264 lines
8.2 KiB
C++
264 lines
8.2 KiB
C++
/**
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* limbo_hsm.cpp
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* =============================================================================
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* Copyright 2021-2023 Serhii Snitsaruk
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*
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* Use of this source code is governed by an MIT-style
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* license that can be found in the LICENSE file or at
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* https://opensource.org/licenses/MIT.
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* =============================================================================
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*/
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#include "limbo_hsm.h"
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#include "modules/limboai/blackboard/blackboard.h"
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#include "modules/limboai/hsm/limbo_state.h"
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#include "modules/limboai/util/limbo_string_names.h"
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#include "core/config/engine.h"
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#include "core/error/error_macros.h"
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#include "core/object/class_db.h"
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#include "core/object/object.h"
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#include "core/typedefs.h"
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#include "core/variant/callable.h"
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#include "core/variant/variant.h"
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VARIANT_ENUM_CAST(LimboHSM::UpdateMode);
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void LimboHSM::set_active(bool p_active) {
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ERR_FAIL_COND_MSG(agent == nullptr, "LimboHSM is not initialized.");
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ERR_FAIL_COND_MSG(p_active && initial_state == nullptr, "LimboHSM has no initial substate candidate.");
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if (active == p_active) {
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return;
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}
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active = p_active;
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switch (update_mode) {
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case UpdateMode::IDLE: {
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set_process(p_active);
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set_physics_process(false);
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} break;
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case UpdateMode::PHYSICS: {
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set_process(false);
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set_physics_process(p_active);
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} break;
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case UpdateMode::MANUAL: {
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set_process(false);
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set_physics_process(false);
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} break;
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}
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set_process_input(p_active);
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if (active) {
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_enter();
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} else {
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_exit();
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}
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}
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void LimboHSM::_change_state(LimboState *p_state) {
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ERR_FAIL_COND(p_state == nullptr);
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ERR_FAIL_COND(p_state->get_parent() != this);
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if (active_state) {
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active_state->_exit();
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}
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active_state = p_state;
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active_state->_enter();
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emit_signal(LimboStringNames::get_singleton()->state_changed, active_state);
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}
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void LimboHSM::_enter() {
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ERR_FAIL_COND_MSG(get_child_count() == 0, "LimboHSM has no candidate for initial substate.");
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ERR_FAIL_COND(active_state != nullptr);
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LimboState::_enter();
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if (initial_state == nullptr) {
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initial_state = Object::cast_to<LimboState>(get_child(0));
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}
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ERR_FAIL_COND_MSG(initial_state == nullptr, "LimboHSM: Failed to acquire initial state.");
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_change_state(initial_state);
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}
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void LimboHSM::_exit() {
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ERR_FAIL_COND(active_state == nullptr);
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active_state->_exit();
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active_state = nullptr;
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LimboState::_exit();
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}
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void LimboHSM::_update(double p_delta) {
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if (active) {
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ERR_FAIL_COND(active_state == nullptr);
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LimboState::_update(p_delta);
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active_state->_update(p_delta);
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}
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}
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void LimboHSM::add_transition(Node *p_from_state, Node *p_to_state, const String &p_event) {
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// ERR_FAIL_COND(p_from_state == nullptr);
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ERR_FAIL_COND(p_from_state != nullptr && p_from_state->get_parent() != this);
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ERR_FAIL_COND(p_from_state != nullptr && !p_from_state->is_class("LimboState"));
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ERR_FAIL_COND(p_to_state == nullptr);
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ERR_FAIL_COND(p_to_state->get_parent() != this);
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ERR_FAIL_COND(!p_to_state->is_class("LimboState"));
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ERR_FAIL_COND(p_event.is_empty());
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uint64_t key = _get_transition_key(p_from_state, p_event);
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transitions[key] = Object::cast_to<LimboState>(p_to_state);
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}
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LimboState *LimboHSM::get_leaf_state() const {
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LimboHSM *hsm = const_cast<LimboHSM *>(this);
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while (hsm->active_state != nullptr && hsm->active_state->is_class("LimboHSM")) {
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hsm = Object::cast_to<LimboHSM>(hsm->active_state);
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}
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if (hsm->active_state) {
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return hsm->active_state;
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} else {
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return hsm;
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}
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}
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void LimboHSM::set_initial_state(LimboState *p_state) {
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ERR_FAIL_COND(p_state == nullptr || !p_state->is_class("LimboState"));
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initial_state = Object::cast_to<LimboState>(p_state);
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}
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bool LimboHSM::dispatch(const String &p_event, const Variant &p_cargo) {
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ERR_FAIL_COND_V(p_event.is_empty(), false);
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bool event_consumed = false;
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if (active_state) {
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event_consumed = active_state->dispatch(p_event, p_cargo);
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}
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if (!event_consumed) {
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event_consumed = LimboState::dispatch(p_event, p_cargo);
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}
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if (!event_consumed && active_state) {
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uint64_t key = _get_transition_key(active_state, p_event);
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LimboState *to_state = nullptr;
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if (transitions.has(key)) {
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to_state = transitions[key];
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}
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if (to_state == nullptr) {
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// Get ANYSTATE transition.
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key = _get_transition_key(nullptr, p_event);
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if (transitions.has(key)) {
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to_state = transitions[key];
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}
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}
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if (to_state != nullptr) {
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bool permitted = true;
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if (to_state->guard_callable.is_valid()) {
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Callable::CallError ce;
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Variant ret;
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to_state->guard_callable.callp(nullptr, 0, ret, ce);
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if (unlikely(ce.error != Callable::CallError::CALL_OK)) {
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ERR_PRINT_ONCE("LimboHSM: Error calling substate's guard callable: " + Variant::get_callable_error_text(to_state->guard_callable, nullptr, 0, ce));
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}
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if (unlikely(ret.get_type() != Variant::BOOL)) {
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ERR_PRINT_ONCE(vformat("State guard callable %s returned non-boolean value (%s).", to_state->guard_callable, to_state));
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} else {
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permitted = bool(ret);
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}
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}
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if (permitted) {
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_change_state(to_state);
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event_consumed = true;
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}
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}
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}
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if (!event_consumed && p_event == EVENT_FINISHED && !(get_parent() && get_parent()->is_class("LimboState"))) {
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_exit();
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}
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return event_consumed;
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}
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void LimboHSM::initialize(Node *p_agent, const Ref<Blackboard> &p_parent_scope) {
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ERR_FAIL_COND(p_agent == nullptr);
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if (!p_parent_scope.is_null()) {
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blackboard->set_parent_scope(p_parent_scope);
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}
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_initialize(p_agent, nullptr);
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}
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void LimboHSM::_initialize(Node *p_agent, const Ref<Blackboard> &p_blackboard) {
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ERR_FAIL_COND(p_agent == nullptr);
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ERR_FAIL_COND_MSG(agent != nullptr, "LimboAI: HSM already initialized.");
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ERR_FAIL_COND_MSG(get_child_count() == 0, "Cannot initialize LimboHSM: no candidate for initial substate.");
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if (initial_state == nullptr) {
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initial_state = Object::cast_to<LimboState>(get_child(0));
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ERR_FAIL_COND_MSG(initial_state == nullptr, "LimboHSM: Child at index 0 is not a LimboState.");
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}
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LimboState::_initialize(p_agent, p_blackboard);
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for (int i = 0; i < get_child_count(); i++) {
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LimboState *c = Object::cast_to<LimboState>(get_child(i));
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if (unlikely(c == nullptr)) {
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ERR_PRINT(vformat("LimboHSM: Child at index %d is not a LimboState.", i));
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} else {
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c->_initialize(agent, blackboard);
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}
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}
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}
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void LimboHSM::_notification(int p_what) {
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switch (p_what) {
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case NOTIFICATION_POST_ENTER_TREE: {
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} break;
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case NOTIFICATION_PROCESS: {
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_update(get_process_delta_time());
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} break;
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case NOTIFICATION_PHYSICS_PROCESS: {
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_update(get_physics_process_delta_time());
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} break;
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}
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}
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void LimboHSM::_bind_methods() {
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ClassDB::bind_method(D_METHOD("set_update_mode", "p_mode"), &LimboHSM::set_update_mode);
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ClassDB::bind_method(D_METHOD("get_update_mode"), &LimboHSM::get_update_mode);
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ClassDB::bind_method(D_METHOD("set_initial_state", "p_state"), &LimboHSM::set_initial_state);
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ClassDB::bind_method(D_METHOD("get_initial_state"), &LimboHSM::get_initial_state);
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ClassDB::bind_method(D_METHOD("get_active_state"), &LimboHSM::get_active_state);
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ClassDB::bind_method(D_METHOD("get_leaf_state"), &LimboHSM::get_leaf_state);
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ClassDB::bind_method(D_METHOD("set_active", "p_active"), &LimboHSM::set_active);
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ClassDB::bind_method(D_METHOD("update", "p_delta"), &LimboHSM::update);
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ClassDB::bind_method(D_METHOD("add_transition", "p_from_state", "p_to_state", "p_event"), &LimboHSM::add_transition);
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ClassDB::bind_method(D_METHOD("anystate"), &LimboHSM::anystate);
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ClassDB::bind_method(D_METHOD("initialize", "p_agent", "p_parent_scope"), &LimboHSM::initialize, Variant());
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BIND_ENUM_CONSTANT(IDLE);
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BIND_ENUM_CONSTANT(PHYSICS);
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BIND_ENUM_CONSTANT(MANUAL);
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ADD_PROPERTY(PropertyInfo(Variant::INT, "update_mode", PROPERTY_HINT_ENUM, "Idle, Physics, Manual"), "set_update_mode", "get_update_mode");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "ANYSTATE", PROPERTY_HINT_RESOURCE_TYPE, "LimboState", 0), "", "anystate");
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ADD_PROPERTY(PropertyInfo(Variant::OBJECT, "initial_state", PROPERTY_HINT_RESOURCE_TYPE, "LimboState", 0), "set_initial_state", "get_initial_state");
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ADD_SIGNAL(MethodInfo("state_changed", PropertyInfo(Variant::OBJECT, "p_state", PROPERTY_HINT_RESOURCE_TYPE, "LimboState", 0)));
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}
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LimboHSM::LimboHSM() {
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update_mode = UpdateMode::PHYSICS;
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active_state = nullptr;
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initial_state = nullptr;
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}
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