mrl.gz_2007_robocup_robocup rescue

// Copyright (C) 2002 Takeshi Morimoto <morimoto@takopen.cs.uec.ac.jp> // All rights reserved. // Edited By Omid Aghazadeh package yab.agent; import java.net.*; import yab.agent.*; import yab.agent.object.*; import java.util.*; import MRL.Utilities.Partitioning.*; import MRL.Utilities.*; import MRL.Utilities.MessageManagement.AgentMessageManager; public abstract class PlatoonAgent extends HumanoidAgent implements MRL. Utilities.ConstantConditions { //Ashkan added public AgentMessageManager messageManager = null; RealObject lastPosition = null; RealObject currentPosition = null; //Ashkan added protected PlatoonAgent(int agentType, InetAddress address, int port) { super(agentType, address, port); } private Humanoid self() { return (Humanoid) world.self; } protected void rest() throws ActionCommandException { self().setAct(REST_ACT); super.rest(); //To change body of overridden methods use File | Settings | File Templates. } // ---------------------------------------------------------------- OMID Aghazadeh protected final Set visitedBuildingsIC = new HashSet(); protected final Collection shouldEmptyPoses = new HashSet(); // For Handling Police's MOVE Message. public static final int NEAR_FIRE_UB_SEARCH_RADIUS = 40000; public static final int NEAR_FIRE_LB_SEARCH_RADIUS = 10000; public static final int TIME_STARTING_TO_SEARCH_BY_AVAILABILITY = 100; public final static int MAX_HEARING_DISTANCE = 30000; public final static int MIN_FIRE_AVAILABLE_SEARCH = EXTINGUISHABLE_DISTANCE + 10000; public final int MAX_BLDGS_SEARCH_COUNT= 500 ; public final static int MAX_WAITING_TO_ROAM = 4; public static final int MIN_TIME_TO_CLEAR_TRAFFIC = 5; public static final int MAX_TIME_WAIT_TO_SET_TRAFFIC = 3; public static final int MAX_TIME_WAIT_TO_ROAM_FROM_TRAFFIC = 4; public static final int HUMANOID_SEARCH_RADIUS = 30000; public static final int MIN_BURNING_BLDGS_TO_START_SEARCH_AROUND_FIRE = 5; public static final int MAX_TIME_TO_SEARCH_FOR_HEARED_CIV = 10; public static final int MIN_TIME_AT_SEARCH_HEARED_CIVS = 30; public static final int MIN_TIME_AT_SEARCH_DEEP = 25 ; public static final int OBJS_TO_REQUEST_TO_CLEAR = 10; protected final int CIV_REPORT_PERIOD = 5; public static final int MAX_HP_TO_START_KANE = 5000; protected final Collection shouldUpdateCivBuildings = new HashSet(); protected Civilian prevCheckCivilian; protected final Condition SHOULD_UPDATE_CIV_C = new Condition(){ Civilian civ; Integer lc; int lastCheck; public boolean eval(Object obj){ if(obj instanceof Civilian){ civ = (Civilian) obj; if(! civ.needRescue()) return false; lc =(Integer) world.civCheckTime.get(civ); if(lc == null) return false; lastCheck =lc.intValue(); return (time() - lastCheck >= CIV_REPORT_PERIOD); } else return false; } }; protected void checkAndReportCivilians() throws ActionCommandException { checkAndStay(); updateShouldUpdateCivs(); // if(onlyInPartition && searchingPartition() == null) return; // List toCheck = null; // int time = time(); // if(onlyInPartition){ // toCheck = searchingPartition().MO_OBJS_IN_PART_CND.extract(world.needRescueCivs); // } // else{ // toCheck = new ArrayList(world.needRescueCivs); // } // // if(toCheck.isEmpty()) return; // // Building bldg; // if (prevCheckCivilian != null) { // if (prevCheckCivilian.needRescue() && ! prevCheckCivilian.isVisible() && self().motionlessPosition() != prevCheckCivilian.motionlessPosition() && NOT_IN_TRAFFIC_C.eval(prevCheckCivilian.motionlessPosition())) // if (prevCheckCivilian.position() instanceof Building && ! fullBuildings.contains(prevCheckCivilian.motionlessPosition())) { // if (SHOULD_UPDATE_CIV_C.eval(prevCheckCivilian)) { // bldg = (Building) prevCheckCivilian.motionlessPosition(); // if (!bldg.isBurned() && !bldg.isBurning()) // move(bldg); // } // } // } // // prevCheckCivilian = null; // // List needCheckCivs; // needCheckCivs = getNeedUpdateCivs(toCheck); // // if(needCheckCivs.isEmpty()) return; // // List needCheckPoses = POSITION_PRP.collect(needCheckCivs); // // int indx = random.nextInt(needCheckPoses.size()); // bldg = (Building) needCheckPoses.get(indx); // // List civs = POSITION_PRP.eq(bldg).extract(needCheckCivs); // prevCheckCivilian = (Civilian) civs.iterator().next(); // move(bldg); } public final Condition SHOULD_KANE_CIVS = new Condition (){ Humanoid hum; public boolean eval(Object obj){ if(obj instanceof Humanoid){ hum =(Humanoid)obj; return hum.hp()<MAX_HP_TO_START_KANE &&( hum.needRescue() || hum.needLoad()) ; }else{ return false; } } }; Building m_lastKANEBUILDING = null; protected void checkAndStay() throws ActionCommandException{ List civKanePoses = getNeedKaneCivPoses(); if(m_lastKANEBUILDING != null && ! (m_lastKANEBUILDING.isBurning() || m_lastKANEBUILDING.isBurned()) && REACHABLE_C.eval(m_lastKANEBUILDING)){ List visAgents = VISIBLE_C.and(POSITION_PRP.eq(m_lastKANEBUILDING)).extract(world.platoonAgents); world.sortByID(visAgents); if(!(Utils.getConditionCount(visAgents,AMBULANCE_TEAM_C) >0 || visAgents.indexOf(self()) > 0) && civKanePoses.contains(m_lastKANEBUILDING)){ if(self().motionlessPosition() == m_lastKANEBUILDING){ rest(); } else{ // System.out.println(self() + " ----------- 7"); checkShouldContinueToBuildingAndMove(m_lastKANEBUILDING,false,false); } } } m_lastKANEBUILDING = null; int kanePosSize = civKanePoses.size(); List freeAgents = getFreeAgentsToUpdate(); int indx = freeAgents.indexOf(self()); if(indx == -1 ) return; // System.out.println(self() + " CivNeedKanePosesSize : " + kanePosSize + " FreeAgentsSize : " + freeAgents.size() + " In Time : " + time()); if(freeAgents.size() > kanePosSize){ if(indx >= kanePosSize){ // System.out.println(self() + " ----------- 0"); return; } else{ m_lastKANEBUILDING =getKaneBuilding(civKanePoses,indx); // if(Utils.getConditionCount(world.ambulanceTeams,POSITION_PRP.equal(m_lastKANEBUILDING).and(VISIBLE_C))>0) // System.out.println(self() + " ----------- 1"); } } else if(freeAgents.size() == kanePosSize){ m_lastKANEBUILDING =getKaneBuilding(civKanePoses,indx); // System.out.println(self() + " ----------- 2"); } else{ // freeAgents < posSize if(kanePosSize > ((1f + MAX_KANE_PERCENT) * freeAgents.size()) ) { // System.out.println(self() + " ----------- 3"); return; } int maxKaneIndx = getMaxKaneIndex(); // if(maxKaneIndx <= 0 ) // System.err.println(self() + " <=0 MAX KANE INDEX."); if(indx > maxKaneIndx) { // System.out.println(self() + " ----------- 4"); return; } else{ m_lastKANEBUILDING =getKaneBuilding(civKanePoses,indx); // System.out.println(self() + " ----------- 5"); } } } protecte