//----------------------------------------------------------------------------------------------
void GraphScene::ConnectGraphNodes()
{
if(m_pGraph == nullptr)
return;
IOlcbpPlan::NodeSerializedSet nodes = m_pGraph->GetNodes();
_ASSERTE(nodes.size() == m_pGraph->Size());
for (NodeID srcNodeId : nodes)
{
_ASSERTE(nodes.size() == m_pGraph->Size());
IOlcbpPlan::NodeSerializedSet adjNodes = m_pGraph->GetAdjacentNodes(srcNodeId);
for (NodeID destNodeId : adjNodes)
{
if (m_nodeIdToNodeViewMap.count(srcNodeId) == 0 ||
m_nodeIdToNodeViewMap.count(destNodeId) == 0)
{
LogInfo("Invalid plan links:\n%s", m_pGraph->ToString().c_str());
_ASSERTE(!"Invalid plan links detected");
}
GraphNodeView* pStart = m_nodeIdToNodeViewMap[srcNodeId];
GraphNodeView* pEnd = m_nodeIdToNodeViewMap[destNodeId];
ConnectNodeViews(pStart, pEnd);
}
}
}
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 IStrategizer::GraphScene::ComputeGraphLevels()
{
IOlcbpPlan::NodeSerializedSet roots = m_pGraph->GetOrphanNodes();
IOlcbpPlan::NodeSerializedSet visitedNodes;
typedef unsigned NodeLevel;
deque< pair<NodeID, NodeLevel> > Q;
for (NodeID nodeId : roots)
{
Q.push_back(make_pair(nodeId, 0));
visitedNodes.insert(nodeId);
}
for(unsigned i = 0; i < m_graphLevels.size(); ++i)
m_graphLevels[i].clear();
m_graphLevels.clear();
while(!Q.empty())
{
NodeID nodeId = Q.front().first;
NodeLevel nodeLevel = Q.front().second;
Q.pop_front();
if(nodeLevel >= m_graphLevels.size())
m_graphLevels.resize(nodeLevel + 1);
m_graphLevels[nodeLevel].push_back(nodeId);
IOlcbpPlan::NodeSerializedSet children = m_pGraph->GetAdjacentNodes(nodeId);
for (NodeID nodeId : children)
{
if(visitedNodes.count(nodeId) == 0)
{
visitedNodes.insert(nodeId);
Q.push_back(make_pair(nodeId, nodeLevel + 1));
}
}
}
}
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());
}
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 IStrategizer::GraphScene::ComputeGraphLevels()
{
IOlcbpPlan::NodeSerializedSet roots = m_pGraph->GetOrphanNodes();
IOlcbpPlan::NodeSerializedSet visitedNodes;
typedef unsigned NodeLevel;
deque< pair<NodeID, NodeLevel> > Q;
for (NodeID nodeId : roots)
{
Q.push_back(make_pair(nodeId, 0));
visitedNodes.insert(nodeId);
}
for(unsigned i = 0; i < m_graphLevels.size(); ++i)
m_graphLevels[i].clear();
m_graphLevels.clear();
list<NodeID> orderedCaseChildren;
list<NodeID> orderedSnippetChildren;
while(!Q.empty())
{
NodeID currNodeId = Q.front().first;
NodeLevel nodeLevel = Q.front().second;
Q.pop_front();
if(nodeLevel >= m_graphLevels.size())
m_graphLevels.resize(nodeLevel + 1);
m_graphLevels[nodeLevel].push_back(currNodeId);
IOlcbpPlan::NodeSerializedSet children = m_pGraph->GetAdjacentNodes(currNodeId);
if (m_pPlanContext != nullptr)
{
orderedCaseChildren.clear();
orderedSnippetChildren.clear();
for (NodeID nodeId : children)
{
if (visitedNodes.count(nodeId) == 0)
{
visitedNodes.insert(nodeId);
if (m_pPlanContext->Data.at(nodeId).SatisfyingGoal != currNodeId)
{
if (IsGoalNode(nodeId))
orderedCaseChildren.push_front(nodeId);
else
orderedCaseChildren.push_back(nodeId);
}
else
{
if (IsGoalNode(nodeId))
orderedSnippetChildren.push_front(nodeId);
else
orderedSnippetChildren.push_back(nodeId);
}
}
}
for (auto nodeId : orderedCaseChildren)
Q.push_back(make_pair(nodeId, nodeLevel + 1));
for (auto nodeId : orderedSnippetChildren)
Q.push_back(make_pair(nodeId, nodeLevel + 1));
}
else
{
for (NodeID nodeId : children)
{
if (visitedNodes.count(nodeId) == 0)
{
visitedNodes.insert(nodeId);
Q.push_back(make_pair(nodeId, nodeLevel + 1));
}
}
}
}
}
