PlannerTask* Planner::BuildPlan(Task* root)
{
//LogManager.PLanningClearCache();
int depth = this->agent->m_variables.Depth();
BEHAVIAC_UNUSED_VAR(depth);
PlannerTask* rootTask = NULL;
{
AgentState::AgentStateScope scopedState(this->agent->m_variables.Push(true));
this->agent->m_planningTop = this->agent->m_variables.Top();
BEHAVIAC_ASSERT(this->agent->m_planningTop >= 0);
LogPlanBegin(this->agent, root);
rootTask = this->decomposeNode((BehaviorNode*)root, 0);
LogPlanEnd(this->agent, root);
#if !BEHAVIAC_RELEASE
//BehaviorTask::CHECK_BREAKPOINT(this->agent, root, "plan", EActionResult.EAR_all);
#endif
this->agent->m_planningTop = -1;
}
BEHAVIAC_ASSERT(this->agent->m_variables.Depth() == depth);
return rootTask;
}
bool DecoratorIterator::decompose(BehaviorNode* node, PlannerTaskComplex* seqTask, int depth, Planner* planner)
{
bool bOk = false;
DecoratorIterator* pForEach = (DecoratorIterator*)node;
int childCount = pForEach->GetChildrenCount();
BEHAVIAC_ASSERT(childCount == 1);
BEHAVIAC_UNUSED_VAR(childCount);
BehaviorNode* childNode = (BehaviorNode*)pForEach->GetChild(0);
bool bGoOn = true;
int count = 0;
int index = 0;
while (bGoOn)
{
int depth2 = planner->GetAgent()->m_variables.Depth();
BEHAVIAC_UNUSED_VAR(depth2);
{
AgentState::AgentStateScope scopedState(planner->GetAgent()->m_variables.Push(false));
bGoOn = pForEach->IterateIt(planner->GetAgent(), index, count);
if (bGoOn)
{
planner->LogPlanForEachBegin(planner->GetAgent(), pForEach, index, count);
PlannerTask* childTask = planner->decomposeNode(childNode, depth);
planner->LogPlanForEachEnd(planner->GetAgent(), pForEach, index, count, childTask != NULL ? "success" : "failure");
if (childTask != NULL)
{
BEHAVIAC_ASSERT(PlannerTaskIterator::DynamicCast(seqTask) != 0);
PlannerTaskIterator* pForEachTask = (PlannerTaskIterator*)seqTask;
pForEachTask->SetIndex(index);
seqTask->AddChild(childTask);
bOk = true;
break;
}
index++;
}
BEHAVIAC_ASSERT(planner->GetAgent()->m_variables.Depth() == depth2);
}
}
return bOk;
}
PlannerTask* Planner::decomposeTask(Task* task, int depth)
{
uint32_t methodsCount = task->GetChildrenCount();
if (methodsCount == 0)
{
return NULL;
}
int depth1 = this->agent->m_variables.Depth();
BEHAVIAC_UNUSED_VAR(depth1);
PlannerTask* methodTask = NULL;
for (uint32_t i = 0; i < methodsCount; i++)
{
BehaviorNode* method = (BehaviorNode*)task->GetChild(i);
BEHAVIAC_ASSERT(Method::DynamicCast(method) != 0);
BEHAVIAC_UNUSED_VAR(method);
int depth2 = this->agent->m_variables.Depth();
BEHAVIAC_UNUSED_VAR(depth2);
{
AgentState::AgentStateScope scopedState(this->agent->m_variables.Push(false));
LogPlanMethodBegin(this->agent, method);
methodTask = this->decomposeNode(method, depth + 1);
LogPlanMethodEnd(this->agent, method, methodTask != NULL ? "success" : "failure");
if (methodTask != NULL)
{
// succeeded
break;
}
}
BEHAVIAC_ASSERT(this->agent->m_variables.Depth() == depth2);
}
BEHAVIAC_ASSERT(this->agent->m_variables.Depth() == depth1);
return methodTask;
}
bool ReferencedBehavior::decompose(BehaviorNode* node, PlannerTaskComplex* seqTask, int depth, Planner* planner)
{
bool bOk = false;
ReferencedBehavior* taskSubTree = (ReferencedBehavior*)node;// as ReferencedBehavior;
BEHAVIAC_ASSERT(taskSubTree != 0);
int depth2 = planner->GetAgent()->m_variables.Depth();
BEHAVIAC_UNUSED_VAR(depth2);
{
AgentState::AgentStateScope scopedState(planner->GetAgent()->m_variables.Push(false));
//planner.agent.Variables.Log(planner.agent, true);
taskSubTree->SetTaskParams(planner->GetAgent());
Task* task = taskSubTree->RootTaskNode();
if (task != 0)
{
planner->LogPlanReferenceTreeEnter(planner->GetAgent(), taskSubTree);
const BehaviorNode* tree = task->GetParent();
tree->InstantiatePars(planner->GetAgent());
PlannerTask* childTask = planner->decomposeNode(task, depth);
if (childTask != 0)
{
seqTask->AddChild(childTask);
bOk = true;
}
tree->UnInstantiatePars(planner->GetAgent());
planner->LogPlanReferenceTreeExit(planner->GetAgent(), taskSubTree);
BEHAVIAC_ASSERT(true);
}
}
BEHAVIAC_ASSERT(planner->GetAgent()->m_variables.Depth() == depth2);
return bOk;
}
