public static double runTrial(int memoryType, int probability) {
HashMap<Point, EnergySource> energySources = new HashMap<>();
int sources = 40, width = 200, height = 200, energy = 125;
Point location = new Point(0, 0);
Random generator = new Random();
Robot<EnergySource> robot;
EnergySource energySource;
double amount;
// Generate all the energy sources and the robot
while (energySources.size() < sources) {
location = new Point(generator.nextInt(width), generator.nextInt(height));
if (isFarEnough(location, energySources)) {
energySources.put(location, new EnergySource(location, energy));
}
}
while (!isFarEnough(location, energySources)) {
location = new Point(generator.nextInt(width), generator.nextInt(height));
}
robot = new Robot<>(location, memoryType);
// Program loop
while (robot.getEnergy() > 0) {
if (robot.isCurious()) {
robot.moveRandomly(width, height);
} else {
energySource = robot.retrieveEnergySource(probability);
if (energySource != null) {
robot.moveToLocation(energySource.getLocation());
} else {
robot.moveRandomly(width, height);
}
energySource = energySources.get(robot.getLocation());
if (energySource != null) {
if (robot.getMaxEnergy() - robot.getEnergy() < energySource.getEnergy()) {
amount = robot.getMaxEnergy() - robot.getEnergy();
} else {
amount = energySource.getEnergy();
}
robot.increaseEnergy(amount);
energySource.decreaseEnergy(amount);
if (energySource.getEnergy() <= 0) {
robot.forgetEnergySource(energySource);
energySources.remove(robot.getLocation());
}
}
}
robot.detectEnergySources(energySources);
}
return robot.getTravelDistance();
}
/**
* This method implements the action move
*
* @param Stores the roboter who wants move
*/
public void doAction(Robot robot) {
Field downField = null;
Field field = null;
Field leftField = null;
Field rightField = null;
Field upField = null;
Object item = null;
robot.setEnergy(robot.getEnergy() - 1);
if (robot.getDirection() == Robot.NORTH) {
// bind field
field = robot.getField();
// bind upField
upField = field.getUp();
// link item
item = upField.getItem();
// if upField empty roboter moves on upField
if (upField != null && item == null) {
field.setItem(null);
upField.setItem(robot);
if (robot.getArena() != null)
robot.getArena().drawLogMessage(robot.getName() + " decided to move up\n");
}
// if upField not empty, roboter hold position, call item.doAction()
else if (upField != null && item instanceof Reactable)
((Reactable) upField.getItem()).doAction(robot);
else {
if (upField != null && item instanceof Robot) {
try {
int tmpEnergy = robot.getEnergy() - 10;
if (tmpEnergy < 0) robot.setEnergy(0);
else robot.setEnergy(robot.getEnergy() - 10);
robot
.getArena()
.drawLogMessage(robot.getName() + " bumped " + ((Robot) item).getName() + "\n");
} catch (ClassCastException e) {
}
}
}
return;
} else {
if (robot.getDirection() == Robot.EAST) {
// bind field
field = robot.getField();
// bind rightField
rightField = field.getRight();
// link item
item = rightField.getItem();
// if rightField empty roboter moves on rightField
if (rightField != null && item == null) {
field.setItem(null);
rightField.setItem(robot);
if (robot.getArena() != null)
robot.getArena().drawLogMessage(robot.getName() + " decided to move right\n");
}
// if rightField not empty, roboter hold position, call item.doAction()
else if (rightField != null && item instanceof Reactable)
((Reactable) rightField.getItem()).doAction(robot);
else {
if (rightField != null && item instanceof Robot) {
try {
int tmpEnergy = robot.getEnergy() - 10;
if (tmpEnergy < 0) robot.setEnergy(0);
else robot.setEnergy(robot.getEnergy() - 10);
robot
.getArena()
.drawLogMessage(robot.getName() + " bumped " + ((Robot) item).getName() + "\n");
} catch (ClassCastException e) {
}
}
}
return;
} else {
if (robot.getDirection() == Robot.SOUTH) {
// bind field
field = robot.getField();
// bind downField
downField = field.getDown();
// link item
item = downField.getItem();
// if downField empty roboter moves on downField
if (downField != null && item == null) {
field.setItem(null);
downField.setItem(robot);
if (robot.getArena() != null)
robot.getArena().drawLogMessage(robot.getName() + " decided to move down\n");
}
// if downField not empty, roboter hold position, call item.doAction()
else if (downField != null && item instanceof Reactable)
((Reactable) downField.getItem()).doAction(robot);
else {
if (downField != null && item instanceof Robot) {
try {
int tmpEnergy = robot.getEnergy() - 10;
if (tmpEnergy < 0) robot.setEnergy(0);
else robot.setEnergy(robot.getEnergy() - 10);
robot
.getArena()
.drawLogMessage(robot.getName() + " bumped " + ((Robot) item).getName() + "\n");
} catch (ClassCastException e) {
}
}
}
return;
} else {
if (robot.getDirection() == Robot.WEST) {
// bind field
field = robot.getField();
// bind leftField
leftField = field.getLeft();
// link item
item = leftField.getItem();
// if leftField empty roboter moves on leftField
if (leftField != null && item == null) {
field.setItem(null);
leftField.setItem(robot);
if (robot.getArena() != null)
robot.getArena().drawLogMessage(robot.getName() + " decided to move left\n");
}
// if leftField not empty, roboter hold position, call item.doAction()
else if (leftField != null && item instanceof Reactable)
((Reactable) leftField.getItem()).doAction(robot);
else {
if (leftField != null && item instanceof Robot) {
try {
int tmpEnergy = robot.getEnergy() - 10;
if (tmpEnergy < 0) robot.setEnergy(0);
else robot.setEnergy(robot.getEnergy() - 10);
robot
.getArena()
.drawLogMessage(
robot.getName() + " bumped " + ((Robot) item).getName() + "\n");
} catch (ClassCastException e) {
}
}
}
return;
} else {
return;
}
}
}
}
}
