disasterspace.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.util.*;
import yab.agent.object.*;
import yab.io.*;
import MRL.Utilities.Partitioning.*;
import MRL.MRLConstants;
import MRL.Ambulance.EAmbulanceCenter;
import MRL.Ambulance.EAmbulanceTeam;
import MRL.FireBrigade.FireBrigadeConstantsConditions;
import MRL.FireBrigade.EFireStation;
import MRL.FireBrigade.EFireBrigade;
import MRL.Utilities.*;
import MRL.Police.*;

public class DisasterSpace implements MRL.Utilities.ConstantConditions, ProtocolConstants {
  private final HashMap m_idObjMap = new HashMap();
  public final RealObject self;
  public Partitioner partitioner;
  public final List roads = new ArrayList();
  public final List nodes = new ArrayList();
  public final List buildings = new ArrayList();
  public final List refuges = new ArrayList();
  public final List humanoids = new ArrayList();
  public final List civilians = new ArrayList();
  public final List ambulanceTeams = new ArrayList();
  public final List fireBrigades = new ArrayList();
  public final List policeForces = new ArrayList();
  public final List updatedmovingobjects = new ArrayList(); // Updated Info For Agents This Agent's Seeing In Current Cycle Inlcuding Position , ...
  public static Node Center = null;
  public final boolean IsUsingPartitioning;
  public boolean shouldUpdateAlphas = MRL.MRLConstants.POLICE_LEARN_MODE;
//  public final ArrayList <Building> emptyBuildings = new ArrayList<Building>();
  public final ArrayList ambulanceCenters = new ArrayList ();
  public final ArrayList fireStations = new ArrayList ();
  public final ArrayList policeOffices = new ArrayList ();

//  public static boolean firsttest = true;
//  public static int countertest = 0;

//  public final Map lockedBBAgents = new HashMap(); // Locked By Blockade Agents

  // These Are Added In Order To Enhance Path's Value Computation
  public final ArrayList buriedAgents = new ArrayList();
  public final List agents = new ArrayList();
  public final List platoonAgents = new ArrayList();
  public final List burningBuildings = new ArrayList();
  public final List pathsIP = new ArrayList();
  public final Map m_HearedCivPossPosMap = new HashMap();
//  public final List possCivsIP = new ArrayList();
  public final Map m_lockedCivPos_Map = new HashMap();
  public final ArrayList motionlessObjects = new ArrayList();
  public final Set unvisitedBuildings = new HashSet();
  public final float[] ai;
  private final Collection objToPartition = new HashSet();
  public static final int MAX_FIRE_REPORT_IC = 3;
  public Map civCheckTime = new HashMap();
//saeed 85-2-3


  public final BlockData blockData;

  public final HearData hearData = new HearData(this);

  public final AccessibleData accessibleData ;

//  public final Collection travAndNotUpdatedRoads = new HashSet();

  // ---- End Of These Are Added ...



  // Omid AG

  //note! It's different from bloacked agent( blocked agents can move themself)



  // Omid AG

  public final Map m_fireSet = new HashMap();
  public final Map m_reportedFireSet = new HashMap();

  // ---- Traffic
  public final List visibleHumanoids = new ArrayList();
  public final Map trafficICCPs = new HashMap();


  // ---- Traffic
  private final int selfId;
  public DisasterSpace(int selfId, ObjectElement[] objs) {
    this.selfId = selfId;
    update(objs, Constants.TIME_INITIALIZING_AGENT);
    self = get(selfId);
    if (self instanceof PoliceForce || self instanceof PoliceOffice) {
      IsUsingPartitioning = true;
      ai = new float[Path.valCount];

      if (MRL.MRLConstants.POLICE_LEARN_MODE)
        Path.setAlphasFromFile(ai);
      else {
        Path.setAlphas(ai);
//      Path.setAlphas1(ai);
      }

    } else {
      IsUsingPartitioning = false;
      ai = null;
    }

    createPath();

    sortByID(paths);
    sortByID(motionlessObjects);


    objToPartition.addAll(motionlessObjects);
    objToPartition.addAll(paths);
      if(MRL.MRLConstants.PARTITION_DEBUG_MODE) System.out.println(self + " , MOS : " + motionlessObjects.size()+ " , PATHS : " +  paths.size());

    if (self instanceof FireBrigade || self instanceof FireStation ||
        self instanceof PoliceForce || self instanceof PoliceOffice)
      PartitioningInit();
    objToPartition.clear();

    unvisitedBuildings.addAll(SPECIAL_BUILDING_C.not().extract(buildings));

    computePrimitiveCalcs();

    if(self instanceof EPoliceForce)
        blockData = ((EPoliceForce)self).blockData;
    else if(self instanceof PoliceOffice)
        blockData = ((EPoliceOffice)self).blockData;
    else blockData = null;

    if(self instanceof MovingObject){
        accessibleData = new AccessibleData(this);
    }
      else accessibleData = null;
  }

  private int m_time;
  public int time() {
    return m_time;
  }

  public void add(RealObject obj) {
    m_idObjMap.put(new Integer(obj.id), obj);
      if (obj instanceof MotionlessObject)
        {
            motionlessObjects.add (obj);
            if (obj instanceof AmbulanceCenter)
                ambulanceCenters.add (obj);
            else if (obj instanceof FireStation)
                fireStations.add (obj);
            else if (obj instanceof PoliceOffice)
                policeOffices.add (obj);

            if (obj instanceof Road)
                roads.add (obj);
            else if (obj instanceof Node)
                nodes.add (obj);
            else if (obj instanceof Building)
            {
                buildings.add (obj);
                if (obj instanceof Refuge) refuges.add (obj);
            }
        }
      else if (obj instanceof Humanoid) {
      humanoids.add(obj);
      if (obj instanceof Civilian) civilians.add(obj);

      else if (obj instanceof AmbulanceTeam) ambulanceTeams.add(obj);
      else if (obj instanceof FireBrigade) fireBrigades.add(obj);
      else if (obj instanceof PoliceForce) policeForces.add(obj);
    }
  }

  public RealObject get(int id) {
    return (RealObject) m_idObjMap.get(new Integer(id));
  }

  public static final int HUMANOID_SENSE_NEAR_DISTANCE = 10000;
  public final List updatedBuildings = new ArrayList();
  public final List updatedRoads = new ArrayList();
  public final List entranceSet = new ArrayList();
  public void update(ObjectElement[] objs, int time) {
    m_time = time;
    updatedmovingobjects.clear();
    updatedBuildings.clear();
    updatedRoads.clear();
    for (int i = 0; i < objs.length; i++) {
      RCRObject obj = get(objs[i].id);
      if (obj == null) {
        if(objs[i].id == selfId){
            int type =objs[i].type;
            if( type == ProtocolConstants.TYPE_POLICE_FORCE)
                obj = new EPoliceForce(selfId,this);
            else if( type == ProtocolConstants.TYPE_POLICE_OFFICE)
                obj = new EPoliceOffice(selfId,this);
            else if(type == ProtocolConstants.TYPE_AMBULANCE_CENTER)
                obj = new EAmbulanceCenter(selfId,this);
            else if(type == ProtocolConstants.TYPE_AMBULANCE_TEAM)
                obj = new EAmbulanceTeam(selfId,this);
            else if(type == ProtocolConstants.TYPE_FIRE_BRIGADE)
                obj = new EFireBrigade(selfId,this);
            else if(type == ProtocolConstants.TYPE_FIRE_STATION)
                obj = new EFireStation(selfId,this);

            else
                obj = RCRObject.produce(objs[i].type, objs[i].id, this);
        }
          else
            obj = RCRObject.produce(objs[i].type, objs[i].id, this);
        if (obj instanceof RealObject) {
          add((RealObject) obj);
        }
      }
      obj.setTime(time);
      boolean bFound = false;
      if(obj instanceof Civilian){
          if(((Civilian)obj).position() == null)
            bFound = true;
      }
      obj.setProperty(time, objs[i].properties);


      //--------------------Added by Ashkan
      if (obj instanceof Humanoid)
      {
          Humanoid human = (Humanoid)obj;

          int damageAverage;
          if (human.lastHp() == 10000)
            damageAverage = human.damage() ;
          else
            damageAverage = (human.damage() + human.lastDamage()) / 2;

          int expectedHp = human.lastHp() - ((time() -  human.lastUpdateTime()) * damageAverage);

          human.setLastDamage(human.damage());
          human.setLastUpdateTime(time());

          //if (expectedHp>0)
          {
          if (expectedHp > human.hp() - 500 && expectedHp <= human.hp() + 500)
          {
                obj.setProperty(time(), PROPERTY_HP, new int[]{expectedHp});
                human.setLastHp(expectedHp);
          }
          else
          {
                obj.setProperty(time, PROPERTY_HP, new int[]{human.hp() - 500});
                human.setLastHp(human.hp());
          }
          }
         // else
           //               human.setLastHp(human.hp());
          if (human.hp()<0)
          {
              obj.setProperty(time, PROPERTY_HP, new int[]{0});
              human.setLastHp(human.hp());
          }



      }
      //--------------------Added by Ashkan

      if(bFound){
          Civilian civ = (Civilian) obj;
         // System.out.println(self + " Sensed Civ : " + civ + " MP : " + civ.motionlessPosition() + " Burriedness: " + civ.buriedness() + " Time : " + time);
          if(civ.motionlessPosition() instanceof Building && civ.buriedness() > 0){ //  && Utils.getConditionCount(ambulanceTeams,POSITION_PRP.eq(civ.motionlessPosition())) ==0
              MotionlessObject mo = civ.motionlessPosition();
              Building bldg = civ.guessedPosition();
            //  System.out.println(self + " , Found Civilian : " + civ + " CivPos : " + mo +( bldg == null ? " NOT Guessed "  : " , GuessedPos : " + bldg) + " In Time : " + time + " Search Start Time : " + civ.getSearchStartTime() + " Time : " + time);
          }
      }

      if (obj instanceof MovingObject)
        if (obj != self) {
          updatedmovingobjects.add(obj);
          if (obj instanceof Civilian) {
            if (m_HearedCivPossPosMap.containsKey(obj)) m_HearedCivPossPosMap.
                remove(obj);
          } else { // obj instanceof Platoon

         ////////////////////////
          }

        } else // Obj = Self
          if(time > 2) ((MovingObject) obj).updatePositionHistory();

      // -----------------

      if (obj instanceof Building) {
        updatedBuildings.add(obj);
        Building bldg = (Building) obj;
//        if (!entranceSet.contains(((Building) obj).entrance())) {
//          entranceSet.add(((Building) obj).entrance());
//        }
        if (bldg.isBurning()) {
          if (m_fireSet.containsKey((Building) obj)) {
            // =====================================
          } else {
            int t = m_time - Util.distance(self.motionlessPosition(),
                                           (MotionlessObject) obj) /
                    MRL.Utilities.SimulatorsConstants.VISIBLE_DISTANCE;
            m_fireSet.put(obj, new Integer(t));
          }
        } else {
          if (bldg.isPutOut() ||
              bldg.isBurned()) {
            m_fireSet.remove(obj);
          }
          if(bldg.isBurned()) unvisitedBuildings.remove(obj);
        }
      }
        else if(obj instanceof Road)
            updatedRoads.add((Road)obj);



      // -----------------

    }
    updateValsAndCols();
  }

  private Condition hearedCivPossiblePosInPart_CND = new Condition() {
    public boolean eval(Object obj) {
      if (!m_HearedCivPossPosMap.containsKey(obj))return false;
      else {
        return workingPartition.IsContaining((Partitionable) m_HearedCivPossPosMap.
                                         get(obj));
      }
    }
  };

  private boolean pathsSet = false;
  public final Collection needRescueCivs = new HashSet();
  public final Collection needLoadCivs = new HashSet();
  private Path prevPath = null;
  private void updateValsAndCols() {
    switch (m_time) {
    case 3:
      agents.addAll(CENTER_C.extract(buildings));
      platoonAgents.addAll(policeForces);
      platoonAgents.addAll(fireBrigades);
      platoonAgents.addAll(ambulanceTeams);
      agents.addAll(platoonAgents);
      doSortings();
      break;
    }

    needRescueCivs.clear();
    needRescueCivs.addAll(NEED_RESCUE_C.extract(civilians));
    needRescueCivs.removeAll(lostCivs);
    needLoadCivs.clear();
    needLoadCivs.addAll(NEED_LOAD_C.extract(civilians));
    needLoadCivs.removeAll(lostCivs);
    correctNeedCheck(needRescueCivs);
    correctNeedCheck(needLoadCivs);