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Added target state selector logic, added battery logic

main
Yan Wittmann 2024-12-13 19:53:58 +01:00
parent e74ec6f3ec
commit 7879bb4656
13 changed files with 276 additions and 48 deletions
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state/assets/battery.png 100644
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34
state/assets/battery.png.import 100644
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@ -0,0 +1,34 @@
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importer="texture"
type="CompressedTexture2D"
uid="uid://buoiey8bh6i0e"
path="res://.godot/imported/battery.png-0291d92f3cb8a965d4b9647e0eab9582.ctex"
metadata={
"vram_texture": false
}
[deps]
source_file="res://assets/battery.png"
dest_files=["res://.godot/imported/battery.png-0291d92f3cb8a965d4b9647e0eab9582.ctex"]
[params]
compress/mode=0
compress/high_quality=false
compress/lossy_quality=0.7
compress/hdr_compression=1
compress/normal_map=0
compress/channel_pack=0
mipmaps/generate=false
mipmaps/limit=-1
roughness/mode=0
roughness/src_normal=""
process/fix_alpha_border=true
process/premult_alpha=false
process/normal_map_invert_y=false
process/hdr_as_srgb=false
process/hdr_clamp_exposure=false
process/size_limit=0
detect_3d/compress_to=1

90
state/assets/character_state_machine.json
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@ -2,9 +2,31 @@
"start": {
"state": "Idle"
},
"template_transitions": {
"battery_low": {
"target": "GoToBattery",
"conditions": [
{
"type": ">=",
"left": {
"value": 20
},
"right": {
"accessor": [
"character",
"battery_charge"
]
}
}
]
}
},
"states": {
"Idle": {
"transitions": [
{
"template": "battery_low"
},
{
"target": "PickupTrash",
"signal": "waste_detected",
@ -51,6 +73,9 @@
},
"PickupTrash": {
"transitions": [
{
"template": "battery_low"
},
{
"target": "ThrowTrashAway",
"signal": "waste_detected",
@ -97,6 +122,9 @@
},
"ThrowTrashAway": {
"transitions": [
{
"template": "battery_low"
},
{
"target": "Idle",
"conditions": [
@ -129,6 +157,68 @@
]
}
]
},
"GoToBattery": {
"transitions": [
{
"target": "RechargeBattery",
"conditions": [
{
"type": ">=",
"left": {
"value": 90
},
"right": {
"function": "distance",
"args": [
{
"accessor": [
"character",
"position"
]
},
{
"accessor": [
"root_nodes",
"StateMachineWorld",
"child_nodes",
"Battery",
"position"
]
}
]
}
}
]
}
]
},
"RechargeBattery": {
"transitions": [
{
"target": {
"type": "history_first",
"ignore": [
"RechargeBattery",
"GoToBattery"
]
},
"conditions": [
{
"type": "<=",
"left": {
"value": 100
},
"right": {
"accessor": [
"character",
"battery_charge"
]
}
}
]
}
]
}
}
}

10
state/project.godot
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@ -26,3 +26,13 @@ spawn_trash={
"events": [Object(InputEventMouseButton,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"button_mask":0,"position":Vector2(0, 0),"global_position":Vector2(0, 0),"factor":1.0,"button_index":2,"canceled":false,"pressed":false,"double_click":false,"script":null)
]
}
debug_vis_1={
"deadzone": 0.5,
"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":65,"key_label":0,"unicode":97,"location":0,"echo":false,"script":null)
]
}
debug_vis_2={
"deadzone": 0.5,
"events": [Object(InputEventKey,"resource_local_to_scene":false,"resource_name":"","device":-1,"window_id":0,"alt_pressed":false,"shift_pressed":false,"ctrl_pressed":false,"meta_pressed":false,"pressed":false,"keycode":0,"physical_keycode":66,"key_label":0,"unicode":98,"location":0,"echo":false,"script":null)
]
}

16
state/scenes/state/Battery.tscn 100644
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@ -0,0 +1,16 @@
[gd_scene load_steps=3 format=3 uid="uid://blp3dyd38b8i2"]
[ext_resource type="Texture2D" uid="uid://buoiey8bh6i0e" path="res://assets/battery.png" id="1_jitck"]
[sub_resource type="CapsuleShape2D" id="CapsuleShape2D_bhmyx"]
radius = 0.0
height = 0.0
[node name="TrashBin" type="StaticBody2D"]
[node name="Sprite2D" type="Sprite2D" parent="."]
scale = Vector2(0.0900715, 0.0900715)
texture = ExtResource("1_jitck")
[node name="CollisionShape2D" type="CollisionShape2D" parent="."]
shape = SubResource("CapsuleShape2D_bhmyx")

10
state/scenes/state/SMCharacter.gd
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@ -12,6 +12,10 @@ const ROTATION_SPEED: float = 5.0 # adians per second
#
@onready var detection_area: Area2D = $VisionCone
signal waste_detected(waste)
#
var battery_charge: float = 100.0
const battery_charge_drain_per_second: float = 4.0
const battery_charge_recharge_per_second: float = 27.0
func _ready() -> void:
@ -38,11 +42,17 @@ func _draw() -> void:
draw_line(Vector2.ZERO, local_velocity, Color(1, 0, 0), 2)
func _process(delta: float) -> void:
%StateMachineInfoPanel.values["battery_charge"] = battery_charge
func _physics_process(delta: float) -> void:
rotate_towards_velocity(delta)
detect_waste()
queue_redraw()
battery_charge -= battery_charge_drain_per_second * delta
func detect_waste() -> void:
var overlapping_bodies: Array[Node2D] = detection_area.get_overlapping_bodies()

51
state/scenes/state/StateMachine.gd
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@ -11,10 +11,13 @@ var received_signals: Array[Dictionary] = []
# state change parameters ("transfer")
var state_transfer_variables: Dictionary = {}
var state_history: Array = []
var current_state: State:
set(value):
if current_state:
current_state.state_exit()
state_history.append(value)
current_state = value
current_state.state_enter()
@ -39,7 +42,7 @@ func _ready() -> void:
else:
push_error("Failed to load JSON character_state_machine.json")
current_state = find_state_by_name(state_machine_data["start"]["state"])
current_state = find_state(state_machine_data["start"]["state"])
call_deferred("defer_ready")
@ -63,6 +66,7 @@ func _process(delta: float) -> void:
%StateMachineInfoPanel.values["signal_" + sgl["signal"]] = sgl["args"]
var transition_names: Array = []
for transition in state_machine_data["states"][current_state.get_name()]["transitions"]:
transition = resolve_transition_template(transition)
transition_names.append(transition["target"])
%StateMachineInfoPanel.values["Transitions"] = transition_names
@ -72,6 +76,7 @@ func _process(delta: float) -> void:
func check_transitions() -> void:
if current_state:
for transition in state_machine_data["states"][current_state.get_name()]["transitions"]:
transition = resolve_transition_template(transition)
if "signal" in transition and transition["signal"] and not was_signal_received(transition["signal"]):
continue
@ -82,7 +87,7 @@ func check_transitions() -> void:
var condition_met: bool = transition_check_condition(condition)
if not condition_met:
all_conditions_met = false
%StateMachineInfoPanel.values["condition failed for " + transition["target"]] = human_readable_condition(condition)
%StateMachineInfoPanel.values["condition failed for " + str(transition["target"])] = human_readable_condition(condition)
break
if not all_conditions_met:
continue
@ -100,7 +105,7 @@ func check_transitions() -> void:
current_state.contribute_transfer_variables(state_transfer_variables)
print("All criteria were met for switching to state ", transition["target"], " with transfer variables ", state_transfer_variables)
current_state = find_state_by_name(transition["target"])
current_state = find_state(transition["target"])
func transition_check_condition(condition: Dictionary) -> bool:
@ -226,6 +231,12 @@ func find_detected_signal(signal_name: String) -> Dictionary:
# UTILITY FUNCTIONS
func find_state(name) -> State:
if name is Dictionary:
return find_state_by_selector(name)
return find_state_by_name(name)
func find_state_by_name(name: String) -> State:
for child in self.get_children():
if child is State:
@ -234,6 +245,23 @@ func find_state_by_name(name: String) -> State:
return null
func find_state_by_selector(name: Dictionary) -> State:
# {
# "type": "history_first",
# "ignore": [
# "RechargeBattery",
# "GoToBattery"
# ]
# }
if name["type"] == "history_first":
var index: int = state_history.size() - 1
while index >= 0:
if not state_history[index].get_name() in name["ignore"]:
return state_history[index]
index -= 1
return null
func was_signal_received(signal_name: String) -> bool:
for received_signal in received_signals:
if received_signal["signal"] == signal_name:
@ -259,20 +287,27 @@ func load_json(path: String) -> JSON:
return json
func resolve_transition_template(data: Dictionary) -> Dictionary:
if data.has("template"):
return state_machine_data["template_transitions"][data["template"]]
return data
func objects_equal(a: Variant, b: Variant) -> bool:
if typeof(a) != typeof(b):
return false
return a == b
func human_readable_transition(condition: Dictionary) -> String:
func human_readable_transition(transition: Dictionary) -> String:
transition = resolve_transition_template(transition)
var parts: Array[Variant] = []
if condition.has("signal"):
parts.append(condition["signal"])
if transition.has("signal"):
parts.append(transition["signal"])
if condition.has("conditions"):
parts.append(human_readable_condition(condition))
if transition.has("conditions"):
parts.append(human_readable_condition(transition))
return " & ".join(parts)

15
state/scenes/state/StateMachineWorld.tscn
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@ -1,4 +1,4 @@
[gd_scene load_steps=14 format=3 uid="uid://cgdvptekjbpgq"]
[gd_scene load_steps=17 format=3 uid="uid://cgdvptekjbpgq"]
[ext_resource type="Script" path="res://scenes/state/SMCharacter.gd" id="1_84313"]
[ext_resource type="Script" path="res://scenes/state/SceneManagement.gd" id="1_s1suw"]
@ -6,11 +6,14 @@
[ext_resource type="Texture2D" uid="uid://cx04xknqfdscp" path="res://assets/cleaning_robot.png" id="2_cwwab"]
[ext_resource type="Script" path="res://scenes/state/StateMachine.gd" id="2_d1xqo"]
[ext_resource type="Script" path="res://scenes/state/state_idle.gd" id="3_r1btx"]
[ext_resource type="PackedScene" uid="uid://blp3dyd38b8i2" path="res://scenes/state/Battery.tscn" id="5_pml1y"]
[ext_resource type="Texture2D" uid="uid://dkqw1wsjbvl0i" path="res://assets/floor.png" id="6_15pjb"]
[ext_resource type="Script" path="res://scenes/state/state_PickupTrash.gd" id="7_1rfah"]
[ext_resource type="Script" path="res://scenes/state/state_ThrowTrashAway.gd" id="8_677fi"]
[ext_resource type="PackedScene" uid="uid://dng6a8i8kp4kw" path="res://scenes/state/TrashBin.tscn" id="9_sd6r3"]
[ext_resource type="Script" path="res://scenes/state/visualization/state_machine_info_panel.gd" id="11_70vf4"]
[ext_resource type="Script" path="res://scenes/state/state_GoToBattery.gd" id="12_e37qa"]
[ext_resource type="Script" path="res://scenes/state/state_RechargeBattery.gd" id="13_qf7y1"]
[sub_resource type="CapsuleShape2D" id="CapsuleShape2D_tr1gq"]
radius = 60.0
@ -35,6 +38,10 @@ texture = ExtResource("6_15pjb")
position = Vector2(67, 78)
scale = Vector2(4.42446, 4.42446)
[node name="Battery" parent="." instance=ExtResource("5_pml1y")]
position = Vector2(124, 578)
scale = Vector2(6.12, 6.12)
[node name="CleaningRobotCB2D" type="CharacterBody2D" parent="."]
position = Vector2(546, 342)
script = ExtResource("1_84313")
@ -59,6 +66,12 @@ script = ExtResource("7_1rfah")
[node name="ThrowTrashAway" type="Node" parent="CleaningRobotCB2D/StateMachine"]
script = ExtResource("8_677fi")
[node name="GoToBattery" type="Node" parent="CleaningRobotCB2D/StateMachine"]
script = ExtResource("12_e37qa")
[node name="RechargeBattery" type="Node" parent="CleaningRobotCB2D/StateMachine"]
script = ExtResource("13_qf7y1")
[node name="VisionCone" type="Area2D" parent="CleaningRobotCB2D"]
[node name="CollisionShape2D" type="CollisionShape2D" parent="CleaningRobotCB2D/VisionCone"]

13
state/scenes/state/state_GoToBattery.gd 100644
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@ -0,0 +1,13 @@
extends State
@onready var battery: Node2D = $"../../../Battery"
func state_enter():
print("Go to ", battery.position, " to recharge battery")
func state_process(delta: float) -> void:
var target_position: Vector2 = battery.position
character.move_towards(target_position, delta)
character.move_and_slide()

16
state/scenes/state/state_RechargeBattery.gd 100644
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@ -0,0 +1,16 @@
extends State
@onready var battery: Node2D = $"../../../Battery"
func state_enter():
print("Arrived at ", battery.position, " to recharge battery")
func state_process(delta: float) -> void:
var target_position: Vector2 = battery.position
target_position += Vector2(rand_range(-10, 10), rand_range(-10, 10))
character.move_towards(target_position, delta)
character.move_and_slide()
character.battery_charge += character.battery_charge_recharge_per_second * delta

3
state/scenes/state/visualization/d_tree_node.gd
View File

@ -29,12 +29,11 @@ func add_label(label_text: String, left: bool, right: bool) -> Vector3i:
self.set_slot_color_right(child_index, Color(0.9, 0.9, 0.9, 1))
right_slots.append(label_text)
# the port index is counted separately from the left and right slots.
# the port index is counted separately from the left and right slots
return Vector3i(child_index, left_slots.size() - 1, right_slots.size() - 1)
func set_highlighted(highlight: bool) -> void:
# set the background color of the node
if highlight:
self.add_theme_stylebox_override("panel", color_highlighted)
else:

15
state/scenes/state/visualization/state_machine_info_panel.gd
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@ -3,7 +3,11 @@ extends VBoxContainer
var values: Dictionary = {}
var last_values: Dictionary = {}
var value_order: Array = [] # Keep track of the order of values
var value_order: Array = []
func _ready() -> void:
hide()
func to_str(value) -> String:
@ -19,6 +23,12 @@ func to_str(value) -> String:
func _process(delta: float) -> void:
if Input.is_action_just_pressed("debug_vis_2"):
if is_visible():
hide()
else:
show()
for child in self.get_children():
if child is Label:
child.queue_free()
@ -26,7 +36,8 @@ func _process(delta: float) -> void:
# 1. Update and Track Order of Values
for value in values.keys():
if value in value_order:
value_order.erase(value) # Move to the end (most recent)
# Move to the end (most recent)
value_order.erase(value)
value_order.append(value)
# 2. Display Current Values (Most Recent First)

47
state/scenes/state/visualization/tree_visualizer.gd
View File

@ -11,7 +11,7 @@ var all_node_names_to_nodes: Dictionary = {}
func _process(delta: float) -> void:
if Input.is_action_just_pressed("ui_accept"):
if Input.is_action_just_pressed("debug_vis_1"):
if is_visible():
hide()
else:
@ -35,7 +35,6 @@ func build_tree():
var node_positions: Array[DTreeNode] = []
var y_spacing: int = 300
var x_spacing: int = 600
var depths: Dictionary = calculate_node_depths()
var states = state_machine.state_machine_data["states"]
@ -60,12 +59,9 @@ func build_tree():
# Set up labels (input and output)
populate_node_labels(graph_node, state_name, state_data, all_node_names_to_nodes)
# Calculate position based on tree depth
var depth: int = depths[i]
var siblings: Array = get_nodes_at_depth(depth, depths)
@warning_ignore("integer_division")
var y_pos: int = y_spacing * (siblings.find(i) - (siblings.size() - 1) / 2)
var x_pos: int = x_spacing * depth
var y_pos: int = randi() % (y_spacing * 2) - y_spacing
var x_pos: int = x_spacing * i
y_pos += randi() % 200 - 100
graph_node.position_offset = Vector2(x_pos, y_pos)
node_positions.append(graph_node)
@ -80,9 +76,19 @@ func populate_node_labels(node: DTreeNode, state_name: String, state_data: Dicti
# start from the node passed in and only use the output connections to determine the input connections on the other nodes
var output_transitions: Array = state_data.get("transitions", [])
for transition in output_transitions:
var target_state_name: String = transition['target']
transition = state_machine.resolve_transition_template(transition)
var port_out: Vector3i = node.add_label(state_machine.human_readable_transition(transition), false, true)
if not transition.has("target"):
continue
if not transition['target'] is String:
continue
var target_state_name: String = transition['target']
if not node_names_to_nodes.has(target_state_name):
continue
var target_node: DTreeNode = node_names_to_nodes[target_state_name]
if target_node:
var port_in: Vector3i = target_node.add_label("%s" % [state_name], true, false)
@ -94,28 +100,3 @@ func populate_node_labels(node: DTreeNode, state_name: String, state_data: Dicti
)
print("Connecting %s [%d] to %s [%d]" % [node.get_name(), port_out, target_node.get_name(), port_in])
func calculate_node_depths() -> Dictionary:
var depths: Dictionary = {}
depths[0] = 0 # Root is at depth 0
var state_names = state_machine.state_machine_data["states"].keys()
for i in range(state_names.size()):
var state_name = state_names[i]
var state_data = state_machine.state_machine_data["states"][state_name]
if state_data.has("transitions"):
for transition in state_data["transitions"]:
if transition.has("target"):
var target_state_name = transition["target"]
var target_state_index = state_names.find(target_state_name)
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