capturesim.java

利用JAVA编写的群体机器人局部通讯完成一定得队形控制

	/**
	 * Gets time elapsed since the robot was instantiated. 
	 * Since this is simulation, it may not match real elapsed time.
	 */
	public long getTime()
		{
		return(time);
		}


	private	long	last_Obstaclest = 0;
	private	Vec2	last_Obstacles[];
	private	int	num_Obstacles;
	/**
	 * Get an array of Vec2s that point egocentrically from the
	 * center of the robot to the obstacles currently sensed by the 
	 * bumpers and sonars.
	 * @param timestamp only get new information 
	 *	if timestamp > than last call or timestamp == -1 .
	 * @return the sensed obstacles.
	 */
	public Vec2[] getObstacles(long timestamp)
		{
		if((timestamp > last_Obstaclest)||(timestamp == -1))
			{
			if (timestamp != -1) last_Obstaclest = timestamp;
			Vec2 tmp_objs[] = new Vec2[all_objects.length];
			num_Obstacles = 0;
			/*--- check all objects ---*/
			for(int i = 0; i<all_objects.length; i++)
				{
				/*--- check if it's an obstacle and not self ---*/
				if (all_objects[i].isObstacle() &&
					(all_objects[i].getID() != unique_id))
					{
					Vec2 tmp = all_objects[i].getClosestPoint(
							position);
					if (tmp.r<obstacle_rangeM)
					tmp_objs[num_Obstacles++] = tmp;
					}
				}
			last_Obstacles = new Vec2[num_Obstacles];
			for(int i = 0; i<num_Obstacles; i++)
			last_Obstacles[i] = new Vec2(tmp_objs[i].x,
				tmp_objs[i].y);
			}
		Vec2[] retval = new Vec2[num_Obstacles];
		for(int i = 0; i<num_Obstacles; i++)
			retval[i] = new Vec2(last_Obstacles[i].x,
				last_Obstacles[i].y);
		return(retval);
		}


	private	double	obstacle_rangeM = 1.0;
	/**
	 * Set the maximum range at which a sensor reading should be considered
	 * an obstacle.  Beyond this range, the readings are ignored.
	 * The default range on startup is 1 meter.
	 * @param range the range in meters.
	 */
	public void setObstacleMaxRange(double range)
		{
		obstacle_rangeM = range;
		}


	private	long	last_VisualObjectst = 0;
	private Vec2[]	last_VisualObjects;
	private	int	num_VisualObjects = 0;
	private	int	last_channel = 0;
	/**
	 * Get an array of Vec2s that represent the
	 * locations of visually sensed objects egocentrically
 	 * from center of the robot to the objects currently sensed by the 
	 * vision system.	
	 * @param timestamp only get new information 
	 *	if timestamp > than last call or timestamp == -1 .
	 * @param channel (1-6) which type/color of object to retrieve.
	 * @return the sensed objects.
	 */
	public Vec2[] getVisualObjects(long timestamp, int channel)
		{
		if(((timestamp > last_VisualObjectst)||
			(channel != last_channel))||(timestamp == -1))
			{
			if (timestamp != -1) last_VisualObjectst = timestamp;
			last_channel = channel;
			num_VisualObjects = 0;
			Vec2 tmp_objs[] = new Vec2[all_objects.length];
			/*--- check all objects ---*/
			for(int i = 0; i<all_objects.length; i++)
				{
				/*--- check if it's of the right code and not self ---*/
				if (all_objects[i].getVisionClass()==channel &&
					(all_objects[i].getID() != unique_id))
					{
					Vec2 tmp = all_objects[i].getCenter(
							position);
					if ((tmp.r<Capture.VISION_RANGE)&&
						(Math.abs(
						Units.BestTurnRad(turret,tmp.t))
						< (MultiForageN150.VISION_FOV_RAD/2)))
						tmp_objs[num_VisualObjects++] = tmp;
					}
				}
			last_VisualObjects = new Vec2[num_VisualObjects];
			for(int i = 0; i<num_VisualObjects; i++)
			last_VisualObjects[i] = new Vec2(tmp_objs[i].x,
				tmp_objs[i].y);
			}
		Vec2[] retval = new Vec2[num_VisualObjects];
		for(int i = 0; i<num_VisualObjects; i++)
			retval[i] = new Vec2(last_VisualObjects[i].x,
				last_VisualObjects[i].y);
		return(retval);
		}

	  /**
	    * this is a dummy implementation to keep compatibility with VisualSensorObject.
	    * at this point, vision noise is not built into the class. for an example,
	    * see SimpleCyeSim.
	    */
	  public void setVisionNoise(double mean, double stddev, long seed) { }


	private	long	last_VisualSizest = 0;
	/**
	 * NOT IMPLEMENTED:
	 * Get an array of doubles that represent an estimate of the
	 * size in square meters of the visually sensed objects.
	 * @param timestamp only get new information if 
	 * 	timestamp > than last call or timestamp == -1 .
	 * @param channel (1-6) which type/color of object to retrieve.
	 * @return the sizes of the sensed objects.
	 */
	public double[] getVisualSizes(long timestamp, int channel)
		{
		/* todo */
		return(new double[0]);
		}


	private	long	last_VisualAxest = 0;
	/**
	 * NOT IMPLEMENTED:
	 * Get an array of doubles that represent the
	 * major axis orientation of the visually sensed objects.
	 * 0 and PI are horizontal, PI/2 is vertical.
	 * @param timestamp only get new information 
	 *	if timestamp > than last call or timestamp == -1 .
	 * @param channel (1-6) which type/color of object to retrieve.
	 * @return the major axes of the sensed objects.
	 */
	public double[] getVisualAxes(long timestamp, int channel)
		{
		/* todo */
		return(new double[0]);
		}


	private	long	last_ObjectInGrippert = -1;
	private	int	last_ObjectInGripper = -1;
	/**
	 * Get the kind of object in the gripper.
	 * @param timestamp only get new information 
	 *	if timestamp > than last call or timestamp == -1 .
	 * @return channel (1-6) which type/color of 
	 *	 object in the gripper, 0 otherwise.
	 */
	public int getObjectInGripper(long timestamp)
		{
		if((timestamp > last_ObjectInGrippert)||(timestamp == -1))
			{
			if (timestamp != -1) last_ObjectInGrippert = timestamp;
			last_ObjectInGripper = -1;

			/*--- check if we are holding something ---*/
			if (in_gripper != null)
				last_ObjectInGripper = 
					in_gripper.getVisionClass();
			else
				{
				/*--- find gripper position in global coord ---*/
				Vec2 gpos = new Vec2(RADIUS,0);
				gpos.sett(turret);
				gpos.add(position);
	
				/*--- check all objects ---*/
				for(int i = 0; i<all_objects.length; i++)
					{
					/*--- check if it's not self ---*/
					if (all_objects[i].getID() != unique_id)
						{
						Vec2 tmp = all_objects[i].getCenter(gpos);
						if ((tmp.r<MultiForageN150.GRIPPER_CAPTURE_RADIUS)
							&&(all_objects[i].getVisionClass()>=0))
							{
							last_ObjectInGripper = 
							all_objects[i].getVisionClass();
							break;
							}
						}
					}
				}
			}
		return(last_ObjectInGripper);
		}


	/**
	 * Get the position of the robot in global coordinates.
	 * @param timestamp only get new information 
	 *	if timestamp > than last call or timestamp == -1.
	 * @return the position.
	 */
	public Vec2 getPosition(long timestamp)
		{
		return(new Vec2(position.x, position.y));
		}
		

	/**
	 * Get the position of the robot in global coordinates.
	 * @return the position.
	 */
	public Vec2 getPosition()
		{
		return(new Vec2(position.x, position.y));
		}
		

	/**
	 * Reset the odometry of the robot in global coordinates.
	 * This might be done when reliable sensor information provides
	 * a very good estimate of the robot's location, or if you
	 * are starting the robot in a known location other than (0,0).
	 * Do this only if you are certain you're right!
	 * @param position the new position.
	 */
	public void resetPosition(Vec2 posit)
		{
		position.setx(posit.x);
		position.setx(posit.y);
		}


	private boolean	in_reverse = false;
	/**
	*/
	public double getSteerHeading(long timestamp)
		{
		return(steer.t);
		}

	
	/**
	*/
	public void resetSteerHeading(double heading)
		{
		/* ensure in legal range */
		heading = Units.ClipRad(heading); 

		/* if we're in reverse, the steer heading is PI out */
		if (in_reverse) heading = Units.ClipRad(heading + Math.PI);

		/* set the angle */
		steer.sett(heading);
		}


	private double desired_heading;
	/**
	*/
	public void setSteerHeading(long timestamp, double heading)
		{
		/* ensure in legal range */
		desired_heading = Units.ClipRad(heading);

		/* check if we should go in reverse */
		double turn = Units.BestTurnRad(steer.t, desired_heading);
		if (Math.abs(turn)>(Math.PI/2))
			{
			in_reverse = true;
			desired_heading = 
				Units.ClipRad(desired_heading+Math.PI);
			}
		else in_reverse = false;
		}
	

	/**
	*/
	public double getTurretHeading(long timestamp)
		{
		return(turret);
		}

	
	/**
	*/
	public void resetTurretHeading(double heading)
		{
		/* ensure in legal range */
		heading = Units.ClipRad(heading); 

		turret = heading;
		}

	
	double	desired_turret_heading = 0;
	/**
	*/
	public void setTurretHeading(long timestamp, double heading)
		{
		/* ensure in legal range */
		desired_turret_heading = Units.ClipRad(heading);
		}

	
	private double desired_speed = 0;
	/**
	*/ 
	public void setSpeed(long timestamp, double speed)
		{
		/* ensure legal range */
		if (speed > 1.0) speed = 1.0;
		else if (speed < 0) speed = 0;
		desired_speed = speed;
		}


	private double base_speed = MAX_TRANSLATION;
	/**
	*/
	public void setBaseSpeed(double speed)
		{
		if (speed > MAX_TRANSLATION) speed = MAX_TRANSLATION;
		else if (speed < 0) speed = 0;
		base_speed = speed;
		}


	private	boolean	gripper_closed = false;
	private boolean trigger_mode = false;
	private SimulatedObject in_gripper = null;
	/**
	 * 0 closed 1 open.  -1 trigger mode.
	 */
	public void setGripperFingers(long timestamp, double grip)
		{
		if (grip>=1)
			{
			grip = 1;
			gripper_closed = false;
			trigger_mode = false;
			}
		if (grip==0)
			{
			trigger_mode = false;
			}
		if (grip < 0)
			{
			grip = 1; //open
			trigger_mode = true;
			gripper_closed = false;
			}

		//gripper_closed = true;
		/*--- if closing the gripper ---*/
		// see if there is something to pick up and gripper not already
		// closed
		if (((grip == 0)||trigger_mode)
			&&(gripper_closed==false)
			&&(in_gripper == null))
			{
			/*--- find gripper position in global coord ---*/
			Vec2 gpos = new Vec2(RADIUS,0);
			gpos.sett(turret);
			gpos.add(position);

			/*--- check all objects ---*/
			for(int i = 0; i<all_objects.length; i++)
				{
				/*--- check if it's not self ---*/
				if (all_objects[i].getID() != unique_id)
					{
					Vec2 tmp = all_objects[i].getCenter(gpos);

					// check if can pick it up
					if ((tmp.r< 
					   MultiForageN150.GRIPPER_CAPTURE_RADIUS)
						&&(all_objects[i].isPickupable())
						&&(all_objects[i].getVisionClass()>=0))
						{
						in_gripper = all_objects[i];
						all_objects[i].pickUp(
							(SimulatedObject) this);
						trigger_mode = false;
						gripper_closed = true;
						break;
						}
					}
				}
			}
		else if (grip == 1)
		/*--- if opening the gripper ---*/
			{
			// see if we should put something down
			if (in_gripper != null)
				{
				//System.out.println("putdown "+trigger_mode
					//+gripper_closed);
				Vec2 gpos = new Vec2(RADIUS,0);
				gpos.sett(turret);
				gpos.add(position);
				in_gripper.putDown(gpos);
				in_gripper = null;
				}
			gripper_closed = false;
			trigger_mode = false;
			}
		if (grip == 0)
			{
			trigger_mode = false;
			gripper_closed = true;
			}
		}


        private long    last_Opponentst = 0;
        private Vec2    last_Opponents[];
        /**
         * Get an array of Vec2s that point egocentrically from the
         * center of the robot to the opponents currently sensed by the
         * robot
         * @param timestamp only get new information if 
	 *		timestamp > than last call or timestamp == -1 .
         * @return the sensed Opponents.
         */
        public Vec2[] getOpponents(long timestamp)
                {
                if((timestamp > last_Opponentst)||(timestamp == -1))
                        {
                        if (timestamp != -1) last_Opponentst = timestamp;
                        last_Opponents = kin_sensor.getOpponents(all_objects);
                        }
                return(last_Opponents);
                }


        /**
         * Return an int represting the player's ID on the team.
         * This value may not be valid if the simulation has not
         * been "set up" yet.  Do not use it during initialization.
         * @param timestamp only get new information if
         *      timestamp > than last call or timestamp == -1 .
         * @return the number.
         */
        public int getPlayerNumber(long timestamp)
                {
                return(kin_sensor.getPlayerNumber(all_objects));
                }


        private long    last_Teammatest = 0;
        private Vec2    last_Teammates[] = new Vec2[0];
        /**
         * Get an array of Vec2s that point egocentrically from the
         * center of the robot to the teammates currently sensed by the
         * robot.
         * @param timestamp only get new information if
         *      timestamp > than last call or timestamp == -1 .
         * @return the sensed teammates.
         */
        public Vec2[] getTeammates(long timestamp)
                {
                if((timestamp > last_Teammatest)||(timestamp == -1))
                        {
                        if (timestamp != -1) last_Teammatest = timestamp;
                        last_Teammates = kin_sensor.getTeammates(all_objects);
                        }
                return(last_Teammates);
                }


        private double  kin_rangeM = 4.0;
        /**
         * Set the maximum range at which a sensor reading should be considered
         * kin.  Beyond this range, the readings are ignored.
         * Also used by opponent sensor.
         * The default range on startup is 1 meter.
         * @param range the range in meters.
         */
        public void setKinMaxRange(double range)
                {
                kin_rangeM = range;
                kin_sensor.setKinMaxRange(range);
                }


	/**
	 * NOT IMPLEMENTED
	 */
	public void setGripperHeight(long timestamp, double position)
		{
		/* todo */
		}


        /*--- Transceiver methods ---*/


        public void multicast(int[] ids, Message m)
                throws CommunicationException
                {
                transceiver.multicast(ids, m, all_objects);
                }

        public void broadcast(Message m)
                {
                transceiver.broadcast(m, all_objects);
                }

        public void unicast(int id, Message m)
                throws CommunicationException
                {
                transceiver.unicast(id, m, all_objects);
                }

        public CircularBufferEnumeration getReceiveChannel()
                {
                return(transceiver.getReceiveChannel());
                }

        public void setCommunicationMaxRange(double m)
                {
                transceiver.setCommunicationMaxRange(m);
                }

        public void receive(Message m)
                {
                transceiver.receive(m);
                }

        public boolean connected()
                {
                return(true);
                }
                
        // These functions are used for coforage.///
        public void    setInGripper() { }
        public void    setWaitTag(boolean b) { }
        public int     getFoodID() { return -1; }
        public boolean canGetHelp() { return false; }
        public boolean getWaitTag() { return false; }
        public int     getFoodType(){ return -1;    }
        public boolean checkOverlap(double safeRange){ return false; } 
        // The following function is used for social potential
        public Vec2[]  getNeighbour() { return new Vec2[0];}
        // the following function if used for maintainformation
        public Vec2 getNeighbourLocation( int neighbourID ){
        	return new Vec2(); }
        public int maxID() {  return 0; }
	}