platoonagent.java

2004年robotcup世界冠军源代码

              if(!res.contains(bldg))
                  res.add(bldg);
          }
          world.sortByID(res);
          return res;
      }

    protected List getCivPoses(){
            Civilian civ;
            Building bldg;
            List civPoses = new ArrayList();
              for(Iterator it = world.needRescueCivs.iterator();it.hasNext();){
                  civ = (Civilian) it.next();
                  if(civ.position() instanceof Building){
                      bldg = (Building) civ.motionlessPosition();
                      if(bldg.isBurned() || bldg.isBurning()) continue;
                      if(!civPoses.contains(bldg))
                          civPoses.add(bldg);
                  }
              }
                for(Iterator it = world.needLoadCivs.iterator();it.hasNext();){
                    civ = (Civilian) it.next();
                    if(civ.position() instanceof Building){
                        bldg = (Building) civ.motionlessPosition();
                        if(bldg.isBurned() || bldg.isBurning()) continue;
                        if(!civPoses.contains(bldg))
                            civPoses.add(bldg);
                    }
                }

              Collections.sort(civPoses,Util.idComparator);
            return civPoses;
        }


  private final HearData hearData = world.hearData;
  protected void hearSay(RealObject sender, String msg)
  {
    super.hearSay(sender, msg);
    if (sender instanceof Civilian) {
      MotionlessObject mo = self().motionlessPosition();
      Civilian civ = (Civilian) sender;
      if(civ.position() == null){
//        System.out.println(self() + " Heared : " + civ + " In : " + self().motionlessPosition() + " , X= " +self().x()
//                + " , Y=" + self().y() + " In Time : " + time());
        if(!civ.selfHearedPositions.contains(mo) && ! civ.messageHearedPositions.contains(mo))
        {
          //world.messagepool.ReportHearedCivilian(civ,mo);
          messageManager.reportHeardCivilian(civ,mo,self().positionExtra());
        }
        hearData.addHearedCivilian(civ,mo,self().positionExtra(),time(),true);
        civ.updatePossiblePoses();
      }
    }
    else
    {
        tryMove(sender, msg);
        hasOrder = true;
    }
  }

  protected void hear(RealObject sender, String msg) {
    //hear(msg);
  }

    protected int hearingLimit() {
        return HEARING_LIMIT_OF_HUMANOID;
    }


  /**
   * todo Aghazadeh : Complete This . MayB It's Better To Move To Farer Positions ?
   * Or MayBe It Should Be Handled In Each Agent !?
   */
  protected Route orderedMove;
  protected void tryMove(RealObject sender, String msg) {
    if (self() instanceof PoliceForce)return;

    if(MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() + " , Heared Clearing Request : " + msg);
//    if(self().motionlessPosition().distance(sender.motionlessPosition()) > 100000) return;
    String[] strPosesIndxs = msg.split(",");
    for (int i = 0; i < strPosesIndxs.length; i++) {
//      shouldEmptyPoses.add(world.motionlessObjects.get(Integer.parseInt(
//          strPosesIndxs[i])));
        shouldEmptyPoses.add(world.get(Integer.parseInt(
          strPosesIndxs[i])));
    }

    MotionlessObject pos = self().motionlessPosition();

    if (!shouldEmptyPoses.contains(pos)) {
      if (MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() +
          " Doesnt Need To Clear Position ");
      return;
    }

    if (pos instanceof Node) {
      shouldEmptyPoses.addAll(ROAD_C.extract(pos.neighborhood()));
    } else if (pos instanceof Road) {
      shouldEmptyPoses.addAll(NODE_C.extract(pos.neighborhood()));
      shouldEmptyPoses.addAll(((Road)pos).getConnectedBuildings());
    }

    Collection possibleNearPoses = new HashSet();
    Collection visited = new HashSet();
    List tempPoses = new ArrayList();
    tempPoses.add(pos);
    MotionlessObject tPos, ttPos;
    boolean hasBuilding = false;
    do {
      tPos = (MotionlessObject) tempPoses.remove(0);
      visited.add(tPos);
      for (Iterator it = tPos.neighborhood().iterator(); it.hasNext(); ) {
        ttPos = (MotionlessObject) it.next();
        if (!shouldEmptyPoses.contains(ttPos)) {
          if (ttPos instanceof Building) {
            Building bldg = (Building) ttPos;
            if (!bldg.isBurning() && !fullBuildings.contains(bldg)){
              possibleNearPoses.add(ttPos);
              hasBuilding = true;
            }

          } else
            possibleNearPoses.add(ttPos);
        }
        if (!tempPoses.contains(ttPos) && !visited.contains(ttPos)) tempPoses.
            add(ttPos);
      }
    } while (! hasBuilding && ! tempPoses.isEmpty());

    if (possibleNearPoses.isEmpty()) {
      if (MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() +
          " Could'nt Find Any Possible Positions To Go");
      return;
    }

//    orderedMove = getRouteFromCurrentPos(possibleNearPoses,CLEARING_COST_FUNCTION);
    Collection possibleBldgs = BUILDING_C.extract(possibleNearPoses);
    if(! possibleBldgs.isEmpty()){
        orderedMove = getRouteFromCurrentPos(possibleBldgs,MOVING_COST_FUNCTION);
    }
    else
        orderedMove = getRouteFromCurrentPos(possibleNearPoses,MOVING_COST_FUNCTION);

    orderedMove.validateAndSubmit();
//    if (MRL.MRLConstants.ROUTING_DEBUG_MODE)
       // System.out.println(self() +
     //   "Ordered Move : " + orderedMove);
  }

  protected boolean shouldSearch = false;
  protected boolean foundCiv = false;
  protected void act() throws ActionCommandException {
    shouldEmptyPoses.clear();
//    prevRoute = null;
    restIfBurried();
    if(time() <= TIME_STARTING_ACTION) return;
    if(self().getWereLockedByBlockade(time()) ){
      moveToAvailableBldgsIfStuck();
//        System.out.println(self() + " -------------- TRYN ");
      if((self() instanceof FireBrigade))
        {
          List nearFires = distancePrp.lte(EXTINGUISHABLE_DISTANCE).extract(world.burningBuildings);
          if(nearFires.isEmpty())
            tryToGetOutOfBlockades();
        }
      else if ( (self() instanceof AmbulanceTeam)&& ((time() % 8)<2  ) )
      {
          tryToGetOutOfBlockades();
      }

    }
    if (!(self() instanceof PoliceForce)) {
      if (orderedMove != null) {
        if (MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() +
            " Try'n To Move OrderedMove : " + orderedMove);
        move(orderedMove);
      }
    }
    if (decidedRoute != null) {
      if (MRL.MRLConstants.ROUTING_DEBUG_DEEP_MODE) System.out.println(self() +
          " Try'n To Move deciDedRoute : " + decidedRoute);
//        if (self() instanceof  FireBrigade )
//            System.out.println("decide route null nist " + self().id );
      move(decidedRoute);
    }

    exitIfIsBurning();

//    checkCurPostHearedCivs();

    if(shouldRoam) {
//      System.out.println(self() + " Roaming In Platoon.Act In : " + time());
//      roam();
    }

//    checkStuck();

    restIfIsDamaging();
    /**
     *  EVERYONE : shouldEmptyPoses Is A Collection Which We Should Clear Every Position In It And It'll Be Cleared In PlatoonAgent.act() So Use It Before Calling Super.Act() In Your Agent's ACT.
     */
  }

  protected void moveToAvailableBldgsIfStuck() throws ActionCommandException{
    Path cpath = world.getCurrentPath();
    if(cpath == null) return;
    List bldgs = cpath.getConnectedBuildings();
    bldgs.retainAll(world.unvisitedBuildings);
    if(bldgs.isEmpty()) return;
    Route rt = getRouteFromCurrentPos(bldgs,RELIABILITY_COST_FUNCTION);
    if(rt.cost< IN_BLOCKS)
      move(rt);

  }

    protected void ATCivSearch() throws ActionCommandException{
      if(!world.unvisitedBuildings.isEmpty()){
          List toCheck = correctListToCheck(world.unvisitedBuildings);
          if(!toCheck.isEmpty())
              move(toCheck);
      }
    }

  protected void checkCurPostHearedCivs() throws ActionCommandException {
    if(time() < 100 || !hearedCivilianICC ) return;
    if (!(self() instanceof PoliceForce) ||
        (self() instanceof FireBrigade && world.burningBuildings.size() > 2))return;
    if(self() instanceof PoliceForce ){
      MotionlessObject mo = self().motionlessPosition();
      if(mo instanceof Road && NOT_PASSABLE_C.eval((Road) mo)) //
        return;
    }
    if (!world.m_HearedCivPossPosMap.isEmpty()) {
      Collection res = world.m_HearedCivPossPosMap.values();
      gotoPossibleCivBuildings(res);
    }
  }

  protected void restIfBurried() throws ActionCommandException {
    if (self().buriedness() > 0) rest();
  }

  protected boolean hasOrder = false;
  protected Route decidedRoute;
  protected void prepareForAct() {
    super.prepareForAct();

      if (currentPosition != null)
            lastPosition = currentPosition;
      else
            lastPosition = self().position();

    currentPosition = self().position();

    if (time() < TIME_STARTING_ACTION || time() > SIMULATING_TIME)return;

    submittedMoveAct = self().submittedMoveAct();
    submittedAction = self().submittedAction();

    decidedRoute = null;
    shouldRoam = false;
    shouldSearch = false;
    if (!hasOrder) orderedMove = null;
    hasOrder = false;

    checkFullBuildings();

    hearData.updateHumStats();

    Humanoid self = self();

    updateNeedCheckBuildings();

    updatePrevRoads();

    world.accessibleData.updateAccessiblity();

    updateHums();

    report();

    if (!(self instanceof PoliceForce)) {
        reportLockedByBlockade();
      if (isLockedInBlockades(self)) {
        shouldSearch = true;
//        tryToGetOutOfBlockades();
        self.setWereLockedByBlockade();
      }
    }

    /**
     * todo Aghazadeh : Can Implement A Method Here Which Checks If Agent's Locked By Any Means For More Than 3 Cycles And Thus He Should Roam ?
     */

    correctTMPs();

    doSomethingIfWereStuckByHumanoids();

    if(! (self instanceof PoliceForce))
        world.computeTraffic();

//    updateLockedCivInfo();

//    reportLockedCivs();

//    reportHearedHumansInRefuge();

//    if(isLockedBySomeone()) Can Be Implemented Here
//    TalkBufferedMessages(utteranceLimit());
//    if(! (self instanceof AmbulanceTeam)) TalkBufferedMessages(utteranceLimit());
//    else TalkBufferedMessages(utteranceLimit() - 1);

  }
  protected void updateNeedCheckBuildings(){
//        MotionlessObject pos = self().motionlessPosition();
        if(time() <= TIME_STARTING_ACTION +1) return;
        visitedBuildingsIC.clear();
        visitedBuildingsIC.addAll(IN_VISIBLE_DIST.extract(world.updatedBuildings));
//        Set civs = posHearedCivilianMap.get(pos);
//        if(civs.isEmpty()){
//            Collection noCiv = world.getPossibleHearedBuildings(pos,true);
//            visitedBuildingsIC.addAll(noCiv);
//        }
//        if(time() > TIME_STARTING_ACTION + 3) { // MessageDelay + HearingDelay
//            Collection prev = hearData.updateNeedChecks();
//            if(!prev.isEmpty()){
//                System.out.println(self() + " , Deleting : PREV : " + prev);
//                visitedBuildingsIC.addAll(prev);
//            }
//        }

//        Building test = (Building) world.get(1970);
//        if(visitedBuildingsIC.contains(test)){
//            System.err.println(self() + " , Tries To Delete : 1970 ,  Dist : " + self().distance(test) + " Time : " + time());
//            if(world.get(2473) == null)
//                throw new Error("RIDI");
//        }

        world.unvisitedBuildings.removeAll(visitedBuildingsIC);
    }

  protected final Map <Building , Integer> fullBuildingsTimeMap = new HashMap();
  protected final Collection fullBuildings = fullBuildingsTimeMap.keySet();
  public static final int MIN_TIME_TO_CLEAR_FULL_BUILDINGS = 3;
  protected void checkFullBuildings() {
    Building bldg;
    int fullTime, time = time();
    for(Iterator it = fullBuildings.iterator();it.hasNext();){
        bldg = (Building) it.next();
        fullTime = fullBuildingsTimeMap.get(bldg);
        if(time - fullTime > MIN_TIME_TO_CLEAR_FULL_BUILDINGS)
            it.remove();