civilian.java

2004年robotcup世界冠军源代码

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

import yab.agent.*;
import yab.io.object.*;
import java.util.*;

import MRL.Utilities.Utils;

public class Civilian extends Humanoid {
    public Civilian(int id, DisasterSpace world)
    { super(id, new BaseCivilian(id), world); }
    private BaseCivilian obj() {return (BaseCivilian) object; }

    // Omid Aghazadeh

    private final Random rnd = new Random(world.self.id);

    public static final String CIV_HEAR_OUCH = "Ouch!";
    public static final String CIV_HEAR_HELP = "Help!";

    public final List <MotionlessObject > messageHearedPositions = new ArrayList<MotionlessObject>();

    public final List <MotionlessObject> selfHearedPositions = new ArrayList<MotionlessObject>();

    private final List <int []> selfHearedXY = new ArrayList<int[]>() ;

    private final List <int []> messageHearedXY = new ArrayList<int[]>() ;

    private final List <int[]> messageComputedXY = new ArrayList<int[]>();

    private final List<int []> selfComputedXY = new ArrayList<int[]>();

    public final List <Integer> searchedTime = new ArrayList<Integer>();

    public final List <Building> possibleBuildings = new ArrayList<Building>();

    private final List <Building> guessedPoses = new ArrayList<Building>();
    private final List <Integer> guessedPosesTime = new ArrayList<Integer>();

    private Building guessedBldg = null;
    private Building mostProbableBldg = null;
    private static final int XYSEARCH_TOLERANCE = 1000;
    private final static int SELF_SEARCH_DIST = PlatoonAgent.MAX_HEARING_DISTANCE ;
    private final static int MESSAGE_SEARCH_DIST = PlatoonAgent.MAX_HEARING_DISTANCE + 2*XYSEARCH_TOLERANCE ;

    public void updatePossiblePoses(){
      RealObject self = world.self;
      int time = world.time();
      if(MRL.MRLConstants.CIV_DEBUG_MODE)
          System.out.println(self + " UpdatingPossiblePoses : " + this + " , GuessedPos : " + guessedPosition() + " , possBuilding Before : " + possibleBuildings );

      if(possibleBuildings.isEmpty()){
        if(selfComputedXY.size() != 0 || messageComputedXY.size() != 0){
           // System.err.println(self + " , Exiting updatePossiblePoses() OF : " +this +  " Because Of No Possible Poses , Time : " + time);
            guessedBldg = null;
            return;
        }
      }

        while(hasNewPosToCompute()){
            ComputeNext();
            updateGuessedPos();
        }

      if(MRL.MRLConstants.CIV_DEBUG_MODE)
          System.out.println(self + " UpdatingPossiblePoses : " + this + " , GuessedPos : " + guessedPosition() + " , possBuilding After : " + possibleBuildings + " , Time : " + time);

    }

    public boolean hasNewPosToCompute(){
        return hasNewSelfPosToCompute() || hasNewMessageHearedToCompute();
    }

    public boolean hasNewSelfPosToCompute(){
        return selfHearedXY.size() > selfComputedXY.size();
    }

    public boolean hasNewMessageHearedToCompute(){
        return messageHearedXY.size() > messageComputedXY.size();
    }
    public Building guessedPosition() {
//        if(guessedBldg == null) System.err.println(world.self + " Error : guessedBldg Is Null , MayB Civ's Dead !?");
        return guessedBldg;
    }

    private void ComputeNext(){
        Collection tmp= null;
        boolean isFirst = (possibleBuildings.isEmpty() && selfComputedXY.isEmpty() && messageComputedXY.isEmpty());
        List toCompute;
        if(hasNewSelfPosToCompute()){
            toCompute = new ArrayList(selfHearedXY);
            toCompute.removeAll(selfComputedXY);
            int[] xy = (int[])toCompute.get(0);
            tmp = world.getPossibleHearedBuildings(xy[0],xy[1], SELF_SEARCH_DIST);
            selfComputedXY.add(xy);
        }
        else if(hasNewMessageHearedToCompute()){
            toCompute = new ArrayList(messageHearedXY);
            toCompute.removeAll(messageComputedXY);
            int [] xy = (int[]) toCompute.get(0);
            int indx = messageHearedXY.lastIndexOf(xy);
            int searchDistExtra =0;
            MotionlessObject mo = (MotionlessObject) messageHearedPositions.get(indx);
            if(mo instanceof Road){
//                Road rd = (Road) mo;
//                double delt = 1000/rd.length();
//                double xdel = Math.pow(rd.head().x() - rd.tail().x(),2);
//                double ydel =Math.pow(rd.head().y() - rd.tail().y(),2);
//                int ex = (int) (delt * Math.sqrt(xdel+ydel));
//                System.out.println("--- Computed extra For Road : " + rd + " Is : " + ex);
//                searchDistExtra +=ex;
                searchDistExtra =2* XYSEARCH_TOLERANCE;
            }
            tmp = world.getPossibleHearedBuildings(xy[0],xy[1],SELF_SEARCH_DIST + searchDistExtra);
            messageComputedXY.add(xy);
        }
        else
            throw new Error(" WHA@");


        if(isFirst)
            possibleBuildings.addAll(tmp);
        else
            possibleBuildings.retainAll(tmp);

    }

    private void updateGuessedPos(){
        if(possibleBuildings.isEmpty()){
            guessedBldg = null;
            mostProbableBldg = null;
        }
        else if(Utils.getConditionCount(possibleBuildings,REFUGE_C) > 0){
            List refuges = REFUGE_C.extract(possibleBuildings);
            guessedBldg = (Building) refuges.iterator().next();
            mostProbableBldg = guessedBldg;
        }
        else{
            Building poss,mp = null;
            int x, y, cnt =0, xsum=0,ysum=0 ;
            for(Iterator it = possibleBuildings.iterator();it.hasNext();){
                poss =  (Building)it.next();
                if(poss.isBurned()) continue;
                if(!world.unvisitedBuildings.contains(poss) ) continue;
                x= poss.x();
                y= poss.y();
                xsum += x;
                ysum +=y;
                cnt++;
            }
            int xavg = xsum/cnt , yavg = ysum/cnt;
            int dist , best = Integer.MAX_VALUE ;
            for(Iterator it = possibleBuildings.iterator();it.hasNext();){
                poss =  (Building)it.next();
                if(poss.isBurned()) continue;
                if(!world.unvisitedBuildings.contains(poss)) continue;
                x= poss.x();
                y= poss.y();
                dist = Util.distance(xavg,yavg,x,y);
                if(dist < best){
                    mp = poss;
                    best = dist;
                }
            }
            mostProbableBldg = mp;
            if(guessedBldg == null || ! world.unvisitedBuildings.contains(guessedBldg)){
                int randIndx =  rnd.nextInt(possibleBuildings.size());
                Building res = (Building) possibleBuildings.get(randIndx);
                guessedBldg = res;
            }
        }
        if(guessedBldg != null){
            guessedPoses.add(guessedBldg) ;
            guessedPosesTime.add(world.time());
        }
    }

    public int getSearchStartTime(){
        if(searchedTime.isEmpty()) return 0;
        return searchedTime.get(0);
    }

    public int getLastSearchTime(){
        return searchedTime.get(searchedTime.size()-1);
    }

    public void setSearchTime(){
        searchedTime.add(world.time());
    }

    public int getCyclesSearched(){
        return searchedTime.size();
    }

    public Building getMostProbableBldg(){
        return mostProbableBldg;
    }

    public void addHearedPosition(MotionlessObject mo , int x , int y , boolean selfHeared){
        Collection hearedPoses , XYheared;
        if(selfHeared){
            hearedPoses = selfHearedPositions;
            XYheared = selfHearedXY;
        }
        else{
            hearedPoses = messageHearedPositions;
            XYheared = messageHearedXY;
        }
        int [] xy;
        for(Iterator it = XYheared.iterator();it.hasNext();){
            xy = (int[]) it.next();
            if(Util.distance(xy[0],xy[1],x,y) <= XYSEARCH_TOLERANCE) return;
        }
        hearedPoses.add(mo);
        xy = new int[2];
        xy[0] =x;
        xy[1] = y;
        XYheared.add(xy);
    }

    private boolean m_reportedInRefuge = false;
    public boolean isReportedInRefuge(){
        return m_reportedInRefuge;
    }

    public void setReportedInRefuge(){
        m_reportedInRefuge= true;
    }

    private int lastHearedTime = -1;

    public int getLastHearedTime(){
        return lastHearedTime;
    }

    public void setLastHearedTime(int val){
        lastHearedTime = val;
    }
}