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ExecutableNode.cs
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ExecutableNode.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using Schema.Utilities;
using UnityEngine;
namespace Schema.Internal
{
public class ExecutableNode
{
public enum ExecutableNodeType
{
Root,
Flow,
Action,
Invalid
}
private readonly Dictionary<int, object[]> conditionalMemory = new Dictionary<int, object[]>();
private readonly int[] dynamicConditionals;
private readonly Dictionary<int, bool> lastConditionalStatus = new Dictionary<int, bool>();
private readonly Dictionary<int, object[]> modifierMemory = new Dictionary<int, object[]>();
public readonly Node node;
private readonly Dictionary<int, object> nodeMemory = new Dictionary<int, object>();
public ExecutableNode(Node node)
{
if (!node)
throw new ArgumentNullException("node", "Node cannot be null!");
this.node = node;
Index = node.priority - 1;
Children = node.children
.Select(x => x.priority - 1)
.OrderBy(x => x)
.ToArray();
Breadth = GetBreadth(node);
NodeType = GetNodeType(node);
dynamicConditionals = node.conditionals
.Where(x => x.abortsType != Conditional.AbortsType.None)
.Select(x => Array.IndexOf(node.conditionals, x))
.ToArray();
DynamicConditionalCount = dynamicConditionals.Length;
if (node.parent)
{
RelativeIndex = Array.IndexOf(node.parent.children, node);
Parent = node.parent.priority - 1;
}
else
{
RelativeIndex = -1;
Parent = -1;
}
}
public int Index { get; }
public int RelativeIndex { get; }
public int DynamicConditionalCount { get; }
public int Parent { get; }
public int[] Children { get; }
public int Breadth { get; }
public ExecutableNodeType NodeType { get; }
public void Initialize(ExecutionContext context)
{
int id = context.agent.GetInstanceID();
if (!nodeMemory.ContainsKey(id))
{
Type memType = node.GetType().GetMemoryType();
nodeMemory[id] = memType == null ? null : Activator.CreateInstance(memType);
}
if (!conditionalMemory.ContainsKey(id))
{
conditionalMemory[id] = new object[node.conditionals.Length];
for (int i = 0; i < node.conditionals.Length; i++)
{
Type memType = node.conditionals[i].GetType().GetMemoryType();
conditionalMemory[id][i] = memType == null ? null : Activator.CreateInstance(memType);
}
}
if (!modifierMemory.ContainsKey(id))
{
modifierMemory[id] = new object[node.modifiers.Length];
for (int i = 0; i < node.modifiers.Length; i++)
{
Type memType = node.modifiers[i].GetType().GetMemoryType();
modifierMemory[id][i] = memType == null ? null : Activator.CreateInstance(memType);
}
}
switch (NodeType)
{
case ExecutableNodeType.Root:
break;
case ExecutableNodeType.Flow:
InitializeFlow(id, context.agent);
break;
case ExecutableNodeType.Action:
InitializeAction(id, context.agent);
break;
case ExecutableNodeType.Invalid:
default:
throw new Exception("Node is not of a valid type!");
}
}
public bool? GetLastConditionalStatus(int index)
{
if (!lastConditionalStatus.ContainsKey(index))
return null;
return lastConditionalStatus[index];
}
private void InitializeFlow(int id, SchemaAgent agent)
{
Flow flow = node as Flow;
if (flow == null)
throw new Exception("Node is not of type Flow but the initialization method was run anyways.");
flow.OnInitialize(nodeMemory[id], agent);
for (int i = 0; i < flow.modifiers.Length; i++)
flow.modifiers[i].OnInitialize(modifierMemory[id][i], agent);
for (int i = 0; i < flow.conditionals.Length; i++)
flow.conditionals[i].OnInitialize(conditionalMemory[id][i], agent);
}
private void InitializeAction(int id, SchemaAgent agent)
{
Action action = node as Action;
if (action == null)
throw new Exception("Node is not of type Action but the initialization method was run anyways.");
action.OnInitialize(nodeMemory[id], agent);
for (int i = 0; i < action.modifiers.Length; i++)
action.modifiers[i].OnInitialize(modifierMemory[id][i], agent);
for (int i = 0; i < action.conditionals.Length; i++)
action.conditionals[i].OnInitialize(conditionalMemory[id][i], agent);
}
public bool RunDynamicConditionals(ExecutionContext context)
{
Node current = context.node.node;
int id = context.agent.GetInstanceID();
foreach (int j in dynamicConditionals)
{
Conditional c = node.conditionals[j];
bool isSub = current.IsSubTreeOf(node);
bool isPriority = current.IsLowerPriority(node);
switch (c.abortsType)
{
case Conditional.AbortsType.Self when !isSub:
case Conditional.AbortsType.LowerPriority when !isPriority:
case Conditional.AbortsType.Both when !isPriority && !isSub:
continue;
}
bool status = c.Evaluate(conditionalMemory[id][j], context.agent);
status = c.invert ? !status : status;
if (!lastConditionalStatus.TryGetValue(j, out bool last)) last = status;
lastConditionalStatus[j] = status;
if (last == status) continue;
switch (c.abortsWhen)
{
case Conditional.AbortsWhen.OnSuccess when status:
case Conditional.AbortsWhen.OnFailure when !status:
case Conditional.AbortsWhen.Both:
return true;
}
}
return false;
}
public int Execute(ExecutionContext context)
{
int id = context.agent.GetInstanceID();
if (!nodeMemory.ContainsKey(id))
{
Debug.LogFormat(
"Agent {0} does not have a memory instance. This means that the initialization method was not run for this agent.",
context.agent.name);
return Index + 1;
}
int i;
switch (NodeType)
{
case ExecutableNodeType.Root:
i = DoRoot(context);
break;
case ExecutableNodeType.Flow:
i = DoFlow(id, context);
break;
case ExecutableNodeType.Action:
i = DoAction(id, context, context.forceActionConditionalEvaluation);
break;
case ExecutableNodeType.Invalid:
default:
throw new Exception("Node is not of a valid type!");
}
return i;
}
private int DoRoot(ExecutionContext context)
{
if (context.last != null)
{
if (!context.agent.restartWhenComplete)
{
context.agent.Stop();
}
else
{
if (context.agent.treePauseTime > 0f)
context.agent.Pause(context.agent.treePauseTime);
if (context.agent.resetBlackboardOnRestart)
context.agent.tree.blackboard.Reset();
}
}
context.status = NodeStatus.Success;
return Index + 1;
}
private int DoFlow(int id, ExecutionContext context)
{
Flow flow = node as Flow;
if (flow == null)
throw new Exception("Node is not of type Flow but the execution method was run anyways.");
bool run = DoConditionalStack(id, context);
if (!run)
{
context.status = NodeStatus.Failure;
return Parent;
}
int diff = context.last.Index - Index;
if (diff >= Breadth || diff < 0) flow.OnFlowEnter(nodeMemory[id], context.agent);
int caller = -1;
if (Children.Contains(context.last.Index))
caller = context.last.RelativeIndex;
int i = flow.Tick(nodeMemory[id], context.status, caller);
int? child = i >= 0 && i < Children.Length ? Children[i] : null;
Modifier.Message message = Modifier.Message.None;
for (int j = 0; j < flow.modifiers.Length; j++)
message = flow.modifiers[j].Modify(modifierMemory[id][j], context.agent, context.status);
if (message == Modifier.Message.ForceFailure)
context.status = NodeStatus.Failure;
else if (message == Modifier.Message.ForceSuccess)
context.status = NodeStatus.Success;
bool repeat = message == Modifier.Message.Repeat;
if (repeat)
return Index;
if (child == null)
{
flow.OnFlowExit(nodeMemory[id], context.agent);
return Parent;
}
return child.Value;
}
private int DoAction(int id, ExecutionContext context, bool forceConditionalEvaluation)
{
Action action = node as Action;
if (action == null)
throw new Exception("Node is not of type Action but the execution method was run anyways.");
bool run = true;
if (context.last.Index != Index || forceConditionalEvaluation)
run = DoConditionalStack(id, context);
if (!run)
{
context.status = NodeStatus.Failure;
return Parent;
}
if (context.last.Index != Index)
action.OnNodeEnter(nodeMemory[id], context.agent);
context.status = action.Tick(nodeMemory[id], context.agent);
switch (context.status)
{
case NodeStatus.Running:
return Index;
case NodeStatus.Success:
case NodeStatus.Failure:
default:
Modifier.Message message = Modifier.Message.None;
for (int j = 0; j < action.modifiers.Length; j++)
message = action.modifiers[j].Modify(modifierMemory[id][j], context.agent, context.status);
if (message == Modifier.Message.ForceFailure)
context.status = NodeStatus.Failure;
else if (message == Modifier.Message.ForceSuccess)
context.status = NodeStatus.Success;
bool repeat = message == Modifier.Message.Repeat;
if (repeat)
return Index;
action.OnNodeExit(nodeMemory[id], context.agent);
return Parent;
}
}
private bool DoConditionalStack(int id, ExecutionContext context)
{
bool run = true;
for (int j = 0; j < node.conditionals.Length; j++)
{
run = node.conditionals[j].Evaluate(conditionalMemory[id][j], context.agent);
run = node.conditionals[j].invert ? !run : run;
lastConditionalStatus[j] = run;
if (!run)
break;
}
return run;
}
private static ExecutableNodeType GetNodeType(Node node)
{
return node switch
{
Root => ExecutableNodeType.Root,
Flow => ExecutableNodeType.Flow,
Action => ExecutableNodeType.Action,
_ => ExecutableNodeType.Invalid
};
}
private static int GetBreadth(Node node)
{
int count = 1;
for (int i = 0; i < node.children.Length; i++)
count += GetBreadth(node.children[i]);
return count;
}
}
}