ambulanceteamagent.java

2004年robotcup世界冠军源代码

      }
  }

  else if (mlpos() instanceof Road  )
  {


     if (myLastPlace==mlpos() )
     {
        searchTheMap();
     }


  }
    else if(mlpos() instanceof Node)
    {

       if (myLastPlace==mlpos()  )
      {
          searchTheMap();
      }



   }

  myLastPlace=mlpos();



  }


  public void rescueVictim() throws ActionCommandException {

    if (self().mySelectedTarget != null)
    {
         if (mlpos() == self().mySelectedTarget.motionlessPosition())
         {
             if (self().mySelectedTarget.isVisible())
             {

                 if (setMyType==false &&self().mySelectedTarget.buriedness()<=6*myWorkGroup().size())
                   setLoaderAndMainAT2(myWorkGroup());



                 if (self().mySelectedTarget.needRescue())
                 {
                     if (startRescueTime==-1)
                        startRescueTime=time();


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

                        }


                    }
                    else
                        rescue(self().mySelectedTarget);

                 }


                 else if (self().mySelectedTarget.needLoad())
                 {
                     System.out.println(" >>> I am AT:"+self().id  +"    Target Need Load:"+self().mySelectedTarget+"   In Time:"+time() +"   I am Loader:"+loaderAT );

                     if (loaderAT == true)
                     {
                       mainAT=false;
                       loaderAT=false;
                       setMyType=false;
                       startRescueTime=-1;
                       noNeedRescue.add(self().mySelectedTarget);
                       load(self().mySelectedTarget);
                     }
                     else
                     {
                       setMyType=false;
                       mainAT=false;
                       startRescueTime=-1;
                       noNeedRescue.add(self().mySelectedTarget);
                       victimSet.remove(self().mySelectedTarget);
                       self().mySelectedTarget = null;
                       moveOrselect();
                     }


                }

                 else
                 { // no need rescue and no need load

                     startRescueTime=-1;
                     noNeedRescue.add(self().mySelectedTarget);
                     victimSet.remove(self().mySelectedTarget);
                     self().mySelectedTarget = null;
                     moveOrselect();
                 }
             }

             else
             {
              // System.err.println("Invisible Target ");
                 startRescueTime=-1;
                 noNeedRescue.add(self().mySelectedTarget);
                 victimSet.remove(self().mySelectedTarget);
                 self().mySelectedTarget = null;
                 moveOrselect();
             }
         }

         else
         {
             moveOrselect();
         }
     }

     else { // i have no target
         moveOrselect();
     }



  }


  public void moveOrselect() throws ActionCommandException {

    if (victimSet.isEmpty()) {
      return;
    }

      if (self().mySelectedTarget != null)
      {
        if (mlpos() == self().mySelectedTarget.motionlessPosition())
        {
          rescueVictim();
        }
        else
        {
          move(self().mySelectedTarget.motionlessPosition());
        }
      }

      else
      { // i have no target
        self().mySelectedTarget = selectTarget();

        if (self().mySelectedTarget != null)
        {
          if (self().mySelectedTarget.motionlessPosition() == mlpos())
            rescueVictim();
          else
            move(self().mySelectedTarget.motionlessPosition());

        }
        else {
          return;
        }

     }

  }

  public Humanoid selectTarget() {

 // updateVictim();

  Iterator it = victimSet.iterator();

  for (; it.hasNext(); )
  {
    Humanoid hum = (Humanoid) it.next();

    if (hum.isAccessible())
    {
        self().mySelectedTarget = hum;
        break;
    }
  }

  for (; it.hasNext(); ) {
    Humanoid hum = (Humanoid) it.next();

    if (hum.getvalue() < self().mySelectedTarget.getvalue() && hum.isAccessible() && isTargetAccessible(hum)) {
      self().mySelectedTarget = hum;
    }
  }

  targetSelectionTime = time();
  return self().mySelectedTarget;
}

  private void updateVictimAccessibility()
  {
    for (Iterator it =victimSet.iterator() ; it.hasNext() ;)
    {
      Humanoid hum = (Humanoid )it.next();

      if (!hum.isAccessible())
      {
        if (isTargetAccessible(hum))
        {
          hum.setAccesible(true);
          hum.notAccseesibleTime=time();
        }
        else if (time()-hum.notAccseesibleTime>=15 )
        {
          hum.setAccesible(true);
          hum.notAccseesibleTime=time();
        }


      }
    }
  }



  private void updateHumanoidProperty(Humanoid hum) {

      int timeToDeadFromFire = 301;
      int timeToDeadFromInjured = 301;
      hum.calDistanceToNearestFire(world.burningBuildings);

      if (time() < 48) {
          timeToDeadFromInjured = hum.lifespan();
      } else {
          timeToDeadFromInjured = TimeToDeathFromInjury(hum);
      }
      timeToDeadFromFire = TimeToDeathFromFire(hum);
      if (timeToDeadFromFire < timeToDeadFromInjured &&
          hum.distanceToNearestFireSite < 30000 && world.burningBuildings.size()>=8) {

          hum.setTimeToDead(timeToDeadFromFire);
      } else {
          hum.setTimeToDead(timeToDeadFromInjured);
      }

      hum.updateNoOfAmbulanceThatNeededToRescueMe(world.ambulanceTeams.size());


  }



    private void needToGoRefuge() throws ActionCommandException
    {
        Collections.sort(world.refuges,distanceComparator); //???


        if ((self().hp() < 5500 && self().damage() > 4) || self().damage()>=400 )
        {
          restAtRefuge();
        }

        if (isLoadingInjured())
        {
          if (mlpos() instanceof Refuge )
          {
            noNeedRescue.add( self().mySelectedTarget);
            noNeedRescue.add(self().myAssignedTarget);
            self().myAssignedTarget=null;
            self().mySelectedTarget=null;
            unload();
          }
          else
          {
           move(world.refuges);
          }
        }

        else
        {
          return;
        }
    }

    private Comparator distanceComparator = new Comparator() {
          public int compare(Object o1, Object o2) {
              Refuge r1 = (Refuge) o1;
              Refuge r2 = (Refuge) o2;

              if (self().distance(r1) > self().distance(r2))
                  return 1;
              if (self().distance(r1) == self().distance(r2))
                  return 0;

              return -1;
          }
    };





    public ArrayList myWorkGroup() { // Ambulance Team that work with me + myself

        ArrayList workGroup = new ArrayList();


        for (Iterator it = world.ambulanceTeams.iterator();it.hasNext();)
        {
            AmbulanceTeam at = (AmbulanceTeam)it.next();

            if (at.id==self().id)
                workGroup.add(at);

            if ( at.myAssignedTarget!= null &&
              at.myAssignedTarget==self().myAssignedTarget &&
                    self().motionlessPosition()==at.motionlessPosition()&&
                    world.updatedmovingobjects.contains(at))
            {
              workGroup.add(at);
            }
        }


      return workGroup;
    }


  public int selectAmbulenceToLoadAndCarry(ArrayList workGroup)
  {
    Iterator it = workGroup.iterator();
    AmbulanceTeam cond = (AmbulanceTeam) it.next();

    for (; it.hasNext(); ) {
      AmbulanceTeam tmp = (AmbulanceTeam) it.next();

      if (tmp.id < cond.id) {
        cond = tmp;
      }
    }
    return cond.id;
  }


  protected void searchTheMap() throws ActionCommandException {
    //    System.out.println(" I am in seraching the map ...");
    if (!world.unvisitedBuildings.isEmpty()) {
      move(world.unvisitedBuildings);
    }
  }


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

  protected void hearTell(RealObject sender, String msg)
  {
      //do nothing
  }

  protected void hear(RealObject sender, String msg) {
    // do nothing
  }

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




/////////////////////////////////////////////////////////////////////////



  int TimeFiredMapUpdate = 0;
  HashMap NearestFiredMap = new HashMap();
  private Building NearestFiredBlg(Building blg) {

    if (TimeFiredMapUpdate < world.time()) {

      TimeFiredMapUpdate = world.time();
      NearestFiredMap.clear();

      for (Iterator it = world.buildings.iterator(); it.hasNext(); ) {
        Building b = (Building) it.next();
        if (b.isBurning()) {
          for (Iterator it2 = world.buildings.iterator(); it2.hasNext(); ) {
            Building bu = (Building) it2.next();
            Building nbu = (Building) NearestFiredMap.get(bu);
            if (!NearestFiredMap.containsKey(bu) ||
                SqrDistance(nbu, bu) > SqrDistance(b, bu))
              NearestFiredMap.put(bu, bu);
          } //for
        } //if
      } //for
    } //if

    Building bl = (Building) NearestFiredMap.get(blg);
    return bl;

  }

  private long SqrDistance(Building b1, Building b2) {
    long dx = b1.x() - b2.x();
    long dy = b1.y() - b2.y();

    return dx * dx + dy * dy;
  }

  private int TimeToDeathFromFire(Humanoid injured) {

    if (injured.motionlessPosition() == null ||
        !(injured.motionlessPosition() instanceof Building))
      return Integer.MAX_VALUE;
    Building b = (Building) injured.motionlessPosition();
    if (NearestFiredBlg(b) == null)
      return Integer.MAX_VALUE;

    return (int) (java.lang.Math.floor(XYDistance(b, NearestFiredBlg(b)) / 1000));
  }

  private double XYDistance(Building b1, Building b2) {

    return java.lang.Math.pow(java.lang.Math.pow(b1.x() - b2.x(), 2)
                              + java.lang.Math.pow(b1.y() - b2.y(), 2), 0.5);

  }


  private int TimeToDeathFromInjury(Humanoid injured)
  {
      int damage = injured.damage();
      int hp = injured.hp();
      int time=Math.max(injured.time(), injured.hearTime());


      if (!(injured.motionlessPosition() instanceof Building))
      {
          if (injured.damage()==0)
              return Integer.MAX_VALUE;
          else
              return (hp-(world.time()-time)*damage)/damage;
      }

      Building bu = (Building) injured.motionlessPosition();
      if (bu != null && bu.isBurning()) {
          return 0;
      }

      int timeto_death = 0;

      if (damage > 0 && hp < 10000) {
          double alpha = 0;
          double newAlpha = 0.01;
          while (java.lang.Math.abs(alpha - newAlpha) > 1E-10) {

              alpha = newAlpha;
              double tmp = java.lang.Math.exp( -alpha * time);
              newAlpha = ((alpha * time + 1) * tmp - 1) /
                         (time * tmp - (double) (10000 - hp) / damage);

          }

          if   (alpha> 0)
          timeto_death = time - world.time() +
                  (int) (java.lang.Math.ceil((7.0 / 8) *
                         java.lang.Math.log(alpha * hp /damage + 1) / alpha));
          else timeto_death=(hp-(world.time()-time)*damage)/damage;

          return timeto_death;
      }

      return Integer.MAX_VALUE / 2;


  }




    public boolean isTargetAccessible(Humanoid hum) {
    if(! (hum.position() instanceof Building)){
        System.err.println(self() + " , Error , Humanoid's Position Not Instanceof Building : " + hum);
        return false;
    }
    Building bldg = (Building) hum.motionlessPosition();

    return REACHABLE_C.eval(bldg);

  }




}