policeofficeagent.java

2004年robotcup世界冠军源代码

      policeforce = (PoliceForce) it.next();
      partition = world.partitioner.getPartition( (Partitionable) policeforce.
                                                 motionlessPosition());
      //msg = world.messagepool.SetPartition(policeforce,partition);
        messageManager.reportSetPartition(policeforce,partition);
      //if (MRL.MRLConstants.PARTITION_DEBUG_MODE) {
      //  System.out.println("Object Partitioned In POA : " + msg);
      //}

      policePartitionsMap.put(policeforce,
                           partition);

      used.add(policeforce);
    }
    remainingpolices.removeAll(used);
    used = null;
    return res;

  }
  */
  /**
   *
   * todo Aghazadeh : Must Check Not To Assign More Than 3 Polices To A Partition
   */
  /*
  private int AssignRemainingPolicesToCurrentPartition() {
    if (MRL.MRLConstants.PARTITION_DEBUG_MODE) {
      if (unassignedpartitions.size() != 0) {
        System.out.println("Error , Some Partitions Are Not Covered");
        return 0;
      }
    }
    int res = 0;
    Partition partition;
    PoliceForce policeforce;
    //Message msg;
    Collection used = new ArrayList();
    for (Iterator it = remainingpolices.iterator(); it.hasNext(); ) {
      policeforce = (PoliceForce) it.next();
      partition = world.partitioner.getPartition( (Partitionable) policeforce.
                                                 motionlessPosition());
     if(fullCnd.eval(partition)) {
       List notFull = fullCnd.not().extract(world.partitioner.getPartitions());
       partition = (Partition) policeforce.distancePrp.min(notFull);
     }

      //msg = world.messagepool.SetPartition(policeforce,partition);
        messageManager.reportSetPartition(policeforce,partition);
      //if (MRL.MRLConstants.PARTITION_DEBUG_MODE) {
      //  System.out.println("Object Partitioned In POA : " + msg);
      //}
      res++;
      policePartitionsMap.put(policeforce,
                           partition);

      used.add(policeforce);
    }
    remainingpolices.removeAll(used);
    used = null;
    return res;

  }
  */
  private int getNewPartIDUsingPolicePopulation(int senderINDX){
    int best=Integer.MAX_VALUE;
    PoliceForce pf = (PoliceForce) world.agents.get(senderINDX);
    Partition part,res=null;
//    int cnt = 0 , partSize = world.partitioner.getPartitions().size() - searchedPartitions.size();
    int cnt;
    for(Iterator it = world.partitioner.getPartitions().iterator();it.hasNext();){
      part = (Partition) it.next();
      cnt=getPoliceInPartCount(part);
      if(cnt<best && ! hasMaxPolice_C.eval(part)){
        res = part;
        best = cnt;
      }
    }

    if (res != null) {
      self().policePartitionsMap.remove(pf);
      self().policePartitionsMap.put(pf, res);
      return res.getID();
    }
    return -1;

  }
  private int getNewPartIDUsingUnSearchedParts(int senderINDX){
    PoliceForce pf = (PoliceForce) world.agents.get(senderINDX);
    Partition part = (Partition) self().policePartitionsMap.get(pf);
    self().searchedPartitions.add(part);
    List parts = new ArrayList(world.partitioner.getPartitions());
    parts.removeAll(self().searchedPartitions);
//    int cnt = 0 , partSize = world.partitioner.getPartitions().size() - searchedPartitions.size();
    Collections.shuffle(parts);
    do{
      if(parts.isEmpty()) return -1;
      part = (Partition) parts.remove(0);
//      part = getNearestUnusedPartition(searchedPartitions, pf);

    }while (hasMaxPolice_C.eval(part));

    if (part != null) {
      self().policePartitionsMap.remove(pf);
      self().policePartitionsMap.put(pf, part);
      return part.getID();
    }
    return -1;
  }

  protected int getPoliceInPartCount(Partition part){
    int res = 0;
    for(Iterator it = self().policePartitionsMap.keySet().iterator();it.hasNext();){
      if((Partition)self().policePartitionsMap.get(it.next()) == part) res ++;
    }
    return res;
  }

  public final Comparator scoreDeltaComp = new Comparator() {
    double val1,val2;
    public int compare(Object obj1, Object obj2) {
      val1 = ((Partition)obj1).getScoreDelta(time());
      val2 = ((Partition)obj2).getScoreDelta(time());
      return (int) ((val1 - val2) *
          1000000);
    }
  };

  /**
   *
   * todo Aghazadeh : Complete LockedBBAgent's Effect
   */

  private int getNewPartIDUsingUnclearedParts(int senderINDX){
    PoliceForce pf = (PoliceForce) world.agents.get(senderINDX);
    Partition part = (Partition) self().policePartitionsMap.get(pf);
    self().clearedPartitions.add(part);

    List unclearedParts = new ArrayList(world.partitioner.getPartitions());
    unclearedParts.removeAll(self().clearedPartitions);
    Collections.sort(unclearedParts,scoreDeltaComp);
    List res = unclearedParts;
    /*
    Collection lockedRoads = world.lockedBBAgents.values();
    if(! lockedRoads.isEmpty()){
      List hasLBBAParts=new ArrayList();
      for(Iterator it = unclearedParts.iterator();it.hasNext();){
        part = (Partition) it.next();
        if(! part.ML_OBJS_IN_PART_CND.extract(lockedRoads).isEmpty())
          hasLBBAParts.add(part);
      }
      if(! hasLBBAParts.isEmpty()){
        Collections.sort(hasLBBAParts,scoreDeltaComp);
        res = hasLBBAParts;
      }
    }

    */
    do {
      //    part =  getNearestUnusedPartition(clearedPartitions,pf);
      if(res.size() == 0 ) return -1;
      part = (Partition) res.remove(0);
    }
    while (hasMaxPolice_C.eval(part));

    if(part != null ) {
      self().policePartitionsMap.remove(pf);
      self().policePartitionsMap.put(pf,part);
      return part.getID();
    }
    return -1;
  }

  private Partition getNearestUnusedPartition(Collection used,PoliceForce pf){
    int bestmatch=Integer.MAX_VALUE,dist;
    Partition res = null;
    Partition part;
    Collection parts = new HashSet(world.partitioner.getPartitions());
    parts.removeAll(used);
    parts.removeAll(hasMinPolice_C.extract(parts));
    MotionlessObject mp = pf.motionlessPosition();
    for(Iterator it = parts.iterator();it.hasNext();){
      part = (Partition)it.next();
      dist = part.getDistanceToCenter(mp);
      if(dist<bestmatch){
        bestmatch=dist;
        res = part;
      }
    }
    parts = null;
    return res;
  }

  public void act() throws ActionCommandException
  {
  }

  private void ShowPolicePartitions() {
    String res = "";
    PoliceForce pf;
    System.out.println("--- Showing Police Partition Info : ");
    for (Iterator it = self().policePartitionsMap.keySet().iterator(); it.hasNext(); ) {
      pf = (PoliceForce) it.next();
      res += pf.id + " At " + self().policePartitionsMap.get(pf) + "\n";
    }
    System.out.println(res);
    System.out.println("--- End Of Police Partition Info");
  }

    private void ShowPoliceTasks(){
        PoliceForce pf;
        System.out.println("--- Showing Police Tasks Info :");
        for(Iterator it = self().policeTaskMap.keySet().iterator();it.hasNext();){
            pf = (PoliceForce) it.next();
           // System.out.println(pf + " , Current Task : " + ((Integer)self().policeTaskMap.get(pf)).intValue() + " , Task Assigned In : " + ((Integer)self().policeTaskTimeMap.get(pf)).intValue());
        }
       // System.out.println("--- End Of Police Tasks Info :");
    }
    private void setTaskToPoliceForce(PoliceForce pf , int task){
        self().policeTaskMap.put(pf,task);
        self().policeTaskTimeMap.put(pf,time());
        messageManager.reportTask(pf,task);
    }

    private void AssignTasks(){
        AssignToClearRefuge();
        AssignToClearNearFire();
    }

    private void AssignToClearRefuge(){
        PoliceForce pf;
        Collection av = self().availablePolices;
        if(av.isEmpty()) return;
        int lastTask,lastTime;
        for(int i = 0 ; i < INITIAL_FREE_POL_TO_CLEAR_REFS ; i++){
            pf = (PoliceForce) getMinDistFromFirst(av,world.refuges);
            if(pf!= null){
//                lastTask = getLastTaskAssignedToPolice(pf);
//                lastTime = getLastTimeTaskAssignedToPolice(pf);
//                if(lastTask != -1){
                if(doesPoliceHasTask(pf)){
                    continue;
                }
                if(MRL.MRLConstants.POLICE_TASK_DEBUG_MODE)
                System.out.println(self() + " , Assigned REFUGE Cleaning To : " + pf );
                setTaskToPoliceForce(pf,TASK_MOVE_NEAR_REFUGE_PATH);
                av.remove(pf);
            }
            else break;

        }

    }

    private void AssignToClearNearFire(){
        PoliceForce pf;
        Collection av = self().availablePolices;
        if(av.isEmpty()) return;
        int lastTask,lastTime;
        for(int i = 0 ; i < INITIAL_FREE_POL_TO_CLEAR_NEAR_FIRE ; i++){
            if(world.burningBuildings.isEmpty()){
                pf = (PoliceForce) av.iterator().next();
                System.out.println(self() + " Empty Firey Buildings , Assigning Randomly !");
            }
            else
                pf = (PoliceForce) getMinDistFromFirst(av,world.burningBuildings);

            if(pf!= null){
//                lastTask = getLastTaskAssignedToPolice(pf);
//                lastTime = getLastTimeTaskAssignedToPolice(pf);
//                if(lastTask != -1){
                if(doesPoliceHasTask(pf)){
                    continue;
                }
                if(MRL.MRLConstants.POLICE_TASK_DEBUG_MODE)
                System.out.println(self() + " , Assigned Near Fire Cleaning To : " + pf );
                setTaskToPoliceForce(pf,TASK_MOVE_NEAR_FIRE_PATH);
                av.remove(pf);
            }
            else break;

        }

    }

    public RealObject getMinDistFromFirst(Collection first , Collection second){
        int dist , best = Integer.MAX_VALUE;
        RealObject res=null,rof,ros;
        for(Iterator it = first.iterator();it.hasNext();){
            rof = (RealObject) it.next();
            for(Iterator it2 = second.iterator();it2.hasNext();){
                ros = (RealObject) it2.next();
                dist = rof.distance(ros);
                if(dist < best){
                    best = dist;
                    res = rof;
                }
            }
        }

        return res;
    }

    protected void correctAvailablePolices(){
        if(self().remainingpolices == null ) return;
        PoliceForce pf;
        self().availablePolices.clear();
        for(Iterator it = self().remainingpolices.iterator();it.hasNext();){
            pf = (PoliceForce) it.next();
            if(pf.buriedness() > 0) continue;
            if(pf.hp() <= 0 ) {
                it.remove();
                continue;
            }
            self().availablePolices.add(pf);
        }
    }

    protected int getCurrentTaskTimeAssignedToPolice(PoliceForce pf){
        if(self().policeTaskTimeMap.containsKey(pf)){
            return ((Integer)self().policeTaskTimeMap.get(pf)).intValue();
        }
        else return -1;
    }

    protected int getCurrentTaskAssignedToPolice(PoliceForce pf){
        if(self().policeTaskMap.containsKey(pf)){
            return ((Integer)self().policeTaskMap.get(pf)).intValue();
        }
        else return -1;
    }

    protected int getLastTimeTaskAssignedToPolice(PoliceForce pf){
        int indx = self().policeAssignedTask_Pols.lastIndexOf(pf);
        if(indx == -1 ) return -1;
        else return ((Integer)self().policeAssignedTask_Times.get(indx)).intValue();
    }

    protected int getLastTaskAssignedToPolice(PoliceForce pf){
        int indx = self().policeAssignedTask_Pols.lastIndexOf(pf);
        if(indx == -1 ) return -1;
        else return ((Integer)self().policeAssignedTask_Tasks.get(indx)).intValue();
    }

    protected boolean doesPoliceHasTask(PoliceForce pf){
        return self().policeTaskMap.keySet().contains(pf);
    }

}
  // ---------------------------------------------------------------- OMID