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);
}
}
}
}
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;
}
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();
}
}