policeforceagent.java

2004年robotcup世界冠军源代码

    if(! ratherNear.isEmpty())
        toCheckPaths = ratherNear;

    Path path;

    int indx = random.nextInt(toCheckPaths.size());
    path = (Path) toCheckPaths.get(indx);

    m_lastTargetPath = path;

    res = getExploringRoute(path);
    res = makeRouteBigger(res);
    move(res);

  }


  protected void hearSay(RealObject sender, String msg) {
    super.hearSay(sender, msg);
  }

    protected void hearTellBin(RealObject sender, byte[] message)
    {
        if (sender.id != self().id){
            if ((messageManager instanceof AgentMessageManager && sender instanceof PoliceOffice) || messageManager instanceof AgentNoStationMessageManager)
                messageManager.importMessage(message, time(), sender);
        }
    }

  private boolean wasBurried = false;
  protected void prepareForAct()
  {
    super.prepareForAct();

    if(time() == 2 && world.policeOffices.size() == 0){
          world.sortByID(world.policeForces);
          int indx = world.policeForces.indexOf(self());
          if(indx < world.partitioner.getPartitions().size()){
              Partition part = world.partitioner.getPartition(indx);
              if(part != null)
                world.setWorkingPartition(part);
          }
      }


    if(self().buriedness() > 0) wasBurried = true;
    else if (wasBurried){
        self().freePolices.add(self());
        world.sortByID(self().freePolices);
        wasBurried = false;
    }

    self().taskHandler.updateTasks();

    if(! MRL.MRLConstants.IS_SIMPLE && workingPartition() != null)
      world.updatePathValues();

//    correctRoadsCleared();

    reportClearedRoads();

      if(self().motionlessPosition() instanceof Road){
          Road rd = (Road) self().motionlessPosition();
          if(NOT_PASSABLE_C.eval(rd))
            messageManager.reportClear(rd);
      }
//    if (MRL.MRLConstants.POLICE_LEARN_MODE && time() == 300) { // || toReport
//      Utils.writeAlphasToFile(world.ai, world.policeForces.size());
//      toReport = false;
//    }

//    world.updateLockedBB();

      self().blockData.updateLockedByBlockade();

//    prevPath = world.getPrevPath();
//        reportPrevCycleClearRoads();
//    checkAndReportPrevCycleClearedPaths();
//    if(workingPartition() != null){
    //checkEntirePathClearedAndReport();
//    }

//    Path cPath = world.getCurrentPath();

    //continuePrevRouteIfValid();

    //updatePrevRouteShouldChecks();

//    checkStuckInPath();

    if(time() == PARTITIONING_START_TIME + MESSAGE_DELAY ) {
        initFreePolices();
    }
    //if(! world.lockedBBAgents.isEmpty()) System.out.println(world.lockedBBAgents);
//    checkMove();
    /*
       world.buriedAgents.clear();
     world.buriedAgents.addAll(MRL.Utilities.ConstantConditions.BURIED_C.extract(
      world.agents));
     */
      correctReportedBlockade();

      chooseNextTask();
      messageManager.sendMessages();
  }

  private void initFreePolices(){
      self().freePolices.addAll(world.policeForces);
      self().freePolices.removeAll(self().polPartMap.keySet());
      Collection burried =BURIED_C.extract(self().freePolices);
      self().freePolices.removeAll(burried);
//      PoliceForce pf;
//      for(Iterator it = self().freePolices.iterator();it.hasNext();){
//          pf = (PoliceForce) it.next();
//          self().freePolTaskMap.put(pf,new Integer(0));
//      }
      if(MRL.MRLConstants.PF_DEBUG_MODE) System.out.println(self() + (self().freePolices.contains(self())? " IS " : " IS NOT " ) + " Free Police , Size Of Free Polices : " + self().freePolices.size() + " , Burried : " + burried.size());
      world.sortByID(self().freePolices);

//      self().taskHandler = new TaskHandler(world);
  }

  protected void correctRoadsCleared() {
    if(roadsCleared.isEmpty()) return;
    Road road = (Road) roadsCleared.get(roadsCleared.size()-1);
    if (NOT_PASSABLE_C.eval(road)) roadsCleared.remove(road);

  }

  private int m_lastTimeTrafficInPath = -1;
  private Path m_lastTrafficPath;
  protected void checkMorePolices() throws ActionCommandException {
    MotionlessObject pos = self().motionlessPosition();
    if (pos instanceof Refuge)return;
    Path path = world.getCurrentPath();
    boolean isInPath = true;
    if (! submittedMoveAct || prevRoute == null|| prevRoute.end == pos || prevRoute.end instanceof Building)return;
    if(time() <= TIME_STARTING_ACTION + 1) return;
    if(path == null){
        isInPath = false;
        Node node = (Node) pos;
        Road road;
        Path tpath;
        for(Iterator it = node.getConnectedRoads().iterator();it.hasNext();){
            road = (Road) it.next();
            tpath = world.getContainingPath(road);
            if(prevRoute.isContaining(road)){
                path = tpath;
                break;
            }

        }
    }

    if(path == null){
        System.err.println(self() + " , Invalid prevRoute In checkMorePolices()");
        return;
    }
//    MotionlessObject mo;
    List pols = POLICE_FORCE_C.extract(path.getVisibleHumanoids());
    PoliceForce pf;
    for(Iterator it = pols.iterator();it.hasNext();){
        pf = (PoliceForce) it.next();
        if(pf.position() instanceof AmbulanceTeam) it.remove();
    }
    int lines = path.minRoadLines();
    if (pols.size() < lines){
        m_lastTrafficPath = path;
        m_lastTimeTrafficInPath = time();
        return;
    }
//    if(acted ||(prevRoute != null &&  self().motionlessPosition()== prevRoute.end ))return;
//    world.sortByID(pols);
//    if (pols.indexOf(self())==0)return; // There's At Least One Police Except This One In The Path , Should Check If There Isn't A Road Blocked/Unseen Between Them , The One Who's Road Bao ....

    pols.remove(self());
    if (pols.isEmpty()){
        m_lastTrafficPath = path;
        m_lastTimeTrafficInPath = time();
        return;
    }

    int lastTimeCleared = -1;
    int time= time();
    for(int i = time -1 ; i > TIME_STARTING_ACTION ; i--){
        if(self().getSubmittedAction(i)){
            lastTimeCleared = i;
            break;
        }
    }

//    if(m_lastTrafficPath == path){ // Be Har Dalil Agar Tooye Path Moonde Bood Bishaz Yek Te'dade Cycle Va Kar Nakarde Traffice .
//          int timesWereInPath = self().getCyclesInPath(path) ;
//          if(timesWereInPath >= MAX_TIME_WAIT_TO_SET_TRAFFIC && time - MAX_TIME_WAIT_TO_SET_TRAFFIC >= lastTimeCleared){
//              setTraffic(path,time,isInPath);
//              return;
//          }
//      }


    Collection toCleanRoads = PASSABLE_C.not().extract(path);
    if (toCleanRoads.isEmpty()) {

      m_lastTrafficPath = path;
      m_lastTimeTrafficInPath = time();
//      setTraffic(path,time(),isInPath);
        //It's Handled In Platoon Agent ....
      return;
    }

    Road nearestRoad = (Road) distancePrp.min(toCleanRoads);
    int selfRoadDist = self().distance(nearestRoad), polDist = -1, polRoadDist;

    boolean traffic = false;
    for (Iterator it = pols.iterator(); it.hasNext(); ) {
      pf = (PoliceForce) it.next();
      polRoadDist = pf.distance(nearestRoad);
//      if (pf.position() instanceof AmbulanceTeam)continue;
      polDist = self().distance(pf.position());
      if (polDist > polRoadDist && polDist > selfRoadDist) { // From Two Sides
        continue;
      } else if (selfRoadDist <= polRoadDist)continue;

      traffic = true;
    }

    if (!traffic){
        return;

    }

//    if(m_lastTrafficPath == path){
//      if (time() - m_lastTimeTrafficInPath > 0) {
//        Collection bldgs = new HashSet();
//        if (pos instanceof Node) {
//          bldgs = ((Node) pos).getConnectedBuildings();
//        } else if (pos instanceof Road) {
//          bldgs = ((Road) pos).getConnectedBuildings();
//        }

//        if (!bldgs.isEmpty())
//          move(bldgs);
//        else {
//          roam();
//         chooseNextTask();
//          m_reportedBlockades.removeAll(path);
//          reportedBlockades.remove(path);
//          reportedBlockadesIP.remove(path);
//        }

//      }  // End Of Time >=2
//    } // End Of LastTrafficPath = Path
//    else {
    m_lastTrafficPath = path;
    m_lastTimeTrafficInPath = time();

    setTraffic(path,time(),isInPath);

//    List AvailableRoads = getRoadsNotInTrafficFromPrevRoute();
//
//    List availableBuildings = world.getConnectedBuildings(AvailableRoads);
//
//    availableBuildings.retainAll(world.unvisitedBuildings);
//
//    if(MRL.MRLConstants.PF_DEBUG_MODE)
//    System.out.println(self() +
//                       " , AvRoads : " +
//                       AvailableRoads + " , AvBldgs : " +
//                       availableBuildings);
//    moveRandomBuilding(availableBuildings);
//    if(! availableBuildings.isEmpty())
//      move(availableBuildings);
//    roam();

//    }
  }

  protected TaskHandler taskHandler() {
    return self().taskHandler;
  }

  private void chooseNextTask() {
//    if(self().task() < TASK_SEARCH_CIVILIANS){
//        taskHandler().setNewDecidedTaskToMe(TASK_SEARCH_CIVILIANS);
//        if(true)return;
//    }
//      else return;
    int time = time();
    if(time < TASK_ASSIGN_START_TIME + MESSAGE_DELAY) return;
    int task = self().task();
    if(task == -1){
        taskHandler().setNewDecidedTaskToMe(TASK_MOVE_REPORTED_BLOCKADES);
        System.out.println(self() + " Invalid Task , Correcting To 0 In Time : " + time());
        return;
    }

    if(workingPartition() == null && (!taskHandler().isMyLastCenterAssignedTaskDone())){
        if(isCurrentTaskDone()){
//          if(MRL.MRLConstants.POLICE_TASK_DEBUG_MODE)
            //    System.out.println(self() + " , Task : " + self().task() + " Is Finished In : "+ time);
            taskHandler().setTaskAssignedByCenterFinishedForMe();
            messageManager.reportTaskFinished();
        }
        else
            return ;
    }
    int nTask = decideNewTask();
    if(nTask != self().task()){
        taskHandler().setNewDecidedTaskToMe(nTask);
    }
    else
        return;
    m_taskDone = -1;
  }

  protected int decideNewTask(){
      int res  = 0 ;
//      int time = time();
//      int remTasks = TASKS_COUNT - TASK_MOVE_NEAR_FIRE_BUILDINGS;
//      if(workingPartition() != null){
//            if(shouldSearchBlocks())
//                res =TASK_MOVE_REPORTED_BLOCKADES;
//            else
//                res = random.nextInt(remTasks) + TASK_MOVE_NEAR_FIRE_BUILDINGS;
//      }
//      else{
//            List withoutTask = taskHandler().getWithoutTaskFreePolices();
//            int withoutTaskIndx = withoutTask.indexOf(self());
//            if(withoutTaskIndx >= remTasks) withoutTaskIndx = random.nextInt(remTasks);
//            if(withoutTaskIndx == -1)
//                throw new Error("AHA");

//            if (time < TASK_ASSIGN_START_TIME + TASK_ASSIGNING_TIME) {
//                res = TASK_MOVE_REPORTED_BLOCKADES;
//            } else if (time < TASK_ASSIGN_START_TIME + 2 * TASK_ASSIGNING_TIME) {
//                if(shouldSearchBlocks())
//                    res = TASK_MOVE_REPORTED_BLOCKADES;
//                else
//                    res  = TASK_MOVE_NEAR_FIRE_BUILDINGS + withoutTaskIndx;
//            } else { // To The End Of Simulation
//                if(shouldSearchBlocks())
//                    res = TASK_MOVE_REPORTED_BLOCKADES;
//                else // random.nextInt(TASKS_COUNT - TASK_MOVE_NEAR_FIRE_BUILDINGS) +
//                    res =  TASK_MOVE_NEAR_FIRE_BUILDINGS + withoutTaskIndx ;
//            }
          for(int i = 0 ; i < TASKS_COUNT ; i++){
            if(!isTaskDone(i)){ // || TIMEOUT
                res = i;
                break;
            }
          }
//      }
    return res;
  }
  protected void act() throws ActionCommandException {
    super.act();
    if (self().damage()>4 )
    {
//        System.out.println(" My ID " + self().id + " Has Damage " + self().damage());
        restAtRefuge();
    }

    if (time() < TIME_STARTING_ACTION)return;
    /*
     System.out.println("POLICE FORCE TIME OF AGENT : " + self().id + ", " +
                       world.time() +
                       (workingPartition() == null ? "" :
                        " , Partition : " + workingPartition().getID()));
     */
    clearHere();
//    if(time() > 20) gotoPossibleCivBuildings();
//    testRoute();
//
//    acted = false;
//    doSomethingIfStuck();
//    continuePrevRouteIfValid();
//      rest();

    checkMorePolices();

    world.computeTraffic();

    if (MRL.MRLConstants.POLICE_TASK_DEBUG_MODE)
      System.out.println(self() + " , Time : " + time() + " , Task : " + self().task());

    if (!MRL.MRLConstants.IS_SIMPLE && workingPartition() != null ) {
        if(self().task() <= TASK_SEARCH_BLOCKADES)
            choosePath();

    }

//      if(time() <= PARTITIONING_START_TIME) rest();
    switch (self().task() ) {
    case TASK_MOVE_REPORTED_BLOCKADES:
        if (MRL.MRLConstants.POLICE_TASK_DEBUG_DEEP_MODE)
            System.out.println(self() + " , Starting Move Reported Blockades  : " + " In Time : " + time());
//        clearBlockadeReportedInPath();
        moveReportedBlockades();
        moveBuriedAgentPath();