virtual BehaviorTask* CreateTask() const
{
BehaviorTask* pTask = BEHAVIAC_NEW SelectorProbabilityTask();
pTask->Init(this);
return pTask;
}
EBTStatus PlannerTaskReference::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(childStatus);
BEHAVIAC_ASSERT(ReferencedBehavior::DynamicCast(this->m_node) != 0);
//BEHAVIAC_ASSERT(this->m_node is ReferencedBehavior);
ReferencedBehavior* pNode = (ReferencedBehavior*)this->m_node;
//ReferencedBehavior pNode = this->m_node as ReferencedBehavior;
BEHAVIAC_ASSERT(pNode != NULL);
EBTStatus status = BT_RUNNING;
//pNode->SetTaskParams(pAgent);
if (pNode->RootTaskNode() == NULL)
{
status = this->m_subTree->exec(pAgent);
}
else
{
#if !BEHAVIAC_RELEASE
if (!_logged)
{
pAgent->LogJumpTree(pNode->GetReferencedTree());
_logged = true;
}
#endif
BEHAVIAC_ASSERT(this->m_children.size() == 1);
BehaviorTask* c = this->m_children[0];
status = c->exec(pAgent);
}
return status;
}
virtual BehaviorTask* CreateTask() const
{
BehaviorTask* pTask = BEHAVIAC_NEW DecoratorWeightTask();
pTask->Init(this);
return pTask;
}
EBTStatus SelectorStochasticTask::update(Agent* pAgent, EBTStatus childStatus)
{
bool bFirst = true;
BEHAVIAC_ASSERT(this->m_activeChildIndex < (int)this->m_children.size());
// Keep going until a child behavior says its running.
for (;;)
{
EBTStatus s = childStatus;
if (!bFirst || s == BT_RUNNING)
{
uint32_t childIndex = this->m_set[this->m_activeChildIndex];
BehaviorTask* pBehavior = this->m_children[childIndex];
s = pBehavior->exec(pAgent);
}
bFirst = false;
// If the child succeeds, or keeps running, do the same.
if (s != BT_FAILURE)
{
return s;
}
// Hit the end of the array, job done!
++this->m_activeChildIndex;
if (this->m_activeChildIndex >= (int)this->m_children.size())
{
return BT_FAILURE;
}
}
}
EBTStatus WithPreconditionTask::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(pAgent);
BEHAVIAC_UNUSED_VAR(childStatus);
BehaviorTask* pParent = this->GetParent();
BEHAVIAC_UNUSED_VAR(pParent);
BEHAVIAC_ASSERT(SelectorLoopTask::DynamicCast(pParent));
BEHAVIAC_ASSERT(this->m_children.size() == 2);
if (this->m_bIsUpdatePrecondition)
{
BehaviorTask* precond = this->m_children[0];
EBTStatus s = precond->exec(pAgent, childStatus);
return s;
}
else
{
BehaviorTask* action = this->m_children[1];
EBTStatus s = action->exec(pAgent, childStatus);
return s;
}
}
EBTStatus PlannerTaskLoop::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(childStatus);
BEHAVIAC_ASSERT(DecoratorLoop::DynamicCast(this->m_node) != 0);
// DecoratorLoop* node = (DecoratorLoop*)this->m_node;
BEHAVIAC_ASSERT(this->m_children.size() == 1);
BehaviorTask* c = this->m_children[0];
EBTStatus s = c->exec(pAgent);
BEHAVIAC_UNUSED_VAR(s);
if (this->m_n > 0)
{
this->m_n--;
if (this->m_n == 0)
{
return BT_SUCCESS;
}
return BT_RUNNING;
}
if (this->m_n == -1)
{
return BT_RUNNING;
}
BEHAVIAC_ASSERT(this->m_n == 0);
return BT_SUCCESS;
}
void CompositeTask::load(ISerializableNode* node)
{
super::load(node);
if (this->m_status != BT_INVALID)
{
CSerializationID attrId("activeChildIndex");
behaviac::string attrStr;
node->getAttr(attrId, attrStr);
StringUtils::FromString(attrStr.c_str(), this->m_activeChildIndex);
//#if !BEHAVIAC_RELEASE
// if (this->m_activeChildIndex != uint32_t(-1))
// {
// BEHAVIAC_ASSERT(this->m_currentTask == this->m_children[this->m_activeChildIndex]);
// }
// else
// {
// BEHAVIAC_ASSERT(this->m_currentTask == 0);
// }
//#endif
BehaviorTasks_t::size_type count = this->m_children.size();
BEHAVIAC_ASSERT(count == (BehaviorTasks_t::size_type)node->getChildCount());
for (BehaviorTasks_t::size_type i = 0; i < count; ++i)
{
BehaviorTask* childTask = this->m_children[i];
//CSerializationID nodeId("node");
ISerializableNode* chidlNode = node->getChild(i);
childTask->load(chidlNode);
}
}
}
BehaviorTask* BehaviorNode::CreateAndInitTask() const
{
BehaviorTask* pTask = this->createTask();
BEHAVIAC_ASSERT(pTask);
pTask->Init(this);
return pTask;
}
bool BehaviorTask::CheckParentUpdatePreconditions(Agent* pAgent)
{
bool bValid = true;
if (this->m_bHasManagingParent)
{
bool bHasManagingParent = false;
const int kMaxParentsCount = 512;
int parentsCount = 0;
BehaviorTask* parents[kMaxParentsCount];
BranchTask* parentBranch = this->GetParent();
parents[parentsCount++] = this;
//back track the parents until the managing branch
while (parentBranch != 0)
{
BEHAVIAC_ASSERT(parentsCount < kMaxParentsCount, "weird tree!");
parents[parentsCount++] = parentBranch;
if (parentBranch->GetCurrentTask() == this)
{
//BEHAVIAC_ASSERT(parentBranch->GetNode()->IsManagingChildrenAsSubTrees());
bHasManagingParent = true;
break;
}
parentBranch = parentBranch->GetParent();
}
if (bHasManagingParent)
{
for (int i = parentsCount - 1; i >= 0; --i)
{
BehaviorTask* pb = parents[i];
bValid = pb->CheckPreconditions(pAgent, true);
if (!bValid)
{
break;
}
}
}
}
else
{
bValid = this->CheckPreconditions(pAgent, true);
}
return bValid;
}
EBTStatus SelectorProbabilityTask::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_ASSERT(SelectorProbability::DynamicCast(this->GetNode()));
const SelectorProbability* pSelectorProbabilityNode = (const SelectorProbability*)(this->GetNode());
if (childStatus != BT_RUNNING)
{
return childStatus;
}
//check if we've already chosen a node to run
if (this->m_activeChildIndex != CompositeTask::InvalidChildIndex)
{
BehaviorTask* pNode = this->m_children[this->m_activeChildIndex];
EBTStatus status = pNode->exec(pAgent);
return status;
}
BEHAVIAC_ASSERT(this->m_weightingMap.size() == this->m_children.size());
//generate a number between 0 and the sum of the weights
double chosen = this->m_totalSum * GetRandomValue(pSelectorProbabilityNode->m_method, pAgent);
double sum = 0;
for (uint32_t i = 0; i < this->m_children.size() ; ++i)
{
int w = this->m_weightingMap[i];
sum += w;
if (w > 0 && sum >= chosen) //execute this node
{
BehaviorTask* pChild = this->m_children[i];
EBTStatus status = pChild->exec(pAgent);
if (status == BT_RUNNING)
{
this->m_activeChildIndex = i;
}
else
{
this->m_activeChildIndex = CompositeTask::InvalidChildIndex;
}
return status;
}
}
return BT_FAILURE;
}
EBTStatus FSMTask::UpdateFSM(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_ASSERT(this->m_node != 0);
BEHAVIAC_ASSERT(this->m_currentNodeId != -1);
EBTStatus status = childStatus;
bool bLoop = true;
#if !BEHAVIAC_RELEASE
const int kMaxCount = 10;
behaviac::map<int, int> state_update_count;
#endif//#if !BEHAVIAC_RELEASE
while (bLoop)
{
BehaviorTask* currentState = this->GetChildById(this->m_currentNodeId);
//BEHAVIAC_ASSERT(currentState->GetNextStateId() == -1, "m_nextStateId is not reset to -1 in onenter");
currentState->exec(pAgent);
if (StateTask::DynamicCast(currentState) != 0)
{
StateTask* pStateTask = (StateTask*)currentState;
if (pStateTask->IsEndState())
{
return BT_SUCCESS;
}
}
int nextStateId = currentState->GetNextStateId();
if (nextStateId < 0) // don't know why, the nextStateID might be -2147483648, so change the condition
{
//if not transitioned, don't go on next state, to exit
bLoop = false;
}
else
{
#if !BEHAVIAC_RELEASE
state_update_count[this->m_currentNodeId]++;
if (state_update_count[this->m_currentNodeId] > kMaxCount) {
behaviac::string treeName = GetParentTreeName(pAgent, this->GetNode());
BEHAVIAC_LOGERROR("%s might be updating an FSM('%s') endlessly, possibly a dead loop, please redesign it!", pAgent->GetName().c_str(), treeName.c_str());
BEHAVIAC_ASSERT(false);
}
#endif
//if transitioned, go on next state
this->m_currentNodeId = nextStateId;
}
}
return status;
}
EBTStatus PlannerTaskTask::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(childStatus);
//BEHAVIAC_ASSERT(Task::Da);
// Task* pNode = (Task*) this->m_node;// as Task;
BEHAVIAC_ASSERT(this->m_children.size() == 1);
BehaviorTask* c = this->m_children[0];
EBTStatus s = c->exec(pAgent);
return s;
}
EBTStatus PlannerTaskIterator::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(childStatus);
BEHAVIAC_ASSERT(DecoratorIterator::DynamicCast(this->m_node) != 0);
// DecoratorIterator* pNode = (DecoratorIterator*)this->m_node;
BEHAVIAC_ASSERT(this->m_children.size() == 1);
BehaviorTask* c = this->m_children[0];
EBTStatus s = c->exec(pAgent);
return s;
}
BehaviorTask* CompositeTask::GetChildById(int nodeId) const
{
if (this->m_children.size() > 0)
{
for (unsigned int i = 0; i < this->m_children.size(); ++i)
{
BehaviorTask* c = this->m_children[i];
if (c->GetId() == nodeId)
{
return c;
}
}
}
return 0;
}
EBTStatus SelectorTask::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(pAgent);
bool bFirst = true;
BEHAVIAC_ASSERT(this->m_activeChildIndex < this->m_children.size());
// Keep going until a child behavior says its running.
for (;;)
{
EBTStatus s = childStatus;
if (!bFirst || s == BT_RUNNING)
{
BEHAVIAC_ASSERT(this->m_status == BT_INVALID ||
this->m_status == BT_RUNNING);
BehaviorTask* pBehavior = this->m_children[this->m_activeChildIndex];
s = pBehavior->exec(pAgent);
}
bFirst = false;
// If the child succeeds, or keeps running, do the same.
if (s != BT_FAILURE)
{
return s;
}
// Hit the end of the array, job done!
++this->m_activeChildIndex;
if (this->m_activeChildIndex >= this->m_children.size())
{
return BT_FAILURE;
}
if (!this->CheckPredicates(pAgent))
{
return BT_FAILURE;
}
}
}
void CompositeTask::save(ISerializableNode* node) const
{
super::save(node);
if (this->m_status != BT_INVALID)
{
CSerializationID attrId("activeChildIndex");
node->setAttr(attrId, this->m_activeChildIndex);
BehaviorTasks_t::size_type count = this->m_children.size();
for (BehaviorTasks_t::size_type i = 0; i < count; ++i)
{
BehaviorTask* childTask = this->m_children[i];
CSerializationID nodeId("node");
ISerializableNode* chidlNode = node->newChild(nodeId);
childTask->save(chidlNode);
}
}
}
EBTStatus IfElseTask::update(Agent* pAgent, EBTStatus childStatus) {
BEHAVIAC_ASSERT(childStatus != BT_INVALID);
BEHAVIAC_ASSERT(this->m_children.size() == 3);
EBTStatus conditionResult = BT_INVALID;
if (childStatus == BT_SUCCESS || childStatus == BT_FAILURE) {
// if the condition returned running then ended with childStatus
conditionResult = childStatus;
}
if (this->m_activeChildIndex == CompositeTask::InvalidChildIndex) {
BehaviorTask* pCondition = this->m_children[0];
if (conditionResult == BT_INVALID) {
// condition has not been checked
conditionResult = pCondition->exec(pAgent);
}
if (conditionResult == BT_SUCCESS) {
// if
this->m_activeChildIndex = 1;
} else if (conditionResult == BT_FAILURE) {
// else
this->m_activeChildIndex = 2;
}
}
else {
return childStatus;
}
if (this->m_activeChildIndex != CompositeTask::InvalidChildIndex) {
BehaviorTask* pBehavior = this->m_children[this->m_activeChildIndex];
EBTStatus s = pBehavior->exec(pAgent);
return s;
}
return BT_RUNNING;
}
EBTStatus TaskTask::update(Agent* pAgent, EBTStatus childStatus) {
EBTStatus status = childStatus;
if (childStatus == BT_RUNNING) {
BEHAVIAC_ASSERT(Task::DynamicCast(this->GetNode()) != 0, "node is not an Method");
Task* pTaskNode = (Task*)(this->GetNode());
if (pTaskNode->IsHTN()) {
#if BEHAVIAC_USE_HTN
status = _planner->Update();
#endif //BEHAVIAC_USE_HTN
} else {
BEHAVIAC_ASSERT(this->m_children.size() == 1);
BehaviorTask* c = this->m_children[0];
status = c->exec(pAgent);
}
} else {
BEHAVIAC_ASSERT(true);
}
return status;
}
void CompositeTask::copyto(BehaviorTask* target) const
{
super::copyto(target);
BEHAVIAC_ASSERT(CompositeTask::DynamicCast(target));
CompositeTask* ttask = (CompositeTask*)target;
ttask->m_activeChildIndex = this->m_activeChildIndex;
BEHAVIAC_ASSERT(this->m_children.size() > 0);
BEHAVIAC_ASSERT(this->m_children.size() == ttask->m_children.size());
BehaviorTasks_t::size_type count = this->m_children.size();
for (BehaviorTasks_t::size_type i = 0; i < count; ++i)
{
BehaviorTask* childTask = this->m_children[i];
BehaviorTask* childTTask = ttask->m_children[i];
childTask->copyto(childTTask);
}
}
EBTStatus Selector::SelectorUpdate(Agent* pAgent, EBTStatus childStatus, int& activeChildIndex, behaviac::vector<BehaviorTask*>& children)
{
EBTStatus s = childStatus;
int childSize = (int)children.size();
for (;;)
{
BEHAVIAC_ASSERT(activeChildIndex < childSize);
if (s == BT_RUNNING)
{
BehaviorTask* pBehavior = children[activeChildIndex];
if (this->CheckIfInterrupted(pAgent))
{
return BT_FAILURE;
}
s = pBehavior->exec(pAgent);
}
// If the child fails, or keeps running, do the same.
if (s != BT_FAILURE)
{
return s;
}
// Hit the end of the array, job done!
++activeChildIndex;
if (activeChildIndex >= childSize)
{
return BT_FAILURE;
}
s = BT_RUNNING;
}
}
EBTStatus SelectorLoopTask::update(Agent* pAgent, EBTStatus childStatus)
{
BEHAVIAC_UNUSED_VAR(pAgent);
BEHAVIAC_UNUSED_VAR(childStatus);
//checking the preconditions and take the first action tree
uint32_t index = (uint32_t)-1;
for (uint32_t i = 0; i < this->m_children.size(); ++i)
{
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
BehaviorTask* pPrecondTree = pSubTree->PreconditionNode();
EBTStatus status = pPrecondTree->exec(pAgent);
if (status == BT_SUCCESS)
{
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (uint32_t)-1)
{
if (this->m_activeChildIndex != CompositeTask::InvalidChildIndex)
{
WithPreconditionTask* pCurrentSubTree = (WithPreconditionTask*)this->m_children[this->m_activeChildIndex];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pCurrentSubTree));
BehaviorTask* pCurrentActionTree = pCurrentSubTree->Action();
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[index];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
BehaviorTask* pActionTree = pSubTree->Action();
if (pCurrentActionTree != pActionTree)
{
pCurrentActionTree->abort(pAgent);
pCurrentSubTree->abort(pAgent);
this->m_activeChildIndex = index;
}
}
for (uint32_t i = 0; i < this->m_children.size(); ++i)
{
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
//dummy ticking so that the designer knows it is updating
EBTStatus statusDummy = pSubTree->exec(pAgent);
BEHAVIAC_ASSERT(statusDummy == BT_RUNNING);
BEHAVIAC_UNUSED_VAR(statusDummy);
//when i < index, the precondition is failure, so to continue
if (i < index)
{
continue;
}
if (i > index)
{
BehaviorTask* pPreconditionTree = pSubTree->PreconditionNode();
EBTStatus status = pPreconditionTree->exec(pAgent);
//to search for the first one whose precondition is success
if (status != BT_SUCCESS)
{
continue;
}
}
BehaviorTask* pActionTree = pSubTree->Action();
EBTStatus status = pActionTree->exec(pAgent);
if (status == BT_RUNNING)
{
this->m_activeChildIndex = index;
}
else
{
pActionTree->reset(pAgent);
if (status == BT_FAILURE || status == BT_INVALID)
{
//THE ACTION failed, to try the next one
continue;
}
}
BEHAVIAC_ASSERT(status == BT_RUNNING || status == BT_SUCCESS);
return status;
}
}
return BT_FAILURE;
}
EBTStatus SelectorLoopTask::update(Agent* pAgent, EBTStatus childStatus) {
BEHAVIAC_UNUSED_VAR(pAgent);
BEHAVIAC_UNUSED_VAR(childStatus);
int idx = -1;
if (childStatus != BT_RUNNING) {
BEHAVIAC_ASSERT(this->m_activeChildIndex != CompositeTask::InvalidChildIndex);
if (childStatus == BT_SUCCESS) {
return BT_SUCCESS;
} else if (childStatus == BT_FAILURE) {
//the next for starts from (idx + 1), so that it starts from next one after this failed one
idx = this->m_activeChildIndex;
} else {
BEHAVIAC_ASSERT(false);
}
}
//checking the preconditions and take the first action tree
uint32_t index = (uint32_t) - 1;
for (uint32_t i = (idx + 1); i < this->m_children.size(); ++i) {
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
BehaviorTask* pre = pSubTree->PreconditionNode();
EBTStatus status = pre->exec(pAgent);
if (status == BT_SUCCESS) {
index = i;
break;
}
}
//clean up the current ticking action tree
if (index != (uint32_t) - 1) {
if (this->m_activeChildIndex != CompositeTask::InvalidChildIndex &&
this->m_activeChildIndex != (int)index) {
WithPreconditionTask* pCurrentSubTree = (WithPreconditionTask*)this->m_children[this->m_activeChildIndex];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pCurrentSubTree));
BehaviorTask* action = pCurrentSubTree->ActionNode();
BEHAVIAC_UNUSED_VAR(action);
pCurrentSubTree->abort(pAgent);
}
for (uint32_t i = index; i < this->m_children.size(); ++i) {
WithPreconditionTask* pSubTree = (WithPreconditionTask*)this->m_children[i];
BEHAVIAC_ASSERT(WithPreconditionTask::DynamicCast(pSubTree));
if (i > index) {
BehaviorTask* pre = pSubTree->PreconditionNode();
EBTStatus status = pre->exec(pAgent);
//to search for the first one whose precondition is success
if (status != BT_SUCCESS) {
continue;
}
}
BehaviorTask* action = pSubTree->ActionNode();
EBTStatus s = action->exec(pAgent);
if (s == BT_RUNNING) {
this->m_activeChildIndex = i;
pSubTree->m_status = BT_RUNNING;
} else {
//pActionTree->reset(pAgent);
pSubTree->m_status = s;
if (s == BT_FAILURE) {
//THE ACTION failed, to try the next one
continue;
}
}
BEHAVIAC_ASSERT(s == BT_RUNNING || s == BT_SUCCESS);
return s;
}
}
return BT_FAILURE;
}
