protected override DecompositionStatus OnDecomposeSlot(IContext ctx, Slot task,
int taskIndex, int[] oldStackDepth, out Queue <ITask> result)
{
var status = task.Decompose(ctx, 0, out var subPlan);
// If result is null, that means the entire planning procedure should cancel.
if (status == DecompositionStatus.Rejected)
{
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
Plan.Enqueue(subPlan.Dequeue());
}
if (ctx.HasPausedPartialPlan)
{
if (taskIndex < Subtasks.Count - 1)
{
ctx.PartialPlanQueue.Enqueue(new PartialPlanEntry()
{
Task = this,
TaskIndex = taskIndex + 1,
});
}
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
return(DecompositionStatus.Succeeded);
}
protected override DecompositionStatus OnDecomposeSlot(IContext ctx, Slot task, int taskIndex, int[] oldStackDepth, out Queue <ITask> result)
{
// We need to record the task index before we decompose the task,
// so that the traversal record is set up in the right order.
ctx.MethodTraversalRecord.Add(taskIndex);
if (ctx.DebugMTR)
{
ctx.MTRDebug.Add(task.Name);
}
var status = task.Decompose(ctx, 0, out var subPlan);
// If status is rejected, that means the entire planning procedure should cancel.
if (status == DecompositionStatus.Rejected)
{
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
// Remove the taskIndex if it failed to decompose.
ctx.MethodTraversalRecord.RemoveAt(ctx.MethodTraversalRecord.Count - 1);
if (ctx.DebugMTR)
{
ctx.MTRDebug.RemoveAt(ctx.MTRDebug.Count - 1);
}
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
Plan.Enqueue(subPlan.Dequeue());
}
if (ctx.HasPausedPartialPlan)
{
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
return(result.Count == 0 ? DecompositionStatus.Failed : DecompositionStatus.Succeeded);
}
protected override DecompositionStatus OnDecomposeSlot(IContext ctx, Slot task, int taskIndex, int[] oldStackDepth, out Queue <ITask> result)
{
// We need to record the task index before we decompose the task,
// so that the traversal record is set up in the right order.
ctx.MethodTraversalRecord.Add(taskIndex);
if (ctx.DebugMTR)
{
ctx.MTRDebug.Add(task.Name);
}
var status = task.Decompose(ctx, 0, out var subPlan);
// If status is rejected, that means the entire planning procedure should cancel.
if (status == DecompositionStatus.Rejected)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeSlot:{status}: Decomposing {task.Name} was rejected.", ConsoleColor.Red);
}
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
// Remove the taskIndex if it failed to decompose.
ctx.MethodTraversalRecord.RemoveAt(ctx.MethodTraversalRecord.Count - 1);
if (ctx.DebugMTR)
{
ctx.MTRDebug.RemoveAt(ctx.MTRDebug.Count - 1);
}
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeSlot:{status}: Decomposing {task.Name} failed.", ConsoleColor.Red);
}
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
var p = subPlan.Dequeue();
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeSlot:Decomposing {task.Name}:Pushed {p.Name} to plan!", ConsoleColor.Blue);
}
Plan.Enqueue(p);
}
if (ctx.HasPausedPartialPlan)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeSlot:Return partial plan!", ConsoleColor.DarkBlue);
}
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
var s = result.Count == 0 ? DecompositionStatus.Failed : DecompositionStatus.Succeeded;
if (ctx.LogDecomposition)
{
Log(ctx, $"Selector.OnDecomposeSlot:{s}!", s == DecompositionStatus.Succeeded ? ConsoleColor.Green : ConsoleColor.Red);
}
return(s);
}
protected override DecompositionStatus OnDecomposeSlot(IContext ctx, Slot task,
int taskIndex, int[] oldStackDepth, out Queue <ITask> result)
{
var status = task.Decompose(ctx, 0, out var subPlan);
// If result is null, that means the entire planning procedure should cancel.
if (status == DecompositionStatus.Rejected)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:{status}: Decomposing {task.Name} was rejected.", ConsoleColor.Red);
}
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = null;
return(DecompositionStatus.Rejected);
}
// If the decomposition failed
if (status == DecompositionStatus.Failed)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:{status}: Decomposing {task.Name} failed.", ConsoleColor.Red);
}
Plan.Clear();
ctx.TrimToStackDepth(oldStackDepth);
result = Plan;
return(DecompositionStatus.Failed);
}
while (subPlan.Count > 0)
{
var p = subPlan.Dequeue();
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:Decomposing {task.Name}:Pushed {p.Name} to plan!", ConsoleColor.Blue);
}
Plan.Enqueue(p);
}
if (ctx.HasPausedPartialPlan)
{
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:Return partial plan at index {taskIndex}!", ConsoleColor.DarkBlue);
}
if (taskIndex < Subtasks.Count - 1)
{
ctx.PartialPlanQueue.Enqueue(new PartialPlanEntry()
{
Task = this,
TaskIndex = taskIndex + 1,
});
}
result = Plan;
return(DecompositionStatus.Partial);
}
result = Plan;
if (ctx.LogDecomposition)
{
Log(ctx, $"Sequence.OnDecomposeSlot:Succeeded!", ConsoleColor.Green);
}
return(DecompositionStatus.Succeeded);
}
