private RobotModel(
String name,
double heig,
double widt,
double ener,
double g_co,
double g_hd,
double g_ht,
double r_he, // radar heading
double head,
double velo,
double x,
double y) {
// Some unchanging features of the robot
this.name = name;
height = heig;
width = widt;
gun_cooling_rate = g_co;
parent = null;
// Initialize TimeCapsule and start tracking state
this.tc = new TimeCapsule(this);
tc.update(0, ener, g_hd, g_ht, head, velo, x, y);
// Set up auxilary features
this.mm = new MotionModel(this, new CircularMotion(current_history()));
this.tm = new TargettingModel(this);
// Generate random color for paint purposes
Random r = new Random();
c = new Color((name.hashCode() + r.nextInt(16777215)) % (16777215));
}
public Object get(O obj, K key) {
lock.readLock().lock();
try {
// Checking if we have this object hashed
HashMap<K, TimeCapsule> tMap = map.get(obj);
if (tMap == null) {
return null;
}
// Checking if that object has the given key
TimeCapsule tc = tMap.get(key);
if (tc == null) {
return null;
}
// Checking if the entry has aged beyond its time
if (timeout > 0 && tc.agedPast(timeout)) {
return null;
}
return tc.obj;
} finally {
lock.readLock().unlock();
}
}
/**
* This method will remove all entries that aged beyond the assigned timeout. As this method has a
* linear complexity, don't call it <i>too</i> often.
*
* <p>This method is a O(1) no-op if no timeout is defined for this method.
*/
public void cull() {
// Only do something if we actually have a timeout
if (timeout <= 0) {
return;
}
lock.writeLock().lock();
for (HashMap<K, TimeCapsule> tMap : map.values()) {
if (tMap == null) {
continue;
}
Iterator<TimeCapsule> iter = tMap.values().iterator();
while (iter.hasNext()) {
TimeCapsule tc = iter.next();
if (tc == null) {
continue;
}
if (tc.agedPast(timeout)) {
iter.remove();
}
}
}
lock.writeLock().unlock();
}
public void update(AdvancedRobot self) {
if (self.getName().equals(name)) {
tc.update(
self.getTime(),
self.getEnergy(),
tm.predict_gun_heading(self, tc),
tm.predict_gun_heat(self, tc),
correct_angle(self.getHeadingRadians()),
self.getVelocity(),
self.getX(),
self.getY());
mm.update(self);
}
}
public void update(ScannedRobotEvent sre, double self_h, double self_x, double self_y) {
if (sre.getName().equals(name)) {
tc.update(
sre.getTime(),
sre.getEnergy(),
tm.predict_gun_heading(sre, tc),
tm.predict_gun_heat(sre, tc),
correct_angle(sre.getHeadingRadians()),
sre.getVelocity(),
getX(sre, self_h, self_x),
getY(sre, self_h, self_y));
mm.update(sre);
}
}
public void update() {
tc.update();
mm.update();
tm.update();
}
