firebrigadeagent.java

2004年robotcup世界冠军源代码

                    if (igniteSite.getTotalArea() <= 50000)
                        myWaitingTime = 13 + extraWaiting * 2;
                    else
                        myWaitingTime = 11 + extraWaiting * 2;
                } else {
                    target = reigniteSites.get(1);
                    return;
                }
                if (amISearching)
                    myWaitingTime = 0;
                break;
            case 8:
                if (reigniteSites.size() == 1) {
                    igniteSite = reigniteSites.get(0);
                    if (igniteSite.getTotalArea() <= 50000)
                        myWaitingTime = 14 + extraWaiting * 2;
                    else
                        myWaitingTime = 12 + extraWaiting * 2;
                } else {
                    target = reigniteSites.get(1);
                    return;
                }
                if (amISearching)
                    myWaitingTime = 0;
                break;

            case 9:
                myWaitingTime = 17 + extraWaiting * 2;
                if (amISearching)
                    myWaitingTime = 0;
                break;
            default:
                myWaitingTime = 18 + extraWaiting * 2;
                if (amISearching)
                    myWaitingTime = 0;
            }
        }

        FireSite site;
        Iterator it = fireSites.iterator();
        float minValue = Float.MAX_VALUE;

        for (; it.hasNext(); ) {
            site = (FireSite) it.next();
            if (site.burningBuildings().isEmpty())
                site.setValue(Float.MAX_VALUE);
            isTargetAssigned = false;
            if (site.getTotalArea() < 7500 && !site.burningBuildings().isEmpty()) {
                sortAgentDistanceToSite(site);
                assignSmallSiteToAgent(site);

            }
            if (isTargetAssigned) {

                amISearching = false;
                return;
            }

            if (time() - site.burningTime < myWaitingTime)
                continue;
            if (site.getValue() < minValue) {
                minValue = site.getValue();
                target = site;
            }
        }
        if (target != null)
            amISearching = false;
    }


    public void selectTarget() {
        if (target == null) {
            target_Building = null;
            return;
        }
        double value = Double.MAX_VALUE;
        double building_value = 0;
        List targets;
        int victimCount = 0;
        if (!isSiteExtinguishable(target)) {
            int totalVictim = 0;
            int direction = 0;
            int totalArea = 0;
            int numBldgsInDirection = 0;
            float mainValue = Float.MAX_VALUE;
            int maxDistance = 1;
            int[] distances = new int[4];
            for (int k = 0; k < 4; k++) {
                distances[k] = getLastCoordinateInDirection(k, target);
                if (distances[k] > maxDistance)
                    maxDistance = distances[k];
            }

            int[] averageDistance = new int[4];
            for (int i = 0; i < 4; i++) {
                totalVictim = 0;
                totalArea = 0;
                numBldgsInDirection = 0;

                List bldgs = getTargetsInExtinguishDirection(i, target);
                for (Iterator it = bldgs.iterator(); it.hasNext(); ) {
                    Building bd = (Building) it.next();
                    averageDistance[i] +=
                            Util.distance(bd.x(), bd.y(),
                                          getSecureCenterOfMap().x,
                                          getSecureCenterOfMap().y);
                    totalArea += bd.buildingAreaTotal();
                    numBldgsInDirection += 1;
                }

                averageDistance[i] /= bldgs.size();

                int tempValue = 0;
                if (distances[i] / (maxDistance + 1) < 0.3)
                    tempValue = (maxDistance / (distances[i] + 1)) * 2;
                totalVictim = getNumberVictimInConnectedBldgs(i, target);
                float dirValue = (float) (totalVictim * -6 +
                                          totalArea * 0.00001 +
                                          numBldgsInDirection * .5 + tempValue +
                                          averageDistance[i] * 0.001);
//              System.out.println(" self  " + self().id + " time " + time() +
//                                   " Direction " + i + " Value " + dirValue +
//                                   " total vic " + totalVictim * -5 +
//                                   " totalArea " + totalArea * 0.00001 +
//                                   " numbldgDirection " +
//                                   numBldgsInDirection * .5 + " avrgDis " +
//                                   averageDistance[i] * 0.001);

                System.out.flush();
                int tempFinal = totalArea / 15000;
                world.sortByID(world.fireBrigades);
                int indexFinal = world.fireBrigades.indexOf(self());
                if ( tempFinal > indexFinal  )
                {

                    System.out.println("ok go to next direction self "
                            + self().id + " tempFinal " + tempFinal
                            + " time " + time()  );
                  continue;
                }

                if (dirValue < mainValue) {
                    mainValue = dirValue;
                    direction = i;
                }
            }

            target.setDirectionForExtinguish(direction);
            targets = getTargetsInExtinguishDirection(direction, target);
            extinguishBuildingsInDirection(targets);
            return;
        } else
            targets = target.burningBuildings();

        if (targets.isEmpty()) {
            if (MRL.MRLConstants.FB_DEBUG_MODE)
                System.out.println("No target");
            return;
        }

        float mapSizeCoef = 1;
        if (world.nodes.size() > 25000)
            mapSizeCoef = 0.3f;

        int k = 0;
        for (Iterator it = targets.iterator(); it.hasNext(); ) {
            Building bd = (Building) it.next();
            sortAgentDistanceToBuilding(bd);   // 18 june
            int index = firebrigadesAssignedToBuilding.indexOf(self());  // 18 june
            if ( (( bd.buildingAreaTotal() / 5000 ) < index-k )&& (bd.buildingAreaTotal() < target.getTotalArea()/10 ) )
               {
                   k+= (int)(bd.buildingAreaTotal() / 5000 );
                  // System.err.println("self to  bedoon dir " + self().id + " time " + time() + " continue "  );
                   continue; // 18 june
               }
            if (bd.buildingAreaTotal() <= 58752.37) {
                victimCount = getVictimsAroundBuilding(bd);
                building_value = ((time() - bd.getFireStart()) +
                                  self().distance(bd) * 0.001 * mapSizeCoef +
                                  victimCount * -5
                                  +
                                  bd.fieryness() * bd.buildingAreaTotal() * 0.0001);
            } else
                building_value = bd.buildingAreaTotal();

            if (building_value < value) {
                if (MRL.MRLConstants.FB_DEBUG_MODE)
                    System.err.println("Victim Around building " + victimCount);
                value = building_value;
                target_Building = bd;
            }

        }

    }

    private Building buildingToposition;


    public void moveForExtinguish() throws ActionCommandException {
        if (target_Building == null)
            return;
        if (self().distance(target_Building) <
            SimulatorsConstants.EXTINGUISHABLE_DISTANCE && time() <= 15)
            extinguish(target_Building); //it is clear
        List surroundedBuildings = ACCESSABLE_BUILDINGS_TO_GO.extract(
                target_Building.neighbourBuildings);
//        List surroundedBuildings = ACCESSABLE_BUILDINGS_TO_GO.and (target_Building.distancePrp.lte(SimulatorsConstants.EXTINGUISHABLE_DISTANCE)).extract(world.buildings);
        List surroundedRoads = (target_Building.distancePrp.lte(
                SimulatorsConstants.EXTINGUISHABLE_DISTANCE)).extract(world.
                nodes);
        surroundedBuildings.removeAll(fullBuildings);
        Node nearestRoad;

        List<Building> reachableBldgs = new ArrayList<Building>();

        for (int i = 0; i < surroundedBuildings.size(); i++) {
            Building bd = (Building) surroundedBuildings.get(i);
            if (REACHABLE_C.eval(bd))
                reachableBldgs.add(bd);
        }

//        reachableBldgs.addAll(surroundedBuildings);
        world.sortByID(reachableBldgs);
        world.sortByID(world.fireBrigades);
        int index = world.fireBrigades.indexOf(self());
        if (index >= reachableBldgs.size()) {
            //TODO go to the next target
            if (MRL.MRLConstants.FB_DEBUG_MODE)
                System.err.println("Natoonestam beram " + time() + " " +
                                   self().id);

            if (!surroundedRoads.isEmpty()) {
                nearestRoad = (Node) target_Building.distancePrp.min(
                        surroundedRoads);
                if (self().motionlessPosition().id == nearestRoad.id
                    &&
                    self().distance(target_Building) < SimulatorsConstants.EXTINGUISHABLE_DISTANCE)
                    extinguish(target_Building);
                move(nearestRoad);

            } else {
                if (self().motionlessPosition().id ==
                    target_Building.entrance().id
                    &&
                    self().distance(target_Building) < SimulatorsConstants.EXTINGUISHABLE_DISTANCE)
                    extinguish(target_Building);
                move(target_Building.entrance());
            }

        }

        buildingToposition = (Building) reachableBldgs.get(index);
        if (time() - lastMoveTime > 2 &&
            self().motionlessPosition() != buildingToposition) {
//            System.err.println("more than 2  self " + self().id + " time " + time() );
            move(target_Building.neighbourBuildings);
        }

        if (!reachableBldgs.isEmpty() && !REACHABLE_C.eval(buildingToposition)) {
            Building bldg = (Building) target_Building.distancePrp.min(
                    reachableBldgs);
            if (self().motionlessPosition().id == bldg.id
                &&
                self().distance(target_Building) < SimulatorsConstants.EXTINGUISHABLE_DISTANCE)
                extinguish(target_Building);
            if (REACHABLE_C.eval(bldg))
                move(bldg.motionlessPosition());
            else {
                if (!surroundedRoads.isEmpty()) {
                    nearestRoad = (Node) target_Building.distancePrp.min(
                            surroundedRoads);
                    if (self().motionlessPosition().id == nearestRoad.id
                        &&
                        self().distance(target_Building) <
                        SimulatorsConstants.EXTINGUISHABLE_DISTANCE)
                        extinguish(target_Building);
                    move(nearestRoad);
                } else {
                    if (self().motionlessPosition().id == target_Building.id
                        &&
                        self().distance(target_Building) <
                        SimulatorsConstants.EXTINGUISHABLE_DISTANCE)
                        extinguish(target_Building);
                    move(target_Building.entrance());
                }
            }

        } else {
            if (self().motionlessPosition().id == buildingToposition.id
                &&
                self().distance(target_Building) < SimulatorsConstants.EXTINGUISHABLE_DISTANCE)
                extinguish(target_Building);
            move(buildingToposition.motionlessPosition());
        }
    }

    private boolean canExtinguish = false;
    public void extinguishTarget() throws ActionCommandException {
        if (target_Building == null)
            return;
//        System.out.println("self " + self().id + " mywaitingtime " + myWaitingTime + "" + " time " + time() +
//                " myTarget " + target_Building.id + " targetAgainStart " + target.burningTime
//                + " reigniteSize  " + reigniteSites.size() );
        evaluateAmountOfExtraWater(target_Building);
        int minPass = 0;
        if (self().motionlessPosition() instanceof Node) {
            Collection Connected_roads = ((Node) self().motionlessPosition()).
                                         getConnectedRoads();
            minPass = 10;
            for (Iterator it = Connected_roads.iterator(); it.hasNext(); ) {
                Road thisroad = (Road) it.next();
                if (thisroad.passableLines() < minPass)
                    minPass = thisroad.passableLines();
            }

        }
        int numberFb = 0;
        for (Iterator it = world.fireBrigades.iterator(); it.hasNext(); ) {
            FireBrigade fb = (FireBrigade) it.next();
            if (self().motionlessPosition() == fb.motionlessPosition() &&
                fb.isVisible())