taskhandler.java

2004年robotcup世界冠军源代码

package MRL.Police;

import yab.agent.*;
import yab.agent.object.*;

import java.util.*;


public class TaskHandler implements  PoliceConstantsAndConditions{
    private DisasterSpace world;
    private EPoliceForce self;
    public TaskHandler(EPoliceForce self){
        this.world = self.world;
        this.self = self;
        freePolices = self.freePolices;
        initTasks();
    }

    private EPoliceForce self() {
//        return (EPoliceForce) world.self;
        return self;
    }

    private int time(){
        return world.time();
    }
    private final Map <PoliceForce , ArrayList[] > polTaskTimeFinishedTimeMap = new HashMap(); // Center Assigned Tasks&Times&FinishedTime

    private final Map <PoliceForce , Integer []> currentPolTaskTimeMap = new HashMap();

    private int myCurrentAssignedTask = -1 ;

    private int myCurrentAssignedTaskTime = -1;

    private int myCurrentDecidedTaskTime = 0;

    private int myCurrentDecidedTask = 0;

    private final List freePolices;

    private void initTasks(){
        PoliceForce pf;

        for(Iterator it = freePolices.iterator();it.hasNext();){
            pf = (PoliceForce) it.next();
            initPF(pf);
        }
    }

    private void initPF(PoliceForce pf){
        ArrayList [] taskTimeFinishedTimeMap;
        ArrayList tasks , times , finishedTime;
        taskTimeFinishedTimeMap = new ArrayList [3];
        tasks = new ArrayList();
        times = new ArrayList();
        finishedTime = new ArrayList();
        taskTimeFinishedTimeMap[0]=tasks ;
        taskTimeFinishedTimeMap[1]=times ;
        taskTimeFinishedTimeMap[2]=finishedTime ;

        polTaskTimeFinishedTimeMap.put(pf,taskTimeFinishedTimeMap);
    }

    public int getLastPoliceTask(PoliceForce pf){
        ArrayList [] taskTimeFinishedTimeMap;
        ArrayList tasks;
        int indx ;
        taskTimeFinishedTimeMap = polTaskTimeFinishedTimeMap.get(pf);
        tasks = taskTimeFinishedTimeMap[0];
        indx =tasks.size() -1;
        return ((Integer)tasks.get(indx)).intValue();
    }

    public int getLastPoliceTaskStartTime(PoliceForce pf){
        ArrayList [] taskTimeFinishedTimeMap;
        ArrayList tasks , times;
        int indx ;
        taskTimeFinishedTimeMap = polTaskTimeFinishedTimeMap.get(pf);
        tasks = taskTimeFinishedTimeMap[0];
        times = taskTimeFinishedTimeMap[1];
        indx =tasks.size() -1;
        return ((Integer)times.get(indx)).intValue();
    }

    public int getLastPoliceTaskFinishedTime(PoliceForce pf){
        ArrayList [] taskTimeFinishedTimeMap;
        ArrayList tasks ,finishedTime;
        int indx ;
        taskTimeFinishedTimeMap = polTaskTimeFinishedTimeMap.get(pf);
        tasks = taskTimeFinishedTimeMap[0];
        finishedTime = taskTimeFinishedTimeMap[2];
        indx =tasks.size() -1;
        if(indx >= finishedTime.size()) return -1;
        return ((Integer)finishedTime.get(indx)).intValue();
    }
    public void updateTasks(){
        PoliceForce pf;
//        RealObject self = self();
        int curTask , curTaskStTime ,tTask;
        for(Iterator it = freePolices.iterator();it.hasNext();){
            pf = (PoliceForce) it.next();
            if(! polTaskTimeFinishedTimeMap.containsKey(pf))
                initPF(pf);

            if(isLastTaskAssignedByCenterDone(pf)){
                currentPolTaskTimeMap.remove(pf);
            }else{
                curTask = getCurrentPoliceTaskAssignedByCenter(pf);
                tTask = getLastPoliceTask(pf);
                if(curTask != tTask){
//                    System.err.println(self() + " Error , Tasks Doesnt Match For : " + pf + " . Current Task : " + curTask + " , Last Task : " + tTask);
//                    System.out.println(self() + " Correctint Task For : " + pf);
                    curTask = tTask;
                    curTaskStTime = getLastPoliceTaskStartTime(pf);
                    setCurrentTask(pf,curTask,curTaskStTime);
                }
            }

        }
    }

    private void setCurrentTask(PoliceForce pf , int task , int time){
        currentPolTaskTimeMap.remove(pf);
        Integer [] taskTime = new Integer[2];
        Integer ctask = new Integer(task) , ctime = new Integer(time);
        taskTime[0] = ctask;
        taskTime[1] = ctime;
        currentPolTaskTimeMap.put(pf,taskTime);
    }

    public int getCurrentPoliceTaskAssignedByCenter(PoliceForce pf){
        Integer [] taskTime = currentPolTaskTimeMap.get(pf);
        if(taskTime == null) return -1;
        return taskTime[0];
    }

    public int getCurrentPoliceTaskAssignedByCenterStartTime(PoliceForce pf){
        Integer [] taskTime = currentPolTaskTimeMap.get(pf);
        if(taskTime == null) return -1;
        return taskTime[1];
    }

    public List getFreePolicesInTask(int task){
        List res = new ArrayList();
        Integer [] taskTime;
        int ptask;
        PoliceForce pf;
        for(Iterator it = currentPolTaskTimeMap.keySet().iterator();it.hasNext();){
            pf = (PoliceForce) it.next();
            taskTime = currentPolTaskTimeMap.get(pf);
            ptask = taskTime[0];
            if(ptask == task)
                res.add(pf);
        }
        return res;
    }

    public int getFreePolicesInTaskCount(int task){
        int res = 0;
        Integer [] taskTime;
        int ptask;
        PoliceForce pf;
        for(Iterator it = currentPolTaskTimeMap.keySet().iterator();it.hasNext();){
            pf = (PoliceForce) it.next();
            taskTime = currentPolTaskTimeMap.get(pf);
            ptask = taskTime[0];
            if(ptask == task)
                res++;
        }
        return res;
    }

    public List getWithoutTaskFreePolices(){
        List res = new ArrayList(freePolices);
        res.removeAll(currentPolTaskTimeMap.keySet());
        return res;
    }

    public int getWithoutTaskFreePolicesCount(){
        int res = freePolices.size();
        res -= currentPolTaskTimeMap.keySet().size();
        return res;
    }

    public boolean isLastTaskAssignedByCenterDone(PoliceForce pf){
        ArrayList [] taskTimeFinishedTimeMap;
        ArrayList tasks , times, finishedTime;
        taskTimeFinishedTimeMap = polTaskTimeFinishedTimeMap.get(pf);
        if(taskTimeFinishedTimeMap == null){
            initPF(pf);
            taskTimeFinishedTimeMap = polTaskTimeFinishedTimeMap.get(pf);
        }
        tasks = taskTimeFinishedTimeMap[0];
        times = taskTimeFinishedTimeMap[1];
        finishedTime = taskTimeFinishedTimeMap[2];
        return (finishedTime.size() == tasks.size());
    }

    public void setTaskAssignedByCenterFinished(PoliceForce pf , int finishTime){
        if(isLastTaskAssignedByCenterDone(pf)){
            System.err.println(self() + " , Task Is Already Done For : " + pf + " In : " + getLastPoliceTaskFinishedTime(pf) + " , Time : " + time());
            return;
        }
        ArrayList [] taskTimeFinishedTimeMap;
        ArrayList tasks , times, finishedTime;
        taskTimeFinishedTimeMap = polTaskTimeFinishedTimeMap.get(pf);
        finishedTime = taskTimeFinishedTimeMap[2];
        finishedTime.add(new Integer(finishTime));
        currentPolTaskTimeMap.remove(pf);
        if(!isLastTaskAssignedByCenterDone(pf)){
            System.err.println(self() + " , Error , Task Didn't Set Finished For : " + pf);
            return;
        }

        if(pf == self()){
            myCurrentAssignedTask =-1;
            myCurrentAssignedTaskTime = -1;
        }
    }

    public void setNewTaskAssignedByCenter(PoliceForce pf , int task){
         if(!isLastTaskAssignedByCenterDone(pf)){
            System.err.println(self() + " , Previous Task Is Not Done For : " + pf + " , Assign Time : " + getLastPoliceTaskStartTime(pf) + " , Time : " + time());
            return;
        }
        ArrayList [] taskTimeFinishedTimeMap;
        ArrayList tasks , times, finishedTime;
        taskTimeFinishedTimeMap = polTaskTimeFinishedTimeMap.get(pf);
        tasks = taskTimeFinishedTimeMap[0];
        times = taskTimeFinishedTimeMap[1];
        tasks.add(new Integer(task));
        times.add(new Integer(time()));
        if(isLastTaskAssignedByCenterDone(pf)){
            System.err.println(self() + " , Error , Task Didn't Set For : " + pf);
            return;
        }

        if(pf == self()){
            setNewAssignedTaskToMe(task,time());
          //  System.out.println(self() + " , Task Assigned : " + task + " , In Time : " + time());
        }
        anyTaskAssigned = true;
    }

    private void setNewAssignedTaskToMe(int task , int time){
        myCurrentAssignedTask = task;
        myCurrentAssignedTaskTime = time;
        myCurrentDecidedTask = -1;
        myCurrentDecidedTaskTime = -1;
    }

    public boolean isMyLastCenterAssignedTaskDone(){
        return isLastTaskAssignedByCenterDone(self());
    }

    public void setNewDecidedTaskToMe(int task){
        if(! isMyLastCenterAssignedTaskDone()){
         //   System.err.println(self() + " , Prev Task Assigned By Center Is'nt Done .");
            return;
        }
        myCurrentDecidedTask = task;
        myCurrentDecidedTaskTime = time();
        myCurrentAssignedTask = -1;
        myCurrentAssignedTaskTime = -1;
    }

    public int myCurrentTask(){
        if(myCurrentAssignedTask != -1)
            return myCurrentAssignedTask;
        else
            return myCurrentDecidedTask;
    }

    public int myCurrentTaskTime(){
        if(myCurrentAssignedTask != -1)
            return myCurrentAssignedTaskTime;
        else
            return myCurrentDecidedTaskTime;
    }

    public void setTaskAssignedByCenterFinishedForMe(){
        setTaskAssignedByCenterFinished(self(),time());

    }

    public boolean isCurrentTaskTimedout(){
        return time() - myCurrentTaskTime() > TASK_TIMEOUT_PERIOD;
    }

    private boolean anyTaskAssigned = false;
    public boolean isAnyTaskAssignedByCenter(){
        return anyTaskAssigned;
    }
}