ode.ai.0.1.3.source-code.Planner Maven / Gradle / Ivy
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package com.gracefulcode.ai;
import com.gracefulcode.ai.internal.GlobalState;
import com.gracefulcode.ai.internal.Node;
import com.gracefulcode.ai.internal.State;
import java.util.ArrayList;
/**
* Planner is the real meat and potatoes of this operation. Here's where all
* the work gets done. It's also the place you shouldn't have to look. If you
* do, it's my fault and I am truly sorry.
*
* @version 0.1
* @since 0.1
*/
public class Planner<
WS extends WorldState,
G extends Goal,
B extends Behavior,
BP extends Iterable
> {
public Planner() {
}
/**
* startPlanning consructs the initial state representing where the AI
* system begins. You must call stepState to step this state forward in
* planning.
*
* @param initialState The world state that this AI system begins at.
* @param goal The goal that we are ultimately trying to achieve.
* @param behaviorProvider The behaviors that we are allowed to use in our
* plan.
* @return The initial State.
*/
public State startPlanning(
WS initialState,
G goal,
BP behaviorProvider
) {
// TODO: Pool this?
return new State(
initialState,
initialState,
goal,
behaviorProvider
);
}
/**
* Gets an ArrayList of the behaviors that the AI system has come up with.
*
* Note that these are in the reverse order that you may expect.
*
* @throws Exception if the end state was not found within the global state.
* @param endState The State on which you want to end.
* @return An ArrayList of behaviors to follow to get from the start to the
* provided end State, in reverse order.
*/
public ArrayList getPlan(State endState) throws Exception {
ArrayList tmp = new ArrayList();
GlobalState globalState = endState.getGlobalState();
Node n = globalState.stateToNode.get(endState.getBestWorldState());
if (n == null) {
throw new Exception("End state wasn't saved.");
}
while (n.getParent() != null) {
tmp.add(n.getBehavior());
n = n.getParent();
}
return tmp;
}
/**
*/
private void stepStateWithBehavior(
State state,
B behavior,
PlannerDebugger debugger
) throws Exception {
WS priorWorldState = state.getWorldState();
// If we cannot run this behavior, we don't have to do anything.
if (!behavior.isRunnable(priorWorldState)) return;
GlobalState globalState = state.getGlobalState();
Node previousNodeInstance = globalState.stateToNode.get(priorWorldState);
@SuppressWarnings("unchecked")
WS worldStateAfterBehavior = (WS)priorWorldState.clone();
System.out.println("stepStateWithBehavior:" + worldStateAfterBehavior.toString() + ":" + behavior.toString());
if (worldStateAfterBehavior == priorWorldState) {
throw new Exception("Your clone operation seems to be returning the same state.");
}
behavior.modifyState(worldStateAfterBehavior);
Node newNode = new Node(worldStateAfterBehavior, behavior, previousNodeInstance);
if (globalState.bestSolution == null) {
if (globalState.goal.isSatisfied(worldStateAfterBehavior)) {
System.out.println("Setting initial best solution");
globalState.bestSolution = newNode;
globalState.closedSet.add(worldStateAfterBehavior);
if (!globalState.stateToNode.containsKey(worldStateAfterBehavior)) {
globalState.stateToNode.put(worldStateAfterBehavior, newNode);
}
globalState.stateToNode.put(worldStateAfterBehavior, newNode);
return;
}
} else {
if (newNode.getCost() > globalState.bestSolution.getCost()) {
System.out.println("Early Bail A:" + newNode.getCost() + ":" + globalState.bestSolution.getCost());
if (!globalState.stateToNode.containsKey(worldStateAfterBehavior)) {
globalState.stateToNode.put(worldStateAfterBehavior, newNode);
}
return;
}
if (globalState.goal.isSatisfied(worldStateAfterBehavior)) {
if (newNode.getCost() < globalState.bestSolution.getCost()) {
System.out.println("Replacing best solution");
globalState.bestSolution = newNode;
globalState.closedSet.add(worldStateAfterBehavior);
if (!globalState.stateToNode.containsKey(worldStateAfterBehavior)) {
globalState.stateToNode.put(worldStateAfterBehavior, newNode);
return;
}
}
}
}
if (globalState.stateToNode.containsKey(worldStateAfterBehavior)) {
Node previousBestNodeInstance = globalState.stateToNode.get(worldStateAfterBehavior);
float previousBestNodeCost = previousBestNodeInstance.getCost();
float previousNodeCost = previousNodeInstance.getCost() + behavior.getCost(priorWorldState);
if (previousNodeCost < previousBestNodeCost) {
previousBestNodeInstance.changeParent(previousNodeInstance, behavior);
}
if (globalState.openSet.contains(worldStateAfterBehavior)) {
System.out.println("Early Bail B");
return;
}
if (globalState.closedSet.contains(worldStateAfterBehavior)) {
System.out.println("Early Bail C");
return;
}
System.out.println("Adding to the open set: " + worldStateAfterBehavior.toString());
globalState.openSet.add(worldStateAfterBehavior);
System.out.println("Early Bail D");
return;
}
// We haven't evaluated this before, make a new node.
globalState.stateToNode.put(worldStateAfterBehavior, newNode);
if (debugger != null) {
debugger.didAddState(worldStateAfterBehavior);
}
System.out.println("Adding to the open set: " + worldStateAfterBehavior.toString());
globalState.openSet.add(worldStateAfterBehavior);
}
/**
* Steps the provided State forward by one planning tick. In common cases,
* you would call this once per frame in your game. You can call it more or
* less often depending on your use case.
*
* stepState will alter the passed in state to represent the new state of
* the AI system.
*
* @throws Exception if the world state clone is the same object.
* @param state The current state of this AI system.
* @return True if the AI system cannot proceed any more, otherwise False.
*/
public boolean stepState(State state) throws Exception {
return this.stepState(state, null);
}
/**
* Steps the provided state forward by one planning tick, while also
* providing a debugger. In common cases, you would call this once per
* frame in your game. You can call it more or less often depending on your
* use case.
*
* stepState will alter the passed in state to represent the new state of
* the AI system.
*
* @throws Exception if the world state clone is the same object.
* @param state The current state of this AI system.
* @param debugger The debugger you want to use in order to debug the AI
* system.
* @return True if the AI system cannot proceed any more, otherwise False.
*/
public boolean stepState(State state, PlannerDebugger debugger) throws Exception {
GlobalState globalState = state.getGlobalState();
if (debugger != null) {
debugger.didStartStep();
}
System.out.println("Stepping, prior");
globalState.rootNode.debug();
// TODO: Check that we aren't being called with an already-closed
// state.
for (B b: globalState.behaviorProvider) {
if (debugger != null) {
debugger.startEvaluateBehavior(b);
}
this.stepStateWithBehavior(state, b, debugger);
if (debugger != null) {
debugger.endEvaluateBehavior(b);
}
}
System.out.println("Moving " + state.getWorldState());
globalState.openSet.remove(state.getWorldState());
globalState.closedSet.add(state.getWorldState());
if (globalState.openSet.size() == 0) {
if (debugger != null) {
debugger.didEndStep(false);
}
state.setCurrentState(null);
return false;
}
WS newState = globalState.openSet.poll();
if (newState == null) {
return false;
}
state.setCurrentState(newState);
if (debugger != null) {
debugger.didEndStep(true);
}
return true;
}
}