very beginning and at the very end of this method, but not
* while it is ticking the current list of tickable tasks.
*/
var currentStatus = GetStatus();
/* We only tick if the tree has not finished yet or if it has not started running. */
if (currentStatus == Status.Running || currentStatus == Status.Uninitialized)
{
ProcessInsertionsAndRemovals();
OnTickStarted();
if (firstTimeTicked)
{
_executionBT = _modelBT.CreateExecutor(this, null);
_executionBT.Spawn(_context);
firstTimeTicked = false;
}
else
{
foreach (var executionTask in _tickableTasks)
{
executionTask.Tick();
}
}
OnTickCompleted();
ProcessInsertionsAndRemovals();
}
}
/**
* 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);
}
/**
* 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)
{
}
/**
* 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 void Tick()
{
/*
* The ticking algorithm works as follows:
*
* If it is the very first time that this method is called, an ExecutionTask is created from
* the root ModelTask (that is, the root of the behaviour tree that this BTExecutor is going
* to run). Then, that task is spawned.
*
* From then on, tick() will just call tick() on all the ExecutionTasks in the list of
* tickable tasks.
*
* It is important to note that insertions and removals from the list of tickable and open
* tasks are processed at the very beginning and at the very end of this method, but not
* while it is ticking the current list of tickable tasks.
*/
var currentStatus = GetStatus();
/* We only tick if the tree has not finished yet or if it has not started running. */
if (currentStatus == Status.Running || currentStatus == Status.Uninitialized)
{
ProcessInsertionsAndRemovals();
OnTickStarted();
if (firstTimeTicked)
{
_executionBT = _modelBT.CreateExecutor(this, null);
_executionBT.Spawn(_context);
firstTimeTicked = false;
}
else
{
foreach (var executionTask in _tickableTasks)
{
executionTask.Tick();
}
}
OnTickCompleted();
ProcessInsertionsAndRemovals();
}
}
/**
* Method used to request the BTExecutor to remove an ExecutionTask from one of the list that
* the BTExecutor handles. The removal is not performed right away, but delayed until:
*
* <ul>
* <li>Either the current game AI cycle (call to {@link #tick()}) finishes. This happens if the
* removal is requested in the middle of an AI cycle, that is, if <code>tick()</code> is still
* running.
* <li>Or the next AI cycle starts. This happens if the removal is requested when the BTExecutor
* is not ticking the underlying BT. In this case, the next time <code>tick()</code> is called,
* the removal will be processed just before the BT is actually ticked.
* </ul>
*
* @param listType
* the type of the list from which the task will be removed.
* @param t
* the task that wants to be removed from the list of type <code>listType</code>.
*/
public void RequestRemovalFromList(BTExecutorList listType, ExecutionTask t)
{
if (listType == BTExecutorList.Open)
{
if (!_currentOpenRemovals.Contains(t))
{
_currentOpenRemovals.Add(t);
}
}
else
{
if (!_currentTickableRemovals.Contains(t))
{
_currentTickableRemovals.Add(t);
}
}
}
/**
* Method used to request the BTExecutor to insert an ExecutionTask into one of the list that it
* handles. The insertion is not performed right away, but delayed until:
*
* <ul>
* <li>Either the current game AI cycle (call to {@link #tick()}) finishes. This happens if the
* insertion is requested in the middle of an AI cycle, that is, if <code>tick()</code> is still
* running.
* <li>Or the next AI cycle starts. This happens if the insertion is requested when the
* BTExecutor is not ticking the underlying BT. In this case, the next time <code>tick()</code>
* is called, the insertion will be processed just before the BT is actually ticked.
* </ul>
*
* @param listType
* the type of the list that the task will be inserted into.
* @param t
* the task that wants to be inserted into the list of type <code>listType</code>.
*/
public void RequestInsertionIntoList(BTExecutorList listType, ExecutionTask t)
{
if (listType == BTExecutorList.Open)
{
if (!_currentOpenInsertions.Contains(t))
{
_currentOpenInsertions.Add(t);
}
}
else
{
if (!_currentTickableInsertions.Contains(t))
{
_currentTickableInsertions.Add(t);
}
}
}
/**
* Cancels a previous request of removal from one of the lists that the BTExecutor handles. If
* no such removal request was made, this method does nothing.
*
* @param listType
* the list from which the removal request will be canceled.
* @param t
* the task whose removal will be canceled.
*/
public void CancelRemovalRequest(BTExecutorList listType, ExecutionTask t)
{
if (listType == BTExecutorList.Open)
{
_currentOpenRemovals.Remove(t);
}
else
{
_currentTickableRemovals.Remove(t);
}
}
public StubExecutionTask(ModelTask modelTask, IBTExecutor executor, ExecutionTask parent)
: base(modelTask, 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)
{
}
/**
* 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);
}
/**
* Checks if the currently active child has finished. If it has not
* finished, returns {@link Status#SUCCESS}. If it has finished in failure,
* returns {@link Status#FAILURE}. If it has finished successfully, it
* checks if there is any remaining child. If so, it spawns it. Otherwise,
* returns {@link Status#SUCCESS}.
*/
protected override Status InternalTick()
{
Status childStatus = _activeChild.Status;
if (childStatus == Status.Running)
{
return Status.Running;
}
if (childStatus == Status.Failure || childStatus == Status.Terminated)
{
return Status.Failure;
}
if (_activeChildIndex == _children.Count - 1)
{
/*
* If this was the last child, return success.
*/
return Status.Success;
}
/*
* If the current child has finished successfully, but it is not
* the last one, spawn the next child.
*/
_activeChildIndex++;
_activeChild = _children[_activeChildIndex].CreateExecutor(Executor, this);
_activeChild.AddTaskListener(this);
_activeChild.Spawn(Context);
return Status.Running;
}