ambulanceteamagent.java

2004年robotcup世界冠军源代码

/**
 * Creat By Omid AmirGhiasvand:
 * 3 Apr 2006
 *
 * Last Edit:
 * 2006-06-29
 * 12:34 pm
 *
 */




package MRL.Ambulance;


import java.net.*;
import java.util.*;
import yab.agent.*;
import yab.agent.object.*;
import yab.agent.object.Refuge;
import MRL.Utilities.*;
import MRL.Utilities.MessageManagement.AgentMessageManager;
import MRL.Utilities.MessageManagement.AgentNoStationMessageManager;
import yab.agent.*;
import yab.agent.Agent.ActionCommandException;

public class AmbulanceTeamAgent extends AbstractAmbulanceTeamAgent implements
    ConstantConditions {


  private boolean iDecide=false;


  private HashSet victimSet = new HashSet();

  private boolean mainAT=false;
  private boolean loaderAT=false;
  private boolean setMyType=false;

  private HashSet noNeedRescue = new HashSet();
  private int targetSelectionTime =-1;
  private int startRescueTime=-1;
  private MotionlessObject myLastPlace;


  public AmbulanceTeamAgent(InetAddress address, int port) {
    super(address, port);

//         if (!world.ambulanceCenters.isEmpty())
//            iDecide=true;

      if (world.ambulanceCenters.isEmpty())
            messageManager = new AgentNoStationMessageManager(socket(), world);
        else
            messageManager = new AgentMessageManager(socket(), world);
      socket().akAcknowledge(self().id);
  }

  protected MotionlessObject mlpos() {
    return self().motionlessPosition();
  }


  protected void prepareForAct() {
    super.prepareForAct();


    if (time() ==3)
    {
        if (world.ambulanceCenters.isEmpty())
            {
                iDecide=true;
            }
    }

    if (iDecide==false)
      setMyNextTargetAsTarget();


      messageManager.sendMessages();
  }
  private void setMyNextTargetAsTarget()
  {
      if (self().myAssignedTarget==null && self().tempTarget!=null  )
      {
        self().setTargetAssignmentTime(-1);
        self().myAssignedTarget = self().tempTarget;
        self().setTargetAssignmentTime(time());
        self().setTargetachivementTime(-1);
        self().tempTarget=null;


      }
  }


  protected void act() throws ActionCommandException
  {
    super.act();

    if (time() <=TIME_STARTING_ACTION)
       return;

     needToGoRefuge();

     if (iDecide==false)
     {
         requestTargetFromCenter();
         rescueTargetAssignedByCenter();
     }
     else
     {
         rescueMySelectedTarget();
     }

     searchCivilians(false);
//     if (iDecide==false)
//       helpOtherAmbulanceTeam();
     restAtRefuge();

  }

  private void helpOtherAmbulanceTeam()
  {
      HashSet temp = new HashSet();

      if (self().myAssignedTarget==null)
      {
          System.out.println(" I AM FREE :"+ self().id + "   In time:"+time() );
          for (Iterator it = world.ambulanceTeams.iterator() ; it.hasNext();)
          {
              AmbulanceTeam at = (AmbulanceTeam) it.next();

              if (at.myAssignedTarget!= null && at.myAssignedTarget.buriedness()>5 )
                 temp.add(at);
          }

           Humanoid nearestHuman;
          if (!temp.isEmpty())
           {
               nearestHuman  = (Humanoid) distancePrp.min(temp);
               System.out.println(" EXTRA TARGET SET FOR ME "+nearestHuman);
               self().myAssignedTarget=nearestHuman;
           }
      }

  }


  private void requestTargetFromCenter()
  {
     if (self().myAssignedTarget==null && self().buriedness()<=5)
     {
        request();
     }

  }

  private void requestTargetFromCenterSooner()
  {
      int workGroup=myWorkGroup().size();


     if (tempNumberOfATforLastRescue!=1&&workGroup==1 && self().myAssignedTarget.buriedness()==0)
        {
           request();
        }
     else if (workGroup!=1&&mainAT==true && workGroup*3 >= self().myAssignedTarget.buriedness())
        {
           request();
        }
     else if (workGroup!=1&& mainAT==false && workGroup*4>= self().myAssignedTarget.buriedness())
        {
           request();
        }


  }

  private void request()
  {

    if (time()<=11)
        return;

    if (self().getRequestForTargetTime()==-1  )
    {

       messageManager.reportRequestTarget();
       self().setRequestForTargetTime(time());
    }
    else if ( time() -self().getRequestForTargetTime()>=4 )
      {
          self().setRequestForTargetTime( -1);
          request();
      }
  }

  private void rescueTargetAssignedByCenter() throws ActionCommandException
  {
      if (self().myAssignedTarget!= null)
      {
          if (mlpos() == self().myAssignedTarget.motionlessPosition())
          {
            if (self().myAssignedTarget.isVisible())
            {

              if (setMyType==false &&self().myAssignedTarget.buriedness()<=5*myWorkGroup().size())
                  setLoaderAndMainAT(myWorkGroup());

              requestTargetFromCenterSooner();

                 if (self().myAssignedTarget.needRescue())
                 {

                     if (self().myAssignedTarget.buriedness()<myWorkGroup().size())
                     {
                         if (mainAT==true)
                             rescue(self().myAssignedTarget);
                         else
                         {
                         //    System.err.println(" I am not main at:"+self().id +"   In time:"+time());
                             self().myAssignedTarget=null;
                             setMyType=false;
                             setMyNextTargetAsTarget();
                             rescueTargetAssignedByCenter();
                         }


                     }
                     else
                         rescue(self().myAssignedTarget);
                 }

                 else if (self().myAssignedTarget.needLoad())
                 {

                     if (loaderAT == true)
                     {
                         mainAT=false;
                         loaderAT=false;
                         setMyType=false;
                         noNeedRescue.add(self().myAssignedTarget);
                         load(self().myAssignedTarget);
                     }
                     else
                     {
                         setMyType=false;
                         mainAT=false;
                         noNeedRescue.add(self().myAssignedTarget);
                         self().myAssignedTarget = null;
                         setMyNextTargetAsTarget();/////////???
                         rescueTargetAssignedByCenter();//////////???

                     }

                  }

                  else  // no need rescue and no need load
                  {
                  //   System.out.println(" I AM AT:"+self().id +"    My TARGET :"+self().myAssignedTarget.id +"     IS LOST IN TIME:"+time());
                     noNeedRescue.add(self().myAssignedTarget);
                     self().myAssignedTarget = null;
                     setMyType=false;
                     mainAT=false;
                     loaderAT=false;
                     setMyNextTargetAsTarget();
                     rescueTargetAssignedByCenter();
                  }
           }

           else
           { /// the target is lost or invisible
             self().myAssignedTarget = null;
             request();
           }
        }

       else
       {
          move(self().myAssignedTarget.motionlessPosition());
       }

    }
    else  // i have  no target that assign me by center so i going to select myself{
      return;


  }

  int tempNumberOfATforLastRescue=0;
  private void setLoaderAndMainAT(ArrayList workGroup )
  {


      int numberOfAmbulanceForLastRescue= self().myAssignedTarget.buriedness()%workGroup.size() ;
      tempNumberOfATforLastRescue=numberOfAmbulanceForLastRescue;


      if (numberOfAmbulanceForLastRescue==0)
          numberOfAmbulanceForLastRescue=workGroup.size();

      if (self().myAssignedTarget instanceof Civilian)
      {

          AmbulanceTeam loader = (AmbulanceTeam)workGroup.get(0);

          if (self().id == loader.id)
             {
                 loaderAT = true;
                 mainAT=true;
             }

          for (int i=1 ;i<numberOfAmbulanceForLastRescue;i++)
          {
            AmbulanceTeam at =  (AmbulanceTeam)workGroup.get(i);

            if (self().id == at.id)
                {
                    mainAT = true;
                }
          }

      }
      else  // plotoon target
      {
          for (int i=0 ;i<numberOfAmbulanceForLastRescue;i++)
          {
            AmbulanceTeam at =  (AmbulanceTeam)workGroup.get(i);

            if (self().id == at.id)
                {
                    mainAT = true;
                }
          }
      }

     setMyType=true;
  }



  private void setLoaderAndMainAT2(ArrayList workGroup )
    {


        int numberOfAmbulanceForLastRescue= self().mySelectedTarget.buriedness()%workGroup.size() ;


        if (numberOfAmbulanceForLastRescue==0)
            numberOfAmbulanceForLastRescue=workGroup.size();

        if (self().mySelectedTarget instanceof Civilian)
        {
            AmbulanceTeam loader = (AmbulanceTeam)workGroup.get(0);

            if (self().id == loader.id)
               {
                   loaderAT = true;
                   mainAT=true;
               }

            for (int i=1 ;i<numberOfAmbulanceForLastRescue;i++)
            {
              AmbulanceTeam at =  (AmbulanceTeam)workGroup.get(i);

              if (self().id == at.id)
                  {
                      mainAT = true;
                  }
            }

        }
        else  // plotoon target
        {
            for (int i=0 ;i<numberOfAmbulanceForLastRescue;i++)
            {
              AmbulanceTeam at =  (AmbulanceTeam)workGroup.get(i);

              if (self().id == at.id)
                  {
                      mainAT = true;
                  }
            }
        }

       setMyType=true;
    }




///////////////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////// Agent Base Part


    private void rescueMySelectedTarget() throws ActionCommandException
    {
      updateMyVictimSet();
      updateVictimAccessibility();
      checkCondition();
      rescueVictim();
    }


    private void updateMyVictimSet()
    {



        victimSet.clear();

       for (Iterator it = world.civilians.iterator();it.hasNext();)
       {
           Humanoid hum = (Humanoid)it.next();
           if (hum.position() == null)
               continue;

            if ((hum.motionlessPosition() instanceof Building) )
            {
                 Building bld = (Building)hum.motionlessPosition();

                 if ((hum.needRescue()|| hum.needLoad() )&& !bld.isBurned() &&(!bld.isBurning()|| hum.buriedness()<5 ))
                        {
                            updateHumanoidProperty(hum);
                            victimSet.add(hum);
                        }

            }

       }

       victimSet.addAll(world.buriedAgents);
       victimSet.removeAll(noNeedRescue);

     //Collections.sort(civilianVictimSet,timeToDeadComparator);

    }


    private void checkCondition() throws ActionCommandException
    {
      checkmyTarget();
      cheackMyPlace();
    }



  private void checkmyTarget() throws ActionCommandException
   {
     if (self().mySelectedTarget == null)
     {
       return;
     }
     else // i have target my self
     {
         if( self().mySelectedTarget.motionlessPosition() == mlpos() )
         {

           if (time()-startRescueTime>=3)
           {
             if (self().mySelectedTarget.isRescueAble(myWorkGroup().size()))
               return;
             else
             {
               noNeedRescue.add(self().mySelectedTarget);
               self().mySelectedTarget=null;
               rescueVictim();
             }
           }
           else
             return;

         }
         else if ( time() - targetSelectionTime>4)
         {
           Humanoid temp;
           self().mySelectedTarget.setAccesible(false);
           self().mySelectedTarget.notAccseesibleTime=time();

           self().mySelectedTarget = null;
           rescueVictim();

         }
     }
   }

  private void cheackMyPlace() throws ActionCommandException {

    if ((mlpos() instanceof Building) && self().mySelectedTarget!= null)
  {
      Building bu = (Building)self().motionlessPosition();

      if (bu.isBurned() ) /////////
      {
          if (self().mySelectedTarget.buriedness()<=2 )
              return;
          else
          {
              noNeedRescue.add(self().mySelectedTarget);
              victimSet.remove(self().mySelectedTarget);
              self().mySelectedTarget= null;
          }