void GeneratePlanner(ProblemDefinition definition, string planName, string outputPath, bool includeEnums = false)
{
var customCumulativeRewardEstimator = definition.CustomCumulativeRewardEstimator;
var rewardEstimatorTypeName = string.IsNullOrEmpty(customCumulativeRewardEstimator) ? "DefaultCumulativeRewardEstimator" : $"global::{customCumulativeRewardEstimator}";
var defaultCumulativeRewardEstimator = new
{
lower = definition.DefaultEstimateLower,
avg = definition.DefaultEstimateAverage,
upper = definition.DefaultEstimateUpper,
};
var result = m_CodeRenderer.RenderTemplate(PlannerResources.instance.TemplatePlanExecutor, new
{
@namespace = $"{TypeHelper.PlansQualifier}.{planName}",
plan_name = definition.Name,
actions = definition.ActionDefinitions,
traits = definition.GetTraitsUsed(),
reward_estimator = rewardEstimatorTypeName,
default_reward_estimate = defaultCumulativeRewardEstimator,
terminations = definition.StateTerminationDefinitions.Where(t => t != null).Select(t => t.Name),
include_enums = includeEnums,
state_representation_qualifier = TypeHelper.StateRepresentationQualifier
});
SaveToFile(Path.Combine(outputPath, TypeHelper.PlansQualifier, planName, $"{definition.name}Executor.cs"), result);
}
void GeneratePlanStateRepresentation(string outputPath, ProblemDefinition problemDefinition)
{
var traits = problemDefinition.GetTraitsUsed()
.Append(PlannerAssetDatabase.TraitDefinitions.FirstOrDefault(t => t.name == nameof(PlanningAgent)))
.Distinct()
.Where(t => t != null)
.Select(t => new
{
name = t.name,
relations = t.Properties.Where(p =>
p.Type == typeof(GameObject) || p.Type == typeof(Entity))
.Select(p => new { name = p.Name }),
attributes = t.Properties.Where(p =>
p.Type != typeof(GameObject) && p.Type != typeof(Entity) && GetRuntimePropertyType(p) != null)
.Select(p => new
{
field_type = GetRuntimePropertyType(p),
field_name = p.Name
})
});
int numTraits = traits.Count();
int traitsAlignmentSize = ((numTraits + 3) / 4) * 4;
var result = m_CodeRenderer.RenderTemplate(PlannerResources.instance.TemplateStateRepresentation, new
{
@namespace = $"{TypeHelper.StateRepresentationQualifier}.{problemDefinition.Name}",
trait_list = traits,
num_traits = numTraits,
alignment_size = traitsAlignmentSize
});
SaveToFile(Path.Combine(outputPath, TypeHelper.StateRepresentationQualifier, problemDefinition.Name, "PlanStateRepresentation.cs"), result);
}