blockdata.java

2004年robotcup世界冠军源代码

package MRL.Police;
import yab.agent.DisasterSpace;
import yab.agent.object.*;

import java.util.*;

import MRL.Utilities.Partitioning.*;

public class BlockData implements PoliceConstantsAndConditions{
    private DisasterSpace world;
    private RealObject self;
    public BlockData(RealObject self){
        this.world = self.world;
        this.self = self;
        agents = world.platoonAgents;
        paths = world.paths;
        motionlessObjects = world.motionlessObjects;
    }

    private final int SIM_TIME = yab.agent.Constants.SIMULATING_TIME;
    private final Map <Humanoid,ArrayList[]> agentPathsTimeMap = new HashMap();
    private final Map <Humanoid,ArrayList[]> agentMOTimeMap = new HashMap();
    private final Map <Humanoid,Path> currentAgentPathMap = new HashMap();
    private final List agents;
    private final List motionlessObjects ;
    private final List paths;

    private RealObject self(){
        return self;
    }


    private int time() {
        return world.time();
    }


    public void setLockedByBlockade(Humanoid agent,MotionlessObject mo){
        int time = time();
        if(!updateMoTime(agent,mo,time))
            return;

        Path path = world.getContainingPath(mo);
        if(path != null){
            updatePathTime(agent,path,time);
        }

    }

    private boolean updateMoTime(Humanoid agent,MotionlessObject mo , int time){
        Integer timeInt = new Integer(time);
        ArrayList[] moTime;
        ArrayList mos , times;
        if(agentMOTimeMap.containsKey(agent)){
            moTime= agentMOTimeMap.get(agent);
        }
        else{
            moTime=new ArrayList[2];
            moTime[0] = new ArrayList();
            moTime[1] = new ArrayList();
            agentMOTimeMap.put(agent,moTime);
        }
        mos = moTime[0];
        times = moTime[1];
        int lastMoIndx = mos.lastIndexOf(mo);
        if(lastMoIndx == -1 || ((Integer)times.get(lastMoIndx)).intValue() < time){
            mos.add(mo);
            times.add(timeInt);
            return true;
        }
        else {
//            System.err.println(self() + " , Error , Duplicate Value For : " + mo + " , " + time);
            return false;
        }
    }

    private boolean updatePathTime(Humanoid agent,Path path,int time){
        Integer timeInt = new Integer(time);
        ArrayList[] pathTime;
        ArrayList paths,times;
        if(agentPathsTimeMap.containsKey(agent)){
            pathTime = agentPathsTimeMap.get(agent);
        }
        else{
            pathTime= new ArrayList[2];
            pathTime[0]= new ArrayList();
            pathTime[1] = new ArrayList();
            agentPathsTimeMap.put(agent,pathTime);
        }
        paths = pathTime[0];
        times=pathTime[1];
        int lastPathIndx = paths.lastIndexOf(path);
        if(lastPathIndx == -1 || ((Integer)times.get(lastPathIndx)).intValue() < time){
            paths.add(path);
            times.add(timeInt);
            return true;
        }
        else {
//            System.err.println(self() + " , Error , Duplicate Value For : " + path.getID() + " , " + time);
            return false;
        }
    }

    public void updateLockedByBlockade(){
        Humanoid hum;
        ArrayList [] pathTime;
        ArrayList paths,times;
        Path path;
        int time;
        for(Iterator it =agentPathsTimeMap.keySet().iterator();it.hasNext();){
            hum = (Humanoid)it.next();
            pathTime = agentPathsTimeMap.get(hum);
            paths = pathTime[0];
            times = pathTime[1];
            path = (Path) paths.get(paths.size()-1);
            time = ((Integer) times.get(times.size() -1)).intValue();
            currentAgentPathMap.remove(hum);
            if(time() - time > LOCKED_BB_TIMEOUT) continue;
            if(!path.checkPathIsOpen()){
                currentAgentPathMap.put(hum,path);
//                System.out.println(self() + " , Detected LBB : " + hum + " In : " + path.getID());
            }
        }
    }

    public int getLockedAgentsCountInPart(Partition part){
        int res = 0;
        Humanoid hum;
        Path path;
        for(Iterator it=currentAgentPathMap.keySet().iterator();it.hasNext();){
            hum = (Humanoid) it.next();
            path = currentAgentPathMap.get(hum);
            if(part.ML_OBJS_IN_PART_CND.eval(path))
                res++;
        }
        return res;
    }

    public int getAgentsLockedInPathCount(Path path){
        int res = 0;
        Humanoid hum;
        for(Iterator it = currentAgentPathMap.keySet().iterator();it.hasNext();){
            hum = (Humanoid) it.next();
            if(currentAgentPathMap.get(hum) == path) res ++;
        }
        return res;
    }

    public List getAgentsLockedInPath(Path path){
        List res = new ArrayList();
        Humanoid hum;
        for(Iterator it = currentAgentPathMap.keySet().iterator();it.hasNext();){
            hum = (Humanoid) it.next();
            if(currentAgentPathMap.get(hum) == path) res.add(hum);
        }
        return res;
    }

}