platoonagent.java

2004年robotcup世界冠军源代码

    }

    if(self() instanceof FireBrigade){
        if ((!self().HasMovedInLastCycle()) && submittedMoveAct) {
          if (prevRoute.end instanceof Building) {
              bldg = (Building) prevRoute.end;
              if(! (bldg instanceof Refuge)){
                setBuildingIsFull(bldg , time);
              }
          }
        }
        MovingObject mo;
        for(Iterator it = world.updatedmovingobjects.iterator();it.hasNext();){
            mo = (MovingObject) it.next();
            if( mo instanceof FireBrigade){
                if(mo.motionlessPosition() instanceof Building){
                    bldg = (Building) mo.motionlessPosition();
                    if(!(bldg instanceof Refuge)){
                        setBuildingIsFull(bldg , time);
                    }
                }
            }
        }
    }
  }

  protected void setBuildingIsFull(Building bldg , int time){
      fullBuildingsTimeMap.remove(bldg);
      fullBuildingsTimeMap.put(bldg , time);
  }

  protected void updateLockedCivInfo() {
//    Collection civPoses = BUILDING_C.not().and(AMBULANCE_TEAM_C.not()).extract(POSITION_PRP.collect(world.civilians));
    if (self().motionlessPosition() instanceof Refuge)return;
    Civilian civ;
    MotionlessObject mo;
    Road road;
    Collection civs = CIVILIAN_C.and(ALIVE_C).and(BURIED_C.not()).extract(world.
        updatedmovingobjects);
    for (Iterator it = civs.iterator(); it.hasNext(); ) {
      civ = (Civilian) it.next();
      mo = civ.motionlessPosition();
      if (mo instanceof Building || civ.position() instanceof AmbulanceTeam)continue;
      if (isLockedInBlockades(civ)) {
        road = world.getRespondingRoad(mo, mo);
        if (NOT_PASSABLE_C.eval(road)) {
          if (!world.m_lockedCivPos_Map.containsKey(civ))
            world.m_lockedCivPos_Map.put(civ, road);
        }
      }
    }

  }

  protected boolean shouldRoam = false;
    protected void doSomethingIfWereStuckByHumanoids() {
//    if (self() instanceof PoliceForce)return;
        MotionlessObject pos = self().motionlessPosition();
        if (pos instanceof Road &&
            NOT_PASSABLE_C.eval((Road) pos)) return;
        int time = time();
        if(time <= TIME_STARTING_ACTION + 1 ) return;
        if ((!self().HasMovedInLastCycle()) && submittedMoveAct) {

          if(MRL.MRLConstants.ROUTING_DEBUG_MODE)
              System.out.println(self() + " , Starting Determining Traffic : " + time());

          if (pos instanceof Building)return;
//      if( prevRoute.end instanceof Building ) return;

//      Collection nearAgents = AGENT_C.extract(world.
//                                              updatedmovingobjects);
//      nearAgents.remove(self());
//      if (nearAgents.isEmpty())return;

          if (self() instanceof PoliceForce) {


            Path path = world.getCurrentPath();
            boolean isInPath;
            if(path == null){
              isInPath=false;
              Route rt = prevRoute.trimStartTo(self().motionlessPosition());
              MotionlessObject mo = rt.getObject(rt.getRouteCount()-1);
              Road road;
              if (mo instanceof Road) {
                road = (Road) mo;
              } else {
                mo = rt.getObject(rt.getRouteCount() - 2);
                if (mo instanceof Road)
                  road = (Road) mo;
                else{
               //     System.err.println(self() + " Error , Invalid Prev Route");
                    return; // Wanted To Go To A Building And Building Is Full
                }
              }
              path = world.getContainingPath(road);

            } else{
              isInPath=true;
            }

            int fireSearchDist = EXTINGUISHABLE_DISTANCE; // =            MIN_FIRE_AVAILABLE_SEARCH

            if(pos instanceof Road)
                fireSearchDist += ((Road)pos).length()/2;

            int nearFires = Utils.getConditionCount(world.burningBuildings,self().motionlessPosition().
                                                    distancePrp.lte(fireSearchDist));
            int notMoved = self().getStuckCycles();


            if(notMoved ==0)
                   throw new Error("WHA");
            if(MRL.MRLConstants.ROUTING_DEBUG_MODE)
                System.out.println(self() +" Has Not Moved For : " + notMoved);
            if (nearFires == 0) {
                if(notMoved < MAX_TIME_WAIT_TO_SET_TRAFFIC){
                    requestAgentsGoingAway();
                }
                else if(notMoved<MAX_TIME_WAIT_TO_ROAM_FROM_TRAFFIC){
                    setTraffic(path,time(),isInPath);
                }
                else{
                    setTraffic(path,time(),isInPath);
                    shouldRoam = true;
                }
              }
            else {
                if(notMoved<MAX_TIME_WAIT_TO_ROAM_FROM_TRAFFIC){
                    setTraffic(path,time(),isInPath);
                }
                else{
                    setTraffic(path,time(),isInPath);
                    shouldRoam = true;
                }
            }

            return;
          } // Instanceof PoliceForce

          Path cPath = world.getCurrentPath();
          Road road;
          Route rt = prevRoute.trimStartTo(self().motionlessPosition());
          if (cPath == null) { // What Should They Do If They're Stuck By Eachother At A CrossWay?
            Collection nei = ((Node) pos).getConnectedRoads();
            Path path;
            for (Iterator it = nei.iterator(); it.hasNext(); ) {
              road = (Road) it.next();
              if (rt.isContaining(road)) {
                path = world.getContainingPath(road);
                setTraffic(path,time(),false);
              }
            }
          } else { // Agent Is In A Path
                setTraffic(cPath,time(),true);
          }
        }
      }


  protected void setTraffic(Path path , int time , boolean isInPath){
      if(isInPath){
          Route traffRoute = getRouteCausedTrafficFromPrevRoute();
          if(traffRoute != null){
              Collection inPathTraffic = traffRoute.getObjects();
              inPathTraffic.retainAll(path.getContainingObjects());
              inPathTraffic.removeAll(path.getEdges());
              if(MRL.MRLConstants.ROUTING_DEBUG_MODE)
                  System.out.println(self() + " , Found : " + inPathTraffic.size() + " Objects From TrafficRoute .");
              world.curCycleTraffObjs.addAll(inPathTraffic);
          }
          else
              System.out.println(self() + " , Null Traffic Route .");
        }
      world.setTraffic(path,time());
      if(MRL.MRLConstants.ROUTING_DEBUG_MODE)
          System.out.println(self() + " , Detected Traffic In : " + path.getID() + " Started : " + world.trafficICCPs.get(path) + " , Time : " + time() + " Is In Path : " + isInPath);
  }

  protected void requestAgentsGoingAway() {

    if (prevRoute == null)return;

    Route rt = prevRoute.trimStartTo(self().motionlessPosition());
    if (rt == null)return;
    int[] arr = rt.toIDs();
    int[] res;
    if (arr.length > OBJS_TO_REQUEST_TO_CLEAR) {
      res = new int[OBJS_TO_REQUEST_TO_CLEAR];
      for (int i = 0; i < OBJS_TO_REQUEST_TO_CLEAR; i++)
        res[i] = arr[i];
    } else res = arr;

//    for (int i = 0; i < res.length; i++) {
//      res[i] = world.motionlessObjects.indexOf((RealObject) world.get(res[i]));
//    }

    if (res.length > 0)
    {
        String msg = "";
        for (int i = 0; i < res.length; i++) {
            if (i > 0) msg += ",";
            msg += res[i];
        }
        if(MRL.MRLConstants.ROUTING_DEBUG_MODE)System.out.println(self() + " , Requesting Clearing : " + msg);
        say(msg);
    }
  }

  protected void correctTMPs() {
    if (roamed && time() - m_prevTimeRoamed > 1) roamed = false;
    Path cPath = world.getCurrentPath();
    Path path;
    int blockedTime;
    int curTime = world.time();
    for (Iterator it = world.trafficICCPs.keySet().iterator(); it.hasNext(); ) {
      path = (Path) it.next();
      blockedTime = ((Integer) world.trafficICCPs.get(path)).intValue();
      if (path != cPath && curTime - blockedTime > MIN_TIME_TO_CLEAR_TRAFFIC) it.remove();
    }
//    world.trafficICCPs.retainAll(Collections.singleton(cPath)); // Should Be Dealed With More Carefully
    /*
         Road road;
     for(Iterator it = m_Road_OrigBlockMap.keySet().iterator();it.hasNext();){
      road = (Road) it.next();
      if(cPath != null && cPath.contains(road)) continue;
      assumeRoadIsUnBlocked(road);
      it.remove();
         }
     */
  }

  protected void getFreeingRoute() {
    MotionlessObject pos = self().motionlessPosition();
    Node op = (Node) outsidePosition();
    if (decidedRoute != null) {
      if (MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() +
          " , Already Decided Something , Not Running Get Freeing Route");
      return;
    }
    Path cPath = world.getContainingPath(pos);
    Road road = cPath.getNearestBlockedRoad(op);
    Route routeToHead = cPath.getRouteToHeadFromNode(op),
                        routeToTail = cPath.getRouteToTailFromNode(op);

    if (road == null) { // One Way Is Surely Free !
      if (true)return; /// Should Do Something Here
      road = (Road) prevRoute.getObjects().get(1);
      if (routeToHead.isContaining(road)) {
        decidedRoute = routeToTail;
      } else if (routeToTail.isContaining(road)) {
        decidedRoute = routeToHead;
      }
//      else throw new Error("What?");
    } else {
      if (routeToHead.isContaining(road)) {
        decidedRoute = routeToTail;
      } else if (routeToTail.isContaining(road)) {
        decidedRoute = routeToHead;
      }
//      else throw new Error("What?");
    }

//    Node target = prevRoute.isContaining(cPath.getFirstNode()) ? cPath.getFirstNode() : cPath.getLastNode();
//    Route rt = Router.get(pos,Collections.singleton(target),HumanoidAgent.POLICE_COST_FUNCTION);
//    decidedRoute=rt;
  }

    protected void tryToGetOutOfBlockades()  {
        if (decidedRoute != null) {
          if (MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() +
              " , Already Decided Something , Not Running Get Freeing Route");
          return;
        }
        if (self().motionlessPosition() instanceof Building)return;

        Path cPath = world.getCurrentPath();
        Node target = null;
        if (cPath == null) { // At A CrossWay , It's Not Right To Decide Something Here
            System.err.println(self() + " Invalid Usage For TryToGetOutOfBlockades ");
          return;

        } else {
//      road = cPath.getNearestBlockedRoad(op);
//      road = (Road) distancePrp.min(NOT_PASSABLE_C.extract(cPath));
//      if (road == null) throw new Error("WHA");
          Node cHN = cPath.getFirstNode(), cTN = cPath.getLastNode();
          if (prevRoute == null) {
            if (random.nextInt(100) > 50)
              target = cHN; // Random ?
            else target = cTN;
          } else {
            target = prevRoute.end == cHN ? cTN : cHN;
          }
          Route rt = getRouteFromCurrentPos(target,CLEARING_COST_FUNCTION);

          if(MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() +
                             " Found This Route TO Get Out Of Blockades : " + rt);
          decidedRoute = rt;
        }

      }


    protected void updateHums() {
        int time = time();

        Collection hums = NEED_RESCUE_C.extract(world.updatedmovingobjects);
        Humanoid hum;
        for (Iterator it = hums.iterator(); it.hasNext(); ) {
          hum = (Humanoid) it.next();
          if(!(hum.position() instanceof Building)) continue;
//      if (!messagepool.isHumanoidReported(hum)) {
//        messagepool.ReportHumanoid(hum);
//        continue;
//      }
            world.civCheckTime.remove(hum);
            world.civCheckTime.put(hum, new Integer(time));
        }
      }


  protected final void reportBurriedness() {
    if (self().buriedness() > 0)
        messageManager.reportVictim(self());
  }

  /**
   * todo Aghazadeh : How About Reporting BLOCKADES Instead Of One Block ??
   */
  protected final void reportLockedByBlockade()
  {
//    Path cpath = world.getCurrentPath();
//    Road road = null;
//    if (cpath == null) {
//      for (Iterator it = ((Node) self().motionlessPosition()).getConnectedRoads().
//                         iterator(); it.hasNext(); ) {
//        cpath = world.getContainingPath((Road) it.next());
//        if (cpath.passableLines() == 0)break;
//      }
//    }
//    if (cpath == null)throw new Error("WHA!");
//    List open = new ArrayList(), visited = new ArrayList();
//    Collection res;
//    open.add(cpath);
//    while (!open.isEmpty()) {
//      cpath = (Path) open.remove(0);
//      if (cpath.passableLines() == 0)break;
//      open.addAll(cpath.getConnectedPaths());
//      open.removeAll(visited);
//      visited.add(cpath);
//    }