Refactored the Graphiz debugger code to follow the same style of code…

…, removed non-used code in comments, exposed Goal, precond and effects in the ReGoapNode, moved the DebugPlan boolean inside the PlannerSettings, Removed any local information from the pregenerated Debugger cs Updated the unity FSM example with various minor changes, both to the code and the scene - also upgraded the .NET version to 4.6 in Unity (needed for the Graphiz debugger!) Added a bat file to automatically generate PDFs out of Graphiz dot files
luxkun · Apr 22, 2018 · 8922720 · 8922720
1 parent 6163f58
commit 8922720
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Showing 15 changed files with 132 additions and 69 deletions.
diff --git a/ParseRaws.bat b/ParseRaws.bat
@@ -0,0 +1,22 @@
+REM Helper bat file to create ps files with Graphiz's dot
+REM Graphiz must be installed and must be in Windows's PATH, alternatively just put your 'dot.exe' directory in the following var
+
+SET "dotPath="
+REM Change this to the working directory, in Unity, if you place "ReGoap" inside Assets/, it will be '../../PlanDebugger'
+SET "workingPath=../../PlanDebugger/"
+SET "rawPath=Raws"
+SET "resultsPath=PDFs"
+SET "outputType=pdf"
+SET "rawSearch=%rawPath%/*"
+
+SET "currentDir=%cd%"
+
+CD %workingPath%
+ECHO "Changing working path to %workingPath%. Parsing files in %rawPath%. Saving in %resultsPath% with file type '%outputType%'."
+
+MKDIR %resultsPath%
+FOR %%I IN (%rawSearch%) DO %dotPath%dot -T%outputType% %rawPath%/%%I -o %resultsPath%/%%I.pdf
+
+explorer %cd%\%resultsPath%
+
+CD %currentDir%
diff --git a/ParseRaws.bat.meta b/ParseRaws.bat.meta
diff --git a/ReGoap/Core/IReGoapAgent.cs b/ReGoap/Core/IReGoapAgent.cs
@@ -13,7 +13,6 @@ public interface IReGoapAgent<T, W>
         W GetPlanValue(T key);
         void SetPlanValue(T key, W value);
         bool HasPlanValue(T target);
-        bool debugPlan { get; set; }
         // THREAD SAFE
         List<IReGoapGoal<T, W>> GetGoalsSet();
         List<IReGoapAction<T, W>> GetActionsSet();

diff --git a/ReGoap/Planner/AStar.cs b/ReGoap/Planner/AStar.cs
@@ -10,6 +10,9 @@ public class AStar<T>
         private readonly Dictionary<T, INode<T>> stateToNode;
         private readonly Dictionary<T, INode<T>> explored;
         private readonly List<INode<T>> createdNodes;
+        // Debug
+        private bool debugPlan = false;
+        private PlanDebugger debugger;
 
         public AStar(int maxNodesToExpand = 1000)
         {
@@ -28,46 +31,59 @@ void ClearNodes()
             createdNodes.Clear();
         }
 
-        private bool _debugPlan = false;
-        private Assets.ReGoap.Planner.PlanDebugger _debugger;
-
-        private void _DebugPlan(INode<T> node, INode<T> parent)
+        private void DebugPlan(INode<T> node, INode<T> parent)
         {
-            if (!_debugPlan) return;
-            if (null == _debugger)
-                _debugger = new Assets.ReGoap.Planner.PlanDebugger();
-
-            string nodeStr = string.Format("{0} [label=\"GOAL({4}): {5}:\n{1}\nEFFECT:\n{2}\nPRECOND:\n{3}\n\"]", node.GetHashCode(), node.GoalString, node.EffectString, node.PrecondString, node.GetCost(), node.Name);
-            _debugger.AddNode(nodeStr);
+            if (!debugPlan) return;
+            if (debugger == null)
+                debugger = new PlanDebugger();
+
+            string nodeStr = string.Format(@"{0} [label=<
+<table border='0' color='black' fontcolor='#F5F5F5'>
+    <tr> <td colspan='2'><b>{4}</b></td> </tr>
+    <hr/>
+    <tr align='left'> <td border='1' sides='rt'><b>Costs</b></td>           <td border='1' sides='t'><b>g</b>: {1} ; <b>h</b>: {2} ; <b>c</b>: {3}</td> </tr>
+    <tr align='left'> <td border='1' sides='rt'><b>Preconditions</b></td>   <td border='1' sides='t'>{5}</td> </tr>
+    <tr align='left'> <td border='1' sides='rt'><b>Effects</b></td>         <td border='1' sides='t'>{6}</td> </tr>
+    <tr align='left'> <td border='1' sides='rt'><b>Goal</b></td>            <td border='1' sides='t'>{7}</td> </tr>
+</table>
+>]",
+                node.GetHashCode(),
+                node.GetPathCost(), node.GetHeuristicCost(), node.GetCost(),
+                node.Name, node.Preconditions != null ? node.Preconditions.ToString() : "",
+                node.Effects != null ? node.Effects.ToString() : "",
+                node.Goal != null ? node.Goal.ToString() : "");
+            debugger.AddNode(nodeStr);
 
             if (parent != null)
             {
                 string connStr = string.Format("{0} -> {1}", parent.GetHashCode(), node.GetHashCode());
-                _debugger.AddConn(connStr);
+                debugger.AddConn(connStr);
             }
         }
 
-        private void _EndDebugPlan(INode<T> node)
+        private void EndDebugPlan(INode<T> node)
         {
-            if (null != _debugger)
+            if (debugger != null)
             {
                 while (node != null)
-                { //mark success path
-                    string nodeStr = string.Format("{0} [style=filled, color=\"#00FF00\"]", node.GetHashCode());
-                    _debugger.AddNode(nodeStr);
+                {
+                    //mark success path
+                    string nodeStr = string.Format("{0} [style=\"bold\" color=\"darkgreen\"]", node.GetHashCode());
+                    debugger.AddNode(nodeStr);
                     node = node.GetParent();
                 }
 
-                var txt = _debugger.TransformText();
+                var txt = debugger.TransformText();
                 System.IO.Directory.CreateDirectory("PlanDebugger");
-                System.IO.File.WriteAllText(string.Format("PlanDebugger/DebugPlan_{0}.dot", System.DateTime.Now.ToString("HHmmss_ffff")), txt);
-                _debugger.Clear();
+                System.IO.Directory.CreateDirectory("PlanDebugger/Raws");
+                System.IO.File.WriteAllText(string.Format("PlanDebugger/Raws/DebugPlan_{0}.dot", System.DateTime.Now.ToString("HHmmss_ffff")), txt);
+                debugger.Clear();
             }
         }
 
         public INode<T> Run(INode<T> start, T goal, int maxIterations = 100, bool earlyExit = true, bool clearNodes = true, bool debugPlan = false)
         {
-            _debugPlan = debugPlan;
+            this.debugPlan = debugPlan;
 
             frontier.Clear();
             stateToNode.Clear();
@@ -80,17 +96,16 @@ public INode<T> Run(INode<T> start, T goal, int maxIterations = 100, bool earlyE
 
             frontier.Enqueue(start, start.GetCost());
 
-            _DebugPlan(start, null);
+            DebugPlan(start, null);
 
             var iterations = 0;
             while ((frontier.Count > 0) && (iterations < maxIterations) && (frontier.Count + 1 < frontier.MaxSize))
             {
                 var node = frontier.Dequeue();
-                //Utilities.ReGoapLogger.Log(string.Format("\n++++Explored action: {0}({3}), state ({1})\n goal ({2})\n effect: ({4})", node.Name, node.GetState(), node.GoalString, node.GetCost(), node.EffectString));
                 if (node.IsGoal(goal))
                 {
                     ReGoapLogger.Log("[Astar] Success iterations: " + iterations);
-                    _EndDebugPlan(node);
+                    EndDebugPlan(node);
                     return node;
                 }
                 explored[node.GetState()] = node;
@@ -106,7 +121,7 @@ public INode<T> Run(INode<T> start, T goal, int maxIterations = 100, bool earlyE
                     if (earlyExit && child.IsGoal(goal))
                     {
                         ReGoapLogger.Log("[Astar] (early exit) Success iterations: " + iterations);
-                        _EndDebugPlan(child);
+                        EndDebugPlan(child);
                         return child;
                     }
                     var childCost = child.GetCost();
@@ -123,15 +138,15 @@ public INode<T> Run(INode<T> start, T goal, int maxIterations = 100, bool earlyE
                             break;
                     }
 
-                    _DebugPlan(child, node);
+                    DebugPlan(child, node);
 
                     //Utilities.ReGoapLogger.Log(string.Format("    Enqueue frontier: {0}, cost: {1}", child.Name, childCost));
                     frontier.Enqueue(child, childCost);
                     stateToNode[state] = child;
                 }
             }
             ReGoapLogger.LogWarning("[Astar] failed.");
-            _EndDebugPlan(null);
+            EndDebugPlan(null);
             return null;
         }
     }
@@ -146,11 +161,11 @@ public interface INode<T>
         float GetPathCost();
         INode<T> GetParent();
         bool IsGoal(T goal);
-        //int AstarID { get; } //used for planDebug
+
         string Name { get; }
-        string GoalString { get; }
-        string EffectString { get; }
-        string PrecondString { get; }
+        T Goal { get; }
+        T Effects { get; }
+        T Preconditions { get; }
 
         int QueueIndex { get; set; }
         float Priority { get; set; }

diff --git a/ReGoap/Planner/PlanDebugger1.cs → ReGoap/Planner/PlanDebugger.cs b/ReGoap/Planner/PlanDebugger1.cs → ReGoap/Planner/PlanDebugger.cs
@@ -7,7 +7,7 @@
 //     the code is regenerated.
 // </auto-generated>
 // ------------------------------------------------------------------------------
-namespace Assets.ReGoap.Planner
+namespace ReGoap.Planner
 {
     using System.Linq;
     using System.Text;
@@ -18,7 +18,7 @@ namespace Assets.ReGoap.Planner
     /// Class to produce the template output
     /// </summary>
 
-    #line 1 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+    #line 1 "PlanDebugger.tt"
     [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.TextTemplating", "14.0.0.0")]
     public partial class PlanDebugger : PlanDebuggerBase
     {
@@ -30,40 +30,40 @@ public virtual string TransformText()
         {
             this.Write("\r\ndigraph {\r\n\r\nnode [shape=box]\r\n\r\n");
 
-            #line 11 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+            #line 11 "PlanDebugger.tt"
 foreach(var n in nodeDeclarations) { 
 
             #line default
             #line hidden
 
-            #line 12 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+            #line 12 "PlanDebugger.tt"
             this.Write(this.ToStringHelper.ToStringWithCulture(n));
 
             #line default
             #line hidden
             this.Write("\r\n");
 
-            #line 13 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+            #line 13 "PlanDebugger.tt"
 }
 
             #line default
             #line hidden
             this.Write("\r\n");
 
-            #line 15 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+            #line 15 "PlanDebugger.tt"
 foreach(var c in nodeConnections) {
 
             #line default
             #line hidden
 
-            #line 16 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+            #line 16 "PlanDebugger.tt"
             this.Write(this.ToStringHelper.ToStringWithCulture(c));
 
             #line default
             #line hidden
             this.Write("\r\n");
 
-            #line 17 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+            #line 17 "PlanDebugger.tt"
 }
 
             #line default
@@ -72,7 +72,7 @@ public virtual string TransformText()
             return this.GenerationEnvironment.ToString();
         }
 
-        #line 21 "E:\works\programs\GameProjects\TestGround\TestReGOAP\Assets\ReGoap\Planner\PlanDebugger.tt"
+        #line 21 "PlanDebugger.tt"
 
 
 public List<string> nodeDeclarations = new List<string>();

diff --git a/ReGoap/Planner/PlanDebugger.cs.meta b/ReGoap/Planner/PlanDebugger.cs.meta
diff --git a/ReGoap/Planner/PlanDebugger.tt.meta b/ReGoap/Planner/PlanDebugger.tt.meta