public void update() {
if (world.getSelf() instanceof MrlPlatoonAgent) {
// checkIsLockedByBlockade();
if (world.getTime() > world.getIgnoreCommandTime()) {
updateSelfHealthyValue();
}
}
}
private boolean buildingIsIsolated(Building position) {
Graph graph = world.getPlatoonAgent().getPathPlanner().getGraph();
for (Entrance entrance : world.getMrlBuilding(position.getID()).getEntrances()) {
if (graph.getNodeBetweenAreas(position.getID(), entrance.getID(), null).isPassable()) {
return false;
}
}
return true;
}
private void createEntrance(Road road) {
Entrance entrance = entrancesMap.get(road.getID());
if (entrance == null) {
List<Building> buildings =
world.getHelper(RoadHelper.class).getBuildingsOfThisEntrance(road.getID());
entrance = new Entrance(road, buildings);
entrancesMap.put(road.getID(), entrance);
for (Area area : buildings) {
world.getMrlBuilding(area.getID()).addEntrance(entrance);
}
}
}
/** find the cluster paths */
private void clusterPaths() {
List<Road> roadList = new ArrayList<Road>();
for (StandardEntity entity : world.getRoads()) {
if (entity instanceof Road) {
if (polygon.contains(((Road) entity).getX(), ((Road) entity).getY())) {
roadList.add((Road) entity);
}
}
}
for (Road r : roadList) {
paths.add(world.getPath(r.getID()).getId());
}
}
private Path getNearestPath(Road road, List<Path> paths) {
int range = 10000;
int minDistance = Integer.MAX_VALUE;
EntityID nearestPath = null;
while (nearestPath == null) {
Collection<StandardEntity> entities = world.getObjectsInRange(road, range);
for (StandardEntity entity : entities) {
if (entity instanceof Road) {
EntityID pathId = roadHelper.getPathId(entity.getID());
if (pathId != null) {
int distance = Util.distance((Area) entity, road);
if (distance < minDistance) {
nearestPath = pathId;
minDistance = distance;
}
}
}
}
range += 10000;
}
for (Path path : paths) {
if (path.getId().equals(nearestPath)) {
return path;
}
}
return null;
}
private void findOrphanRoads() {
for (StandardEntity road : world.getRoads()) {
if (roadHelper.getPathId(road.getID()) == null) {
orphanRoads.add((Road) road);
}
}
}
public List<Human> getBlockedAgents() {
List<Human> blockedAgents = new ArrayList<Human>();
for (EntityID id : stuckAgents) {
blockedAgents.add((Human) world.getEntity(id));
}
return blockedAgents;
}
public void updateSelfHealthyValue() {
Human human = world.getSelfHuman();
if (repeatHealthyMessageCount == null && human.getBuriedness() == 0) {
repeatHealthyMessageCount = 3;
} else if (repeatHealthyMessageCount != null && human.getBuriedness() != 0) {
repeatHealthyMessageCount = null;
}
}
/** * find the cluster buildings */
private void clusterBuildings() {
for (StandardEntity entity : world.getBuildings()) {
if (entity instanceof Building) {
if (polygon.contains(((Building) entity).getX(), ((Building) entity).getY())) {
this.buildings.add((Building) entity);
}
}
}
}
/** find the cluster roads */
private void clusterRoad() {
for (StandardEntity entity : world.getRoads()) {
if (entity instanceof Road) {
if (polygon.contains(((Road) entity).getX(), ((Road) entity).getY())) {
this.roads.add((Road) entity);
}
}
}
}
public Polygon scalePolygon(Polygon polygon) {
int xs[] = new int[polygon.npoints];
int ys[] = new int[polygon.npoints];
math.geom2d.Point2D p;
math.geom2d.Point2D p1;
int sumX = 0;
int sumY = 0;
for (int i = 0; i < polygon.npoints; i++) {
p = new math.geom2d.Point2D(polygon.xpoints[i], polygon.ypoints[i]);
p1 = p.scale(0.5);
sumX += p1.getX();
sumY += p1.getY();
xs[i] = (int) p1.getX();
ys[i] = (int) p1.getY();
p.clone();
}
Polygon poly = new Polygon(xs, ys, polygon.npoints);
poly.translate(sumX / polygon.npoints, sumY / polygon.npoints);
Polygon scalePolygon = new Polygon();
for (int i = 0; i < poly.npoints; i++) {
p = new math.geom2d.Point2D(poly.xpoints[i], poly.ypoints[i]);
if (i + 1 < poly.npoints) {
if (p.distance(poly.xpoints[i + 1], poly.ypoints[i + 1]) > (0.1 * world.getMapWidth())) {
scalePolygon.addPoint(poly.xpoints[i], poly.ypoints[i]);
} else {
continue;
}
} else if (i + 1 == poly.npoints) {
if (p.distance(poly.xpoints[0], poly.ypoints[0]) > (0.1 * world.getMapWidth())) {
scalePolygon.addPoint(poly.xpoints[i], poly.ypoints[i]);
} else {
continue;
}
}
}
return scalePolygon;
}
private void createPathsNeighbours() {
Set<Path> neighbours;
for (Path path : this) {
neighbours = new FastSet<Path>();
for (Road road : path) {
for (EntityID entityID : road.getNeighbours()) {
if (world.getEntity(entityID) instanceof Road) {
for (Path p : this) {
if (!path.equals(p) && p.contains((Road) world.getEntity(entityID))) {
if (!neighbours.contains(p)) {
neighbours.add(p);
}
}
}
}
}
}
path.setNeighbours(neighbours);
}
}
private void getRoadsAndEntrances() {
for (StandardEntity standardEntity : world.getRoads()) {
Road road = (Road) standardEntity;
if (isEntrance(road) && !entrances.contains(road)) {
entrances.add(road);
createEntrance(road);
} else {
roads.add(road);
}
}
}
public Paths(MrlWorld world) {
this.world = world;
roadHelper = world.getHelper(RoadHelper.class);
this.addAll(createPaths());
// test if we have any orphan road yet or not
createMappingFromRoadToPath();
// TODO: General Test - Pooya It is just used in Federated coordination Strategy
createPathsNeighbours();
}
public Set<EntityID> getBordersOf(Set<EntityID> allEntities, double scale) {
ConvexHull convexHull = new ConvexHull();
for (EntityID id : allEntities) {
Pair<Integer, Integer> location = world.getEntity(id).getLocation(world);
convexHull.addPoint(location.first(), location.second());
}
Set<EntityID> borderEntities = getBorderEntities(convexHull, allEntities, scale);
return borderEntities;
}
/**
* this method calculates the border entities, using entities and convexHull of the entities
*
* @param convex is the convex of all Entities
* @param entities are the self entities
* @param scale is the scale for making smaller convex hull
*/
public Set<EntityID> getBorderEntities(ConvexHull convex, Set<EntityID> entities, double scale) {
if (scale >= 1.0) {
System.err.println(
"scale should not be over 1.0! check it in border entities, border entities doesn't work now!");
return null;
}
Building building;
Polygon convexObject = convex.convex();
Set<EntityID> borderEntities = new FastSet<EntityID>();
if (convexObject.npoints
== 0) { // I don't know why this happens, report me if this error writes usually! TODO check
// this if something comes wrong here
System.out.println("Something gone wrong in setting border entities for Firebrigade!!!");
return null;
}
Polygon smallBorderPolygon = scalePolygon(convexObject, scale);
// Polygon bigBorderPolygon = scalePolygon(convexObject, 1.1);
if (MRLConstants.LAUNCH_VIEWER) {
// MrlConvexHullLayer.BIG_Whole_BORDER_HULL = convex;
// MrlConvexHullLayer.SMALL_Whole_BORDER_HULL = smallBorderPolygon;
}
for (EntityID entityID : entities) {
StandardEntity entity = world.getEntity(entityID);
if (entity instanceof Refuge) continue;
if (!(entity instanceof Building)) continue;
building = (Building) entity;
int vertexes[] = building.getApexList();
for (int i = 0; i < vertexes.length; i += 2) {
if ((convexObject.contains(vertexes[i], vertexes[i + 1]))
&& !(smallBorderPolygon.contains(vertexes[i], vertexes[i + 1]))) {
borderEntities.add(building.getID());
break;
}
}
}
return borderEntities;
}
private boolean isInPreviousArea(EntityID areaId) {
String lastCommand = world.getPlatoonAgent().getLastCommand();
if (lastCommand == null) {
return false;
}
if (lastCommand.equalsIgnoreCase("Move") || lastCommand.equalsIgnoreCase("Move To Point")) {
if (areaId.equals(previousPosition)) {
stayInSamePositionCounter++;
if (stayInSamePositionCounter > 6) {
// world.printData(" i Am in isolated are.....");
return true;
}
} else {
stayInSamePositionCounter = 0;
previousPosition = areaId;
}
}
return false;
}
public void init() {
for (StandardEntity entity : world.getPlatoonAgents()) {
humanInfoMap.put(entity.getID(), new HumanInfo(false, false));
}
}
public Boolean isBuried(EntityID id) {
Human human = world.getEntity(id, Human.class);
return human.isBuriednessDefined() && human.getBuriedness() > 0;
}
