UnrealEngineUWP/Engine/Source/Runtime/AIModule/Private/Perception/AIPerceptionSystem.cpp

// Copyright 1998-2018 Epic Games, Inc. All Rights Reserved.

#include "Perception/AIPerceptionSystem.h"
#include "EngineGlobals.h"
#include "TimerManager.h"
#include "Engine/Engine.h"
#include "AISystem.h"
#include "Perception/AISense_Hearing.h"
#include "Perception/AISenseConfig.h"
#include "Perception/AIPerceptionComponent.h"
#include "VisualLogger/VisualLogger.h"
#include "ProfilingDebugging/CsvProfiler.h"
#include "Perception/AISenseEvent.h"

DECLARE_CYCLE_STAT(TEXT("Perception System"),STAT_AI_PerceptionSys,STATGROUP_AI);

DEFINE_LOG_CATEGORY(LogAIPerception);

//----------------------------------------------------------------------//
// UAISenseConfig
//----------------------------------------------------------------------//
FAISenseID UAISenseConfig::GetSenseID() const
{
	TSubclassOf<UAISense> SenseClass = GetSenseImplementation();
	return UAISense::GetSenseID(SenseClass);
}

//----------------------------------------------------------------------//
// UAIPerceptionSystem
//----------------------------------------------------------------------//
UAIPerceptionSystem::UAIPerceptionSystem(const FObjectInitializer& ObjectInitializer)
	: Super(ObjectInitializer)
	, PerceptionAgingRate(0.3f)
	, bSomeListenersNeedUpdateDueToStimuliAging(false)
	, bStimuliSourcesRefreshRequired(false)
	, bHandlePawnNotification(false)
	, CurrentTime(0.f)
{
	StimuliSourceEndPlayDelegate.BindDynamic(this, &UAIPerceptionSystem::OnPerceptionStimuliSourceEndPlay);
}

FAISenseID UAIPerceptionSystem::RegisterSenseClass(TSubclassOf<UAISense> SenseClass)
{
	check(SenseClass);
	FAISenseID SenseID = UAISense::GetSenseID(SenseClass);
	if (SenseID.IsValid() == false)
	{
		UAISense* SenseCDO = GetMutableDefault<UAISense>(SenseClass);
		SenseID = SenseCDO->UpdateSenseID();

		if (SenseID.IsValid() == false)
		{
			// @todo log a message here
			return FAISenseID::InvalidID();
		}
	}

	if (SenseID.Index >= Senses.Num())
	{
		const int32 ItemsToAdd = SenseID.Index - Senses.Num() + 1;
		Senses.AddZeroed(ItemsToAdd);
	}

	if (Senses[SenseID] == nullptr)
	{
		Senses[SenseID] = NewObject<UAISense>(this, SenseClass);
		check(Senses[SenseID]);
		bHandlePawnNotification |= Senses[SenseID]->ShouldAutoRegisterAllPawnsAsSources() || Senses[SenseID]->WantsNewPawnNotification();

		if (Senses[SenseID]->ShouldAutoRegisterAllPawnsAsSources())
		{
			UWorld* World = GetWorld();
			if (World->HasBegunPlay())
			{
				// this @hack is required due to UAIPerceptionSystem::RegisterSenseClass
				// being potentially called from UAIPerceptionComponent::OnRegister
				// and at that point UWorld might not have registered 
				// the pawn related to given UAIPerceptionComponent.
				World->GetTimerManager().SetTimerForNextTick(FTimerDelegate::CreateUObject(this, &UAIPerceptionSystem::RegisterAllPawnsAsSourcesForSense, SenseID));
			}
			// otherwise it will get called in StartPlay()
		}

		// make senses v-log to perception system's log
		REDIRECT_OBJECT_TO_VLOG(Senses[SenseID], this);
		UE_VLOG(this, LogAIPerception, Log, TEXT("Registering sense %s"), *Senses[SenseID]->GetName());
	}

	return SenseID;
}

TStatId UAIPerceptionSystem::GetStatId() const
{
	RETURN_QUICK_DECLARE_CYCLE_STAT(UAIPerceptionSystem, STATGROUP_Tickables);
}

void UAIPerceptionSystem::RegisterSource(FAISenseID SenseID, AActor& SourceActor)
{
	ensure(IsSenseInstantiated(SenseID));
	SourcesToRegister.AddUnique(FPerceptionSourceRegistration(SenseID, &SourceActor));
}

void UAIPerceptionSystem::PerformSourceRegistration()
{
	SCOPE_CYCLE_COUNTER(STAT_AI_PerceptionSys);

	for (const FPerceptionSourceRegistration& PercSource : SourcesToRegister)
	{
		AActor* SourceActor = PercSource.Source.Get();
		if (SourceActor != nullptr && SourceActor->IsPendingKillPending() == false && Senses[PercSource.SenseID] != nullptr)
		{
			Senses[PercSource.SenseID]->RegisterSource(*SourceActor);

			// hook into notification about actor's EndPlay to remove it as a source 
			SourceActor->OnEndPlay.AddUnique(StimuliSourceEndPlayDelegate);

			// store information we have this actor as given sense's source
			FPerceptionStimuliSource& StimuliSource = RegisteredStimuliSources.FindOrAdd(SourceActor);
			StimuliSource.SourceActor = SourceActor;
			StimuliSource.RelevantSenses.AcceptChannel(PercSource.SenseID);
		}
	}

	SourcesToRegister.Reset();
}

void UAIPerceptionSystem::OnNewListener(const FPerceptionListener& NewListener)
{
	UAISense** SenseInstance = Senses.GetData();
	for (int32 SenseID = 0; SenseID < Senses.Num(); ++SenseID, ++SenseInstance)
	{
		// @todo filter out the ones that do not declare using this sense
		if (*SenseInstance != nullptr && NewListener.HasSense((*SenseInstance)->GetSenseID()))
		{
			(*SenseInstance)->OnNewListener(NewListener);
		}
	}
}

void UAIPerceptionSystem::OnListenerUpdate(const FPerceptionListener& UpdatedListener)
{
	UAISense** SenseInstance = Senses.GetData();
	for (int32 SenseID = 0; SenseID < Senses.Num(); ++SenseID, ++SenseInstance)
	{
		if (*SenseInstance != nullptr)
		{
			(*SenseInstance)->OnListenerUpdate(UpdatedListener);
		}
	}
}

void UAIPerceptionSystem::Tick(float DeltaSeconds)
{
	SCOPE_CYCLE_COUNTER(STAT_AI_PerceptionSys);
	SCOPE_CYCLE_COUNTER(STAT_AI_Overall);
	CSV_SCOPED_TIMING_STAT_EXCLUSIVE(AIPerception);


	// if no new stimuli
	// and it's not time to remove stimuli from "know events"

	UWorld* World = GEngine->GetWorldFromContextObjectChecked(GetOuter());
	check(World);

	if (World->bPlayersOnly == false)
	{
		// cache it
		CurrentTime = World->GetTimeSeconds();

		bool bNeedsUpdate = false;

		if (bStimuliSourcesRefreshRequired == true)
		{
			// this is a bit naive, but we don't get notifications from the engine which Actor ended play, 
			// we just know one did. Let's just refresh the map removing all no-longer-valid instances
			// @todo: we should be just calling senses directly here to unregister specific source
			// but at this point source actor is invalid already so we can't really pin and use it
			// this will go away once OnEndPlay broadcast passes in its instigator
			FPerceptionChannelWhitelist SensesToUpdate;
			for (auto It = RegisteredStimuliSources.CreateIterator(); It; ++It)
			{
				if (It->Value.SourceActor.IsValid() == false)
				{
					SensesToUpdate.MergeFilterIn(It->Value.RelevantSenses);
					It.RemoveCurrent();
				}
			}

			for (FPerceptionChannelWhitelist::FConstIterator It(SensesToUpdate); It && Senses.IsValidIndex(*It); ++It)
			{
				if (Senses[*It] != nullptr)
				{
					Senses[*It]->CleanseInvalidSources();
				}
			}

			bStimuliSourcesRefreshRequired = false;
		}
		
		if (SourcesToRegister.Num() > 0)
		{
			PerformSourceRegistration();
		}

		{
			UAISense** SenseInstance = Senses.GetData();
			for (int32 SenseID = 0; SenseID < Senses.Num(); ++SenseID, ++SenseInstance)
			{
				bNeedsUpdate |= *SenseInstance != nullptr && (*SenseInstance)->ProgressTime(DeltaSeconds);
			}
		}

		if (bNeedsUpdate)
		{
			// first update cached location of all listener, and remove invalid listeners
			for (AIPerception::FListenerMap::TIterator ListenerIt(ListenerContainer); ListenerIt; ++ListenerIt)
			{
				if (ListenerIt->Value.Listener.IsValid())
				{
					ListenerIt->Value.CacheLocation();
				}
				else
				{
					OnListenerRemoved(ListenerIt->Value);
					ListenerIt.RemoveCurrent();
				}
			}

			UAISense** SenseInstance = Senses.GetData();
			for (int32 SenseID = 0; SenseID < Senses.Num(); ++SenseID, ++SenseInstance)
			{
				if (*SenseInstance != nullptr)
				{
					(*SenseInstance)->Tick();
				}
			}
		}

		/** no point in soring in no new stimuli was processed */
		bool bStimuliDelivered = DeliverDelayedStimuli(bNeedsUpdate ? RequiresSorting : NoNeedToSort);

		if (bNeedsUpdate || bStimuliDelivered || bSomeListenersNeedUpdateDueToStimuliAging)
		{
			for (AIPerception::FListenerMap::TIterator ListenerIt(ListenerContainer); ListenerIt; ++ListenerIt)
			{
				check(ListenerIt->Value.Listener.IsValid())
					if (ListenerIt->Value.HasAnyNewStimuli())
					{
						ListenerIt->Value.ProcessStimuli();
					}
			}

			bSomeListenersNeedUpdateDueToStimuliAging = false;
		}
	}
}

void UAIPerceptionSystem::AgeStimuli()
{
	// age all stimuli in all listeners by PerceptionAgingRate
	const float ConstPerceptionAgingRate = PerceptionAgingRate;

	for (AIPerception::FListenerMap::TIterator ListenerIt(ListenerContainer); ListenerIt; ++ListenerIt)
	{
		FPerceptionListener& Listener = ListenerIt->Value;
		if (Listener.Listener.IsValid())
		{
			// AgeStimuli will return true if this listener requires an update after stimuli aging
			if (Listener.Listener->AgeStimuli(ConstPerceptionAgingRate))
			{
				Listener.MarkForStimulusProcessing();
				bSomeListenersNeedUpdateDueToStimuliAging = true;
			}
		}
	}
}

UAIPerceptionSystem* UAIPerceptionSystem::GetCurrent(UObject* WorldContextObject)
{
	UWorld* World = Cast<UWorld>(WorldContextObject);
	if (World == nullptr && WorldContextObject != nullptr)
	{
		World = GEngine->GetWorldFromContextObject(WorldContextObject, EGetWorldErrorMode::LogAndReturnNull);
	}

	if (World && World->GetAISystem())
	{
		UAISystem* AISys = CastChecked<UAISystem>(World->GetAISystem());

		return AISys->GetPerceptionSystem();
	}

	return nullptr;
}

UAIPerceptionSystem* UAIPerceptionSystem::GetCurrent(UWorld& World)
{
	if (World.GetAISystem())
	{
		check(Cast<UAISystem>(World.GetAISystem()));
		UAISystem* AISys = (UAISystem*)(World.GetAISystem());

		return AISys->GetPerceptionSystem();
	}

	return nullptr;
}

void UAIPerceptionSystem::UpdateListener(UAIPerceptionComponent& Listener)
{
	SCOPE_CYCLE_COUNTER(STAT_AI_PerceptionSys);

	if (Listener.IsPendingKill())
	{
		UnregisterListener(Listener);
		return;
	}

	const FPerceptionListenerID ListenerId = Listener.GetListenerId();

	if (ListenerId != FPerceptionListenerID::InvalidID())
	{
		FPerceptionListener& ListenerEntry = ListenerContainer[ListenerId];
		ListenerEntry.UpdateListenerProperties(Listener);
		OnListenerUpdate(ListenerEntry);
	}
	else
	{			
		const FPerceptionListenerID NewListenerId = FPerceptionListenerID::GetNextID();
		Listener.StoreListenerId(NewListenerId);
		FPerceptionListener& ListenerEntry = ListenerContainer.Add(NewListenerId, FPerceptionListener(Listener));
		ListenerEntry.CacheLocation();
				
		OnNewListener(ListenerContainer[NewListenerId]);
	}
}

void UAIPerceptionSystem::UnregisterListener(UAIPerceptionComponent& Listener)
{
	SCOPE_CYCLE_COUNTER(STAT_AI_PerceptionSys);

	const FPerceptionListenerID ListenerId = Listener.GetListenerId();

	// can already be removed from ListenerContainer as part of cleaning up 
	// listeners with invalid WeakObjectPtr to UAIPerceptionComponent
	if (ListenerId != FPerceptionListenerID::InvalidID() && ListenerContainer.Contains(ListenerId))
	{
		check(ListenerContainer[ListenerId].Listener.IsValid() == false
			|| ListenerContainer[ListenerId].Listener.Get() == &Listener);
		OnListenerRemoved(ListenerContainer[ListenerId]);
		ListenerContainer.Remove(ListenerId);

		// mark it as unregistered
		Listener.StoreListenerId(FPerceptionListenerID::InvalidID());
	}
}

void UAIPerceptionSystem::UnregisterSource(AActor& SourceActor, const TSubclassOf<UAISense> Sense)
{	
	FPerceptionStimuliSource* StimuliSource = RegisteredStimuliSources.Find(&SourceActor);
	if (StimuliSource)
	{
		// single sense case
		if (Sense)
		{
			const FAISenseID SenseID = UAISense::GetSenseID(Sense);
			if (Senses[SenseID] != nullptr && StimuliSource->RelevantSenses.ShouldRespondToChannel(Senses[SenseID]->GetSenseID()))
			{
				Senses[SenseID]->UnregisterSource(SourceActor);
				StimuliSource->RelevantSenses.FilterOutChannel(SenseID);
			}
		}
		else // unregister from all senses
		{
			for (int32 SenseID = 0; SenseID < Senses.Num(); ++SenseID)
			{
				if (Senses[SenseID] != nullptr && StimuliSource->RelevantSenses.ShouldRespondToChannel(Senses[SenseID]->GetSenseID()))
				{
					Senses[SenseID]->UnregisterSource(SourceActor);
				}
			}
			StimuliSource->RelevantSenses.Clear();
		}

		if (StimuliSource->RelevantSenses.IsEmpty())
		{
			SourceActor.OnEndPlay.Remove(StimuliSourceEndPlayDelegate);
			RegisteredStimuliSources.Remove(&SourceActor);
		}
	}
	else
	{
		UE_VLOG(this, LogAIPerception, Log, TEXT("UnregisterSource called for %s but it doesn't seem to be registered as a source"), *SourceActor.GetName());
	}
}

void UAIPerceptionSystem::OnListenerRemoved(const FPerceptionListener& NewListener)
{
	UAISense** SenseInstance = Senses.GetData();
	for (int32 SenseID = 0; SenseID < Senses.Num(); ++SenseID, ++SenseInstance)
	{
		if (*SenseInstance != nullptr && NewListener.HasSense((*SenseInstance)->GetSenseID()))
		{
			(*SenseInstance)->OnListenerRemoved(NewListener);
		}
	}
}

void UAIPerceptionSystem::OnListenerForgetsActor(const UAIPerceptionComponent& Listener, AActor& ActorToForget)
{
	const FPerceptionListenerID ListenerId = Listener.GetListenerId();

	if (ListenerId != FPerceptionListenerID::InvalidID())
	{
		FPerceptionListener& ListenerEntry = ListenerContainer[ListenerId];
		
		for (UAISense* Sense : Senses)
		{
			if (Sense != nullptr && Sense->NeedsNotificationOnForgetting() && ListenerEntry.HasSense(Sense->GetSenseID()))
			{
				Sense->OnListenerForgetsActor(ListenerEntry, ActorToForget);
			}
		}
	}
}

void UAIPerceptionSystem::OnListenerForgetsAll(const UAIPerceptionComponent& Listener)
{
	const FPerceptionListenerID ListenerId = Listener.GetListenerId();

	if (ListenerId != FPerceptionListenerID::InvalidID())
	{
		FPerceptionListener& ListenerEntry = ListenerContainer[ListenerId];

		for (UAISense* Sense : Senses)
		{
			if (Sense != nullptr && Sense->NeedsNotificationOnForgetting() && ListenerEntry.HasSense(Sense->GetSenseID()))
			{
				Sense->OnListenerForgetsAll(ListenerEntry);
			}
		}
	}
}

void UAIPerceptionSystem::RegisterDelayedStimulus(FPerceptionListenerID ListenerId, float Delay, AActor* Instigator, const FAIStimulus& Stimulus)
{
	FDelayedStimulus DelayedStimulus;
	DelayedStimulus.DeliveryTimestamp = CurrentTime + Delay;
	DelayedStimulus.ListenerId = ListenerId;
	DelayedStimulus.Instigator = Instigator;
	DelayedStimulus.Stimulus = Stimulus;
	DelayedStimuli.Add(DelayedStimulus);
}

bool UAIPerceptionSystem::DeliverDelayedStimuli(UAIPerceptionSystem::EDelayedStimulusSorting Sorting)
{
	struct FTimestampSort
	{ 
		bool operator()(const FDelayedStimulus& A, const FDelayedStimulus& B) const
		{
			return A.DeliveryTimestamp < B.DeliveryTimestamp;
		}
	};

	if (DelayedStimuli.Num() <= 0)
	{
		return false;
	}

	if (Sorting == RequiresSorting)
	{
		DelayedStimuli.Sort(FTimestampSort());
	}

	int Index = 0;
	while (Index < DelayedStimuli.Num() && DelayedStimuli[Index].DeliveryTimestamp < CurrentTime)
	{
		FDelayedStimulus& DelayedStimulus = DelayedStimuli[Index];
		
		if (DelayedStimulus.ListenerId != FPerceptionListenerID::InvalidID() && ListenerContainer.Contains(DelayedStimulus.ListenerId))
		{
			FPerceptionListener& ListenerEntry = ListenerContainer[DelayedStimulus.ListenerId];
			// this has been already checked during tick, so if it's no longer the case then it's a bug
			check(ListenerEntry.Listener.IsValid());

			// deliver
			ListenerEntry.RegisterStimulus(DelayedStimulus.Instigator.Get(), DelayedStimulus.Stimulus);
		}

		++Index;
	}

	DelayedStimuli.RemoveAt(0, Index, /*bAllowShrinking=*/false);

	return Index > 0;
}

void UAIPerceptionSystem::MakeNoiseImpl(AActor* NoiseMaker, float Loudness, APawn* NoiseInstigator, const FVector& NoiseLocation, float MaxRange, FName Tag)
{
	UE_CLOG(NoiseMaker == nullptr && NoiseInstigator == nullptr, LogAIPerception, Warning
		, TEXT("UAIPerceptionSystem::MakeNoiseImpl called with both NoiseMaker and NoiseInstigator being null. Unable to resolve UWorld context!"));
	
	UWorld* World = NoiseMaker ? NoiseMaker->GetWorld() : (NoiseInstigator ? NoiseInstigator->GetWorld() : nullptr);

	if (World)
	{
		UAIPerceptionSystem::OnEvent(World, FAINoiseEvent(NoiseInstigator ? NoiseInstigator : NoiseMaker
			, NoiseLocation
			, Loudness
			, MaxRange
			, Tag));
	}
}

void UAIPerceptionSystem::OnNewPawn(APawn& Pawn)
{
	if (bHandlePawnNotification == false)
	{
		return;
	}

	for (UAISense* Sense : Senses)
	{
		if (Sense == nullptr)
		{
			continue;
		}

		if (Sense->WantsNewPawnNotification())
		{
			Sense->OnNewPawn(Pawn);
		}

		if (Sense->ShouldAutoRegisterAllPawnsAsSources())
		{
			FAISenseID SenseID = Sense->GetSenseID();
			check(IsSenseInstantiated(SenseID));
			RegisterSource(SenseID, Pawn);
		}
	}
}

void UAIPerceptionSystem::RegisterSource(AActor& SourceActor)
{
	for (UAISense* Sense : Senses)
	{
		if (Sense == nullptr)
		{
			continue;
		}

		const FAISenseID SenseID = Sense->GetSenseID();
		if (IsSenseInstantiated(SenseID))
		{
			RegisterSource(SenseID, SourceActor);
		}
	}
}

void UAIPerceptionSystem::StartPlay()
{
	for (UAISense* Sense : Senses)
	{
		if (Sense != nullptr && Sense->ShouldAutoRegisterAllPawnsAsSources())
		{
			FAISenseID SenseID = Sense->GetSenseID();
			RegisterAllPawnsAsSourcesForSense(SenseID);
		}
	}

	UWorld* World = GetWorld();
	if (World)
	{
		World->GetTimerManager().SetTimer(AgeStimuliTimerHandle, this, &UAIPerceptionSystem::AgeStimuli, PerceptionAgingRate, /*inbLoop=*/true);
	}
}

void UAIPerceptionSystem::RegisterAllPawnsAsSourcesForSense(FAISenseID SenseID)
{
	UWorld* World = GetWorld();
	for (auto PawnIt = World->GetPawnIterator(); PawnIt; ++PawnIt)
	{
		if (PawnIt->Get())
		{
			RegisterSource(SenseID, **PawnIt);
		}
	}
}

bool UAIPerceptionSystem::RegisterPerceptionStimuliSource(UObject* WorldContextObject, TSubclassOf<UAISense> Sense, AActor* Target)
{
	bool bResult = false;
	if (Sense && Target)
	{
		UWorld* World = GEngine->GetWorldFromContextObject(WorldContextObject, EGetWorldErrorMode::LogAndReturnNull);
		if (World && World->GetAISystem())
		{
			UAISystem* AISys = Cast<UAISystem>(World->GetAISystem());
			if (AISys != nullptr && AISys->GetPerceptionSystem() != nullptr)
			{
				// just a cache
				UAIPerceptionSystem* PerceptionSys = AISys->GetPerceptionSystem();
				
				PerceptionSys->RegisterSourceForSenseClass(Sense, *Target);

				bResult = true;
			}
		}
	}

	return bResult;
}

void UAIPerceptionSystem::RegisterSourceForSenseClass(TSubclassOf<UAISense> Sense, AActor& Target)	
{
	FAISenseID SenseID = UAISense::GetSenseID(Sense);
	if (IsSenseInstantiated(SenseID) == false)
	{
		SenseID = RegisterSenseClass(Sense);
	}

	RegisterSource(SenseID, Target);
}

void UAIPerceptionSystem::OnPerceptionStimuliSourceEndPlay(AActor* Actor, EEndPlayReason::Type EndPlayReason)
{
	// this tells us just that _a_ source has been removed. We need to parse through all sources and find which one was it
	// this is a fall-back behavior, if source gets unregistered manually this function won't get called 
	// note, the actual work will be done on system's tick
	bStimuliSourcesRefreshRequired = true;
}

TSubclassOf<UAISense> UAIPerceptionSystem::GetSenseClassForStimulus(UObject* WorldContextObject, const FAIStimulus& Stimulus)
{
	TSubclassOf<UAISense> Result = nullptr;
	UAIPerceptionSystem* PercSys = GetCurrent(WorldContextObject);
	if (PercSys && PercSys->Senses.IsValidIndex(Stimulus.Type) && PercSys->Senses[Stimulus.Type] != nullptr)
	{
		Result = PercSys->Senses[Stimulus.Type]->GetClass();
	}

	return Result;
}

//----------------------------------------------------------------------//
// Blueprint API
//----------------------------------------------------------------------//
void UAIPerceptionSystem::ReportEvent(UAISenseEvent* PerceptionEvent)
{
	if (PerceptionEvent)
	{
		const FAISenseID SenseID = PerceptionEvent->GetSenseID();
		if (SenseID.IsValid() && Senses.IsValidIndex(SenseID) && Senses[SenseID] != nullptr)
		{
			Senses[SenseID]->RegisterWrappedEvent(*PerceptionEvent);
		}
		else
		{
			UE_VLOG(this, LogAIPerception, Log, TEXT("Skipping perception event %s since related sense class has not been registered (no listeners)")
				, *PerceptionEvent->GetName());
			PerceptionEvent->DrawToVLog(*this);
		}
	}
}

void UAIPerceptionSystem::ReportPerceptionEvent(UObject* WorldContextObject, UAISenseEvent* PerceptionEvent)
{
	UAIPerceptionSystem* PerceptionSys = GetCurrent(WorldContextObject);
	if (PerceptionSys != nullptr)
	{
		PerceptionSys->ReportEvent(PerceptionEvent);
	}
}