Remove coroutineHost from TaskBundle

rwth-acis · Apr 27, 2024 · b80bdaf · b80bdaf
1 parent de5d3bd
commit b80bdaf
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Showing 3 changed files with 9 additions and 20 deletions.
diff --git a/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/TaskBundle.cs b/Assets/Virtual Agents Framework/Runtime/Scripts/ScheduleBasedExecution/TaskBundle.cs
@@ -12,28 +12,23 @@ namespace i5.VirtualAgents
     /// </summary>
     public class TaskBundle : AgentBaseTask
     {
-        // The coroutine host which is used to start coroutines as TaskBundles are no MonoBehaviours
-        private MonoBehaviour coroutineHost;
-        public TaskBundle(MonoBehaviour coroutineHost)
+        public TaskBundle()
         {
             this.State = TaskState.Waiting;
             TaskQueue = new List<AgentBaseTask>();
-            this.coroutineHost = coroutineHost;
         }
 
-        public TaskBundle(MonoBehaviour coroutineHost, List<AgentBaseTask> tasks)
+        public TaskBundle(List<AgentBaseTask> tasks)
         {
             this.State = TaskState.Waiting;
             TaskQueue = tasks;
-            this.coroutineHost = coroutineHost;
         }
 
-        public TaskBundle(MonoBehaviour coroutineHost, List<AgentBaseTask> tasks, List<Func <bool>> preconditions)
+        public TaskBundle(List<AgentBaseTask> tasks, List<Func <bool>> preconditions)
         {
             this.State = TaskState.Waiting;
             TaskQueue = tasks;
             this.Preconditions = preconditions;
-            this.coroutineHost = coroutineHost;
         }
 
         /// <summary>
@@ -53,14 +48,9 @@ public TaskBundle(MonoBehaviour coroutineHost, List<AgentBaseTask> tasks, List<F
         public override void StartExecution(Agent executingAgent)
         {
             State = TaskState.Running;
-            if (coroutineHost == null)
-            {
-                Debug.LogError("coroutineHost is null");
-                return;
-            }
             if (CheckPreconditions())
             {
-                coroutineHost.StartCoroutine(ExecuteTasks(executingAgent));
+                executingAgent.StartCoroutine(ExecuteTasks(executingAgent));
             }
         }
 

diff --git a/Assets/Virtual Agents Framework/Samples/TaskBundle Sample/TaskBundleController.cs b/Assets/Virtual Agents Framework/Samples/TaskBundle Sample/TaskBundleController.cs
@@ -42,13 +42,13 @@ protected override void Start()
 
             // Create a new TaskBundle with the tasks and preconditions
             // This TaskBundle will be executed because the agent is not close to the last waypoint
-            TaskBundle taskBundleSuccess = new TaskBundle(this, tasks, preconditions);
+            TaskBundle taskBundleSuccess = new TaskBundle(tasks, preconditions);
 
 
             // Create a new TaskBundle with the tasks and preconditions
             // This TaskBundle will not be executed
             // because after executing the taskBundleSuccess the agent is close to the last waypoint
-            TaskBundle taskBundleFail = new TaskBundle(this, tasks, preconditions);
+            TaskBundle taskBundleFail = new TaskBundle(tasks, preconditions);
 
             // Schedule the TaskBundles to the taskSystem
             taskSystem.ScheduleTask(taskBundleSuccess, 0);

diff --git a/Documentation/manual/task-bundle.md b/Documentation/manual/task-bundle.md
@@ -7,11 +7,10 @@ Tasks in a TaskBundle are executed back to back in sequence and cannot be interr
 
 # Construct a TaskBundle
 The are three TaskBundle constructors, that can be used to create a TaskBundle:
-1. `TaskBundle(MonoBehaviour coroutineHost)`
-2. `TaskBundle(MonoBehaviour coroutineHost, List<AgentBaseTask> tasks)`
-3. `TaskBundle(MonoBehaviour coroutineHost, List<AgentBaseTask> tasks, List<Func <bool>> preconditions)`
+1. `TaskBundle()`
+2. `TaskBundle(List<AgentBaseTask> tasks)`
+3. `TaskBundle(List<AgentBaseTask> tasks, List<Func <bool>> preconditions)`
 
-The `coroutineHost` is the MonoBehaviour that will host the coroutine that executes the TaskBundle.
 `tasks` is a list of subtasks. Of note is, that TaskActions cannot be used here, as they would also add the sub-tasks to the regular scheduler.
 `preconditions` is a list of boolean functions, so in particular lambda expressions can be used.
 Other functions may be evaluated beforehand, so are not suitable for this purpose.