positionmessage.java

2004年robotcup世界冠军源代码

package MRL.Utilities.MessageManagement;

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

import java.util.Map;
import java.util.Collections;

/**
 * Created by IntelliJ IDEA.
 * User: Maryam
 * Date: Jun 26, 2005
 * Time: 9:17:57 AM
 * To change this template use File | Settings | File Templates.
 */
//saeed 85-2-3

public class PositionMessage extends Message
{
    int positionId;
    boolean isOPHead = false;
    int index;
    static final int indexSize = 6;
    static final int flagSize = 1;

    public PositionMessage(MovingObject position, int index)
        {
            super(Type.POSITION_REPORT, position);
            MotionlessObject mp = position.motionlessPosition();
            this.positionId = mp.id;
            this.index = index;
            if(mp instanceof Road){
                Road rd = (Road) mp;
                if(MRL.Utilities.ConstantConditions.NOT_PASSABLE_C.eval(rd)){
                    Node op =  HumanoidAgent.outsidePosition(position);
                    if(op == rd.head())
                        isOPHead = true;
                    else
                        isOPHead = false;
                }
            }else
                isOPHead = false;
        }

        char[] toCharArray(Map idToVirtualId)
        {
            char[] result = new char[length()];

            char[] temp = Util.intToCharArray(((Integer) (idToVirtualId.get(new Integer(positionId)))).intValue(), idSize);
            Util.copyArray(temp, result, 0, 0, idSize);

            temp = Util.intToCharArray(index, indexSize);
            Util.copyArray(temp, result, 0, idSize, indexSize);

            temp = new char[1];

            if(isOPHead)
                temp[0] = '1';
            else
                temp[0] = '0';

            Util.copyArray(temp,result,0,idSize + indexSize , flagSize);
            return result;
        }

    protected int length()
    {
        return staticLength();
    }

    protected static int staticLength()
    {
        return idSize + indexSize + flagSize;
    }

    public boolean equals(Object m)
    {
        if (!(m instanceof PositionMessage)) return false;
        return ((PositionMessage) m).index == index;
    }

    public int hashCode()
    {
        return index;
    }


    void updateWorld(DisasterSpace world, int time)
    {
        Collections.sort(world.agents, yab.agent.Util.idComparator);
        Humanoid human = (Humanoid) world.agents.get(index);
        //if (human.id == world.self.id)
        //    return;
        if (human.getAliveTime() < time - 2)
        {
            human.setAliveTime(time);
            human.setProperty(world.time(), PROPERTY_POSITION, new int[]{positionId});
            MotionlessObject mo = (MotionlessObject)world.get(positionId);
            if(mo instanceof Road){
                Road rd = (Road) mo;
                if(isOPHead){
                    human.setProperty(world.time(), PROPERTY_POSITION_EXTRA, new int[]{0});
                }
                else{
                    human.setProperty(world.time(), PROPERTY_POSITION_EXTRA, new int[]{rd.length() -1});
                }
            }
        }
        //human.setHearTime(time);
        //human.setTime(time);
        //todo: update agent's position
    }

    public PositionMessage(char[] message, Map virtualIdToId)
    {
        super(Type.POSITION_REPORT, null);
        this.positionId = ((Integer) virtualIdToId.get(new Integer(Util.charArrayToint(message, 0, idSize)))).intValue();
        this.index = Util.charArrayToint(message, idSize, indexSize);
        this.isOPHead = message[idSize + indexSize] == '1';
    }
}