@Override
public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
ListTerm positions = new ListTermImpl();
ListTerm agents = new ListTermImpl();
model = ((CoordinatorArch) ts.getUserAgArch()).getModel();
Graph graph = model.getGraph();
model.coloringGraph();
List<List<Vertex>> actualZones = graph.getZones();
// order zones by vertex value
Collections.sort(actualZones, zoneComparator);
List<List<Vertex>> bestZones = graph.getBestZones(); // the best zones in the graph
if (!bestZones.isEmpty()) {
if (bestZones.size() == 2) {
ListTerm[] listTerms = coordinateGroup(1, actualZones, bestZones.get(0));
agents.addAll(listTerms[0]);
positions.addAll(listTerms[1]);
listTerms = coordinateGroup(2, actualZones, bestZones.get(1));
agents.addAll(listTerms[0]);
positions.addAll(listTerms[1]);
} else {
ListTerm[] listTerms = coordinateGroup(3, actualZones, bestZones.get(0));
agents.addAll(listTerms[0]);
positions.addAll(listTerms[1]);
}
} else {
ListTerm[] listTerms = coordinateGroup(3, actualZones, null);
agents.addAll(listTerms[0]);
positions.addAll(listTerms[1]);
}
return un.unifies(terms[0], agents) & un.unifies(terms[1], positions);
}
private ListTerm[] coordinateGroup(
int group, List<List<Vertex>> actualZones, List<Vertex> bestZone) {
ListTerm positions = new ListTermImpl();
ListTerm agents = new ListTermImpl();
String[] missions;
if (group == 1) {
missions = new String[] {"mOccupyZone1", "mRepairZone1"};
} else if (group == 2) {
missions = new String[] {"mOccupyZone2", "mRepairZone2"};
} else {
missions = new String[] {"mOccupyZone1", "mRepairZone1", "mOccupyZone2", "mRepairZone2"};
}
List<Entity> coworkers = model.getCoworkersWithMission(Arrays.asList(missions));
Graph graph = model.getGraph();
List<Vertex> groupZone = null;
if (bestZone != null && !bestZone.isEmpty()) {
for (List<Vertex> zone : actualZones) {
if (graph.hasAtLeastOneVertexOnZone(zone, bestZone)) {
groupZone = zone;
continue;
}
}
} else if (actualZones != null && !actualZones.isEmpty()) {
groupZone = actualZones.get(0);
}
List<Vertex> targets = new ArrayList<Vertex>();
if (groupZone == null || groupZone.isEmpty()) {
if (bestZone != null && !bestZone.isEmpty()) {
targets.addAll(bestZone);
}
} else {
if (bestZone != null && !bestZone.isEmpty()) {
bestZone.removeAll(groupZone);
targets.addAll(bestZone);
}
// zone neighbors
List<Vertex> zoneNeighbors = model.getZoneNeighbors(groupZone);
// order neighbors by vertex value
Collections.sort(zoneNeighbors, comparator);
targets.addAll(zoneNeighbors);
}
if (targets.isEmpty()) {
return new ListTerm[] {agents, positions};
}
for (Entity coworker : coworkers) {
if (coworker.getStatus().equals(Percept.STATUS_DISABLED)) {
continue;
}
Vertex target = null;
Vertex agentPosition = coworker.getVertex();
if (bestZone.contains(agentPosition)
&& model.isFrontier(agentPosition)) { // the agent is part of the best zone's frontier
List<Entity> agsOnSameVertex = model.getCoworkersOnSameVertex(coworker);
if (!agsOnSameVertex.isEmpty()) { // if there are other agents on the same vertex
boolean canMove = true;
for (Entity ag : agsOnSameVertex) {
if (ag.getId() > coworker.getId()) {
canMove = false; // only the agent with the lower id can move
break;
}
}
if (!canMove) {
continue;
}
} else {
if (model.hasActiveCoworkersOnNeighbors(
coworker)) { // go to a free neighbor if has two or more coworkers on neighbors
Vertex neighbor = model.getFreeNeighborOutOfZone(agentPosition);
if (null != neighbor) {
agents.add(ASSyntax.createString(coworker.getName()));
positions.add(ASSyntax.createString("vertex" + neighbor.getId()));
}
continue;
} else {
continue; // the agent must not move if he is in the frontier and has no other agent on
// the same vertex
}
}
}
if (null != targets && !targets.isEmpty()) {
// target = model.closerVertex(agentPosition, targets);
target = targets.get(0);
if (null != target) {
targets.remove(target);
}
}
if (null != target) {
agents.add(ASSyntax.createString(coworker.getName()));
positions.add(ASSyntax.createString("vertex" + target.getId()));
}
}
return new ListTerm[] {agents, positions};
}