public Integer calculatePathCost(Point l) {
// the agent has a current position and a list of points (travelPoints)
// orderd to visit. return the current amount of spaces it has to move
// before being idle again
// temporarily add the given point to the end of travelPoints, a request
// has been made how far the robot has to move to THAT point
if (uiMap == null) return 1000000000;
if (location.x == l.x && location.y == l.y) {
return 0;
}
AStar finder = new AStar();
Cell[] path = finder.findPath(uiMap, location, l);
if (path != null) {
int totalLength = path.length;
// System.out.println("robot: " + this.getName() + " holdingitem: " + holdingItem.toString());
if (holdingItem.x != 0 && holdingItem.y != 0 || nextDestination.size() > 0) {
// System.out.println("I'm holding an item: " + this.getName());
if (travelPoints.size() > 0) {
Cell[] pth = finder.findPath(uiMap, location, travelPoints.get(0));
if (pth != null) {
totalLength += pth.length;
} else {
totalLength += 100;
}
for (int i = 0; i < travelPoints.size() - 1; i++) {
Point srcDest = this.travelPoints.get(i);
Point nxtDest = this.travelPoints.get(i + 1);
Cell[] npth = finder.findPath(uiMap, srcDest, nxtDest);
if (npth != null) {
totalLength += npth.length;
} else {
totalLength += 100;
}
// totalLength += finder.findPath(uiMap, srcDest, nxtDest).length;
}
}
}
// System.out.println("This is the total length: " + totalLength + " me: " + this.getName());
return totalLength;
}
return (5); // Debugging purpose in version without a loaded map
}
public void calculateNextHop() {
// look at list of travel points, and the list of occupiedPoints.
// calculate next 3 areas and put them in the list movementQueue
if (this.uiMap == null) return;
if (this.uiMap.getCells() == null) return;
if (this.travelPoints.size() == 0) return;
this.moveMentQueue.clear();
Point nextDest = this.travelPoints.get(0);
AStar finder = new AStar();
if (location.x == nextDest.x && location.y == nextDest.y) {
this.moveMentQueue.add(location);
movementVerified = true;
return;
} else {
Cell[] path = finder.findPath(uiMap, location, nextDest);
if (path != null) {
if (path.length > 1) {
this.moveMentQueue.add(path[1].getPosition());
}
if (path.length > 2) {
this.moveMentQueue.add(path[2].getPosition());
}
if (path.length > 3) {
this.moveMentQueue.add(path[3].getPosition());
}
// this.moveMentQueue.add(path[0].getPosition());
} else {
/*if(!lastClaimRejected)
{
this.moveMentQueue.clear();
this.moveMentQueue.add(location);
}*/
uiMap = null;
/*ACLMessage mapReq = new ACLMessage(ACLMessage.QUERY_IF);
mapReq.addReceiver(guiAgents[0]);
mapReq.setContent("Give me map");
mapReq.setConversationId("map-request");
this.send(mapReq);*/
lastClaimRejected = true;
addBehaviour(new MapUpdateRequest());
return;
}
}
// fill moveMentQueue with the 3 found locations
addBehaviour(new HopRequest()); // one shot behaviour to claim the hop
}