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);
}
public Pair<Area, Point2D> getEntrancePoint(Area dest) {
if (dest == null) {
log.error("why try to move to " + dest + "?????");
return null;
}
Path path = agent.move.getPathTo(Collections.singleton(dest), PoliceMove.class);
ArrayList<EntityID> pathArray = path.getIds();
if (pathArray.isEmpty()) {
log.error("path is empty. why????");
return null;
}
Edge inComingEdge;
if (pathArray.size() == 1) {
inComingEdge = dest.getEdgeTo(agent.location());
} else {
inComingEdge = dest.getEdgeTo(pathArray.get(pathArray.size() - 2));
}
if (inComingEdge == null) return new Pair<Area, Point2D>(dest, dest.getPositionPoint());
Line2D wallLine =
inComingEdge
.getLine(); // new Line2D(edge.getStartX(), edge.getStartY(), edge.getEndX() -
// edge.getStartX(), edge.getEndY() - edge.getStartY());
Vector2D offset;
if (AliGeometryTools.havecorrectDirection(dest)) {
offset = wallLine.getDirection().getNormal().normalised().scale(10);
} else {
offset = wallLine.getDirection().getNormal().normalised().scale(-10);
}
Point2D destXY = inComingEdge.getMidPoint().plus(offset);
return new Pair<Area, Point2D>(dest, destXY);
}
private int computeBlockadeValue(Blockade blockade) {
return (int)
(1000000 / Math.max(agent.me().getPositionPoint().distance(blockade.getCenteroid()), 1));
// return 100000 / blockade.getRepairCost();
// TODO
// moteallegh be kodam sakhteman hastand.(CV)
}
public void move(Path path) throws SOSActionException {
log.info("moving to path: " + path);
if (path == null) {
log.error("path is null!!!");
moveToARandomArea();
}
justMakeReachable(path);
agent.move(path);
}
public boolean isReachableTo(StandardEntity se) {
if (se instanceof Human) {
Human hum = (Human) se;
if (agent.getVisibleEntities(Human.class).contains(hum)
&& hum.isPositionDefined()
&& hum.getAreaPosition().isBlockadesDefined()) {
for (Blockade blockade : hum.getAreaPosition().getBlockades()) {
if (blockade.getShape().contains(hum.getPositionPoint().toGeomPoint())) return false;
}
}
if (!hum.getImReachableToEdges().isEmpty())
return agent
.move
.getMoveType(PoliceReachablityMove.class)
.isReallyReachableTo(hum.getImReachableToEdges());
}
return isReachableTo(se.getPositionPair());
}
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");
}
private void moveWithGoodReachablity(Path path) throws SOSActionException {
log.info("moving with good reachablity to path: " + path);
justMakeReachableWithGoodReachablity(path);
agent.move(path);
}
protected PoliceWorldModel model() {
return agent.model();
}
public boolean isReachableTo(Pair<? extends Area, Point2D> b) {
return agent.isReachableTo(b);
}
protected void clear(Point point) throws SOSActionException {
agent.clear(point);
}
protected void clear(Blockade blockade) throws SOSActionException {
log.info("clearing " + blockade);
agent.clear(blockade);
}
