Added statistics tracker, started with visualization of states in node graph
Yan Wittmann
parent
0930edc477
commit
655e00fb2e
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@ -127,6 +127,37 @@
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}
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}
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]
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},
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{
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"target": "Idle",
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"conditions": [
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{
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"type": ">=",
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"left": {
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"value": 10
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},
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"right": {
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"function": "distance",
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"args": [
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{
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"accessor": [
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"character",
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"position"
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]
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},
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{
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"accessor": [
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"root_nodes",
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"StateMachineWorld",
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"child_nodes",
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"TrashBin",
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"position"
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]
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}
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]
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}
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}
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]
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}
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]
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}
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@ -1,7 +1,9 @@
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class_name StateMachine
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extends Node
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var character: CharacterBody2D
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@onready var tree_visualizer: Window = %TreeVisualizer
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@onready var character: CharacterBody2D
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# json read from file, contains all states and transitions
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var state_machine_data: Dictionary = {}
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# records all signals that were fired during the last frame, dictionary contains signal name and arguments
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@ -44,6 +46,9 @@ func _ready() -> void:
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func defer_ready():
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character.waste_detected.connect(Callable(self, "_on_waste_detected"))
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# tree_visualizer.show()
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tree_visualizer.state_machine = self
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tree_visualizer.build_tree()
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# STATE MACHINE
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@ -51,6 +56,16 @@ func _process(delta: float) -> void:
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if current_state:
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current_state.state_process(delta)
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check_transitions()
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%StateMachineInfoPanel.values["State"] = current_state.get_name()
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%StateMachineInfoPanel.values["Position"] = character.position
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for sgl in received_signals:
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%StateMachineInfoPanel.values["signal_" + sgl["signal"]] = sgl["args"]
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var transition_names: Array = []
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for transition in state_machine_data["states"][current_state.get_name()]["transitions"]:
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transition_names.append(transition["target"])
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%StateMachineInfoPanel.values["Transitions"] = transition_names
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received_signals = []
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@ -64,17 +79,22 @@ func check_transitions() -> void:
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if "conditions" in transition and transition["conditions"]:
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var all_conditions_met: bool = true
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for condition in transition["conditions"]:
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if not transition_check_condition(condition):
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var condition_met: bool = transition_check_condition(condition)
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if not condition_met:
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all_conditions_met = false
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%StateMachineInfoPanel.values["condition failed for " + transition["target"]] = condition
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break
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if not all_conditions_met:
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continue
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%StateMachineInfoPanel.values["transitioned to"] = transition["target"]
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# evaluate transfer parameters if any
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state_transfer_variables = {}
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if "transfer" in transition and transition["transfer"]:
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for key in transition["transfer"]:
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state_transfer_variables[key] = transition_resolve_parameter(transition["transfer"][key])
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%StateMachineInfoPanel.values["transfer [" + key + "]"] = state_transfer_variables[key]
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# allow current state to contribute to transfer variables
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current_state.contribute_transfer_variables(state_transfer_variables)
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@ -104,7 +124,7 @@ func transition_check_condition(condition: Dictionary) -> bool:
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else:
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print("Unknown condition type [", type, "]")
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print("[check_condition] ", left, " ", type, " ", right, " = ", result)
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# print("[check_condition] ", left, " ", type, " ", right, " = ", result)
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return result
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@ -131,7 +151,7 @@ func transition_resolve_function(function: Dictionary) -> Variant:
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if function["function"] == "distance":
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var result = args[0].distance_to(args[1])
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print("[resolve_function] distance(", args[0], ", ", args[1], ") = ", result)
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# print("[resolve_function] distance(", args[0], ", ", args[1], ") = ", result)
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return result
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else:
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print("Unknown function [", function, "]")
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@ -142,10 +162,10 @@ func transition_resolve_accessor(accessor: Array) -> Variant:
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var current_item: Variant = self
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for next_item in accessor:
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print("[resolve_accessor] current_item: ", current_item, ' next_item: ', next_item)
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# print("[resolve_accessor] current_item: ", current_item, ' next_item: ', next_item)
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if current_item == null:
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print("[resolve_accessor] Null value in ", accessor)
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# print("[resolve_accessor] Null value in ", accessor)
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break
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if objects_equal(current_item, self):
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@ -175,7 +195,7 @@ func transition_resolve_accessor(accessor: Array) -> Variant:
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continue
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if current_item is Dictionary:
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print("[resolve_accessor] Dictionary accessor, keys: ", current_item.keys())
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# print("[resolve_accessor] Dictionary accessor, keys: ", current_item.keys())
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if next_item in current_item:
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current_item = current_item[next_item]
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continue
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@ -185,9 +205,10 @@ func transition_resolve_accessor(accessor: Array) -> Variant:
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current_item = current_item.get(next_item)
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if current_item == null:
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print("[resolve_accessor] Failed to resolve accessor ", accessor)
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pass
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# print("[resolve_accessor] Failed to resolve accessor ", accessor)
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print("[resolve_accessor] resolved to ", current_item)
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# print("[resolve_accessor] resolved to ", current_item)
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return current_item
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@ -1,7 +1,8 @@
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[gd_scene load_steps=12 format=3 uid="uid://cgdvptekjbpgq"]
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[gd_scene load_steps=14 format=3 uid="uid://cgdvptekjbpgq"]
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[ext_resource type="Script" path="res://scenes/state/SMCharacter.gd" id="1_84313"]
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[ext_resource type="Script" path="res://scenes/state/SceneManagement.gd" id="1_s1suw"]
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[ext_resource type="PackedScene" uid="uid://bvdodsxnqjk6x" path="res://scenes/state/visualization/TreeVisualizer.tscn" id="2_bgwhe"]
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[ext_resource type="Texture2D" uid="uid://cx04xknqfdscp" path="res://assets/cleaning_robot.png" id="2_cwwab"]
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[ext_resource type="Script" path="res://scenes/state/StateMachine.gd" id="2_d1xqo"]
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[ext_resource type="Script" path="res://scenes/state/state_idle.gd" id="3_r1btx"]
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@ -9,6 +10,7 @@
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[ext_resource type="Script" path="res://scenes/state/state_PickupTrash.gd" id="7_1rfah"]
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[ext_resource type="Script" path="res://scenes/state/state_ThrowTrashAway.gd" id="8_677fi"]
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[ext_resource type="PackedScene" uid="uid://dng6a8i8kp4kw" path="res://scenes/state/TrashBin.tscn" id="9_sd6r3"]
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[ext_resource type="Script" path="res://scenes/state/visualization/state_machine_info_panel.gd" id="11_70vf4"]
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[sub_resource type="CapsuleShape2D" id="CapsuleShape2D_tr1gq"]
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radius = 60.0
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@ -20,8 +22,12 @@ size = Vector2(601.536, 254.293)
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[node name="StateMachineWorld" type="Node2D"]
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script = ExtResource("1_s1suw")
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[node name="TreeVisualizer" parent="." instance=ExtResource("2_bgwhe")]
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unique_name_in_owner = true
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visible = false
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[node name="Floor" type="Sprite2D" parent="."]
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position = Vector2(573, 329)
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position = Vector2(573, 323)
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scale = Vector2(0.635347, 0.635347)
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texture = ExtResource("6_15pjb")
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@ -61,3 +67,11 @@ scale = Vector2(1, 0.48)
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shape = SubResource("RectangleShape2D_ji64e")
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[node name="Node2D" type="Node2D" parent="CleaningRobotCB2D"]
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[node name="StateMachineInfoPanel" type="VBoxContainer" parent="."]
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unique_name_in_owner = true
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offset_left = 6.0
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offset_top = 391.0
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offset_right = 205.0
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offset_bottom = 645.0
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script = ExtResource("11_70vf4")
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@ -0,0 +1,25 @@
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[gd_scene load_steps=2 format=3 uid="uid://bvdodsxnqjk6x"]
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[ext_resource type="Script" path="res://scenes/state/visualization/tree_visualizer.gd" id="1_62kxn"]
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[node name="TreeVisualizer" type="Window"]
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position = Vector2i(50, 36)
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size = Vector2i(1055, 560)
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script = ExtResource("1_62kxn")
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[node name="GraphEdit" type="GraphEdit" parent="."]
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unique_name_in_owner = true
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anchors_preset = 15
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anchor_right = 1.0
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anchor_bottom = 1.0
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grow_horizontal = 2
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grow_vertical = 2
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size_flags_horizontal = 3
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size_flags_vertical = 3
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show_menu = false
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show_zoom_buttons = false
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show_grid_buttons = false
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show_minimap_button = false
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show_arrange_button = false
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[connection signal="connection_request" from="GraphEdit" to="." method="_on_graph_edit_connection_request"]
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@ -0,0 +1,30 @@
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class_name DTreeNode
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extends GraphNode
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var left_slots: Array[String] = []
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var right_slots: Array[String] = []
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func _ready() -> void:
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pass
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func add_label(label_text: String, left: bool, right: bool) -> Vector3i:
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var new_label: Label = Label.new()
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new_label.text = label_text
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new_label.add_theme_color_override("font_color", Color(0, 0, 0, 1))
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self.add_child(new_label)
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var child_index: int = self.get_child_count() - 1
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if left:
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self.set_slot_enabled_left(child_index, true)
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self.set_slot_color_left(child_index, Color(0.9, 0.9, 0.9, 1))
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left_slots.append(label_text)
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if right:
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self.set_slot_enabled_right(child_index, true)
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self.set_slot_color_right(child_index, Color(0.9, 0.9, 0.9, 1))
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right_slots.append(label_text)
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# the port index is counted separately from the left and right slots.
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return Vector3i(child_index, left_slots.size() - 1, right_slots.size() - 1)
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@ -0,0 +1,20 @@
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[gd_scene load_steps=4 format=3 uid="uid://bmv75j2e8xc6n"]
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[ext_resource type="Script" path="res://scenes/state/visualization/d_tree_node.gd" id="1_o2ffa"]
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[sub_resource type="StyleBoxFlat" id="StyleBoxFlat_k54lu"]
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bg_color = Color(0.95158, 0.95158, 0.95158, 1)
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[sub_resource type="StyleBoxFlat" id="StyleBoxFlat_dmqj2"]
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bg_color = Color(0.6, 0.39, 0.39, 1)
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[node name="DTreeNode" type="GraphNode"]
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offset_right = 128.0
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offset_bottom = 184.0
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mouse_filter = 1
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theme_override_styles/panel = SubResource("StyleBoxFlat_k54lu")
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theme_override_styles/titlebar = SubResource("StyleBoxFlat_dmqj2")
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draggable = false
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selectable = false
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title = "TITEL"
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script = ExtResource("1_o2ffa")
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@ -0,0 +1,47 @@
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class_name InfoPanel
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extends VBoxContainer
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var values: Dictionary = {}
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var last_values: Dictionary = {}
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var value_order: Array = [] # Keep track of the order of values
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func to_str(value) -> String:
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if value is float:
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return str(round(value * 100) / 100)
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elif value is Vector2:
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return "(" + to_str(value.x) + ", " + to_str(value.y) + ")"
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elif value is Vector3:
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return "(" + to_str(value.x) + ", " + to_str(value.y) + ", " + to_str(value.z) + ")"
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elif value is Vector4:
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return "(" + to_str(value.x) + ", " + to_str(value.y) + ", " + to_str(value.z) + ", " + to_str(value.w) + ")"
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return str(value)
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func _process(delta: float) -> void:
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for child in self.get_children():
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if child is Label:
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child.queue_free()
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# 1. Update and Track Order of Values
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for value in values.keys():
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if value in value_order:
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value_order.erase(value) # Move to the end (most recent)
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value_order.append(value)
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# 2. Display Current Values (Most Recent First)
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for value in value_order:
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if values.has(value):
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var new_label: Label = Label.new()
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new_label.text = value + ": " + to_str(values[value])
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new_label.add_theme_color_override("font_color", Color(0, 0, 0, 1))
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self.add_child(new_label)
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last_values[value] = values[value]
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# 3. Display Old Values
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for value in last_values.keys():
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if not values.has(value):
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var new_label: Label = Label.new()
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new_label.text = value + ": " + to_str(last_values[value])
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new_label.add_theme_color_override("font_color", Color(0.5, 0.5, 0.5, 1))
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self.add_child(new_label)
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values.clear()
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@ -0,0 +1,107 @@
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extends Window
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const D_TREE_NODE: PackedScene = preload("res://scenes/state/visualization/d_tree_node.tscn")
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@onready var graph_edit: GraphEdit = %GraphEdit
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# input data
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var state_machine: StateMachine
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# nodes
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var all_nodes: Array[DTreeNode] = []
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var all_node_names_to_nodes: Dictionary = {}
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func _ready():
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pass
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func build_tree():
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if not state_machine:
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push_error("No state machine set.")
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return
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var node_positions: Array[DTreeNode] = []
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var y_spacing: int = 400
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var x_spacing: int = 400
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var depths: Dictionary = calculate_node_depths()
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var states = state_machine.state_machine_data["states"]
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# Place nodes
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for i in range(states.size()):
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var state_name = states.keys()[i]
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var state_data = states[state_name]
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var graph_node: DTreeNode = D_TREE_NODE.instantiate()
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graph_edit.add_child(graph_node)
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graph_node.title = state_name
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all_nodes.append(graph_node)
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all_node_names_to_nodes[state_name] = graph_node
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# Connect nodes
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for i in range(states.size()):
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var state_name = states.keys()[i]
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var state_data = states[state_name]
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var graph_node: DTreeNode = all_nodes[i]
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# Set up labels (input and output)
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populate_node_labels(graph_node, state_name, state_data, all_node_names_to_nodes)
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# Calculate position based on tree depth
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var depth: int = depths[i]
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var siblings: Array = get_nodes_at_depth(depth, depths)
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@warning_ignore("integer_division")
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var y_pos: int = y_spacing * (siblings.find(i) - (siblings.size() - 1) / 2)
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var x_pos: int = x_spacing * depth
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y_pos += randi() % 200 - 100
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graph_node.position_offset = Vector2(x_pos, y_pos)
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node_positions.append(graph_node)
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func _on_graph_edit_connection_request(from_node: StringName, from_port: int, to_node: StringName, to_port: int) -> void:
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print("Connection request from %s [%d] to %s [%d]" % [from_node, from_port, to_node, to_port])
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# using connect_node(from_node: StringName, from_port: int, to_node: StringName, to_port: int) -> int:
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func populate_node_labels(node: DTreeNode, state_name: String, state_data: Dictionary, node_names_to_nodes: Dictionary) -> void:
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# start from the node passed in and only use the output connections to determine the input connections on the other nodes
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var output_transitions: Array = state_data.get("transitions", [])
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for transition in output_transitions:
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var target_state_name: String = transition['target']
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var port_out: Vector3i = node.add_label("%s" % [target_state_name], false, true)
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var target_node: DTreeNode = node_names_to_nodes[target_state_name]
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if target_node:
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var port_in: Vector3i = target_node.add_label("%s" % [state_name], true, false)
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# connect the nodes
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graph_edit.connect_node(
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node.get_name(), port_out.z,
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target_node.get_name(), port_in.y
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)
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print("Connecting %s [%d] to %s [%d]" % [node.get_name(), port_out, target_node.get_name(), port_in])
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func calculate_node_depths() -> Dictionary:
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var depths: Dictionary = {}
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depths[0] = 0 # Root is at depth 0
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var state_names = state_machine.state_machine_data["states"].keys()
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for i in range(state_names.size()):
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var state_name = state_names[i]
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var state_data = state_machine.state_machine_data["states"][state_name]
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if state_data.has("transitions"):
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for transition in state_data["transitions"]:
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if transition.has("target"):
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var target_state_name = transition["target"]
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var target_state_index = state_names.find(target_state_name)
|
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if target_state_index != -1:
|
||||
depths[target_state_index] = depths[i] + 1
|
||||
return depths
|
||||
|
||||
|
||||
func get_nodes_at_depth(depth: int, depths: Dictionary) -> Array:
|
||||
var nodes_at_depth: Array[Variant] = []
|
||||
for i in depths.keys():
|
||||
if depths[i] == depth:
|
||||
nodes_at_depth.append(i)
|
||||
return nodes_at_depth
|
||||
Loading…
Reference in New Issue