platoonagent.java

2004年robotcup世界冠军源代码

//    road = (Road) (PASSABLE_C.not().extract(cpath).iterator().next());
//
//    if (MRL.MRLConstants.ROUTING_DEBUG_MODE) System.out.println(self() +
//        " Is Locked In " + road + " In : " + time() + " , Containing Path : " +
//        world.getContainingPath(road));
//        messageManager.reportLockedByBlockade(road);
      MotionlessObject mp = self().motionlessPosition();
      if((self().HasMovedInLastCycle() && ! self().getWereLockedByBlockade() )|| self().submittedAction())
          return;
      if(self().position() instanceof AmbulanceTeam) return;
      if(mp instanceof Building) return;

      Road road;
      if(mp instanceof Road){
          road = (Road) mp;
          if(NOT_PASSABLE_C.eval(road)){
              messageManager.reportLockedByBlockade(road);
          }
      }
      else if(mp instanceof Node){
          Node node = (Node) mp;
          for(Iterator it = node.getConnectedRoads().iterator();it.hasNext();){
              road = (Road) it.next();
              if(NOT_PASSABLE_C.eval(road)){
                  messageManager.reportLockedByBlockade(road);
              }
          }
      }

  }


  protected boolean isLockedBySomeone() { // Can Be Improved Much More .
    if (!self().HasMovedInLastCycle() &&  submittedMoveAct) {
      Collection humsHere = VISIBLE_C.extract(world.updatedmovingobjects);
      humsHere.remove(self());
//      Humanoid near;
      if (humsHere.isEmpty())return false;
      else return true;
    }

    return false;
  }

//  protected boolean isLockedToTargetByBlockade() { // Returns false for CrossWays
//    if (acted || !submittedMoveAct || self().HasMovedInLastCycle())return false;
//    Path cpath = world.getCurrentPath();
//    if (cpath == null) {
//      return (isLockedInBlockades(self()));
////      return false;
//    } else {
//      MotionlessObject pos = self().motionlessPosition();
//      Road road = null;
//      if (pos instanceof Road) {
//        road = (Road) self().motionlessPosition();
//      } else {
//        Node node;
//        if (pos instanceof Building) node = (Node) ((Building) pos).entrance();
//        else node = (Node) pos;
//        Collection col = node.getConnectedRoads();
//        Iterator it = col.iterator();
//        if (col.size() == 1) {
//          road = (Road) it.next();
//        } else {
//          Road r1 = (Road) it.next(), r2 = (Road) it.next();
//          if (r1.passableLines() == 0) road = r1;
//          else if (r2.passableLines() == 0) road = r2;
//        }
//        if (road == null)return false;
//      }
//      if (road.passableLines() == 0)return true; // !acted &&
//    }
//    return false;
//  }

  protected boolean isLockedInBlockades(MovingObject mo) {
//    if(time() > 100 ) return false;
    if (mo.position() == null || mo.position() instanceof AmbulanceTeam)return false;
    if(mo instanceof PoliceForce) return false;
    Node op = HumanoidAgent.outsidePosition(mo);
    Path path = world.getContainingPath(mo.motionlessPosition());
    if (path == null) {
      for (Iterator it = op.getConnectedRoads().iterator(); it.hasNext(); ) {
        path = world.getContainingPath((Road) it.next());
        if (!path.isPathWithOneJunction() && path.passableLines()>0)return false;
      }

//      for (Iterator it = op.getConnectedRoads().iterator(); it.hasNext(); ) {
//        path = world.getContainingPath((Road) it.next());
//        if (!path.isLockedByBlockade(op) && ! path.isPathWithOneJunction())return false;
//      }
      return true;
    }

//    Path np = (Path)mo.distancePrp.max(path.getConnectedPaths());
//    Route rt = Router.get(mo.motionlessPosition(),np,RELIABILITY_COST_FUNCTION);
//    return rt.cost >= IN_BLOCKS;
    /**
     * todo : BAYAD Chizi Benivisim Ke Beine Chand Ta Path Ro Ham Betoone Begarde .
     */
    return path.isLockedByBlockade(op);
  }

  public Partition workingPartition() {
    return world.getWorkingPartition();
  }

  public Partition searchingPartition(){
      if(world.getSearchingPartition() != null) return world.getSearchingPartition();
      return workingPartition();
  }


  protected void gotoPossibleCivBuildings(Collection poses) throws
      ActionCommandException {
    if (poses.isEmpty())return;
    List bldgs = SPECIAL_BUILDING_C.not().and(
        BURNING_C.not()).and(BURNED_C.not()).extract(world. //HAS_NOT_BEEN_SEEN_CND.or(
        getConnectedBuildings(poses));
    bldgs.retainAll(world.unvisitedBuildings);
    if (bldgs.isEmpty())return;
//    moveRandomBuilding(bldgs);
    move(bldgs);

//    MotionlessObject mo;
//    List bldgs = new ArrayList();
//    List tmp;
//    for (Iterator it = poses.iterator(); it.hasNext(); ) {
//      mo = (MotionlessObject) it.next();
//      if(!(mo instanceof Road)){
//        tmp = SPECIAL_BUILDING_C.not().and(
//                  BURNING_C.not()).and(BURNED_C.not()).and(mo.distancePrp.lte(
//                  MAX_HEARING_DISTANCE)).extract(world.
//                                                 unvisitedBuildings);
//
//      }
//      else{
//        int roadLength = MAX_HEARING_DISTANCE + ((Road)mo).length() /2;
//        tmp = SPECIAL_BUILDING_C.not().and(
//            BURNING_C.not()).and(BURNED_C.not()).and(mo.distancePrp.lte(
//            roadLength)).extract(world.
//                                           unvisitedBuildings);
//
//      }
//
//      tmp.removeAll(bldgs);
//      bldgs.addAll(tmp);
//    }
//    bldgs.removeAll(world.messagepool.reportedBuildings);
//
//    if (bldgs.isEmpty())return;
//
//    System.out.println(self() +
//                       " Moving To Possible Civilian Positions In Time : " +
//                       time());
//    moveFirstToNearsThenToFarers(bldgs);




//    moveToBrokensFirst(bldgs);
//    move(bldgs);

    /*
         List broken = BROKEN_CND.extract(bldgs);
         if (self() instanceof PoliceForce) {
      if (!broken.isEmpty())
        move(broken);
//        moveRandomBuilding(broken);

//      moveRandomBuilding(bldgs);
      move(bldgs);
         } else {
      if (!broken.isEmpty())
        if (time() > TIME_STARTING_TO_SEARCH_BY_AVAILABILITY)
            moveAvailableBldgs(broken);
//        else moveRandomBuilding(broken);
          else move(broken);

      if (time() > TIME_STARTING_TO_SEARCH_BY_AVAILABILITY) moveAvailableBldgs(
          bldgs);
//      else moveRandomBuilding(bldgs);
          else move(bldgs);
         }
     */
  }

    private Civilian m_lastHearedCivTarget = null;
    private final Set m_ignoredHearedCivs = new HashSet();
    protected void gotoPossibleCivBuildings(boolean onlyInPartition) throws
              ActionCommandException {
            if(onlyInPartition && searchingPartition()== null) return;
            List heared = POSITION_PRP.eq(null).extract(world.civilians);
            heared.removeAll(m_ignoredHearedCivs);
            if(heared.isEmpty()) return;
            if(m_lastHearedCivTarget != null && heared.contains(m_lastHearedCivTarget) ){

                if(m_lastHearedCivTarget.getCyclesSearched() > MAX_TIME_TO_SEARCH_FOR_HEARED_CIV){
                    m_ignoredHearedCivs.add(m_lastHearedCivTarget);
                    System.out.println(self() + " Ignoring Because Of Timeout : " + m_lastHearedCivTarget + " In Time : " + time());
                }
                else{
                    if(m_lastHearedCivTarget.guessedPosition() != null){
        //                if(searchingPartition() == null || searchingPartition().ML_OBJS_IN_PART_CND.eval(m_lastHearedCivTarget.guessedPosition())){
                          //  System.out.println(self() + " , Continuing To Search For Target : " + m_lastHearedCivTarget + " , Start Time : " + m_lastHearedCivTarget.getSearchStartTime() + " , Time : " + time());
                            moveHearedCivilian(m_lastHearedCivTarget);
        //                }
                    }
                    else{
                        m_ignoredHearedCivs.add(m_lastHearedCivTarget);
                    //    System.out.println(self() + " Ignoring Because Of Null GuessedPos : " + m_lastHearedCivTarget + " In Time : " + time());
                    }
                }
            }
            m_lastHearedCivTarget=null;

            Civilian civ , tmp=null;
            int dist , best = Integer.MAX_VALUE;
            List res ;
            do{
                tmp = null;
                for(Iterator it = heared.iterator();it.hasNext();){
                    civ = (Civilian) it.next();
                    civ.updatePossiblePoses();
                    if(civ.guessedPosition() == null){
                        m_ignoredHearedCivs.add(civ);
                     //   System.out.println(self() + " Ignoring Because Of Null GuessedPos In gotoPoss : " + civ + " In Time : " + time());
                        it.remove();
                        continue;
                    }
                    if(onlyInPartition && searchingPartition() != null && ! searchingPartition().ML_OBJS_IN_PART_CND.eval(civ.getMostProbableBldg()))
                        continue;
                    dist = self().distance(civ.guessedPosition());
                    if(dist < best){
                        tmp = civ;
                        best = dist;
                    }
                }

                if(tmp == null) return;
                heared.remove(tmp);
                res = correctListToCheck(tmp.possibleBuildings);
          } while( res.isEmpty());
            m_lastHearedCivTarget = tmp;
          //  System.out.println(self() + " , Selected Search Target : " + m_lastHearedCivTarget + " , Start Time : " + time());
            moveHearedCivilian(m_lastHearedCivTarget);
       }


   private void moveHearedCivilian(Civilian civ) throws ActionCommandException{ // update Should Be Run First.
        if(civ.position() != null) {
            throw new Error("WTF");
        }
        civ.updatePossiblePoses();
        Building bldg = m_lastHearedCivTarget.guessedPosition();
        if(bldg == null){
            System.err.println(self() + " , Null Guessed Pos For : " + civ);
            return;
        }
        civ.setSearchTime();
        if(NOT_IN_TRAFFIC_C.eval(bldg) && ! bldg.isBurning() && !fullBuildings.contains(bldg) && world.unvisitedBuildings.contains(bldg))
            move(bldg);
        else
        {
            List avBldgs = correctListToCheck(civ.possibleBuildings);
            avBldgs.removeAll(fullBuildings);
            moveFirstToNearsThenToFarers(avBldgs,HEARED_CIVILIAN_SEARCH);
        }
   }

  protected void moveFirstToNotInTrafficThenToTrafficOnes(Collection poses) throws ActionCommandException{
        if(poses.isEmpty()) return;
        List notInTraffic = NOT_IN_TRAFFIC_C.extract(poses);
        if(!notInTraffic.isEmpty())
            move(notInTraffic);
        else
            move(poses);
    }

  protected List correctListToCheck(Collection bldgs){
    Building tmp;
    List res = new ArrayList();
    for(Iterator it = bldgs.iterator();it.hasNext();){
        tmp = (Building) it.next();
        if(tmp.isBurning() || tmp.isBurned() || ! world.unvisitedBuildings.contains(tmp) || FULL_BUILDING_C.eval(tmp)
                )
            continue;
        res.add(tmp);
    }
    return res;
  }

    protected void updatePrevRoads() { // SHOULD BE CAREFULL ABOUT THIS *************
    if (time() < 4)return;
    List roads = self().getPosHistRoads();
    Road road;
    for (Iterator it = roads.iterator(); it.hasNext(); ) {
      road = (Road) it.next();
//      if(!road.hasBeenSeen()) {
//        road.setTime(time());
      if (NOT_PASSABLE_C.eval(road)) { // road.passableLines() == 0
          {
              road.setBlock(0,time());
          }
      } else if (!road.hasBeenSeen())
        road.setTime(time());
//        world.travAndNotUpdatedRoads.add(road);
//      }
    }
  }

  protected void reportHearedHumansInRefuge(){
    if(! (self() instanceof AmbulanceTeam || self() instanceof FireBrigade)) return;
    if(! (self().motionlessPosition() instanceof Refuge)) return;
    Humanoid hum;
    for(Iterator it = world.m_HearedCivPossPosMap.keySet().iterator();it.hasNext();){
      hum = (Humanoid) it.next();
      if(hum.isVisible())
        //world.messagepool.ReportHumanoid(hum);
        messageManager.reportVictim(hum);
    }

  }


  /*
     protected Map m_Road_OrigBlockMap = new HashMap();
     protected void assumeRoadIsBlocked(Road road){
    Integer origBlock = new Integer( road.block());
    m_Road_OrigBlockMap.put(road,origBlock);
    setRoadBlocked(road,1000000,road.time());
     }

     protected void assumeRoadIsUnBlocked(Road road) {
    Integer origBlock = (Integer)m_Road_OrigBlockMap.get(road);
    if(road.block() == 1000000) setRoadBlocked(road,origBlock.intValue(),road.time()); // Might Be Updated Already ..
     }

   */

  private int m_prevTimeRoamed = -1;
  protected boolean roamed = false;
  protected void roam() throws ActionCommandException {
    Road road;
    if (workingPartition() != null) {
      int rnd;
      do{
        rnd = random.nextInt(workingPartition().getRoads().
                                 size());
        road = (Road) workingPartition().getRoads().get(rnd);
      }while (world.isInTraffic(road));
    } else {
      int rnd;