// ========================================================= DECOMPOSITION
/// <summary>
/// In an Invert Status decomposition, we invert success/failure.
/// Note that Rejected is still returned as Rejected.
/// Note that Partial is still returned as Partial (it doesn't really make sense to use with this selector).
/// </summary>
/// <param name="ctx"></param>
/// <returns></returns>
protected override DecompositionStatus OnDecompose(IContext ctx, int startIndex, out Queue <ITask> result)
{
Plan.Clear();
for (var taskIndex = startIndex; taskIndex < Subtasks.Count; taskIndex++)
{
var task = Subtasks[taskIndex];
var status = OnDecomposeTask(ctx, task, taskIndex, null, out result);
switch (status)
{
case DecompositionStatus.Succeeded:
return(DecompositionStatus.Failed);
// We treat this as a selector and will try until we decompose successfully
case DecompositionStatus.Failed:
continue;
}
// Rejected or Partial is not inverted.
return(status);
}
// If we failed to find a valid decomposition, we revert to Success.
result = Plan;
return(DecompositionStatus.Succeeded);
}
// ========================================================= DECOMPOSITION
protected override DecompositionStatus OnDecompose(IContext ctx, int startIndex, out Queue <ITask> result)
{
Plan.Clear();
var leaves = ctx.Factory.CreateList <GOAPNode>();
var start = ctx.Factory.Create <GOAPNode>();
{
start.Parent = null;
start.RunningCost = 0f;
start.Task = null;
}
if (TryBuildGraph(ctx, start, leaves, Subtasks))
{
GeneratePlan(ctx, GetCheapestLeaf(leaves));
}
foreach (var leaf in leaves)
{
FreeNode(ctx, leaf);
}
ctx.Factory.FreeList(ref leaves);
result = Plan;
return(result.Count == 0 ? DecompositionStatus.Failed : DecompositionStatus.Succeeded);
}
private bool BuildPlan(Room room)
{
Plan.Clear();
HashSet <Room> explored = new HashSet <Room>();
Queue <GraphNode> frontier = new Queue <GraphNode>();
GraphNode node = new GraphNode(room, null, AgentAction.NONE);
frontier.Enqueue(node);
do
{
if (!frontier.TryDequeue(out node))
{
return(false);
}
List <GraphNode> newNodes = DiscoverSurroundingNodes(node);
explored.Add(node.Room);
newNodes.RemoveAll(n => explored.Contains(n.Room));
foreach (GraphNode newNode in newNodes)
{
frontier.Enqueue(newNode);
}
} while(!node.Room.IsDirty);
Plan.Push(AgentAction.CLEAN);
while (node.Parent != null)
{
Plan.Push(node.Action);
node = node.Parent;
}
return(true);
}
// ========================================================= DECOMPOSITION
/// <summary>
/// In an Always Succeed decomposition, we always return success. This allows it to be used
/// as an "optional" branch during decomposition, without invalidating a Sequence.
/// Note that this selector makes sense only in a Sequence.
/// </summary>
/// <param name="ctx"></param>
/// <returns></returns>
protected override DecompositionStatus OnDecompose(IContext ctx, int startIndex, out Queue <ITask> result)
{
Plan.Clear();
result = null;
for (var taskIndex = startIndex; taskIndex < Subtasks.Count; taskIndex++)
{
var task = Subtasks[taskIndex];
var status = OnDecomposeTask(ctx, task, taskIndex, null, out result);
// Even though we always return success, we still treat this as a selector.
if (status == DecompositionStatus.Failed)
{
continue;
}
break;
}
if (result == null)
{
result = Plan;
}
return(DecompositionStatus.Succeeded);
}
public When_appending_a_step_and_no_builtin_steps_are_there()
{
When(() =>
{
Plan.Clear();
Plan.Add <MyEquivalencyStep>();
});
}
// ========================================================= DECOMPOSITION
/// <summary>
/// In a Random Selector decomposition, we simply select a sub-task randomly, and stick with it for the duration of the
/// plan as if it was the only sub-task.
/// So if the sub-task fail to decompose, that means the entire Selector failed to decompose (we don't try to decompose
/// any other sub-tasks).
/// Because of the nature of the Random Selector, we don't do any MTR tracking for it, since it doesn't do any real
/// branching.
/// </summary>
/// <param name="ctx"></param>
/// <returns></returns>
protected override DecompositionStatus OnDecompose(IContext ctx, int startIndex, out Queue <ITask> result)
{
Plan.Clear();
var taskIndex = _random.Next(startIndex, Subtasks.Count);
var task = Subtasks[taskIndex];
return(OnDecomposeTask(ctx, task, taskIndex, null, out result));
}
// ========================================================= DECOMPOSITION
/// <summary>
/// In a Utility Selector decomposition, we select a single sub-task based on utility theory.
/// If the sub-task fail to decompose, that means the entire Selector failed to decompose (we don't try to decompose
/// any other sub-tasks).
/// Because of the nature of the Utility Selector, we don't do any MTR tracking for it, since it doesn't do any real
/// branching.
/// </summary>
/// <param name="ctx"></param>
/// <returns></returns>
protected override DecompositionStatus OnDecompose(IContext ctx, int startIndex, out Queue <ITask> result)
{
Plan.Clear();
var task = FindBestTask(ctx, startIndex, out var taskIndex);
if (task == null)
{
result = Plan;
return(DecompositionStatus.Failed);
}
return(OnDecomposeTask(ctx, task, taskIndex, null, out result));
}
public void Reset()
{
foreach (var t in wf.Tasks)
{
t.ScheduledInstance = null;
}
Plan.Clear();
Wrappers = TaskScheduler.GenerateWrappers(wf);
Estimations = TaskScheduler.MakeOverallEstimations(wf, Wrappers);
if (!IgnoreNonUrgentTasks)
{
var additions = new Dictionary <int, List <ActiveEstimatedTask> >();
for (var i = 0; i < Estimations.Count; i++)
{
var ests = Estimations[i];
var busyEsts = ests.Where(e =>
{
var busyNodes = e.Estimation.NodesTimings.Where(n => n.LaunchedTask != null).ToArray();
if (!busyNodes.Any())
{
return(false);
}
var maxUrgentTime = busyNodes.Max(n => n.LaunchedTask.IsUrgent ? n.LaunchedTask.Estimation.Result.Time : 0);
return(busyNodes.Any(n => !n.LaunchedTask.IsUrgent && n.LaunchedTask.Estimation.Result.Time > maxUrgentTime));
});
foreach (var e in busyEsts.ToArray())
{
additions.GetOrCreateValue(i, () => new List <ActiveEstimatedTask>()).Add(new ActiveEstimatedTask(e)
{
IgnoreNonUrgent = false
});
}
}
foreach (var p in additions)
{
(Estimations[p.Key] as List <ActiveEstimatedTask>).AddRange(p.Value);
}
}
}
protected override DecompositionStatus OnDecompose(IContext ctx, int startIndex, out Queue <ITask> result)
{
Plan.Clear();
if (IsValidWorldStateIndex(ctx) == false)
{
result = Plan;
return(DecompositionStatus.Failed);
}
var repetitions = ctx.GetState((int)WorldStateIndex);
switch (_type)
{
case RepetitionType.Interleaved:
default:
return(DecomposeInterleaved(ctx, startIndex, repetitions, out result));
case RepetitionType.Blockwise:
return(DecomposeBlockwise(ctx, startIndex, repetitions, out result));
}
}
public void OnUpdate()
{
if (!brain.stopPlanning)
{
stateSystemAnimator.ResetInterrupt(this);
this.Memory.Items.ToString();
bool needToReplanBySystem = UpdateSensorsSystemsNGoalPriorities();
bool replanned = false;
bool actionChanged = false;
if (needToReplanBySystem || planPending || Plan == null || Plan.Count == 0)
{
if (Plan == null || Plan.Count == 0)
{
Replan();
replanned = true;
lastPlanTime = Time.time;
}
else if (Plan != null && Plan.Peek().IsInterruptableBySystems(this))
{
if (Time.time - lastPlanTime > brain.minPlanInterval || planPending)
{
lastPlanTime = Time.time;
replanned = true;
// deactivate then replan next update
if (Plan.Peek().IsActivated)
{
Plan.Peek().DeActivate(this);
}
currentState.ExitState(this);
Plan.Clear();
stateSystemAnimator.InterruptAnimation(this);
}
}
planPending = false;
}
if (!replanned && Plan != null && Plan.Count > 0) // if replanned, wait for ExitState on this update (to completely leave action)
{
if (!Plan.Peek().IsActivated) // action activation
{
actionChanged = true;
if (Plan.Peek().CanActivate(this))
{
#if UNITY_EDITOR
if (brain.actionDebug)
{
brain.ShowDebugMessage("Activated Action" + Plan.Peek());
}
#endif
Plan.Peek().Activate(this);
Plan.Peek().LastUsedAt = Time.time;
Plan.Peek().IsActivated = true;
currentState = allStates.Find(x => x.StateType == Plan.Peek().correspondingState);
currentState.EnterState(this);
stateSystemAnimator.InterruptAnimation(this);
}
else // can't activate this action
{
Plan.Clear();
currentState.ExitState(this);
}
}
else if (Plan.Peek().IsActivated)
{
if (Plan.Peek().IsStillValid(this))
{
Plan.Peek().OnUpdate(this);
if (Plan.Peek().IsCompleted(this))
{
#if UNITY_EDITOR
if (brain.actionDebug)
{
brain.ShowDebugMessage("Completed Action" + Plan.Peek());
}
#endif
actionChanged = true;
Plan.Peek().IsActivated = false;
Plan.Peek().GeneralPostEffects(this);
currentState.ExitState(this);
stateSystemAnimator.InterruptAnimation(this);
/*if (Plan.Peek().repeatType == EnumTypes.ActionType.Repetitive)
* {
* }
* else */
if (Plan.Peek().repeatType == ET.ActionType.Once)
{
Plan.Dequeue();
}
}
}
else
{
#if UNITY_EDITOR
if (brain.actionDebug)
{
brain.ShowDebugMessage("Deactivated Action 'Not Valid' " + Plan.Peek());
}
#endif
actionChanged = true;
Plan.Peek().IsActivated = false;
Plan.Peek().DeActivate(this);
Plan.Clear();
currentState.ExitState(this);
stateSystemAnimator.InterruptAnimation(this);
}
}
}
if (!replanned && !actionChanged)
{
currentState.Update(this);
}
}
else // Debug sensors-systems
{
UpdateSensorsSystemsNGoalPriorities();
currentState = allStates.Find(x => x.StateType == ET.StateType.Idle);;
currentState.Update(this);
}
}
/// <summary>
/// Clear plan loaded locally
/// </summary>
public void ClearPlan()
{
Plan.Clear();
PlanResults.Clear();
}
bool _CreatePlan(Domain domain, List <StateVariable> worldState, Plan plan)
{
plan.Clear();
if (history == null)
{
history = new Stack <PlannerState>();
}
if (taskQueue == null)
{
taskQueue = new List <Task>();
}
if (states == null)
{
states = new List <StateVariable>();
}
states.Clear();
taskQueue.Clear();
history.Clear();
taskQueue.Add(domain.root);
states.AddRange(worldState);
while (taskQueue.Count > 0)
{
var task = taskQueue[0];
taskQueue.RemoveAt(0);
if (task is CompoundTask)
{
var compoundTask = task as CompoundTask;
var method = compoundTask.FindSatisfiedMethod(states);
if (method != null)
{
SaveHistory(taskQueue, plan, states);
foreach (var i in method.tasks)
{
taskQueue.Add(domain.tasks[i.name]);
}
}
else
{
if (!RestoreHistory(taskQueue, plan, states))
{
return(false);
}
}
}
else
{
var primitiveTask = task as PrimitiveTask;
if (primitiveTask.ConditionsAreValid(states))
{
primitiveTask.ApplyEffects(states);
plan.Add(primitiveTask);
}
else
{
if (!RestoreHistory(taskQueue, plan, states))
{
return(false);
}
}
}
}
return(true);
}
