UtilityReasoner.hh

#ifndef GRAIL_UTILITY_REASONER_H
#define GRAIL_UTILITY_REASONER_H
 
#include "../GrailSystem/Reasoner.hh"
#include "Evaluator.hh"
#include "Selector.hh"
#include "../GrailData/GrailDebugInfo/UtilityReasonerSnapshot.h"
#include "../GrailData/UtilityModel/UtilitySelectorModel.h"
 
#include <functional>
#include <stack>
#include <tuple>
#include <map>
#include <mutex>
 
 
namespace grail
{
    class UtilityReasoner : public Reasoner
    {
    public:
        UtilityReasoner(std::map<std::shared_ptr<utility::IEvaluator<EntityBlackboardPair>>, Prefab<Behavior> >&& prefabOptions,
            SelectionMethod selectionMethod = SelectionMethod::MAX,
            float persistence = 0.1f);
        UtilityReasoner(const UtilityReasoner& other) = delete;
        UtilityReasoner(UtilityReasoner&& other) = default;
 
        virtual ~UtilityReasoner() override;
 
        UtilityReasoner& operator = (const UtilityReasoner& other) = delete;
        UtilityReasoner& operator = (UtilityReasoner&& other) = default;
 
        void SelectBehavior(AIEntity& entity) override;
 
        std::unique_ptr<ISnapshotGenerator> CreateSnapshotGenerator(size_t) override;
        UtilityReasonerSnapshot GetUtilityReasonerSnapshot() const;
        void SetSnapshotProduction(bool value);
 
    private:
        void AssignBehaviorInstance(AIEntity& entity, std::unique_ptr<Behavior> instance, std::shared_ptr<utility::IEvaluator<EntityBlackboardPair>> evaluator, const EntityBlackboardPair& context);
        void GenerateOptions(const AIEntity& entity);
        std::vector<std::unique_ptr<Behavior>> GenerateInstances(const std::vector< std::pair<EntityBlackboardPair, std::shared_ptr<utility::IEvaluator<EntityBlackboardPair>>>>& options);
        void ValidateOperationStack(const AIEntity& entity);
        void SelectBehaviorFromStack(AIEntity& entity);
 
        std::map<std::shared_ptr<utility::IEvaluator<EntityBlackboardPair>>, Prefab<Behavior> > prefabOptions = {};
        std::stack<std::tuple<Behavior*, std::shared_ptr<utility::IEvaluator<EntityBlackboardPair>>, EntityBlackboardPair>> operationStack{};
        std::vector< std::pair<EntityBlackboardPair, std::shared_ptr<utility::IEvaluator<EntityBlackboardPair>>>> generatedOptions{};
        std::shared_ptr<utility::IEvaluator<EntityBlackboardPair>> currentBehaviorEvaluator = nullptr;
        EntityBlackboardPair currentBehaviorContext{};
 
        SelectionMethod selectionMethod = SelectionMethod::MAX;
 
        float persistence = 0.0f;
 
        bool produceSnapshot = false;
        UtilityReasonerSnapshot cachedSnapshot{};
        mutable std::mutex snapshotMutex;
    };
}
#endif  //GRAIL_UTILITY_REASONER_H