public void initialize() {
lock = LockFactory.makeLock("BaseBehaviorLock");
long oid = obj.getOid();
SubjectFilter filter = new SubjectFilter(oid);
filter.addType(Behavior.MSG_TYPE_COMMAND);
filter.addType(WorldManagerClient.MSG_TYPE_MOB_PATH_CORRECTION);
pathState = new PathState(oid, pathObjectTypeName, true);
commandSub = Engine.getAgent().createSubscription(filter, this);
}
/**
* This class is similar to the ObjectTracker, but is used in cases where there is no local/remote
* distinction between objects. Instead, the class maintains it's own set of InterpolatedWorldNodes,
* and an update thread to keep them current, and a mapping from perceiver objects to perceived
* objects. When one of those objects moves, the mapping is updated, and if they have moved in or
* out of range, the class either sends a NotifyReactionRadius message, or
*/
public class ProximityTracker implements MessageDispatch {
public ProximityTracker(Namespace namespace, long instanceOid) {
initialize(namespace, instanceOid);
}
public ProximityTracker(
Namespace namespace,
long instanceOid,
float hystericalMargin,
ObjectTracker.NotifyReactionRadiusCallback notifyCallback,
ObjectTracker.RemoteObjectFilter remoteObjectFilter) {
this.hystericalMargin = hystericalMargin;
this.notifyCallback = notifyCallback;
this.remoteObjectFilter = remoteObjectFilter;
initialize(namespace, instanceOid);
}
private void initialize(Namespace namespace, long instanceOid) {
this.namespace = namespace;
this.instanceOid = instanceOid;
updater = new Updater();
Thread updaterThread = new Thread(updater);
updaterThread.start();
}
public long getInstanceOid() {
return instanceOid;
}
public void addTrackedPerceiver(
Long perceiverOid, InterpolatedWorldNode wnode, Integer reactionRadius) {
lock.lock();
try {
if (perceiverDataMap.containsKey(perceiverOid)) {
// Don't add the object more than once.
Log.error(
"ProximityTracker.addTrackedPerceiver: perceiverOid "
+ perceiverOid
+ " is already in the set of local objects, for ProximityTracker instance "
+ this);
return;
}
PerceiverData perceiverData = new PerceiverData(perceiverOid, reactionRadius, wnode);
perceiverDataMap.put(perceiverOid, perceiverData);
} finally {
lock.unlock();
}
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.addTrackedPerceiver: perceiverOid="
+ perceiverOid
+ " reactionRadius="
+ reactionRadius
+ " instanceOid="
+ instanceOid);
}
public boolean hasTrackedPerceiver(Long oid) {
lock.lock();
try {
return perceiverDataMap.containsKey(oid);
} finally {
lock.unlock();
}
}
public void removeTrackedPerceiver(Long perceiverOid) {
lock.lock();
try {
// Iterate over perceived objects, removing our
// perceiverOid from their oid sets.
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData != null) {
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.removeTrackedPerceiver: perceiverOid "
+ perceiverOid
+ ", inRangeOids count "
+ perceiverData.inRangeOids.size());
// Iterate over perceived objects, removing our
// perceiverOid from their oid sets.
for (Long perceivedOid : perceiverData.perceivedOids) {
PerceiverData perceivedData = perceiverDataMap.get(perceivedOid);
if (perceivedData != null) {
perceivedData.perceivedOids.remove(perceiverOid);
if (perceivedData.inRangeOids.contains(perceiverOid)) {
perceivedData.inRangeOids.remove(perceiverOid);
performNotification(perceiverOid, perceivedOid, false, true);
}
}
}
perceiverData.perceivedOids.clear();
perceiverData.inRangeOids.clear();
perceiverDataMap.remove(perceiverOid);
} else
Log.warn(
"ProximityTracker.removeTrackedPerceiver: For oid="
+ perceiverOid
+ ", didn't find PerceiverData");
} finally {
lock.unlock();
}
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.removeTrackedPerceiver: oid="
+ perceiverOid
+ " instanceOid="
+ instanceOid);
}
public List<Long> getOidsInRadius(long perceiverOid) {
lock.lock();
try {
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData == null) {
Log.error(
"ProximityTracker.getOidsInRadius: perceptionData for oid "
+ perceiverOid
+ " is null");
return new LinkedList<Long>();
} else return new LinkedList<Long>(perceiverData.inRangeOids);
} finally {
lock.unlock();
}
}
public void dispatchMessage(Message message, int flags, MessageCallback callback) {
Engine.defaultDispatchMessage(message, flags, callback);
}
protected boolean maybeAddPerceivedObject(PerceptionMessage.ObjectNote objectNote) {
ObjectType objType = (ObjectType) objectNote.getObjectType();
long perceivedOid = objectNote.getSubject();
long perceiverOid = objectNote.getTarget();
if (perceivedOid == perceiverOid) return true;
boolean callbackNixedIt = false;
if (remoteObjectFilter != null)
callbackNixedIt = !remoteObjectFilter.objectShouldBeTracked(perceivedOid, objectNote);
if (callbackNixedIt || !(objType.isMob())) {
// if (Log.loggingDebug)
// Log.debug("ProximityTracker.maybeAddPerceivedObject: ignoring oid=" +
// perceivedOid
// + " objType=" + objType
// + " detected by " + perceiverOid
// + ", instanceOid=" + instanceOid);
return false;
}
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.maybeAddPerceivedObject: oid="
+ perceivedOid
+ " objType="
+ objType
+ " detected by "
+ perceiverOid
+ ", instanceOid="
+ instanceOid);
lock.lock();
try {
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData == null) {
Log.error(
"ProximityTracker.maybeAddPerceivedObject: got perception msg with perceived obj oid="
+ perceivedOid
+ " for unknown perceiver="
+ perceiverOid);
return false;
}
perceiverData.perceivedOids.add(perceivedOid);
PerceiverData perceivedData = perceiverDataMap.get(perceivedOid);
if (perceivedData != null) testProximity(perceiverData, perceivedData, true, false);
} finally {
lock.unlock();
}
return true;
}
/**
* Test if the perceived object has come in or out of range of the perceiver object; if so, we
* change the inRangeOids set for the perceiver, and notify the perceiver.
*/
protected void testProximity(
PerceiverData perceiverData,
PerceiverData perceivedData,
boolean interpolatePerceiver,
boolean interpolatePerceived) {
Point perceiverLoc =
interpolatePerceiver ? perceiverData.wnode.getLoc() : perceiverData.lastLoc;
Point perceivedLoc =
interpolatePerceived ? perceivedData.wnode.getLoc() : perceivedData.lastLoc;
float distance = Point.distanceTo(perceiverLoc, perceivedLoc);
float reactionRadius = perceiverData.reactionRadius;
long perceiverInstance = perceiverData.wnode.getInstanceOid();
long perceivedInstance = perceivedData.wnode.getInstanceOid();
boolean sameInstance = perceiverInstance == perceivedInstance;
boolean inRadius = sameInstance && (distance < reactionRadius);
boolean wasInRadius = perceiverData.inRangeOids.contains(perceivedData.perceiverOid);
// if (Log.loggingDebug)
// Log.debug("ProximityTracker.testProximity: perceiver " +
// perceiverData.perceiverOid + ", perceiverLoc = " + perceiverLoc +
// ", perceived " + perceivedData.perceiverOid + ", perceivedLoc = " +
// perceivedLoc +
// ", distance " + distance + ", reactionRadius " + reactionRadius + ",
// perceiverInstance " + perceiverInstance +
// ", perceivedInstance " + perceivedInstance + ", inRadius " + inRadius + ",
// wasInRadius " + wasInRadius);
if (inRadius == wasInRadius) return;
if (sameInstance && hystericalMargin != 0f) {
if (wasInRadius) inRadius = distance < (reactionRadius + hystericalMargin);
else inRadius = distance < (reactionRadius - hystericalMargin);
// If they are the same after hysteresis was applied, skip.
if (inRadius == wasInRadius) return;
}
if (inRadius) {
perceiverData.inRangeOids.add(perceivedData.perceiverOid);
perceivedData.inRangeOids.add(perceiverData.perceiverOid);
} else {
perceiverData.inRangeOids.remove(perceivedData.perceiverOid);
perceivedData.inRangeOids.remove(perceiverData.perceiverOid);
}
performNotification(
perceiverData.perceiverOid, perceivedData.perceiverOid, inRadius, wasInRadius);
}
protected void performNotification(
long perceiverOid, long perceivedOid, boolean inRadius, boolean wasInRadius) {
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.performNotification: perceiverOid "
+ perceiverOid
+ ", perceivedOid "
+ perceivedOid
+ ", inRadius "
+ inRadius
+ ", wasInRadius "
+ wasInRadius);
if (notifyCallback != null) {
notifyCallback.notifyReactionRadius(perceivedOid, perceiverOid, inRadius, wasInRadius);
notifyCallback.notifyReactionRadius(perceiverOid, perceivedOid, inRadius, wasInRadius);
} else {
ObjectTracker.NotifyReactionRadiusMessage nmsg =
new ObjectTracker.NotifyReactionRadiusMessage(
perceivedOid, perceiverOid, inRadius, wasInRadius);
Engine.getAgent().sendBroadcast(nmsg);
nmsg =
new ObjectTracker.NotifyReactionRadiusMessage(
perceiverOid, perceivedOid, inRadius, wasInRadius);
Engine.getAgent().sendBroadcast(nmsg);
}
}
protected void updateEntity(PerceiverData perceiverData) {
long perceiverOid = perceiverData.perceiverOid;
lock.lock();
try {
for (long perceivedOid : perceiverData.perceivedOids) {
if (perceiverOid == perceivedOid) continue;
PerceiverData perceivedData = perceiverDataMap.get(perceivedOid);
if (perceivedData != null) testProximity(perceiverData, perceivedData, false, true);
}
} finally {
lock.unlock();
}
}
public void handlePerception(PerceptionMessage perceptionMessage) {
long targetOid = perceptionMessage.getTarget();
List<PerceptionMessage.ObjectNote> gain = perceptionMessage.getGainObjects();
List<PerceptionMessage.ObjectNote> lost = perceptionMessage.getLostObjects();
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.handlePerception: targetOid + "
+ targetOid
+ ", instanceOid="
+ instanceOid
+ " "
+ ((gain == null) ? 0 : gain.size())
+ " gain and "
+ ((lost == null) ? 0 : lost.size())
+ " lost");
if (gain != null) for (PerceptionMessage.ObjectNote note : gain) maybeAddPerceivedObject(note);
if (lost != null)
for (PerceptionMessage.ObjectNote note : lost)
maybeRemovePerceivedObject(note.getSubject(), note, targetOid);
}
public void handleUpdateWorldNode(long oid, WorldManagerClient.UpdateWorldNodeMessage wnodeMsg) {
PerceiverData perceiverData = perceiverDataMap.get(oid);
if (perceiverData == null) {
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.handleMessage: ignoring updateWNMsg for oid "
+ oid
+ " because PerceptionData for oid not found");
return;
}
BasicWorldNode bwnode = wnodeMsg.getWorldNode();
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.handleMessage: UpdateWnode for "
+ oid
+ ", loc "
+ bwnode.getLoc()
+ ", dir "
+ bwnode.getDir());
if (perceiverData.wnode != null) {
perceiverData.previousLoc = perceiverData.lastLoc;
perceiverData.wnode.setDirLocOrient(bwnode);
perceiverData.wnode.setInstanceOid(bwnode.getInstanceOid());
perceiverData.lastLoc = perceiverData.wnode.getLoc();
} else
Log.error(
"ProximityTracker.handleMessage: In UpdateWorldNodeMessage for oid "
+ oid
+ ", perceiverData.wnode is null!");
updateEntity(perceiverData);
}
protected void maybeRemovePerceivedObject(
long perceivedOid, PerceptionMessage.ObjectNote objectNote, long perceiverOid) {
if (remoteObjectFilter != null
&& remoteObjectFilter.objectShouldBeTracked(perceivedOid, objectNote)) return;
else removePerceivedObject(perceiverOid, perceivedOid);
}
protected void removePerceivedObject(long perceiverOid, long perceivedOid) {
lock.lock();
try {
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData == null) {
if (Log.loggingDebug)
Log.debug(
"ProximityTracker.removePerceivedObject: No perceiverData for oid " + perceiverOid);
return;
}
perceiverData.perceivedOids.remove(perceivedOid);
if (perceiverData.inRangeOids.contains(perceivedOid)) {
performNotification(perceiverOid, perceivedOid, true, false);
perceiverData.inRangeOids.remove(perceivedOid);
}
} finally {
lock.unlock();
}
}
class Updater implements Runnable {
public void run() {
while (running) {
try {
update();
} catch (MVRuntimeException e) {
Log.exception("ProximityTracker.Updater.run caught MVRuntimeException", e);
} catch (Exception e) {
Log.exception("ProximityTracker.Updater.run caught exception", e);
}
try {
Thread.sleep(1000);
} catch (InterruptedException e) {
Log.warn("Updater: " + e);
e.printStackTrace();
}
}
}
protected void update() {
Log.debug("Updater.update: in update");
List<Long> perceiverOids = null;
lock.lock();
try {
perceiverOids = new ArrayList<Long>(perceiverDataMap.keySet());
} finally {
lock.unlock();
}
// We loop over the copied perceiverOids causing
// interpolation to happen, and capturing the location in
// the PerceiverData, so we can later do comparisons
// cheaply. Note that underlying map can change while
// we're doing so, so we don't raise errors if it happens.
for (long perceiverOid : perceiverOids) {
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData != null) {
perceiverData.previousLoc = perceiverData.lastLoc;
// long lastInterp = perceiverData.wnode.getLastInterp();
perceiverData.lastLoc = perceiverData.wnode.getLoc();
// if (Log.loggingDebug)
// Log.debug("Updater.update: perceiverOid " + perceiverOid + ",
// previousLoc " + perceiverData.previousLoc +
// ", lastLoc " + perceiverData.lastLoc + ", time since interp
// " + (System.currentTimeMillis() - lastInterp));
}
}
// Now actually do the double loop to check if inRange has
// changed
for (long perceiverOid : perceiverOids) {
PerceiverData perceiverData = perceiverDataMap.get(perceiverOid);
if (perceiverData == null) continue;
// If the perceiver hasn't moved much, no need to
// iterate over it's perceived entities
if (perceiverData.previousLoc != null
&& Point.distanceToSquared(perceiverData.previousLoc, perceiverData.lastLoc) < 100f)
continue;
ArrayList<Long> perceivedOids = new ArrayList<Long>(perceiverData.perceivedOids);
for (long perceivedOid : perceivedOids) {
PerceiverData perceivedData = perceiverDataMap.get(perceivedOid);
if (perceivedData == null) continue;
// Invoke the testProximity method but tell it not
// to interpolate, but instead get its location
// from the PerceptionData.lastLoc members
testProximity(perceiverData, perceivedData, false, false);
}
}
}
}
public void setRunning(boolean running) {
this.running = running;
}
protected Namespace namespace;
protected long instanceOid;
protected float hystericalMargin = 0f;
protected ObjectTracker.NotifyReactionRadiusCallback notifyCallback = null;
protected ObjectTracker.RemoteObjectFilter remoteObjectFilter = null;
protected Updater updater = null;
protected Thread updaterThread = null;
protected boolean running = true;
/**
* This maps a perceiver oid into an object containing the list of perceived objects, and the list
* of objects in range.
*/
protected Map<Long, PerceiverData> perceiverDataMap = new HashMap<Long, PerceiverData>();
protected class PerceiverData {
long perceiverOid;
// The reaction radius to be applied
Integer reactionRadius;
// The Entity associated with this PerceiverData
Entity perceiverEntity;
// The world node for this perceiver
InterpolatedWorldNode wnode;
// The last interpolated location of the entity
Point lastLoc;
// The previous interpolated location of the entity, used to
// detect if the entity has moved
Point previousLoc;
// The set of object oids perceived by this perceiver
Set<Long> perceivedOids = new HashSet<Long>();
// The set of object oids in range of this object
Set<Long> inRangeOids = new HashSet<Long>();
public PerceiverData(long perceiverOid, Integer reactionRadius, InterpolatedWorldNode wnode) {
this.perceiverOid = perceiverOid;
this.reactionRadius = reactionRadius;
this.wnode = wnode;
this.lastLoc = wnode.getLoc();
}
}
// protected Map<Long, ObjectTracker.NotifyData> reactionRadiusMap = new HashMap<Long,
// ObjectTracker.NotifyData>();
protected Lock lock = LockFactory.makeLock("ProximityTrackerLock");
}
