eambulancecenter.java

2004年robotcup世界冠军源代码

package MRL.Ambulance;

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

import java.util.*;

import MRL.Utilities.*;

public class EAmbulanceCenter extends AmbulanceCenter implements ConstantConditions {
    public EAmbulanceCenter(int id,DisasterSpace world){
        super(id,world);
    }

    public final Map <AmbulanceTeam , Map <Building , Integer>> ambulanceTeamAccessibleBldgs = new HashMap();

    public final Map <Building , Map <Building , Integer> > buildingHasAccessAmbulanceTeams = new HashMap();

    private final List ambulanceTeams = world.ambulanceTeams;

    public void initATs(){
        AmbulanceTeam at;
        for(Iterator it = ambulanceTeams.iterator();it.hasNext();){
            at = (AmbulanceTeam) it.next();
            initAT(at);
        }
    }

    private void initAT(AmbulanceTeam at){
        Map accessibleBldgs = new HashMap();
        ambulanceTeamAccessibleBldgs.put(at,accessibleBldgs);
        Map checkResult = new HashMap();
        atCheckResultMap.put(at,checkResult);
        atCheckTimeMap.put(at,0);
    }

    private void initBuilding(Building bldg){
        final Map hasAccessATs = new HashMap();
        buildingHasAccessAmbulanceTeams.put(bldg,hasAccessATs);
    }

    public void updateAccessiblity(){
        Collection hums = world.needRescueCivs;
        List poses = POSITION_PRP.collect(hums);
        Object obj;
        Building bldg;
        AmbulanceTeam at;
        for(Iterator it = poses.iterator();it.hasNext();){
            obj = it.next();
            if(obj == null || !(obj instanceof Building)){
                continue;
            }
            bldg = (Building) obj;
            for(Iterator it2 = ambulanceTeams.iterator();it2.hasNext();){
                at = (AmbulanceTeam) it2.next();
                isBldgAccessibleForAt(at,bldg);
            }
        }
    }

    private final Map <AmbulanceTeam , Integer> atCheckTimeMap = new HashMap() ;
    private final Map <AmbulanceTeam , Map <Building , Boolean> > atCheckResultMap = new HashMap();
    public boolean isBldgAccessibleForAt(AmbulanceTeam at , Building bldg){
        Map accessibleBldgs = ambulanceTeamAccessibleBldgs.get(at);
        if(accessibleBldgs.containsKey(bldg)) return true;
        Map checkResult= atCheckResultMap.get(at);
        Integer lastTimeChecked =  atCheckTimeMap.get(at);
        if( lastTimeChecked == time()){
            if(checkResult.containsKey(bldg))
                return ((Boolean)checkResult.get(bldg)).booleanValue();
        }
        else
            checkResult.clear();


        Node start = HumanoidAgent.outsidePosition(at);
        if(start != null){
            atCheckTimeMap.remove(at);
            atCheckTimeMap.put(at,time());
            checkResult.remove(bldg);
            Route rt = Router.get(start , Collections.singleton(bldg),HumanoidAgent.RELIABILITY_COST_FUNCTION);
//            if(rt.cost >= IN_BLOCKS){
//                checkResult.put(bldg,false);
//                return false;
//            }
//            else
            if(rt.cost < NOT_SEEN_RD){
                accessibleBldgs.put(bldg,time());
                if(! buildingHasAccessAmbulanceTeams.containsKey(bldg))
                    initBuilding(bldg);
                Map hasAccessAts = buildingHasAccessAmbulanceTeams.get(bldg);
                hasAccessAts.put(at,time());
                checkResult.put(bldg,true);
                return true;
            }
            else {
                checkResult.put(bldg,false);
                return false;
            }
        }
        else{
            System.err.println(this + " , Invalid Start Position For : " + at + " In Time :  " + time());
            checkResult.put(bldg,false);
            return false;
        }
    }

    public Collection getHasAccessAmbulanceTeams(Building bldg){
        return buildingHasAccessAmbulanceTeams.get(bldg).keySet();
    }

    public Collection getAccessibleBuildingsForAT(AmbulanceTeam at){
        return ambulanceTeamAccessibleBldgs.get(at).keySet();
    }

    public AmbulanceTeam getNearestFreeAmbulanceTeamToTarget(Collection freeAmbulances , Building bldg , boolean shouldBeAccessible){
        AmbulanceTeam at,res = null;
        int dist , best = Integer.MAX_VALUE;
        for(Iterator it = freeAmbulances.iterator();it.hasNext();){
            at = (AmbulanceTeam) it.next();
            if(shouldBeAccessible){
                if(!isBldgAccessibleForAt(at,bldg))
                    continue;
            }
            dist = Util.distance(at,bldg);
            if(dist < best){
                res = at;
                best = dist;
            }
        }
        return res;
    }

}