2012RobocupRuscue东大代码

package seu.agent; import java.awt.Point; import java.util.ArrayList; import java.util.Collection; import java.util.Collections; import java.util.Date; import java.util.EnumSet; import java.util.HashSet; import java.util.List; import java.util.Random; import java.util.Set; import rescuecore2.Constants; import rescuecore2.config.Config; import rescuecore2.messages.Command; import rescuecore2.misc.Pair; import rescuecore2.standard.components.StandardAgent; import rescuecore2.standard.entities.AmbulanceTeam; import rescuecore2.standard.entities.Area; import rescuecore2.standard.entities.Blockade; import rescuecore2.standard.entities.Building; import rescuecore2.standard.entities.Civilian; import rescuecore2.standard.entities.Edge; import rescuecore2.standard.entities.FireBrigade; import rescuecore2.standard.entities.Human; import rescuecore2.standard.entities.PoliceForce; import rescuecore2.standard.entities.Refuge; import rescuecore2.standard.entities.Road; import rescuecore2.standard.entities.StandardEntity; import rescuecore2.standard.entities.StandardEntityConstants.Fieryness; import rescuecore2.standard.entities.StandardEntityURN; import rescuecore2.standard.entities.StandardPropertyURN; import rescuecore2.standard.entities.StandardWorldModel; import rescuecore2.standard.messages.AKSpeak; import rescuecore2.worldmodel.ChangeSet; import rescuecore2.worldmodel.EntityID; import rescuecore2.worldmodel.Property; import seu.agent.BasicTask.BasicTask; import seu.agent.BasicTask.State; import seu.config.Configuration; import seu.message.MessageController; import seu.message.MessageMemory; import seu.message.MessagePriority; import seu.message.MessageTranslator; import seu.message.QueueMessage; import seu.message.Type.AgentIsBuriedMessage; import seu.message.Type.BuildingIsBurningMessage; import seu.message.Type.BuildingIsExploredMessage; import seu.message.Type.BuildingIsExtinguishedMessage; import seu.message.Type.CivilianInformationMessage; import seu.message.Type.CivilianIsSavedOrDeadMessage; import seu.message.Type.InformTeamMessage; import seu.message.Type.Message; import seu.message.Type.MessageCount; import seu.message.Type.MessageType; import seu.message.Type.RegionAssignmentMessage; import seu.object.Exploration; import seu.object.SEUWorldModel; import seu.object.Building.BuildingInfo; import seu.object.Partition.EntityInPartition; import seu.object.Partition.GroupingType; import seu.object.Partition.PartitionMap; import seu.object.Road.MultiBlockDistanceComparator; import seu.object.Road.RoadInfo; import seu.object.Road.RoadUtilities; import seu.utilities.DistanceComparator; import seu.utilities.Path; import seu.utilities.PositionHistory; import seu.utilities.Geometry.PositionLocate; import seu.utilities.Search.AbstractSearch; import seu.utilities.Search.AStar.AStarSearch; import seu.utilities.Search.Cost.PathType; /** * SEU's Top Level Agent */ public abstract class SEUAgent<E extends StandardEntity> extends StandardAgent<E> { public static final double AGENT_RADIUS = 500; private static final int RANDOM_WALK_LENGTH = 3; private static final int MIN_DAMAGE_GO_TO_REFUGE = 0; private static final int DEFAULT_AGENT_THINK_TIME = 1000; private static final double AGENT_THINK_TIME_TOLERANCE = 0.8; private static final int DEFAULT_VIEW_DISTANCE = 30000; private static final int DEFAULT_RANDOM_WALK_PENALTY = 3; private static final int IGNORE_COMMANDS_AFTER = 2; protected static final int MAX_PATH_LENGTH = 30; @SuppressWarnings("unused") private static final String SAY_COMMUNICATION_MODEL = "kernel.standard.StandardCommunicationModel"; private static final String MAX_PLATOON_CHANNELS_KEY = "comms.channels.max.platoon"; private static final String SPEAK_COMMUNICATION_MODEL = "kernel.standard.ChannelCommunicationModel"; protected static final String START_TIME_KEY = "kernel.agents.ignoreuntil"; private static final String AGENT_THINK_TIME_KEY = "kernel.agents.think-time"; private static final String VIEW_DISTANCE_KEY = "perception.los.max-distance"; protected int viewDistance; // 只有Say通信时边走边说 protected MessageTranslator sayMessageTransfer; protected int timeStep; protected int startTime; protected int totalSent; protected int totalReceived; protected int agentThinkTime; protected int randomWalkPenalty; protected int desiredPath; protected SEUWorldModel world; protected State state; protected Collection<StandardEntity> unexploredBuildings; protected Collection<Pair<Building, Fieryness>> informedBurningBuildings; protected MessageController messageController; protected MessageMemory messageMemory; protected ChangeSet changeSet; protected Set<EntityID> changedEntities; protected List<EntityID> observableBuildings; @SuppressWarnings({ "rawtypes" }) protected List<BasicTask> tasks; protected StandardEntity locationAtLastCycle; protected StandardEntityURN agentType; protected List<Building> burningBuildingsInChangeSet; protected List<Human> foundAgents; protected List<Building> heatingBuildings; protected Date decisionStartTime; protected List<Civilian> civiliansAround; // 死亡的智能体和Civilain private List<EntityID> deadHumans; public List<EntityID> getDeadHumans() { return deadHumans; } public void setSavedCivAndAgents(List<EntityID> savedCivAndAgents) { } // 记录到达的地点和时间 PositionHistory positionHistory; /** * The search algorithm. */ protected AbstractSearch search; /** * Whether to use AKSpeak messages or not. */ protected boolean useSpeak; /** * Construct a SEU Agent. */ protected SEUAgent() { } public int getNo() { if (world == null) { return 0; } List<EntityID> team = world.getTeam(); if (team.contains(getID())) { return team.indexOf(getID()); } else { return 0; } } public void superPostConnect() { super.postConnect(); } // 记录上上周期，上一周期，当前周期智能体位置 private Area latestPosition; private Area lastPosition; private Area currentPostion; // private State latestState; private State lastState; private State currentState; // 两个移动标志 // 连续两个周期随机移动 boolean moveOnce = false; boolean moveAgain = false; // 智能体状态信息 State temp; // 重复次数 int sum = 0; // 至少保留智能体三周期的位置 private void checkPostion() { // 位置信息 latestPosition = lastPosition; lastPosition = currentPostion; currentPostion = (Area) positionHistory.getCurrentLocation(); // 状态信息 latestState = lastState; lastState = currentState; currentState = state; // 在比赛开始之后进行状态赋值 if (getMeAsHuman().isHPDefined()) { if (timeStep >= startTime && getMeAsHuman().getHP() > 0) { if (latestPosition != null && lastPosition != null && currentPostion != null && currentState != State.Inactive) { if ((latestPosition == lastPosition) && (latestPosition == currentPostion) && (latestState == lastState) && (latestState == currentState)) { sum++; // // if (sum > 3) // System.out.println(me() + " Stay One Place For " // + (sum + 2) + " Cycles In " + timeStep); } else { sum = 0; } } else { sum = 0; } } } } private void moveOutOfThePlace() { // 如果正在加水 if (me() instanceof FireBrigade && location() instanceof Refuge) return; // 如果正在灭火 if (me() instanceof FireBrigade && (state == State.Extinguishing || state == State.FillingWater)) return; // 如果正在清障 if (me() instanceof PoliceForce && (state == State.ClearingAllBlocksAtLocation || state == State.ClearingAnnoyingBlock || state == State.ClearingBlock || state == State.ClearingBlocksToPath || state == State.ClearingCurrentRoad || state == State.ClearingPath || state == State.ClearingRefugeEntrance)) return; // 如果正在救援