groundcontrolleragent.java.svn-base

這是一個JAVA語言寫的多代理人程式用來模擬飛機起飛或是降落的程式

package agents;

import interfaces.GroundControllerInterface;
import interfaces.LocalControllerInterface;
import interfaces.PilotInterface;

import java.util.ArrayList;
import java.util.Collection;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

import world.Gate;
import world.Plane;
import world.Runway;
import world.Strip;
import world.Taxiway;
import world.Tower;
import base.Agent;
import base.World;
import base.WorldObject;
import base.WorldObjectState;
import base.WorldVector;
import dijkstra.DijkstraAlgorithm;
import dijkstra.Edge;
import dijkstra.Node;

public class GroundControllerAgent extends Agent implements GroundControllerInterface { 
	
	public List<Strip> strips;
	public Tower tower;
	public String name;
	
	public GroundControllerAgent(String new_name, Tower new_tower) {
		super();
		strips = new ArrayList<Strip>();
		name = new_name;
		tower = new_tower;
		tower.ctrlAssumeGroundControllerRole(this);
	}
	
	public void msgConfirmPushBack(String callNumber, Runway takeoffRunway,
			Gate gate) {
		print("Received msgConfirmPushBack");
		Strip temp_strip;
		if ((temp_strip = get_strip(callNumber)) != null)
			temp_strip.flight_state = Strip.FlightState.GC_CONFIRMED_PUSH_BACK;
		
		if (takeoffRunway != null)	
			temp_strip.runway = takeoffRunway;
		
		stateChanged();
	}

	public void msgConfirmTaxiLandingPath(String callNumber,
			List<Taxiway> taxiInstructions) {

		print("Received msgConfirmTaxiLandingPath");
		Strip temp_strip;
		if ((temp_strip = get_strip(callNumber)) != null)
			temp_strip.flight_state = Strip.FlightState.GC_CONFIRMED_TAXI_LANDING_PATH;
		
		stateChanged();
		
	}

	public void msgConfirmTaxiTakeoffPath(String callNumber,
			List<Taxiway> path, LocalControllerInterface lc) {
		print("Received msgConfirmTaxiTakeoffPath");
		Strip temp_strip;
		if ((temp_strip = get_strip(callNumber)) != null)
			temp_strip.flight_state = Strip.FlightState.GC_CONFIRMED_TAXI_TAKEOFF_PATH;
		
		stateChanged();
		
	}

	public void msgLeavingRunway(String callNumber, Runway lastPath, Gate gate) {
		print("Received msgLeavingRunway");
		print(gate.toString());
		Strip temp_strip;
		print(callNumber);
		for(Strip strip : strips) {
			print(strip.callNum);
		}
		if ((temp_strip = get_strip(callNumber)) != null)
			temp_strip.flight_state = Strip.FlightState.GC_LEAVING_RUNWAY;
		
		if (gate != null)
			temp_strip.gate = gate;
		if (lastPath != lastPath)
			temp_strip.runway = lastPath;
		stateChanged();
		
	}

	public void msgNewArrivalStrip(Strip newArrival) {
		print("Received msgNewArrivalStrip");
		strips.add(newArrival);	
		stateChanged();
	}

	public void msgNewDepartureStrip(Strip newDeparture) {
		print("Received msgNewDepartureStrip");
		strips.add(newDeparture);
		stateChanged();
		
	}

	public void msgReadyForTaxi(String callNumber, Taxiway currentPosition) {
		print("Received msgReadyForTaxi");
		Strip temp_strip;
		if ((temp_strip = get_strip(callNumber)) != null)
			temp_strip.flight_state = Strip.FlightState.GC_READY_FOR_TAXI;
		
		if (currentPosition != null)
			temp_strip.current_taxiway = currentPosition;
		
		stateChanged();
		
	}

	public void msgRequestPushBack(String callNumber, Gate gate) {
		print("Received msgRequestPushBack");
		Strip temp_strip;
		if ((temp_strip = get_strip(callNumber)) != null)
			temp_strip.flight_state = Strip.FlightState.GC_REQUEST_PUSH_BACK;
		
		if (gate != null)
			temp_strip.gate = gate;
		
		stateChanged();
		
	}
	
	public boolean pickAndExecuteAnAction() {
		
		Strip temp_strip;
		if ((temp_strip = get_strip(Strip.FlightState.GC_REQUEST_PUSH_BACK)) != null) {
			act_give_push_back(temp_strip);
			return true;
		}
		else if ((temp_strip = get_strip(Strip.FlightState.GC_READY_FOR_TAXI)) != null) {
			act_give_taxi_takeoff_path(temp_strip);
			return true;
		}
		else if ((temp_strip = get_strip(Strip.FlightState.GC_LEAVING_RUNWAY)) != null) {
			act_give_taxi_landing_path(temp_strip);
			return true;
		}
		else if ((temp_strip = get_strip(Strip.FlightState.GC_CONFIRMED_TAXI_LANDING_PATH)) != null) {
			temp_strip.flight_state = Strip.FlightState.NO_ACTION;
			return true;
		}
		return false;
	}
	
	public void act_give_taxi_landing_path(Strip temp_strip) {
		temp_strip.flight_state = Strip.FlightState.NO_ACTION;
		Plane temp_plane = World.get_plane(temp_strip.callNum);
		
		List<Taxiway> taxiways = do_get_taxi_landing_path(temp_strip);
		if (!(taxiways.get(0) instanceof Runway))
			taxiways.add(0, temp_strip.runway);
		
		System.out.println("taxi landing path: " + taxiways);
		
		PilotInterface temp_pilot = temp_plane.msgPilot();
		print("Sending pilot msgTaxiLandingPath");
		
		temp_pilot.msgTaxiLandingPath(taxiways);
	}
	
	
	public void act_give_push_back(Strip temp_strip) {
		temp_strip.flight_state = Strip.FlightState.NO_ACTION;
		Plane temp_plane = World.get_plane(temp_strip.callNum);
		PilotInterface temp_pilot = temp_plane.msgPilot();
		print("Sending pilot msgGivePushBack");
		temp_pilot.msgGivePushBack(new Runway(), new Gate(new Taxiway()));
	}

	public void act_give_taxi_takeoff_path(Strip temp_strip) {
		temp_strip.flight_state = Strip.FlightState.NO_ACTION;
		// TODO actually get good runways and gate
		
		LocalControllerAgent lc;
		// lc = World.get_local_controller(tower);
		lc = (LocalControllerAgent)tower.localController;
		List<Taxiway> taxiways = do_get_taxi_takeoff_path(temp_strip);
		if (!(taxiways.get(taxiways.size() - 1) instanceof Runway))
			taxiways.add(0, temp_strip.runway);
		taxiways.add(temp_strip.runway);
		boolean runwayisoccupied = true;
		
		if((strips.size() == 2) && (strips.get(0).callNum == strips.get(1).callNum)) {
			runwayisoccupied = false;
		} else {
		    while(runwayisoccupied) {
		    	System.out.println("Strip size: " + strips.size());
		 		for(Strip strip : strips) {
					// System.out.println("Strip 1: " + strip.callNum + " Strip 2: " + tempstrip.callNum);
					//System.out.println("Plane pos " + strip.callNum + " " + World.get_plane(strip.callNum).objectState.position.y + 
						//	"Runway pos: " + tempstrip.runway.objectState.position.y);
					print(strip.callNum + temp_strip.callNum);
					if((strip.callNum != temp_strip.callNum)) {
						// These pilots have the same runway
						System.out.println("Plane pos: " + World.get_plane(strip.callNum).objectState.position.x + 
								"Runway pos: " + temp_strip.runway.objectState.position.y);
						if((World.get_plane(strip.callNum).objectState.position.y >= temp_strip.runway.objectState.position.y-20) && 
								World.get_plane(strip.callNum).objectState.position.x < 365) {
							// print("Sending pilot msgNotClearedToLand");
							//World.get_plane(temp_strip.callNum).msgPilot().msgWaitForTaxiway();
							runwayisoccupied = true;
							break;
						} else if(World.get_plane(strip.callNum).objectState.position.y == temp_strip.runway.objectState.position.y) {
							// System.out.println("Other plane x: " + World.get_plane(strip.callNum).objectState.position.x);
							// print("Sending pilot msgNotClearedToLand");
							// World.get_plane(temp_strip.callNum).msgPilot().msgWaitForTaxiway();
							runwayisoccupied = true;
							if(World.get_plane(strip.callNum).objectState.position.x == 365) {
								runwayisoccupied = false;
							}
							break;
						} else {
							runwayisoccupied = false;
						}
					}
				}
		    }
		}
		if(!runwayisoccupied) {
			World.get_plane(temp_strip.callNum).msgPilot().msgTaxiTakeoffPath(taxiways, lc);
			print("Sending local controller msgNewDepartureStrip");
			lc.msgNewDepartureStrip(temp_strip);
		}
	}
	
	
	
	public List<Taxiway> do_get_taxi_landing_path(Strip strip) {
		Map<String, Node<Taxiway, WorldVector>> nodes = get_nodes();
		
		set_gate_taxiway(strip.gate);
		
		WorldVector plane_pos = World.get_plane(strip.callNum).get_world_object_state().get_position();
		Node<Taxiway, WorldVector> root = 
			nodes.get(key_string(get_closest_connection(plane_pos, strip.runway)));
		
		Node<Taxiway, WorldVector> target = 
			nodes.get(key_string(get_closest_connection(strip.gate.get_world_object_state().get_position(), strip.gate.getTaxiway())));
		
		return new_dijkstra_path(root, target, nodes.values());
	}
	
	public List<Taxiway> do_get_taxi_takeoff_path(Strip strip) {
		Map<String, Node<Taxiway, WorldVector>> nodes = get_nodes();
		
		set_gate_taxiway(strip.gate);
		
		WorldVector plane_pos = World.get_plane(strip.callNum).get_world_object_state().get_position();
		Node<Taxiway, WorldVector> target = 
			nodes.get(key_string(get_closest_connection(plane_pos, strip.runway)));
		
		Node<Taxiway, WorldVector> root = 
			nodes.get(key_string(get_closest_connection(strip.gate.get_world_object_state().get_position(), strip.gate.getTaxiway())));
		
		return new_dijkstra_path(root, target, nodes.values());
	}
	
	public List<Taxiway> new_dijkstra_path(Node<Taxiway, WorldVector> root,
			Node<Taxiway, WorldVector> target, Collection<Node<Taxiway, WorldVector>> nodes) {
		
		if ((root == null)||(target == null)||(nodes == null))
			return null;
		
		DijkstraAlgorithm<Taxiway, WorldVector> dijkstra = 
			new DijkstraAlgorithm<Taxiway, WorldVector>(root, target, nodes);
		dijkstra.calculate_distance();
		return dijkstra.get_edge_path();
		
	}
	
	public WorldVector get_closest_connection(WorldVector wv, WorldObject object) {
		if ((wv == null)||(object == null))
			return null;
		
		WorldVector closest = null;;
		Double closest_dist = Double.POSITIVE_INFINITY;
		Double dist;
		
		WorldObjectState wos = object.get_world_object_state();
		WorldVector real_conn;
		
		for (WorldVector connection : wos.getConnections()) {
			real_conn = wos.position.plus(connection);
			dist = get_distance(real_conn, wv);
			if (dist < closest_dist) {
				closest = real_conn;
				closest_dist = dist;
			}
		}
		
		return closest;
	}
	
	public String key_string(WorldVector wv) {
		if (wv == null) 
			return null;
		
		return "" + wv.x + ":" + wv.y;
	}
	
	public Map<String, Node<Taxiway, WorldVector>> get_nodes() {
		Map<String, Node<Taxiway, WorldVector>> nodes = new HashMap<String, Node<Taxiway, WorldVector>>();
		
		WorldObjectState wos;
		WorldVector real_conn;
		WorldVector real_conn2;
			
		// First make list of nodes
		for (WorldObject object : World.world_objects) {
			if ((object instanceof Runway)||(object instanceof Taxiway)) {
				wos = object.get_world_object_state();
				for (WorldVector connection : wos.getConnections()) {
					real_conn = wos.get_position().plus(connection);
					if (nodes.get(key_string(real_conn)) == null) {
						nodes.put(key_string(real_conn), new Node<Taxiway, WorldVector>(real_conn));
					}
				}
			}
		}
		
		//System.out.println(nodes.keySet());
		
		// Now attach nodes to other nodes with edges
		Node<Taxiway, WorldVector> node1;
		Node<Taxiway, WorldVector> node2;
		for (WorldObject object : World.world_objects) {
			if (object instanceof Taxiway) {
			//System.out.println(object.getName() + " has " + object.get_world_object_state().getConnections().size() + " connections");
			//if ((object instanceof Runway)||(object instanceof Taxiway)) {
				wos = object.get_world_object_state();				
				for (WorldVector connection1 : wos.getConnections()) {
					real_conn = wos.get_position().plus(connection1);
					node1 = nodes.get(key_string(real_conn));
					for (WorldVector connection2 : object.get_world_object_state().getConnections()) {
						real_conn2 = wos.get_position().plus(connection2);
						if (real_conn.equals(real_conn2))
							continue;
						//System.out.println(real_conn + " " + real_conn2);
						node2 = nodes.get(key_string(real_conn2)); // get node associated with connection point
						node1.neighbors.put(node2, 
								new Edge<Taxiway>((Taxiway)object, 
										get_distance(real_conn, real_conn2))); // add it as a neighbor to node1
					}
				}
			}
		}
		
		return nodes;
	}
	
	
	/*
	public boolean contains_node(List<Node<WorldObject, WorldVector>> nodes, WorldVector connection) {
		for (Node<WorldObject, WorldVector> node : nodes) {
			if ((node.position.x == connection.x)&&
					(node.position.y == connection.y)) {
				return true;
			}
		}
		return false;
	}
	
	
	public Node<WorldObject, WorldVector> get_node(List<Node<WorldObject, WorldVector>> nodes, WorldVector connection) {
		for (Node<WorldObject, WorldVector> node : nodes) {
			if ((node.position.x == connection.x)&&
					(node.position.y == connection.y)) {
				return node;
			}
		}
		return null;
	}*/
	
	public void set_gate_taxiway(Gate gate) {
		WorldObjectState wos;
		WorldVector real_conn;
		WorldVector gate_conn = gate.get_world_object_state().get_position().plus(gate.get_world_object_state().getConnections().get(0));
		for (WorldObject object : World.world_objects) {
			if (!(object instanceof Taxiway))
				continue;
			wos = object.get_world_object_state();
			for (WorldVector connection : wos.getConnections()) {
				real_conn = wos.get_position().plus(connection);
				if (real_conn.equals(gate_conn)) {
					gate.setTaxiway((Taxiway)object);
				}
			}
		}
	}
	
	public Double get_distance(WorldVector wv1, WorldVector wv2) {
		return Math.sqrt(Math.pow(wv1.x - wv2.x, 2) + Math.pow(wv1.y - wv2.y, 2));
	}
	
	public Strip get_strip(String cn) {
		for (Strip strip : strips)
			if (strip.callNum.equals(cn))
				return strip;
		return null;
	}
	
	public Strip get_strip(Strip.FlightState state) {
		for (Strip strip : strips)
			if (strip.flight_state == state)
				return strip;
		return null;
	}
}

// need delete strip at appropriate time