public BehaviourTree <TBb> Compile(TBb blackboard, string code)
{
LispParser lispParser = new LispParser();
LispParser.Node parseTree = lispParser.Parse(code);
return(Compile(blackboard, parseTree));
}
private void TestParse(string code)
{
LispParser lispParser = new LispParser();
LispParser.Node node = lispParser.Parse(code);
Debug.WriteLine(" in:{0}\nout:{1}\n", code, node.ToCode());
}
public void CanDeserializeFromLisp()
{
BehaviourTree <BehaviourTreeTests.Blackboard> behaviourTree = CreateBehaviourTree();
BehaviourTreeCompiler <BehaviourTreeTests.Blackboard> compiler = new BehaviourTreeCompiler <BehaviourTreeTests.Blackboard>();
//string code = serializer.Convert(behaviourTree).ToCode();
string code = behaviourTree.ToString();
Debug.WriteLine(" in:" + code);
LispParser lispParser = new LispParser();
LispParser.Node parseTree = lispParser.Parse(code);
//Debug.WriteLine("out:" + parseTree.ToCode());
BehaviourTreeTests.Blackboard blackboard = new BehaviourTreeTests.Blackboard();
BehaviourTree <BehaviourTreeTests.Blackboard> compiled = compiler.Compile(blackboard, parseTree);
Debug.WriteLine("dep:" + compiled);
compiled.Tick();
compiled.Tick();
compiled.Tick();
}
LispParser.ICanCreateFromLispParseTree <TBb> LispParser.ICompiler <TBb> .Compile(TBb blackboard, LispParser.Node parseTree)
{
foreach (LispParser.ICanCreateFromLispParseTree <TBb> creator in Creators)
{
LispParser.ICanCreateFromLispParseTree <TBb> result = creator.CreateFromParseTree(blackboard, parseTree, this);
if (result != null)
{
return(result);
}
}
// For named couritines, we rewrite the parsetree to be able to use the regular flow.
LispParser.MethodNode method = parseTree as LispParser.MethodNode;
if (method != null)
{
Func <IEnumerator <TaskState> > function = blackboard.GetCoRoutineFunc(method.Identifier.Value);
if (function != null)
{
method.Add(method.Identifier);
method.Identifier = new LispParser.IdentifierNode("NamedCoroutine");
LispParser.ICanCreateFromLispParseTree <TBb> result = ((LispParser.ICanCreateFromLispParseTree <TBb>)_namedCoroutine).CreateFromParseTree(blackboard, method, this);
if (result != null)
{
return(result);
}
}
}
throw new InvalidOperationException(
string.Format("Unrecognized token: {0}.", parseTree));
}
public BehaviourTree <TBb> Compile(TBb blackboard, LispParser.Node parseTree)
{
BehaviourTree <TBb> behaviourTree = (BehaviourTree <TBb>)_behaviourTree.CreateFromParseTree(blackboard, parseTree, this);
return(behaviourTree);
}
LispParser.ICanCreateFromLispParseTree <TBb> LispParser.ICanCreateFromLispParseTree <TBb> .CreateFromParseTree(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.MethodNode method = node as LispParser.MethodNode;
if (method == null)
{
return(null);
}
if (method.MethodName == GetClassName())
{
TreeTask <TBb> treeTask = CreateTreeTaskFromParseTree(blackboard, method, compiler);
foreach (LispParser.Node child in method.Children)
{
child.NamedParamX <LispParser.StringNode>("Name", v => treeTask.Name = v.Value);
}
return(treeTask);
}
else
{
return(null);
}
}
public LispParser.ICanCreateFromLispParseTree <TBb> CreateFromParseTree(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.MethodNode method = node as LispParser.MethodNode;
if (method == null)
{
throw new InvalidOperationException("Expected BehaviourTree but found: null");
}
if (method.MethodName != "BehaviourTree")
{
throw new InvalidOperationException("Expected BehaviourTree but found: " + method);
}
BehaviourTree <TBb> behaviourTree = new BehaviourTree <TBb>(null, null);
foreach (LispParser.Node child in method.Children)
{
child.NamedParamX <LispParser.NumberNode>("RunningTaskHysterisis", v => behaviourTree.RunningTaskHysterisis = (int)v.FloatValue);
child.NamedParamX <LispParser.StringNode>("Name", v => behaviourTree.Name = v.Value);
child.ParamX <LispParser.MethodNode>(null, v => behaviourTree.RootTask = (TreeTask <TBb>)compiler.Compile(blackboard, v));
}
return(behaviourTree);
}
public LispParser.ICanCreateFromLispParseTree <TBb> CreateFromParseTree(TBb blackboard, LispParser.Node node, LispParser.ICompiler <TBb> compiler)
{
LispParser.MethodNode method = node as LispParser.MethodNode;
if (method == null || method.MethodName != "TaskUtility")
{
return(null);
}
TaskUtility <TBb> taskUtility = new TaskUtility <TBb>(null, null);
taskUtility.UtilityComputer = ((BehaviourTreeCompiler <TBb>)compiler).LispCompiler.Compile(blackboard, method.Children[0]);
if (!(taskUtility.UtilityComputer is ICanEvaluateToFloat))
{
throw new InvalidOperationException("The utility computer must evaluate to a float!");
}
taskUtility.Task = (TreeTask <TBb>)compiler.Compile(blackboard, method.Children[1]);
return(taskUtility);
}
