void GenCbNodeSelector::Select(_Out_ IOlcbpPlan::NodeSet& goalsToUpdate,
_Out_ IOlcbpPlan::NodeDQueue& actionsToUpdate,
_Out_ IOlcbpPlan::NodeSet& snippetsToDestroy)
{
IOlcbpPlan* pPlan = m_pPlanner->Plan();
IOlcbpPlan::NodeQueue actionQ;
IOlcbpPlan::NodeQueue goalQ;
// 1st pass: get ready nodes only
m_pPlanner->GetReachableReadyNodes(actionQ, goalQ);
while (!goalQ.empty())
{
auto goalNodeId = goalQ.front();
if (!m_pPlanner->IsNodeDone(goalNodeId))
{
goalsToUpdate.insert(goalQ.front());
}
// Prune the plan by destroying snippets of succeeding goals to
// reduce plan noise and make it easier to read/visualize the plan
if (pPlan->GetNode(goalNodeId)->GetState() == ESTATE_Succeeded &&
!m_pPlanner->HasActiveAction(goalNodeId) &&
m_pPlanner->IsGoalExpanded(goalNodeId))
{
snippetsToDestroy.insert(goalNodeId);
}
goalQ.pop();
}
IOlcbpPlan::NodeDQueue buildQ;
IOlcbpPlan::NodeDQueue trainQ;
IOlcbpPlan::NodeDQueue researchQ;
while (!actionQ.empty())
{
auto actionNodeId = actionQ.front();
if (!m_pPlanner->IsNodeDone(actionNodeId))
{
if (pPlan->GetNode(actionNodeId)->StepTypeId() == ACTIONEX_Build)
buildQ.push_front(actionQ.front());
else if (pPlan->GetNode(actionNodeId)->StepTypeId() == ACTIONEX_Train)
trainQ.push_front(actionQ.front());
else if (pPlan->GetNode(actionNodeId)->StepTypeId() == ACTIONEX_Research)
researchQ.push_back(actionQ.front());
}
actionQ.pop();
}
actionsToUpdate.insert(actionsToUpdate.end(), buildQ.begin(), buildQ.end());
actionsToUpdate.insert(actionsToUpdate.end(), trainQ.begin(), trainQ.end());
actionsToUpdate.insert(actionsToUpdate.end(), researchQ.begin(), researchQ.end());
}
void OnlinePlanExpansionExecution::NotifyMessegeSent(_In_ Message* pMessage)
{
IOlcbpPlan::NodeQueue Q;
IOlcbpPlan::NodeID currentPlanStepID;
bool msgConsumedByAction = false;
if (m_pOlcbpPlan->Size() == 0 ||
m_planRootNodeId == IOlcbpPlan::NullNodeID)
return;
Q.push(m_planRootNodeId);
while(!Q.empty())
{
currentPlanStepID = Q.front();
Q.pop();
IOlcbpPlan::NodeValue pCurreNode = m_pOlcbpPlan->GetNode(currentPlanStepID);
if (IsActionNode(currentPlanStepID) && !msgConsumedByAction)
{
pCurreNode->HandleMessage(*g_Game, pMessage, msgConsumedByAction);
if (msgConsumedByAction)
LogInfo("Message with ID=%d consumed by action node %s", pMessage->MessageTypeID(), pCurreNode->ToString().c_str());
}
if (msgConsumedByAction)
{
break;
}
AddReadyChildrenToUpdateQueue(currentPlanStepID, Q);
}
}
void OnlinePlanExpansionExecution::GetReachableReadyNodes(_Out_ IOlcbpPlan::NodeQueue& actionQ, _Out_ IOlcbpPlan::NodeQueue& goalQ)
{
IOlcbpPlan::NodeQueue Q;
IOlcbpPlan::NodeID currNodeId;
IOlcbpPlan::NodeSerializedSet planRoots;
IOlcbpPlan::NodeSet visitedNodes;
_ASSERTE(m_planRootNodeId != IOlcbpPlan::NullNodeID);
Q.push(m_planRootNodeId);
visitedNodes.insert(m_planRootNodeId);
goalQ.push(m_planRootNodeId);
// Do a BFS on the plan an collect only ready nodes (i.e nodes with WaitOnParentsCount = 0)
// Add ready action nodes to the action Q
// Add ready goal nodes to the goal Q
while(!Q.empty())
{
currNodeId = Q.front();
Q.pop();
if (!m_pOlcbpPlan->Contains(currNodeId))
{
LogWarning("A non existing node was there in the update queue, skipping it");
continue;
}
for (auto childNodeId : m_pOlcbpPlan->GetAdjacentNodes(currNodeId))
{
if (visitedNodes.count(childNodeId) == 0)
{
if (IsNodeReady(childNodeId))
{
if (IsGoalNode(childNodeId))
{
goalQ.push(childNodeId);
}
else if (IsActionNode(childNodeId))
{
actionQ.push(childNodeId);
}
Q.push(childNodeId);
}
visitedNodes.insert(childNodeId);
}
}
}
}
void OnlinePlanExpansionExecution::ComputeFreshSnippetWaitOnParentsCount(_In_ IOlcbpPlan::NodeID snippetRootId)
{
_ASSERTE(m_pOlcbpPlan->Size() > 0);
_ASSERTE(m_planRootNodeId != IOlcbpPlan::NullNodeID);
_ASSERTE(!IsNodeOpen(snippetRootId));
// Root node is excluded from the computation, computation start from the subGraphRoot node adjacent nodes
LogInfo("Computing graph nodes WaitOnParentsCount property for subGraph with root Node[%d]", snippetRootId);
IOlcbpPlan::NodeQueue Q;
IOlcbpPlan::NodeSerializedSet visitedNodes;
IOlcbpPlan::NodeSerializedSet snippetRoots;
GetSnippetOrphanNodes(snippetRootId, snippetRoots);
for (auto nodeId : snippetRoots)
{
// By default a newly expanded nodes should have WaitOnParentsCount = 0
_ASSERTE(GetNodeData(nodeId).WaitOnParentsCount == 0);
Q.push(nodeId);
visitedNodes.insert(nodeId);
}
// 2. Do a BFS on the plan graph and for closed node
// increment the NotReadyParentsCount for child node
//
while (!Q.empty())
{
IOlcbpPlan::NodeID currNodeId = Q.front();
Q.pop();
const IOlcbpPlan::NodeSerializedSet& currChildren = m_pOlcbpPlan->GetAdjacentNodes(currNodeId);
LogInfo("Computing WaitOnParentsCount for node[%d] children", currNodeId);
for (auto currChildNodeId : currChildren)
{
if (visitedNodes.count(currChildNodeId) == 0)
{
// By default a newly expanded nodes should have WaitOnParentsCount = 0
_ASSERTE(GetNodeData(currChildNodeId).WaitOnParentsCount == 0);
Q.push(currChildNodeId);
visitedNodes.insert(currChildNodeId);
}
GetNodeData(currChildNodeId).IncWaitOnParentsCount();
}
}
}
void OnlinePlanExpansionExecution::ExpandGoal(_In_ IOlcbpPlan::NodeID expansionGoalNodeId, _In_ CaseEx *pExpansionCase)
{
LogActivity(ExpandGoal);
IOlcbpPlan *pCasePlan = pExpansionCase->Plan();
IOlcbpPlan::NodeSerializedSet casePlanRoots = pCasePlan->GetOrphanNodes();
IOlcbpPlan::NodeSerializedSet casePlanNodes = pCasePlan->GetNodes();
IOlcbpPlan::NodeSerializedSet newExpansionPlanRoots;
LogInfo("Expanding node[%d] with plan %s", expansionGoalNodeId, pExpansionCase->Plan()->ToString().c_str());
// 1. Construct planner plan graph nodes from the expansion case
SetGoalNodeBelongingCase(expansionGoalNodeId, pExpansionCase);
// Cross mapping between node IDs in in the planner plan and case plan
std::map<IOlcbpPlan::NodeID, IOlcbpPlan::NodeID> plannerToCasePlanNodeIdMap;
std::map<IOlcbpPlan::NodeID, IOlcbpPlan::NodeID> casePlanToPlannerNodeIdMap;
for(auto caseNodeId : casePlanNodes)
{
IOlcbpPlan::NodeValue pOriginalNode = pCasePlan->GetNode(caseNodeId);
IOlcbpPlan::NodeValue pNode = static_cast<PlanStepEx*>(const_cast<PlanStepEx*>(pOriginalNode)->Clone());
IOlcbpPlan::NodeID plannerNodeId = m_pOlcbpPlan->AddNode(pNode, pNode->Id());
m_nodeData[plannerNodeId] = OlcbpPlanNodeData();
m_nodeData[plannerNodeId].ID = plannerNodeId;
// Add Data record for the new node
SetNodeSatisfyingGoal(plannerNodeId, expansionGoalNodeId);
if (casePlanRoots.count(caseNodeId) > 0)
newExpansionPlanRoots.insert(plannerNodeId);
if (IsActionNode(plannerNodeId))
{
m_clonedNodesMapping[pOriginalNode] = pNode;
}
else if (IsGoalNode(plannerNodeId))
{
OpenNode(plannerNodeId);
}
// Map node ID in in the planner plan with its counterpart in case plan and vice versa
plannerToCasePlanNodeIdMap[plannerNodeId] = caseNodeId;
casePlanToPlannerNodeIdMap[caseNodeId] = plannerNodeId;
}
// 2. Link the goal node with the roots of the expansion plan
IOlcbpPlan::NodeQueue Q;
IOlcbpPlan::NodeSerializedSet visitedNodes;
for(auto rootNodeId : newExpansionPlanRoots)
{
// Cross link the goal node with the sub plan roots
LinkNodes(expansionGoalNodeId, rootNodeId);
// Enqueue the roots in a queue to expand them
Q.push(rootNodeId);
visitedNodes.insert(rootNodeId);
}
// 3. Continue construction of the sub plan tree with the rest of the plan graph nodes
while(!Q.empty())
{
IOlcbpPlan::NodeID currPlannerNodeId = Q.front();
Q.pop();
IOlcbpPlan::NodeSerializedSet currCaseChildren = pCasePlan->GetAdjacentNodes(plannerToCasePlanNodeIdMap[currPlannerNodeId]);
for (auto currCaseChildNodeId : currCaseChildren)
{
IOlcbpPlan::NodeID currPlannerChildNodeId = casePlanToPlannerNodeIdMap[currCaseChildNodeId];
// If my child not visited, consider it for expansion
if(!visitedNodes.count(currPlannerChildNodeId))
{
Q.push(currPlannerChildNodeId);
visitedNodes.insert(currPlannerChildNodeId);
}
// Cross link the current node with its child
LinkNodes(currPlannerNodeId, currPlannerChildNodeId);
}
}
int nodeAddRemoveDelta = 0; //AdaptSnippet(expansionGoalNodeId);
// Adaptation should leave at least 1 node in the snippet
_ASSERTE((int)pCasePlan->Size() + nodeAddRemoveDelta > 0);
size_t adaptedSnippetSize = (size_t)((int)pCasePlan->Size() + nodeAddRemoveDelta);
CloseNode(expansionGoalNodeId);
// 4. Since the plan structure changed, recompute the NotReadyParentsCount
// for plan graph node
ComputeFreshSnippetWaitOnParentsCount(expansionGoalNodeId);
// 5. Record that the expanded goal node is waiting for N number of open nodes
// If the number of those open nodes = 0, and the goal node is not satisfied, then
// there is no way for the goal to succeed, and the goal should fail
GetNodeData(expansionGoalNodeId).SetWaitOnChildrenCount(adaptedSnippetSize);
m_planStructureChangedThisFrame = true;
LogInfo("Plan after node[%d] expansion %s", expansionGoalNodeId, m_pOlcbpPlan->ToString().c_str());
}
int OnlinePlanExpansionExecution::AdaptSnippet(_In_ IOlcbpPlan::NodeID snippetRootGoalId)
{
int nodeAddRemoveDelta = 0;
IOlcbpPlan::NodeQueue Q;
IOlcbpPlan::NodeSerializedSet planRoots;
IOlcbpPlan::NodeSet visitedNodes;
IOlcbpPlan::NodeID parentNodeId = snippetRootGoalId;
Q.push(parentNodeId);
visitedNodes.insert(parentNodeId);
// Do a BFS on the plan an collect only ready nodes (i.e nodes with WaitOnParentsCount = 0)
// Add ready action nodes to the action Q
// Add ready goal nodes to the goal Q
while(!Q.empty())
{
parentNodeId = Q.front();
Q.pop();
IOlcbpPlan::NodeSerializedSet originalSnippetNodes = m_pOlcbpPlan->GetAdjacentNodes(parentNodeId);
for (auto childNodeId : originalSnippetNodes)
{
if (visitedNodes.count(childNodeId) != 0)
continue;
if (IsActionNode(childNodeId))
{
((Action*)m_pOlcbpPlan->GetNode(childNodeId))->InitializeConditions();
for (auto pExpression : ((Action*)m_pOlcbpPlan->GetNode(childNodeId))->PreCondition()->Expressions())
{
_ASSERTE(pExpression->ExpressionType() == EXPRESSION_Leaf);
if (((ConditionEx*)pExpression)->ContainsParameter(PARAM_ResourceId) &&
((ConditionEx*)pExpression)->Parameter(PARAM_ResourceId) == RESOURCE_Supply)
{
int requiredSupplyAmmount = ((ConditionEx*)pExpression)->Parameter(PARAM_Amount);
if (g_Game->Self()->Resources()->AvailableSupply() >= requiredSupplyAmmount)
continue;
UnlinkNodes(parentNodeId, childNodeId);
PlanStepParameters params;
params[PARAM_EntityClassId] = g_Game->Self()->Race()->GetResourceSource(RESOURCE_Supply);
params[PARAM_Amount] = 1;
auto pBuildInfraGoal = g_GoalFactory.GetGoal(GOALEX_BuildInfrastructure, params, true);
IOlcbpPlan::NodeID buildInfroNodeId = m_pOlcbpPlan->AddNode(pBuildInfraGoal, pBuildInfraGoal->Id());
m_nodeData[pBuildInfraGoal->Id()] = OlcbpPlanNodeData();
m_nodeData[pBuildInfraGoal->Id()].ID = pBuildInfraGoal->Id();
// Add Data record for the new node
SetNodeSatisfyingGoal(pBuildInfraGoal->Id(), snippetRootGoalId);
LinkNodes(parentNodeId, buildInfroNodeId);
LinkNodes(buildInfroNodeId, childNodeId);
++nodeAddRemoveDelta;
}
}
}
Q.push(childNodeId);
visitedNodes.insert(childNodeId);
}
}
return nodeAddRemoveDelta;
}
bool OnlinePlanExpansionExecution::DestroyGoalSnippetIfExist(_In_ IOlcbpPlan::NodeID snippetGoalId)
{
IOlcbpPlan::NodeQueue Q;
IOlcbpPlan::NodeSerializedSet visitedNodes;
IOlcbpPlan::NodeSerializedSet snippetRoots;
_ASSERTE(IsNodeOpen(snippetGoalId));
// 1. Collect the snippet orphan nodes to start the BFS from
GetSnippetOrphanNodes(snippetGoalId, snippetRoots);
for (auto childNode : snippetRoots)
{
if (GetNodeData(childNode).SatisfyingGoal == snippetGoalId)
{
Q.push(childNode);
visitedNodes.insert(childNode);
}
}
// 2. Do a BFS on the snippet to collect its nodes
while (!Q.empty())
{
IOlcbpPlan::NodeID currNodeId = Q.front();
Q.pop();
const IOlcbpPlan::NodeSerializedSet& currChildren = m_pOlcbpPlan->GetAdjacentNodes(currNodeId);
for (auto currChildNodeId : currChildren)
{
if (visitedNodes.count(currChildNodeId) == 0)
{
Q.push(currChildNodeId);
visitedNodes.insert(currChildNodeId);
}
}
}
// 3. Remove visited nodes from the plan
for (auto visitedNodeId : visitedNodes)
{
auto pCurrNode = m_pOlcbpPlan->GetNode(visitedNodeId);
if (IsActionNode(visitedNodeId))
{
((Action*)pCurrNode)->Abort(*g_Game);
}
LogWarning("MEMORY LEAK detected, should delete plan node[%d]", visitedNodeId);
// deleting currNode crashes the execution history logic, should fix
m_pOlcbpPlan->RemoveNode(visitedNodeId);
m_nodeData.erase(visitedNodeId);
delete pCurrNode;
}
// 4. Since there is no plan destroyed, fast return with false
if (visitedNodes.empty())
return false;
else
{
// 4. Since the plan structure changed, raise the flag
m_planStructureChangedThisFrame = true;
return true;
}
}
void OnlinePlanExpansionExecution::CoverFailedGoals()
{
IOlcbpPlan::NodeQueue Q;
IOlcbpPlan::NodeID currNodeId;
IOlcbpPlan::NodeSerializedSet planRoots;
IOlcbpPlan::NodeSet visitedNodes;
IOlcbpPlan::NodeSet toCover;
_ASSERTE(m_planRootNodeId != IOlcbpPlan::NullNodeID);
Q.push(m_planRootNodeId);
visitedNodes.insert(m_planRootNodeId);
while (!Q.empty())
{
currNodeId = Q.front();
Q.pop();
if (!m_pOlcbpPlan->Contains(currNodeId))
{
LogWarning("A non existing node was there in the update queue, skipping it");
continue;
}
for (auto childNodeId : m_pOlcbpPlan->GetAdjacentNodes(currNodeId))
{
if (visitedNodes.count(childNodeId) == 0)
{
if (IsGoalNode(childNodeId) && IsNodeDone(childNodeId))
{
auto goalNode = m_pOlcbpPlan->GetNode(childNodeId);
if (m_coverGoals.count(childNodeId) == 0 &&
!goalNode->SuccessConditionsSatisfied(*g_Game) &&
m_backupNodes.count(childNodeId) == 0)
{
m_coverGoals.insert(childNodeId);
toCover.insert(childNodeId);
}
}
visitedNodes.insert(childNodeId);
Q.push(childNodeId);
}
}
}
for (auto nodeId : toCover)
{
auto goalNode = m_pOlcbpPlan->GetNode(nodeId);
GoalEx* backupNode = (GoalEx*)goalNode->Clone();
m_backupNodes.insert(MakePair(backupNode->Id(), nodeId));
backupNode->SetState(ESTATE_NotPrepared);
m_pOlcbpPlan->AddNode(backupNode, backupNode->Id());
m_nodeData[backupNode->Id()] = OlcbpPlanNodeData();
m_nodeData[backupNode->Id()].ID = backupNode->Id();
SetNodeSatisfyingGoal(backupNode->Id(), m_planRootNodeId);
LinkNodes(m_planRootNodeId, backupNode->Id());
auto& rootNodeData = GetNodeData(m_planRootNodeId);
rootNodeData.SetWaitOnChildrenCount(rootNodeData.WaitOnChildrenCount + 1);
}
}
void LfhdCbNodeSelector::Select(_Out_ IOlcbpPlan::NodeSet& goalsToUpdate,
_Out_ IOlcbpPlan::NodeDQueue& actionsToUpdate,
_Out_ IOlcbpPlan::NodeSet& snippetsToDestroy)
{
IOlcbpPlan* pPlan = m_pPlanner->Plan();
IOlcbpPlan::NodeQueue actionQ;
IOlcbpPlan::NodeQueue goalQ;
typedef unsigned GoalKey;
map<GoalKey, stack<IOlcbpPlan::NodeID>> goalTable;
// 1st pass: get ready nodes only
m_pPlanner->GetReachableReadyNodes(actionQ, goalQ);
while (!goalQ.empty())
{
IOlcbpPlan::NodeID currentGoalId = goalQ.front();
goalQ.pop();
if (!pPlan->Contains(currentGoalId))
continue;
GoalEx* pCurrGoal = (GoalEx*)pPlan->GetNode(currentGoalId);
GoalKey typeKey = pCurrGoal->Key();
if (!m_pPlanner->IsNodeDone(currentGoalId))
{
IOlcbpPlan::NodeID newActiveGoalId = currentGoalId;
if (goalTable.count(typeKey) == 0)
goalTable[typeKey].push(newActiveGoalId);
else
{
auto& currentOverrideStack = goalTable[typeKey];
IOlcbpPlan::NodeID currentActiveGoalId = currentOverrideStack.top();
IOlcbpPlan::NodeSet ancestors;
stack<IOlcbpPlan::NodeID> newOverrideStack;
m_pPlanner->GetAncestorSatisfyingGoals(newActiveGoalId, ancestors);
newOverrideStack.push(newActiveGoalId);
while (!currentOverrideStack.empty())
{
currentActiveGoalId = currentOverrideStack.top();
// Nodes belonging to my ancestors set should not be destroyed
// and should be kept in order
if (ancestors.count(currentActiveGoalId) != 0)
{
newOverrideStack.push(currentActiveGoalId);
}
else if (pPlan->Contains(currentActiveGoalId) &&
!m_pPlanner->IsNodeOpen(currentActiveGoalId) &&
!m_pPlanner->HasActiveAction(currentActiveGoalId))
{
snippetsToDestroy.insert(currentActiveGoalId);
}
currentOverrideStack.pop();
}
// Push back new stack into the current one in a LIFO order to reverse the original one
while (!newOverrideStack.empty())
{
currentOverrideStack.push(newOverrideStack.top());
newOverrideStack.pop();
}
}
}
}
for (auto& r : goalTable)
{
goalsToUpdate.insert(r.second.top());
}
while (!actionQ.empty())
{
auto actionNodeId = actionQ.front();
bool satisfyingGoalActive = goalsToUpdate.count(m_pPlanner->GetNodeData(actionNodeId).SatisfyingGoal) > 0;
bool satisfyingGoalDone = m_pPlanner->IsNodeDone(m_pPlanner->GetNodeData(actionNodeId).SatisfyingGoal);
if (satisfyingGoalActive || satisfyingGoalDone)
{
actionsToUpdate.push_back(actionNodeId);
}
actionQ.pop();
}
}