heardata.java

2004年robotcup世界冠军源代码

package MRL.Utilities;

import yab.agent.*;
import yab.agent.object.*;
import java.util.*;
import MRL.Utilities.Partitioning.*;

public class HearData {
    private final DisasterSpace world;
    public HearData(DisasterSpace world){
        this.world = world;
    }

    public final Map<MotionlessObject , List[] > selfPosHearedCivilianTimeMap = new HashMap<MotionlessObject , List[] > ();
    public final Map<MotionlessObject , List[] > messagePosHearedCivilianTimeMap = new HashMap<MotionlessObject , List[] > ();
    public final Set<Civilian> inRefugeCivilians = new HashSet<Civilian>();
    public final Set<Civilian> foundCivilians = new HashSet<Civilian>();
    public final Set<Civilian> underSearchCivilians = new HashSet<Civilian>();
    public final Map <Integer , List[]> timeHearedCivilianPosMap = new HashMap
            <Integer , List []> ();

    public void initMLO(MotionlessObject mo){
        List [] hearedCivilianTimeMap = new ArrayList [2];
        List hearedCivilian = new ArrayList();
        List hearedCivilianTimes = new ArrayList();
        hearedCivilianTimeMap[0] = hearedCivilian;
        hearedCivilianTimeMap[1] = hearedCivilianTimes;
        selfPosHearedCivilianTimeMap.put(mo,hearedCivilianTimeMap);
        hearedCivilianTimeMap = new ArrayList [2];
        hearedCivilian = new ArrayList();
        hearedCivilianTimes = new ArrayList();
        hearedCivilianTimeMap[0] = hearedCivilian;
        hearedCivilianTimeMap[1] = hearedCivilianTimes;
        messagePosHearedCivilianTimeMap.put(mo,hearedCivilianTimeMap);
    }

    private int time(){
        return world.time();
    }
    private Humanoid self(){
        return (Humanoid) world.self;
    }
    public void addHearedCivilian (Civilian civ , MotionlessObject mo , int posExtra, int time , boolean selfHeared){
        List[] hearedCiviliansIC = timeHearedCivilianPosMap.get(time);
        if(hearedCiviliansIC == null){
            hearedCiviliansIC = new ArrayList[2];
            hearedCiviliansIC[0] = new ArrayList();
            hearedCiviliansIC[1] = new ArrayList();
            timeHearedCivilianPosMap.put(time , hearedCiviliansIC);
        }
        hearedCiviliansIC[0].add(civ);
        hearedCiviliansIC[1].add(mo);

        if(civ.position() != null) return;
        civ.setLastHearedTime(time);
        underSearchCivilians.add(civ);
        if(!selfPosHearedCivilianTimeMap.containsKey(mo))
            initMLO(mo);
        List [] hearedCivilianTimeMap;
        if(selfHeared){
            hearedCivilianTimeMap = selfPosHearedCivilianTimeMap.get(mo);
            int x = self().x();
            int y = self().y();
            civ.addHearedPosition(mo,x,y,true);
        }
        else{
            hearedCivilianTimeMap = messagePosHearedCivilianTimeMap.get(mo);
            int x,y;
            if(mo instanceof  Road){
                Road rd = (Road) mo;
                x = rd.head().x() +( posExtra/rd.length() )* (rd.tail().x() - rd.head().x());
                y =rd.head().y() +( posExtra/rd.length() )* (rd.tail().y() - rd.head().y());
            }else{
                x = mo.x();
                y= mo.y();
            }
            civ.addHearedPosition(mo,x,y,false);
        }

        if(! hearedCivilianTimeMap[0].contains(civ)){
            hearedCivilianTimeMap[0].add(civ);
            hearedCivilianTimeMap[1].add(time);

        }
        else{
            int lastIndx= hearedCivilianTimeMap[0].lastIndexOf(civ);
            int lastTime = ((Integer)hearedCivilianTimeMap[1].get(lastIndx)).intValue();
            if(lastTime != time){
                hearedCivilianTimeMap[0].add(civ);
                hearedCivilianTimeMap[1].add(time);
            }
        }
    }

    public void updateHumStats(){
        Civilian civ;
        for(Iterator it = underSearchCivilians.iterator();it.hasNext();){
            civ = (Civilian) it.next();
            if(civ.position() != null){
                foundCivilians.add(civ);
                if(civ.motionlessPosition() instanceof Refuge)
                    inRefugeCivilians.add(civ);
                it.remove();
            }
        }
    }
//    public Collection updateNeedChecks(){
//        int time = time();
//        int lTimeCheck = time -1;
//        MotionlessObject lastPos = self().getMotionlessPosition(lTimeCheck);
//
//        Collection res = new HashSet();
//        if(timeHearedCivilianPosMap.containsKey(lTimeCheck)){
//
//        }
//        else{
////            Collection tmp = world.getPossibleHearedBuildings(lastPos,true);
//            int spx =self().getSelfX(lTimeCheck);
//            int spy = self().getSelfY(lTimeCheck);
//            Collection tmp = world.getPossibleHearedBuildings( spx, spy , Civilian.SEARCH_DIST );
//            res.addAll(tmp);
//            System.out.println(self() + " , LastMP : " + lastPos + " , Deleting : " + res + " In Time : " + time);
//        }
//        return res;
//    }

    public static final int POSS_NEAR_CIV_TIME_SEARCH_DEPTH = 5;
    public boolean isNearPosCivilians(MotionlessObject mo){
        List civPosMap[] , civs , poses;
        for(int i = time() ; i > time() - POSS_NEAR_CIV_TIME_SEARCH_DEPTH ; i --){
            civPosMap = timeHearedCivilianPosMap.get(i);
            if(civPosMap == null) continue;
            civs = civPosMap[0];
            poses= civPosMap[1];
            if(poses.contains(mo)) return true;
        }
        return false;
    }

    public int getPossibleNearCiviliansCount(Path path){
        Civilian civ;
        int res = 0;
        for(Iterator it = underSearchCivilians.iterator();it.hasNext();){
            civ = (Civilian)it.next();
            if(Utils.getConditionCount(civ.possibleBuildings , path.IS_CONTAINING_C)>0)
                res ++ ;
        }
        return res;
    }


}