public void LoadActionPlanStep(string actionName, OCAction.OCActionArgs arguments)
{
TreeType treeType = _ActionNameDictionary[actionName];
Tree tree = _TreeTypeDictionary[treeType];
OCActionPlanStep actionPlanStep = new OCActionPlanStep();
actionPlanStep.Behaviour = tree;
actionPlanStep.Arguments = arguments;
_ActionPlanQueue.Enqueue(actionPlanStep);
Debug.Log("Enqueued Action Step: " + actionPlanStep.Arguments.ActionName);
}
// TODO: Implement / remove move to location function which can be called by OCConnector.ParseSingleActionElement.
public void MoveToCoordinate(Vector3 desiredLocation)
{
OCAction.OCActionArgs args = new OCAction.OCActionArgs();
args.Source = _defaultSource;
args.StartTarget = _defaultStartTarget;
args.EndTarget = _defaultEndTarget;
args.StartTarget.transform.position = args.Source.transform.position;
args.EndTarget.transform.position = desiredLocation;
LoadActionPlanStep("MoveToCoordinate", args);
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Private Member Functions
//---------------------------------------------------------------------------
// private BehaveResult DefaultActionTickHandler (OCAction action)
// {
// Vector3 robotPos = gameObject.transform.position;
// Vector3 distanceVec = ((Vector3)TargetBlockPos) - robotPos;
//
// if (action == null)
// return BehaveResult.Failure;
//
// if (action.ShouldTerminate ()) {
// //action.Terminate();
// //Debug.Log ("In OCRobotAgent.DefaultActionTickHandler, " + action.GetType () + " Failure");
// return BehaveResult.Failure;
// }
//
// if (action.IsExecuting ()) {
// //Debug.Log("In OCRobotAgent.DefaultActionTickHandler, " + action.GetType() + " Running");
// return BehaveResult.Running;
// }
//
// if (TargetBlockPos != Vector3i.zero) {
// //Debug.Log("In OCRobotAgent.DefaultActionTickHandler, Distance to TNT block is: " + distanceVec.magnitude + ", Vector is: " + distanceVec);
// }
//
// return BehaveResult.Success;
// }
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Other Members
//---------------------------------------------------------------------------
// TODO: This cose is just a set of stubs to get rid of an error.
//public static event ActionCompleteHandler globalActionCompleteEvent;
//public delegate void ActionCompleteHandler(OCAction action);
// Removed...due to the fact that OCConnector will be polling this class for action status updates.
// TODO: Implement / remove build block function which can be called by OCConnector.ParseSingleActionElement. Will probably have to be amended with material / blockdata.
public void BuildBlockAtPosition(Vector3i desiredBlockLocation)
{
OCAction.OCActionArgs args = new OCAction.OCActionArgs();
args.Source = _defaultSource;
args.StartTarget = _defaultStartTarget;
args.EndTarget = _defaultEndTarget;
args.StartTarget.transform.position = args.Source.transform.position;
args.EndTarget.transform.position = desiredBlockLocation;
LoadActionPlanStep("BuildBlockAtPosition", args);
}
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);
}
/**
* Parse action plan and append the result into action list.
*
* @param element meta action in xml format
*/
private void ParseActionPlanElement(XmlElement actionPlan)
{
// TODO: Determine if we need this:
bool adjustCoordinate = false;
OpenCog.Utility.Console.Console console = OpenCog.Utility.Console.Console.Instance;
// Get the action performer id.
string avatarId = actionPlan.GetAttribute(OCEmbodimentXMLTags.ENTITY_ID_ATTRIBUTE);
if(avatarId != _brainID)
{
// Usually this would not happen.
OCLogger.Warn("Avatar[" + _ID + "]: This action plan is not for me.");
return;
}
// Cancel current action and clear old action plan in the list.
if(_actionsList.Count > 0)
{
OCLogger.Warn("Stop all current actions");
CancelAvatarActions();
}
GameObject endPointStub = GameObject.Find("EndPointStub");
// Update current plan id and selected demand name.
_currentPlanId = actionPlan.GetAttribute(OCEmbodimentXMLTags.ID_ATTRIBUTE);
_currentDemandName = actionPlan.GetAttribute(OCEmbodimentXMLTags.DEMAND_ATTRIBUTE);
// Get the action elements from the actionPlan
XmlNodeList list = actionPlan.GetElementsByTagName(OCEmbodimentXMLTags.ACTION_ELEMENT);
if(_actionController == null)
{
_actionController = GameObject.FindGameObjectWithTag("OCAGI").GetComponent<OCActionController>();
}
// list contains 'action' elements.
foreach(XmlNode actionNode in list)
{
// Cast actionNode to actionElement (XmlElement)
XmlElement actionElement = (XmlElement)actionNode;
// Get attributes from actionElement (name, sequence)
string actionName = actionElement.GetAttribute(OCEmbodimentXMLTags.NAME_ATTRIBUTE);
int sequence = System.Int32.Parse(actionElement.GetAttribute(OCEmbodimentXMLTags.SEQUENCE_ATTRIBUTE));
// Get the actionParameter nodes from the actionElement
XmlNodeList actionParameters = actionElement.GetElementsByTagName(OCEmbodimentXMLTags.PARAMETER_ELEMENT);
// Prepare a new actionArgs object
OCAction.OCActionArgs actionArguments = new OCAction.OCActionArgs();
actionArguments.StartTarget = GameObject.Find("StartPointStub");
actionArguments.StartTarget.transform.position = GameObject.FindGameObjectWithTag("OCAGI").transform.position;
actionArguments.EndTarget = null;
// 'action' elements contain 'params'
foreach(XmlNode actionParameterNode in actionParameters)
{
// Cast actionParameterNode to an actionParameterElement (XmlElement)
XmlElement actionParameterElement = (XmlElement)actionParameterNode;
// Get attributes from actionParameterElement
string actionParameterType = actionParameterElement.GetAttribute(OCEmbodimentXMLTags.TYPE_ATTRIBUTE);
switch(actionParameterType)
{
// If it's a vector, then it's a walk. So the target is a gameobject at the location of the vector.
case "vector":
XmlNodeList vectorParameterChildren = actionParameterElement.GetElementsByTagName(OCEmbodimentXMLTags.VECTOR_ELEMENT);
XmlElement vectorElement = (XmlElement)vectorParameterChildren.Item(0);
float x = float.Parse(vectorElement.GetAttribute(OCEmbodimentXMLTags.X_ATTRIBUTE), System.Globalization.CultureInfo.InvariantCulture.NumberFormat);
float y = float.Parse(vectorElement.GetAttribute(OCEmbodimentXMLTags.Y_ATTRIBUTE), System.Globalization.CultureInfo.InvariantCulture.NumberFormat);
float z = float.Parse(vectorElement.GetAttribute(OCEmbodimentXMLTags.Z_ATTRIBUTE), System.Globalization.CultureInfo.InvariantCulture.NumberFormat);
// if (adjustCoordinate)
// {
// x += 0.5f;
// y += 0.5f;
// z += 0.5f;
// }
string gameObjectString = "PLAN" + _currentPlanId.ToString().PadLeft(3, '0') + "_SEQ" + sequence.ToString().PadLeft(3, '0') + "_VECTOR";
UnityEngine.GameObject vectorGameObject = (UnityEngine.GameObject)UnityEngine.GameObject.Instantiate(_map.WaypointPrefab);
vectorGameObject.name = gameObjectString;
vectorGameObject.transform.parent = _map.WaypointsSceneObject.transform;
// Swapping Y and Z!!
// ORIGINAL:
// vectorGameObject.transform.position = new Vector3(x, y, z);
// UnityEngine.Debug.Log ("A '" + actionName + "' command told me to go to [" + x + ", " + y + ", " + z + "]");
// SWAPPED:
vectorGameObject.transform.position = new Vector3(x, z, y);
TextMesh textMesh = vectorGameObject.GetComponentInChildren<TextMesh>();
textMesh.text = sequence.ToString();
//UnityEngine.Debug.Log ("A '" + actionName + "' command (planID = " + _currentPlanId + ", sequence = " + sequence + " told me to go to [" + x + ", " + z + ", " + y + "]");
if(actionName == "walk" || actionName == "jump_toward")
{
console.AddConsoleEntry("A '" + actionName + "' command (planID = " + _currentPlanId + ", sequence = " + sequence + " told me to go to [" + x + ", " + z + ", " + y + "]", "AGI Robot", OpenCog.Utility.Console.Console.ConsoleEntry.Type.SAY);
actionArguments.EndTarget = vectorGameObject;
//actionArguments.EndTarget = GameObject.Find("EndPointStub");
actionArguments.EndTarget.transform.position = new Vector3(x, z, y);
// OCGoalController goalController = _actionController.gameObject.GetComponent<OCGoalController>();
// goalController.BlockType = "Hearth";
// goalController.FindGoalBlockPositionInChunks(_map.Chunks);
} else if(actionName == "destroy" || actionName == "build_block")
{
console.AddConsoleEntry("A '" + actionName + "' command (planID = " + _currentPlanId + ", sequence = " + sequence + " told me to destroy/create block at [" + x + ", " + z + ", " + y + "]", "AGI Robot", OpenCog.Utility.Console.Console.ConsoleEntry.Type.SAY);
actionArguments.EndTarget = vectorGameObject;
//actionArguments.EndTarget = GameObject.Find("EndPointStub");
actionArguments.EndTarget.transform.position = new Vector3(x, z, y);
}
break;
// If it's an entity, then it's a grab or a consume. So the target is the battery.
case "entity":
XmlNodeList entityParameterChildren = actionParameterElement.GetElementsByTagName(OCEmbodimentXMLTags.ENTITY_ELEMENT);
XmlElement entityElement = (XmlElement)entityParameterChildren.Item(0);
int entityID = System.Int32.Parse(entityElement.GetAttribute(OCEmbodimentXMLTags.ID_ATTRIBUTE));
string entityType = entityElement.GetAttribute(OCEmbodimentXMLTags.TYPE_ATTRIBUTE);
if(actionName == "grab" || actionName == "eat")
{
UnityEngine.GameObject[] batteryArray = UnityEngine.GameObject.FindGameObjectsWithTag("OCBattery");
for(int iBattery = 0; iBattery < batteryArray.Length; iBattery++)
{
UnityEngine.GameObject batteryObject = batteryArray[iBattery];
if(entityID == batteryObject.GetInstanceID())
{
endPointStub.transform.position = batteryObject.transform.position;
// This is the one!
actionArguments.EndTarget = batteryObject;
break;
}
}
if(actionArguments.EndTarget != null)
{
// Then we can grab it, eat it, whatever...since it's a battery
if(actionName == "grab")
{
//UnityEngine.Debug.Log ("A 'grab' command (planID = " + _currentPlanId + ", sequence = " + sequence + " told me to grab an object with ID " + entityID);
console.AddConsoleEntry("A 'grab' command (planID = " + _currentPlanId + ", sequence = " + sequence + " told me to grab an object with ID " + entityID, "AGI Robot", OpenCog.Utility.Console.Console.ConsoleEntry.Type.SAY);
} else if(actionName == "eat")
{
//UnityEngine.Debug.Log ("An 'eat' command (planID = " + _currentPlanId + ", sequence = " + sequence + " told me to eat an object with ID " + entityID);
console.AddConsoleEntry("An 'eat' command (planID = " + _currentPlanId + ", sequence = " + sequence + " told me to eat an object with ID " + entityID, "AGI Robot", OpenCog.Utility.Console.Console.ConsoleEntry.Type.SAY);
}
OCGoalController goalController = _actionController.gameObject.GetComponent<OCGoalController>();
goalController.BlockType = "Battery";
goalController.FindGoalBlockPositionInChunks(_map.Chunks);
} else
{
// That's silly..we can only eat / grab batteries!
UnityEngine.Debug.Log("Received a grab or eat command, but couldn't find the battery in Unity!");
}
}
// if (actionName == "grab" || actionName == "eat"
// else
// {
// // I'll bet the section below does nothing. Go home
//// UnityEngine.GameObject[] hearthArray = UnityEngine.GameObject.FindGameObjectsWithTag("OCHearth");
////
//// for (int iHearth = 0; iHearth < hearthArray.Length; iHearth++)
//// {
//// UnityEngine.GameObject hearthObject = hearthArray[iHearth];
////
//// if (entityID == hearthObject.GetInstanceID())
//// {
//// // This is the one!
//// actionArguments.EndTarget = hearthObject;
////
//// break;
//// }
//// }
// }
break;
case "string":
// XmlNodeList stringParameterChildren = actionParameterElement.GetElementsByTagName(OCEmbodimentXMLTags.VECTOR_ELEMENT);
// XmlElement stringElement = (XmlElement)stringParameterChildren.Item (0);
if(actionName == "say")
{
string toSay = actionParameterElement.GetAttribute(OCEmbodimentXMLTags.VALUE_ATTRIBUTE);
if(toSay != string.Empty)
{
UnityEngine.Debug.Log("Robot say: " + toSay + "(actionPlan = " + _currentPlanId + ", sequence = " + sequence);
console.AddConsoleEntry(toSay, "AGI Robot", OpenCog.Utility.Console.Console.ConsoleEntry.Type.SAY);
}
// We need to set the target to the avatar I guess....
UnityEngine.GameObject[] agiArray = UnityEngine.GameObject.FindGameObjectsWithTag("OCAGI");
for(int iAGI = 0; iAGI < agiArray.Length; iAGI++)
{
UnityEngine.GameObject agiObject = agiArray[iAGI];
endPointStub.transform.position = agiObject.transform.position;
actionArguments.EndTarget = endPointStub;
}
}
break;
} // end switch actionParameterType
} // end foreach actionParameterNode
if(_actionController == null)
{
_actionController = GameObject.FindGameObjectWithTag("OCAGI").GetComponent<OCActionController>();
}
actionArguments.ActionName = actionName;
actionArguments.ActionPlanID = _currentPlanId;
actionArguments.SequenceID = sequence;
actionArguments.Source = UnityEngine.GameObject.FindGameObjectWithTag("OCAGI");
//actionArguments.Source.transform.SetY(actionArguments.Source.transform.position.y - 0.5f);
// Lake's function here.
if(actionName != "say")
{
_actionController.LoadActionPlanStep(actionName, actionArguments);
}
// Just for fun, I'm going to send success for everything for a while.
//this.SendActionStatus(_currentPlanId, sequence, actionName, true);
//actionPlan.Add((XmlElement)node);
} // end foreach actionPlanElement
// And again for fun, send a whole action plan successful message:
//this.SendActionPlanStatus(_currentPlanId, true);
// Start to perform an action in front of the action list.
//_actionController.ReceiveActionPlan(actionPlan);// SendMessage("receiveActionPlan", actionPlan);
//processNextAvatarAction();
}
// TODO: Implement / remove move to location function which can be called by OCConnector.ParseSingleActionElement.
public void MoveToCoordinate(Vector3 desiredLocation)
{
OCAction.OCActionArgs args = new OCAction.OCActionArgs();
args.Source = _defaultSource;
args.StartTarget = _defaultStartTarget;
args.EndTarget = _defaultEndTarget;
args.StartTarget.transform.position = args.Source.transform.position;
args.EndTarget.transform.position = desiredLocation;
LoadActionPlanStep("MoveToCoordinate", args);
}
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Private Member Functions
//---------------------------------------------------------------------------
// private BehaveResult DefaultActionTickHandler (OCAction action)
// {
// Vector3 robotPos = gameObject.transform.position;
// Vector3 distanceVec = ((Vector3)TargetBlockPos) - robotPos;
//
// if (action == null)
// return BehaveResult.Failure;
//
// if (action.ShouldTerminate ()) {
// //action.Terminate();
// //Debug.Log ("In OCRobotAgent.DefaultActionTickHandler, " + action.GetType () + " Failure");
// return BehaveResult.Failure;
// }
//
// if (action.IsExecuting ()) {
// //Debug.Log("In OCRobotAgent.DefaultActionTickHandler, " + action.GetType() + " Running");
// return BehaveResult.Running;
// }
//
// if (TargetBlockPos != Vector3i.zero) {
// //Debug.Log("In OCRobotAgent.DefaultActionTickHandler, Distance to TNT block is: " + distanceVec.magnitude + ", Vector is: " + distanceVec);
// }
//
// return BehaveResult.Success;
// }
//---------------------------------------------------------------------------
#endregion
//---------------------------------------------------------------------------
#region Other Members
//---------------------------------------------------------------------------
// TODO: This cose is just a set of stubs to get rid of an error.
//public static event ActionCompleteHandler globalActionCompleteEvent;
//public delegate void ActionCompleteHandler(OCAction action);
// Removed...due to the fact that OCConnector will be polling this class for action status updates.
// TODO: Implement / remove build block function which can be called by OCConnector.ParseSingleActionElement. Will probably have to be amended with material / blockdata.
public void BuildBlockAtPosition(Vector3i desiredBlockLocation)
{
OCAction.OCActionArgs args = new OCAction.OCActionArgs();
args.Source = _defaultSource;
args.StartTarget = _defaultStartTarget;
args.EndTarget = _defaultEndTarget;
args.StartTarget.transform.position = args.Source.transform.position;
args.EndTarget.transform.position = desiredBlockLocation;
LoadActionPlanStep("BuildBlockAtPosition", args);
}
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);
}
}
}
}
public void UpdateAI()
{
_ActionPlanList = _ActionPlanQueue.ToList();
if (_step == null && _ActionPlanQueue.Count != 0)
{
_step = _ActionPlanQueue.Dequeue();
}
else if (_step == null && _ActionPlanQueue.Count == 0)
{
_PlanSucceeded = true;
OCActionPlanStep step = new OCActionPlanStep();
step.Behaviour = _TreeTypeDictionary[_TreeType];
step.Arguments = new OCAction.OCActionArgs(_defaultSource, _defaultStartTarget, _defaultEndTarget);
_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;
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 (sourcePosition == endPosition)
{
_PlanSucceeded = true;
}
}
if (_step.Behaviour.Name == "Character.Destroy" || _step.Arguments.ActionName == "eat")
{
_PlanSucceeded = endPosition == Vector3.zero;
}
if (_step.Arguments.ActionName == "grab")
{
_PlanSucceeded = endPosition != startPosition && endPosition != null;
}
if (_step.Arguments.ActionPlanID != null)
{
OCConnectorSingleton.Instance.SendActionStatus(args.ActionPlanID, args.SequenceID, args.ActionName, _PlanSucceeded);
}
}
// if(!_PlanSucceeded)
// Debug.LogWarning(" -- Step Failed: " + (_step.Arguments.ActionName == null ? _step.Behaviour.Name : _step.Arguments.ActionName));
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)));
}
_step.Behaviour.Reset();
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);
_LastPlanID = null;
}
_step = null;
}
else if (_LastPlanID != null)
{
_step = _ActionPlanQueue.Dequeue();
if (_LastPlanID != _step.Arguments.ActionPlanID)
{
Debug.LogError("We've changed plans without reporting back to OpenCog!");
}
}
else
{
_LastPlanID = _step.Arguments.ActionPlanID;
_step = _ActionPlanQueue.Dequeue();
}
}
}
}