ambulancecenteragent.java

2004年robotcup世界冠军源代码

package MRL.Ambulance;

/**
 * Creat By Omid AmirGhiasvand:
 * 3 Apr 2006
 *
 * Last Edit:
 * 2006-06-12
 * 3:38 am
 *
 */

import java.net.*;
import yab.agent.*;
import yab.agent.object.*;
import MRL.Utilities.MessageManagement.CenterMessageManager;
import java.util.*;

public class AmbulanceCenterAgent extends AbstractAmbulanceCenterAgent {




    private CenterMessageManager messageManager;

    public AmbulanceCenterAgent(InetAddress address, int port) {
        super(address, port);
        messageManager = new CenterMessageManager(socket(), world);
        socket().akAcknowledge(self().id);
    }

    protected void hear(RealObject sender, String msg) {

    }

    protected void hearTell(RealObject sender, String msg) {

    }

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


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

    private HashSet freeAmbulances = new HashSet();

    private ArrayList civilianVictimSet = new ArrayList();
    private ArrayList agentVictimSet = new ArrayList();

    private ArrayList buridAT = new ArrayList();
    private ArrayList buridPF = new ArrayList();
    private ArrayList buridFB = new ArrayList();

    private ArrayList targetSet = new ArrayList();
    private ArrayList agentTargetSet = new ArrayList();

    private HashSet tempBuriedAgentSet = new HashSet();  ////?????????

    private HashSet noNeedRescue = new HashSet();
    private HashSet noNeedRescueAgent = new HashSet();


    private Humanoid lastTarget;


      protected void prepareForAct() {
          super.prepareForAct();
          updateAmbulances();
          checkAgentTargetSet();
          checkTargetSet();
          rescueVictim();
          messageManager.sendMessages();
      }

      private void updateAmbulances()
      {
         freeAmbulances.clear();

         for (Iterator it = world.ambulanceTeams.iterator() ; it.hasNext();)
         {
            AmbulanceTeam at = (AmbulanceTeam)it.next();
           if (at.buriedness()==0)
           {
               if (at.myAssignedTarget == null)
               {
                   freeAmbulances.add(at);
                   at.setTimeToGetFree(0);
               }
               else
               {
                   updateTimeToGetFree(at);
               }
           }
         }
      }


      /**
       *
       *   ?????????????????????????????????????????????????????????????????????
       */
      private void updateTimeToGetFree(AmbulanceTeam at )
      {
          if (at.myAssignedTarget!=null)
          {
                      at.setTimeToGetFree((int) java.lang.Math.ceil(at.myAssignedTarget.
                      buriedness() /at.myAssignedTarget.ambulanceAssigned.size())+3);

          }
      }


      public void act() throws ActionCommandException
      {
          super.act();
          if (time()==3)
          System.out.println("  MRL MRL MRL MRL MRL MRL MRL MRL MRL MRL MRL  ");

      }

      private void checkAgentTargetSet()
      {
          if (agentTargetSet.isEmpty()|| freeAmbulances.isEmpty())
              return;

          updateAgentTargetSet();

          if (agentTargetSet.isEmpty())
              return;

          for (Iterator it = agentTargetSet.iterator();it.hasNext();)
          {
              Humanoid tar = (Humanoid)it.next();

              if (tar.ambulanceAssigned.size() <3 && tar.buriedness()>=12)
                  assingAmbulancesToBuridAgent(tar);

          }
      }

      private void updateAgentTargetSet()
      {
          HashSet finishedTarget = new HashSet();

         for (Iterator it = agentTargetSet.iterator() ; it.hasNext();)
         {
            Humanoid hum  = (Humanoid )it.next();
            if (hum.buriedness()<=3*hum.ambulanceAssigned.size())
               finishedTarget.add(hum);

         }

         agentTargetSet.removeAll(finishedTarget);
         noNeedRescueAgent.addAll(finishedTarget);


      }


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

      private void checkTargetSet()
      {

          if (targetSet.isEmpty()|| freeAmbulances.isEmpty())
              return;

         updateTargetSet();

         if (lastTarget!= null)
         {
            updateHumanoidProperty(lastTarget);

            if (lastTarget.ambulanceAssigned.size()<lastTarget.getNoOfAmbulanceThatNeededToRescueMe())
            {

                 assignAmbulance(lastTarget);
            }
         }

         if (freeAmbulances.isEmpty())
              return;



          for(Iterator it = targetSet.iterator(); it.hasNext();)
          {
              Humanoid tar = (Humanoid)it.next();

                  updateHumanoidProperty(tar);

                  if (tar.ambulanceAssigned.size() <tar.getNoOfAmbulanceThatNeededToRescueMe())
                    {

                        assignAmbulance(tar);
                    }

          }

      }

      private void updateTargetSet()
      {
          HashSet finishedTarget = new HashSet();

          for (Iterator it = targetSet.iterator() ; it.hasNext();)
          {
              Humanoid hum  = (Humanoid )it.next();
              if (hum.buriedness()<=3*hum.ambulanceAssigned.size())
                  finishedTarget.add(hum);

          }

          targetSet.removeAll(finishedTarget);
          noNeedRescue.addAll(finishedTarget);
      }

      private void assignAmbulance(Humanoid target)
      {
          if (freeAmbulances.isEmpty())
              return;

          while(target.getNoOfAmbulanceThatNeededToRescueMe()>target.ambulanceAssigned.size() &&
                 !freeAmbulances.isEmpty()  )
          {
             AmbulanceTeam at =selectAmbulanceToAssign(target);

              if (at==null)
              {
                  break;
              }
              else
              {

                 messageManager.reportTarget(at,target);
                 at.myAssignedTarget=target;
                 freeAmbulances.remove(at);
                 target.ambulanceAssigned.add(at);
                 at.setTargetAssignmentTime(time());

              }

          }

      }


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

      private AmbulanceTeam selectAmbulanceToAssign(Humanoid tar)
      {

          if (freeAmbulances.isEmpty() )
            return null;
          List res = new ArrayList();

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

              if (isAccesibleFromTo(at,tar.motionlessPosition())){
                  res.add(at);
              }
//              else
//                 System.out.println("** AT :"+at.id +"  CAN'T ACCESS TARGET :"+tar.id + "   IN TIME:"+time());

          }

          if(res.isEmpty())
              return null;
          else{
              List poses = POSITION_PRP.collect(res);
              Route rt = Router.get(tar.motionlessPosition(),poses,MOVING_COST_FUNCTION);
              MotionlessObject mo = rt.end;
              res = POSITION_PRP.equal(mo).extract(res);
              return (AmbulanceTeam) res.iterator().next();

          }

      }


      private void rescueVictim()
      {
         if (!freeAmbulances.isEmpty())
         {



             updateBuridAgent();
             rescueAgentsTargets();
             updateBuridCivilian();
             rescueCivilianTargets();
         }
      }

      private void updateBuridAgent()
      {
          if (world.buriedAgents.isEmpty())
              return;

          agentVictimSet.clear();
          agentVictimSet.addAll(world.buriedAgents);
          agentVictimSet.removeAll(agentTargetSet);
          agentVictimSet.removeAll(noNeedRescueAgent);

      }

      private void updateBuridCivilian()
      {
          civilianVictimSet.clear();

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

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

                     if ((hum.needRescue()|| hum.needLoad() )&& !bld.isBurned() &&(!bld.isBurning()|| hum.buriedness()<5 ))
                         {
                             updateHumanoidProperty(hum);
                         //   if  (hum.getTimeToDead()< 600-time())
                             civilianVictimSet.add(hum);
                         }
               }

          }
       civilianVictimSet.addAll(tempBuriedAgentSet);
       civilianVictimSet.removeAll(noNeedRescue);
       civilianVictimSet.removeAll(targetSet);
       Collections.sort(civilianVictimSet,timeToDeadComparator);
//       System.out.println(" ");
//       System.out.println("   TIME  FOR UPDATE  >>>>"+ time()+"    Number Of Victim:"+civilianVictimSet.size()+"   Number of Civilian:"+world.civilians.size()          );
//       for (Iterator it = civilianVictimSet.iterator() ; it.hasNext();)
//       {
//           Humanoid hum = (Humanoid)it.next();
//           System.out.println("* Civ ID:"+hum.id + "   HP:"+hum.hp()+"   Buridness:"+hum.buriedness()+"  TTD Injured:"+TimeToDeathFromInjury(hum)   +" Real Time To Dead:"+hum.getTimeToDead()  +"    Buridness:"+hum.buriedness()+ "   Is Rescueable:"+isRescueable(hum)+ "   Time:"+hum.hearTime());
       //System.out.println(" Injured ID:"+ hum.id +"  Heared Time:"+hum.hearTime() +"  Time:"+hum.time() +"  HP:"+hum.hp() + "  Buridness:"+hum.buriedness()  );
//
//       }



      }


      private Comparator timeToDeadComparator = new Comparator() {
          public int compare(Object o1, Object o2) {
              Humanoid h1 = (Humanoid) o1;
              Humanoid h2 = (Humanoid) o2;

              if (h1.getTimeToDead() > h2.getTimeToDead())
                  return 1;
              if (h1.getTimeToDead() == h1.getTimeToDead())
                  return 0;

              return -1;
          }
      };




      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 rescueAgentsTargets()
      {

          if (agentVictimSet.isEmpty()|| freeAmbulances.isEmpty())
              return;


          Humanoid agentTarget = (Humanoid)selectAgentTargets(agentVictimSet);

          if (agentTarget!= null)
          {
            assingAmbulancesToBuridAgent(agentTarget);
            agentTargetSet.add(agentTarget);
            agentVictimSet.remove(agentTarget);
            rescueAgentsTargets();
          }
          else
          {
              return;
          }

      }

    private Humanoid selectAgentTargets(ArrayList victimAgent)
    {
       Humanoid target;

       buridAT.clear();
       buridFB.clear();
       buridPF.clear();