private void justMakeReachable(Path path) throws SOSActionException {
log.info("making reachable to " + path);
if (!PoliceConstants.IS_NEW_CLEAR) {
ArrayList<Blockade> blocks = new ArrayList<Blockade>();
ArrayList<Blockade> blockadeEdge = reachableWithEdge.getBlockingBlockadeOfPath(path);
blocks.addAll(blockadeEdge);
//
if (blocks.isEmpty()) {
blocks.addAll(reachablityTool.getBlockingBlockadeOfPath(path));
log.debug("clearableBlockadeToReachablebyReachablityTool is " + blocks);
// ArrayList<Blockade> blockadeEdge =
// clearableBlockadeToFullReachable.getBlockingBlockadeOfPath(path);
}
log.debug("clearableBlockadeToReachableWithEdge is " + blocks);
Blockade clearBlock = chooseBestBlockade(blocks);
if (clearBlock != null) clear(clearBlock);
else log.debug("No Blockade found---> we can move");
} else {
Point next = agent.degreeClearableToPoint.nextPointToClear(path, true, true);
if (next != null) {
// log.warn("clear at" + next);
clear(next);
}
}
}
public void clearNearestBlockade() throws SOSActionException {
log.info("clearing NearestBlockade");
PriorityQueue<Blockade> blockadesInRange =
model().getBlockadesInRange(agent.me().getX(), agent.me().getY(), agent.clearDistance);
log.debug("Blockades in Range=" + blockadesInRange);
Blockade selectedBlock = null;
if (!blockadesInRange.isEmpty()) selectedBlock = blockadesInRange.remove();
log.debug("best blockade:" + selectedBlock);
if (selectedBlock != null) clear(selectedBlock);
}
protected Blockade chooseFirstBlockade(List<Blockade> list) {
log.debug("Choosing first blockade from list(" + list + ")");
if (list == null) {
log.warn("clearableBlockades is null!!! it shouldn't be happened!");
return null;
}
for (Blockade blockade : list) {
if (PoliceUtils.isValid(blockade)) {
log.info(" first valid blockade is " + blockade);
return blockade;
}
}
log.info(" can't choos a blockade ");
return null;
}
private void justMakeReachableWithGoodReachablity(Path path) throws SOSActionException {
log.info("making reachable with good reachablity to " + path);
ArrayList<Blockade> blocks = reachablityTool.getBlockingBlockadeOfPath(path);
log.debug("clearableBlockadeToReachablebyReachablityTool is " + blocks);
ArrayList<Blockade> blockadeEdge = reachableWithEdge.getBlockingBlockadeOfPath(path);
blocks.addAll(blockadeEdge);
log.debug("clearableBlockadeToReachableWithEdge is " + blocks);
Blockade clearBlock = chooseBestBlockade(blocks);
if (clearBlock != null) clear(clearBlock);
else if (clearBlock == null && !blocks.isEmpty()) {
log.debug("No blockade is in range but the path is close!!! so move to close area");
ArrayList<Pair<? extends Area, Point2D>> dest =
new ArrayList<Pair<? extends Area, Point2D>>();
for (Blockade blockade : blocks) {
dest.add(blockade.getPositionPair());
}
path = agent.move.getPathToPoints(dest, PoliceMove.class);
agent.move(path);
} else log.debug("No Blockade found---> we can move");
}
protected Blockade chooseBestBlockade(List<Blockade> list) {
log.debug("Choosing best blockade from list(" + list + ")");
if (list == null) {
log.warn("clearableBlockades is null!!! it shouldn't be happened!");
return null;
}
Blockade best = null;
double bestValue = 0;
for (Blockade blockade : list) {
if (PoliceUtils.isValid(blockade)) {
int value = computeBlockadeValue(blockade);
if (value > bestValue) {
bestValue = value;
best = blockade;
}
}
}
log.info(" best blockade is " + best);
return best;
}
public void makeReachableTo(List<? extends StandardEntity> targets) throws SOSActionException {
log.info("makeReachableTo " + targets);
ArrayList<Pair<? extends Area, Point2D>> reachableAreas =
new ArrayList<Pair<? extends Area, Point2D>>();
for (StandardEntity entity : targets) {
if (entity == null) {
log.error("A null entity passed to makeReachableTo!!! WHY?");
continue;
}
if (entity.getPositionPair() == null) {
log.error("A null position entity(" + entity + ") passed to makeReachableTo!!! WHY?");
continue;
}
if (!isReachableTo(entity)) {
reachableAreas.addAll(PoliceUtils.getReachableAreasPair(entity));
}
}
log.debug("reachableAreas = " + reachableAreas);
if (!reachableAreas.isEmpty()) {
moveToPoint(reachableAreas);
}
}