platoonagent.java

2004年robotcup世界冠军源代码

// Copyright (C) 2002 Takeshi Morimoto <[e-mail]>
// All rights reserved.
// Edited By Omid Aghazadeh
package yab.agent;

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

public abstract class PlatoonAgent extends HumanoidAgent implements MRL.
    Utilities.ConstantConditions {

    //Ashkan added
    public AgentMessageManager messageManager = null;
    RealObject lastPosition = null;
    RealObject currentPosition = null;
    //Ashkan added

  protected PlatoonAgent(int agentType, InetAddress address, int port) {
    super(agentType, address, port);
  }

  private Humanoid self() {
    return (Humanoid) world.self;
  }

    protected void rest() throws ActionCommandException {
        self().setAct(REST_ACT);
        super.rest();    //To change body of overridden methods use File | Settings | File Templates.
    }

    // ---------------------------------------------------------------- OMID Aghazadeh

  protected final Set visitedBuildingsIC = new HashSet();
  protected final Collection shouldEmptyPoses = new HashSet(); // For Handling Police's MOVE Message.

  public static final int NEAR_FIRE_UB_SEARCH_RADIUS = 40000;
  public static final int NEAR_FIRE_LB_SEARCH_RADIUS = 10000;
  public static final int TIME_STARTING_TO_SEARCH_BY_AVAILABILITY = 100;
  public final static int MAX_HEARING_DISTANCE = 30000;
  public final static int MIN_FIRE_AVAILABLE_SEARCH = EXTINGUISHABLE_DISTANCE + 10000;
  public final int MAX_BLDGS_SEARCH_COUNT= 500 ;
  public final static int MAX_WAITING_TO_ROAM = 4;
  public static final int MIN_TIME_TO_CLEAR_TRAFFIC = 5;
  public static final int MAX_TIME_WAIT_TO_SET_TRAFFIC = 3;
  public static final int MAX_TIME_WAIT_TO_ROAM_FROM_TRAFFIC = 4;
  public static final int HUMANOID_SEARCH_RADIUS = 30000;
  public static final int MIN_BURNING_BLDGS_TO_START_SEARCH_AROUND_FIRE = 5;
  public static final int MAX_TIME_TO_SEARCH_FOR_HEARED_CIV = 10;
  public static final int MIN_TIME_AT_SEARCH_HEARED_CIVS = 30;
  public static final int MIN_TIME_AT_SEARCH_DEEP = 25 ;
  public static final int OBJS_TO_REQUEST_TO_CLEAR = 10;
  protected final int CIV_REPORT_PERIOD = 5;
  public static final int MAX_HP_TO_START_KANE = 5000;
  protected final Collection shouldUpdateCivBuildings = new HashSet();

    protected Civilian prevCheckCivilian;
    protected final Condition SHOULD_UPDATE_CIV_C = new Condition(){
        Civilian civ;
        Integer lc;
        int lastCheck;
        public boolean eval(Object obj){
            if(obj instanceof Civilian){
                civ = (Civilian) obj;
                if(! civ.needRescue()) return false;
                lc =(Integer) world.civCheckTime.get(civ);
                if(lc == null) return false;
                lastCheck =lc.intValue();
                return (time() - lastCheck >= CIV_REPORT_PERIOD);
            }
            else return false;
        }
    };
    protected void checkAndReportCivilians() throws ActionCommandException {
      checkAndStay();
      updateShouldUpdateCivs();
//      if(onlyInPartition && searchingPartition() == null) return;
//      List toCheck = null;
//      int time = time();
//      if(onlyInPartition){
//        toCheck = searchingPartition().MO_OBJS_IN_PART_CND.extract(world.needRescueCivs);
//      }
//      else{
//        toCheck = new ArrayList(world.needRescueCivs);
//      }
//
//      if(toCheck.isEmpty()) return;
//
//      Building bldg;
//      if (prevCheckCivilian != null) {
//        if (prevCheckCivilian.needRescue() && ! prevCheckCivilian.isVisible() &&  self().motionlessPosition() != prevCheckCivilian.motionlessPosition() && NOT_IN_TRAFFIC_C.eval(prevCheckCivilian.motionlessPosition()))
//          if (prevCheckCivilian.position() instanceof Building && ! fullBuildings.contains(prevCheckCivilian.motionlessPosition())) {
//            if (SHOULD_UPDATE_CIV_C.eval(prevCheckCivilian)) {
//              bldg = (Building) prevCheckCivilian.motionlessPosition();
//              if (!bldg.isBurned() && !bldg.isBurning())
//                move(bldg);
//            }
//          }
//      }
//
//      prevCheckCivilian = null;
//
//      List needCheckCivs;
//      needCheckCivs = getNeedUpdateCivs(toCheck);
//
//      if(needCheckCivs.isEmpty()) return;
//
//      List needCheckPoses = POSITION_PRP.collect(needCheckCivs);
//
//      int indx = random.nextInt(needCheckPoses.size());
//      bldg = (Building) needCheckPoses.get(indx);
//
//      List civs = POSITION_PRP.eq(bldg).extract(needCheckCivs);
//      prevCheckCivilian = (Civilian) civs.iterator().next();
//      move(bldg);
    }
    public final Condition SHOULD_KANE_CIVS = new Condition (){
        Humanoid hum;
        public boolean eval(Object obj){
            if(obj instanceof Humanoid){
                hum =(Humanoid)obj;
                return hum.hp()<MAX_HP_TO_START_KANE &&( hum.needRescue() || hum.needLoad()) ;
            }else{
                return false;
            }
        }
    };
    Building m_lastKANEBUILDING = null;
    protected void checkAndStay() throws ActionCommandException{
            List civKanePoses = getNeedKaneCivPoses();
            if(m_lastKANEBUILDING != null && ! (m_lastKANEBUILDING.isBurning() || m_lastKANEBUILDING.isBurned())
                    && REACHABLE_C.eval(m_lastKANEBUILDING)){
              List visAgents = VISIBLE_C.and(POSITION_PRP.eq(m_lastKANEBUILDING)).extract(world.platoonAgents);
              world.sortByID(visAgents);
              if(!(Utils.getConditionCount(visAgents,AMBULANCE_TEAM_C) >0 ||
                      visAgents.indexOf(self()) > 0) && civKanePoses.contains(m_lastKANEBUILDING)){
                  if(self().motionlessPosition() == m_lastKANEBUILDING){
                        rest();
                  }
                  else{
//                      System.out.println(self() + " ----------- 7");
                      checkShouldContinueToBuildingAndMove(m_lastKANEBUILDING,false,false);
                  }
              }
          }
          m_lastKANEBUILDING = null;
          int kanePosSize = civKanePoses.size();
          List freeAgents = getFreeAgentsToUpdate();
          int indx =  freeAgents.indexOf(self());
          if(indx == -1 ) return;
//          System.out.println(self() + " CivNeedKanePosesSize : " + kanePosSize + " FreeAgentsSize : " + freeAgents.size() + " In Time : " + time());
          if(freeAgents.size() > kanePosSize){
              if(indx >= kanePosSize){
//                  System.out.println(self() + " ----------- 0");
                return;
              }
              else{
                  m_lastKANEBUILDING =getKaneBuilding(civKanePoses,indx);
//                  if(Utils.getConditionCount(world.ambulanceTeams,POSITION_PRP.equal(m_lastKANEBUILDING).and(VISIBLE_C))>0)
//                    System.out.println(self() + " ----------- 1");
              }

          }
          else if(freeAgents.size() == kanePosSize){
                m_lastKANEBUILDING =getKaneBuilding(civKanePoses,indx);
//                System.out.println(self() + " ----------- 2");
          }
          else{   // freeAgents < posSize
              if(kanePosSize > ((1f + MAX_KANE_PERCENT) * freeAgents.size()) ) {
//                  System.out.println(self() + " ----------- 3");
                  return;
              }
              int maxKaneIndx = getMaxKaneIndex();
//              if(maxKaneIndx <= 0 )
//                  System.err.println(self() + " <=0 MAX KANE INDEX.");
              if(indx > maxKaneIndx) {
//                System.out.println(self() + " ----------- 4");
                  return;
              }
              else{
                m_lastKANEBUILDING =getKaneBuilding(civKanePoses,indx);
//                  System.out.println(self() + " ----------- 5");
              }
          }
      }

    protected Building getKaneBuilding(List civPoses , int selfIndx){
        Building res;
        int cnt = selfIndx;
        do{
            if(civPoses.size() <= cnt ) return null;
            res = (Building) civPoses.remove(cnt);
            cnt++;
        } while (Utils.getConditionCount(world.ambulanceTeams, VISIBLE_C.and(POSITION_PRP.equal(res)))>0);
        return res;
    }

    private Building m_lastBldgToUpdate = null;
    protected void updateShouldUpdateCivs() throws ActionCommandException{
          correctShouldUpdateCivs();
          if(m_lastBldgToUpdate != null){
              if(shouldUpdateCivBuildings.contains(m_lastBldgToUpdate) && ! m_lastBldgToUpdate.isVisible())
                checkShouldContinueToBuildingAndMove(m_lastBldgToUpdate,false,false);
          }
          m_lastBldgToUpdate = null;
          if(shouldUpdateCivBuildings.isEmpty()){
            shouldUpdateCivBuildings.addAll(getNewShouldUpdateCivBuildings());
          }

//          System.out.println(self() + " should Update Civ Buildings In Time : " + time() + " , Size : " + shouldUpdateCivBuildings.size());

          Building bldg,res=null;
          int time , best = Integer.MAX_VALUE;
          for(Iterator it = shouldUpdateCivBuildings.iterator();it.hasNext();){
              bldg = (Building) it.next();
              time = bldg.time();
              if(time < best && ! FULL_BUILDING_C.eval(bldg) && REACHABLE_C.eval(bldg)){
                  best = time;
                  res = bldg;
              }
          }

          if(res != null){
              m_lastBldgToUpdate = res;
              checkShouldContinueToBuildingAndMove(res,false,false);
          }

      }
      protected void correctShouldUpdateCivs(){
          Building bldg;
          Collection civPoses = getCivPoses();
          for(Iterator it = shouldUpdateCivBuildings.iterator();it.hasNext();){
              bldg = (Building) it.next();
              if(civPoses.contains(bldg)) continue;
              it.remove();
          }
          if(m_lastBldgToUpdate != null && m_lastBldgToUpdate.isVisible()){
              List visAgents = VISIBLE_C.and(POSITION_PRP.eq(m_lastBldgToUpdate)).extract(world.platoonAgents);
              world.sortByID(visAgents);
              if(visAgents.indexOf(self()) > 0 || Utils.getConditionCount(visAgents,AMBULANCE_TEAM_C)>0)
                    shouldUpdateCivBuildings.remove(m_lastBldgToUpdate);
          }
      }


      protected Collection getNewShouldUpdateCivBuildings(){
          Collection res = new HashSet();

          List freeAgents = getFreeAgentsToUpdate();
          if(! freeAgents.contains(self())){
              return res;
          }

          List civPoses = getCivPoses();

          int isKaneIngIndx = getMaxKaneIndex();
          int sources = freeAgents.size();
          int posSize = civPoses.size();
          int posSources = posSize;
          if(isKaneIngIndx != -1 ){
              sources -= (isKaneIngIndx + 1);
              posSources -= (isKaneIngIndx + 1);
              for(int i = 0 ; i <= isKaneIngIndx  ; i ++ )
                civPoses.remove(0);
          }

          if(sources <= 0) return res;

          if(searchingPartition()!= null){
              res.addAll(searchingPartition().ML_OBJS_IN_PART_CND.extract(civPoses));
              if(! res.isEmpty()) return res;
          }


          int count = (int) Math.floor(posSources / sources) + 1;
//          System.out.println(self() + " Free Agents : " + freeAgents.size() + " TotalKane : " + (isKaneIngIndx + 1) +"  civPoses Size : " +civPoses.size() +  " COUNT : " + count);
          Building bldg , tmp;
          int si = freeAgents.indexOf(self());
          if(si == -1) System.err.println(self() + " EERRRRRRRRRRRRRRRRRRR Negative Index@!@###$");

          int i = 0;

          do{
              if(civPoses.isEmpty()) {
                  return res;
              }
              bldg = (Building)civPoses.remove(0);
              if(i == si)
                res.add(bldg);
              int j = 1;
              while(j<count){
                  if(civPoses.isEmpty()) {
                      return res;
                  }
                  tmp = (Building) bldg.distancePrp.min(civPoses);
                  if(i == si)
                    res.add(tmp);
                  civPoses.remove(tmp);
                  j++;
              }
              i++;

          } while (i <= si);
          return res;
      }

    protected int getMaxKaneIndex() {
        List freeAgents = getFreeAgentsToUpdate();
        List civPoses = getNeedKaneCivPoses();
        if(civPoses.size() > (1f+ MAX_KANE_PERCENT) * freeAgents.size()) return -1;
        else if (freeAgents.size() >= civPoses.size())
            return Util.min(freeAgents.size() - 1 , civPoses.size() - 1);
        else
            return (int) (freeAgents.size() * MAX_KANE_PERCENT );
    }
    protected List getFreeAgentsToUpdate(){
        List freeAgents = new ArrayList();
        freeAgents.addAll(world.policeForces);
        if(world.burningBuildings.isEmpty()){
           freeAgents.addAll(world.fireBrigades);
        }
        world.sortByID(freeAgents);
        return freeAgents;
    }

    public static final float MAX_KANE_PERCENT = 0.5f;

    protected List getFreeNotKaneAgentsToUpdate(){
        List freeAgents = getFreeAgentsToUpdate();
        int maxKaneIndx = getMaxKaneIndex();
        for(int i = 0 ; i < maxKaneIndx ; i++)
            freeAgents.remove(0);
        return freeAgents;
    }
      protected List getNeedKaneCivPoses(){
          Civilian civ;
          Building bldg;
          List res = new ArrayList();
          for (Iterator it = world.needRescueCivs.iterator(); it.hasNext(); ) {
              civ = (Civilian) it.next();
              bldg = (Building) civ.motionlessPosition();
              if(! SHOULD_KANE_CIVS.eval(civ)) continue;
              if(!res.contains(bldg))
                  res.add(bldg);
          }
          for (Iterator it = world.needLoadCivs.iterator(); it.hasNext(); ) {
              civ = (Civilian) it.next();
              bldg = (Building) civ.motionlessPosition();
              if(! SHOULD_KANE_CIVS.eval(civ)) continue;