public void move(Collection<? extends Area> goals, Class<? extends MoveType> type)
throws SOSActionException {
if (!(me.me() instanceof Human)) {
log().warn("can't use move in Center Agent " + me + "\n");
return;
}
try {
checkTraffic(); // TODO uncomment
MoveType mt = moves.get(type.hashCode());
if (mt != null) {
Path path = mt.getPathTo(goals);
log().debug("MOVE " + type.getSimpleName() + "\nTO : " + path + "\n");
move(path);
} else log().error(new Error("in move can not found type=" + type.getSimpleName()));
} catch (SOSActionException ec) {
throw ec;
} catch (Exception er) {
log().error(er);
log().warn("using bfs for finding path");
move(bfs.breadthFirstSearch((Area) me.location(), goals));
}
log().error("in move can not found type=" + type.getSimpleName());
me.problemRest("in move can not found type=" + type.getSimpleName());
}
/* !(cycleinfo2.getAct() instanceof MoveAction) || */ !(cycleinfo2.getAct()
instanceof StockMoveAction)) return;
if (!(cycleinfo3.getAct() instanceof MoveAction)
|| cycleinfo3.getAct() instanceof StockMoveAction) return;
log()
.debug(
"cycleinfo1:"
+ cycleinfo1.getPositionPair()
+ "cycleinfo2:"
+ cycleinfo2.getPositionPair()
+ " cycleinfo3:"
+ cycleinfo3.getPositionPair());
if (SOSGeometryTools.getDistance(
cycleinfo1.getPositionPair().second(), cycleinfo2.getPositionPair().second())
< MoveConstants.TRAFFIC_CHECKING_DISTANCE
&& SOSGeometryTools.getDistance(
cycleinfo1.getPositionPair().second(), cycleinfo3.getPositionPair().second())
< MoveConstants.TRAFFIC_CHECKING_DISTANCE) {
Path randomPath = bfs.getDummyRandomWalkPath();
me.send(
new AKMove(
me.getID(),
me.time(),
randomPath.getIds(),
randomPath.getDestination().second().getIntX(),
randomPath.getDestination().second().getIntY()));
sendStockMessage(path);
me.informationStacker.addInfo(me.model(), new StockMoveAction(randomPath));
throw new SOSActionException("Move Stock Random Walk(" + randomPath + ")");
}
}
private void sendStockMessage(Path path) {
if (me instanceof PoliceForceAgent) return;
if (!(me.me() instanceof Human)) return;
if (me.time() < 50) return;
Human meEntity = (Human) me.me();
if (meEntity.isBuriednessDefined() && meEntity.getBuriedness() > 0) return;
if (meEntity.getImReachableToEdges().isEmpty()) return;
if (me.isTimeToActFinished()) return;
if (me.lastException != null) return;
try {
// if (me.getMyClusterData().isCoverer())
// return;
if (me.me().getAreaPosition().isBlockadesDefined()
&& me.me().getAreaPosition().getBlockadesID().isEmpty()) {
boolean haveBlock = false;
for (Area neighbour : me.me().getAreaPosition().getNeighbours()) {
if (neighbour.isBlockadesDefined() && !neighbour.getBlockadesID().isEmpty())
haveBlock = true;
}
if (!haveBlock) return;
}
} catch (Exception e) {
e.printStackTrace();
}
log().debug("Sending Stock Message");
me.messageBlock = new MessageBlock(MessageXmlConstant.HEADER_AGENT_STOCK);
me.messageBlock.addData(
MessageXmlConstant.DATA_AREA_INDEX, me.me().getAreaPosition().getAreaIndex());
me.messages.add(me.messageBlock);
me.lowCommunicationMessages.add(me.messageBlock);
}
private void checkEarlyStock(Path path) throws SOSActionException {
Area source = me.me().getAreaPosition();
if (me.informationStacker.getInformations(1).getAct() instanceof MoveAction
&& me.informationStacker.getInformations(1).getPositionPair().first() instanceof Building) {
log()
.debug(
"last act is move and current position is in building ==> don't check early stock");
return;
}
if (me.informationStacker.getInformations(1).getAct() instanceof StockMoveAction) {
log().debug("last act is stock move ==> don't check early stock");
return;
}
if (source instanceof Building) {
log().debug("early stock detected!!! agent is in " + source);
ArrayList<EntityID> entityPath = new ArrayList<EntityID>();
entityPath.add(source.getID());
Area second = null;
Area third = null;
if (path.getIds().size() > 0 && !path.getIds().get(0).equals(source.getID())) {
second = (Area) me.model().getEntity(path.getIds().get(0));
if (path.getIds().size() > 1) third = (Area) me.model().getEntity(path.getIds().get(1));
} else if (path.getIds().size() > 1 && path.getIds().get(0).equals(source.getID())) {
second = (Area) me.model().getEntity(path.getIds().get(1));
if (path.getIds().size() > 2) third = (Area) me.model().getEntity(path.getIds().get(2));
} else {
log().warn("move path size is 0 can't checkEarlyStock!!!");
return;
}
if (second == null) {
log().warn("second is null can't checkEarlyStock!!!");
return;
} else {
ArrayList<Edge> edges = second.getEdgesTo(source);
int minDistance = Integer.MAX_VALUE;
for (Edge edge : edges) {
minDistance =
(int)
Math.min(
minDistance, SOSGeometryTools.distance(edge, me.me().getPositionPoint()));
}
// Edge fedge = second.getEdgeTo(source);
// if (SOSGeometryTools.distance(fedge, me.me().getPositionPoint()) <
// MoveConstants.ENTRACE_DISTANCE_MM+1000)
// return;
if (minDistance < MoveConstants.ENTRACE_DISTANCE_MM + 1000) {
log().debug("I'm too neat to edge in building... no need to check early stock");
return;
}
entityPath.add(second.getID());
}
if (third == null) {
log().debug("Move path is too small!!! no need to early stock handle");
return;
} else {
Edge ed = second.getEdgeTo(third);
Point2D destXYAPointNearEdge;
if (ed != null) {
Line2D wallLine =
ed
.getLine(); // new Line2D(edge.getStartX(), edge.getStartY(), edge.getEndX() -
// edge.getStartX(), edge.getEndY() - edge.getStartY());
// ppp.add(new ShapeDebugFrame.Line2DShapeInfo(wallLine, "edge", Color.white.darker(),
// false, false));
Vector2D offset;
if (AliGeometryTools.havecorrectDirection(second)) {
offset = wallLine.getDirection().getNormal().normalised().scale(15);
} else {
offset = wallLine.getDirection().getNormal().normalised().scale(-15);
}
destXYAPointNearEdge = ed.getMidPoint().plus(offset);
} else {
log().error("[Move]edge is null!!!!!some problem!!!!");
destXYAPointNearEdge = second.getPositionPair().second();
}
log()
.debug(
"source:"
+ source
+ " dest area for stock:"
+ second
+ " dst point:"
+ destXYAPointNearEdge);
me.send(
new AKMove(
me.getID(),
me.time(),
entityPath,
(int) destXYAPointNearEdge.getX(),
(int) destXYAPointNearEdge.getY()));
path =
new Path(
null,
null,
entityPath,
me.me().getPositionPair(),
new Pair<Area, Point2D>(second, destXYAPointNearEdge),
false);
me.informationStacker.addInfo(me.model(), new StockMoveAction(path));
throw new SOSActionException(
"Move Stock(" + source + "," + second + " " + destXYAPointNearEdge + ")");
}
}
}
private void check2CycleStock() throws SOSActionException {
CycleInformations cycleinfo1 = me.informationStacker.getInformations(1);
CycleInformations cycleinfo2 = me.informationStacker.getInformations(2);
if (!(cycleinfo1.getAct() instanceof MoveAction)
|| cycleinfo1.getAct() instanceof StockMoveAction) return;
if (!(cycleinfo2.getAct() instanceof MoveAction)
|| cycleinfo1.getAct() instanceof StockMoveAction) return;
Path path1 = ((MoveAction) cycleinfo1.getAct()).getPath();
// Path path2 = ((MoveAction) cycleinfo2.getAct()).getPath();
log().info("Two(2) cycle move ....");
log().debug("current position:" + me.me().getAreaPosition());
log().debug("1 cycle ago position:" + cycleinfo1.getPositionPair());
log().debug("2 cycle ago position:" + cycleinfo2.getPositionPair());
if (!cycleinfo1.getPositionPair().first().equals(cycleinfo2.getPositionPair().first())) return;
if (!cycleinfo1.getPositionPair().first().equals(me.me().getAreaPosition())) return;
if (SOSGeometryTools.getDistance(
cycleinfo1.getPositionPair().second(), cycleinfo2.getPositionPair().second())
> MoveConstants.TRAFFIC_CHECKING_DISTANCE) return;
//////////////// Stock Occured
log().debug("2 cycle stock occured!!!!!!!");
ArrayList<EntityID> entityPath = new ArrayList<EntityID>();
Area area = me.me().getAreaPosition();
log().debug("Current Position:" + area);
entityPath.add(area.getID());
Edge ed;
Area ne;
if (path1.getIds().size() > 0 && !path1.getIds().get(0).equals(area.getID())) {
ne = (Area) me.model().getEntity(path1.getIds().get(0));
ed = area.getEdgeTo(ne);
} else if (path1.getIds().size() > 1 && path1.getIds().get(0).equals(area.getID())) {
ne = (Area) me.model().getEntity(path1.getIds().get(1));
ed = area.getEdgeTo(ne);
} else {
ne = area.getNeighbours().get(0);
ed = area.getEdgeTo(ne);
}
log().debug("ne:" + ne + " ed:" + ed + " last move path:" + path1);
if (ed == null) {
log().error("[Move]edge is null!!!!!some problem!!!!");
ne = area.getNeighbours().get(0);
ed = area.getEdgeTo(ne);
log().debug("changed!!!! ne:" + ne + " ed:" + ed + " last move path:" + path1);
}
Point2D destXYAPointNearEdge;
if (ed != null) {
// if (area instanceof Road) {
Pair<Point2D, Point2D> points = getAPointInReachblePartEdges(area, ed);
destXYAPointNearEdge = points.second();
// } else {
// Line2D wallLine = ed.getLine();// new Line2D(edge.getStartX(), edge.getStartY(),
// edge.getEndX() - edge.getStartX(), edge.getEndY() - edge.getStartY());
// // ppp.add(new ShapeDebugFrame.Line2DShapeInfo(wallLine, "edge", Color.white.darker(),
// false, false));
// Vector2D offset;
// if (lastStockTime < me.time() - 4) {
// if (AliGeometryTools.havecorrectDirection(area)) {
// offset = wallLine.getDirection().getNormal().normalised().scale(1500);
// } else {
// offset = wallLine.getDirection().getNormal().normalised().scale(-1500);
// }
// } else {
// if (!AliGeometryTools.havecorrectDirection(area)) {
// offset = wallLine.getDirection().getNormal().normalised().scale(1500);
// } else {
// offset = wallLine.getDirection().getNormal().normalised().scale(-1500);
// }
// }
// destXYAPointNearEdge = ed.getMidPoint().plus(offset);
// }
} else {
log().error("[Move]edge is null!!!!!some problem!!!!");
destXYAPointNearEdge = area.getPositionPair().second();
}
log().debug("dest area for stock:" + area + " dst point:" + destXYAPointNearEdge);
me.send(
new AKMove(
me.getID(),
me.time(),
entityPath,
(int) destXYAPointNearEdge.getX(),
(int) destXYAPointNearEdge.getY()));
Path path =
new Path(
null,
null,
entityPath,
me.me().getPositionPair(),
new Pair<Area, Point2D>(area, destXYAPointNearEdge),
false);
me.informationStacker.addInfo(me.model(), new StockMoveAction(path));
// log().warn("Traffic Handeling should be change due to server doesn't support AKMotion");
lastStockTime = me.time();
throw new SOSActionException("Move Stock(" + area + " " + destXYAPointNearEdge + ")");
}
private Pair<Point2D, Point2D> getAPointInReachblePartEdges(Area area, Edge relatedEdge) {
Point2D point = null;
Edge rEdge = null;
if (area instanceof Road) {
Road road = (Road) area;
FOR:
for (SOSArea reachablePart : road.getReachableParts()) {
for (Edge edge : reachablePart.getEdges()) {
if (edge.getReachablityIndex() >= 0
&& area.getEdges().get(edge.getReachablityIndex()).equals(relatedEdge)) {
point = edge.getMidPoint();
rEdge = edge;
break FOR;
}
}
}
}
if (point == null) {
point = relatedEdge.getMidPoint();
rEdge = relatedEdge;
}
ArrayList<Point2D> twoPointForCheckContain =
Utility.get2PointsAroundAPointOutOfLine(rEdge.getStart(), rEdge.getEnd(), point, 10);
ArrayList<Point2D> twoPoint =
Utility.get2PointsAroundAPointOutOfLine(rEdge.getStart(), rEdge.getEnd(), point, 3000);
if (area.getShape().contains(twoPointForCheckContain.get(0).toGeomPoint()))
return new Pair<Point2D, Point2D>(twoPoint.get(0), twoPoint.get(1));
else return new Pair<Point2D, Point2D>(twoPoint.get(1), twoPoint.get(0));
}
@SuppressWarnings("unused")
private void check4CycleStock() throws SOSActionException {
CycleInformations cycleinfo1 = me.informationStacker.getInformations(1);
CycleInformations cycleinfo2 = me.informationStacker.getInformations(2);
CycleInformations cycleinfo3 = me.informationStacker.getInformations(3);
CycleInformations cycleinfo4 = me.informationStacker.getInformations(4);
if (cycleinfo2.getAct() instanceof StockMoveAction) return;
if (cycleinfo1.getAct() instanceof MoveAction
&& cycleinfo2.getAct() instanceof MoveAction
&& cycleinfo3.getAct() instanceof MoveAction
&& cycleinfo4.getAct() instanceof MoveAction) {
// Path path1 = ((MoveAction) cycleinfo1.getAct()).getPath();
// Path path2 = ((MoveAction) cycleinfo2.getAct()).getPath();
// Path path3 = ((MoveAction) cycleinfo3.getAct()).getPath();
// Path path4 = ((MoveAction) cycleinfo4.getAct()).getPath();
log().debug("Four(4) cycle move ....");
log().debug("1 cycle ago position:" + cycleinfo1.getPositionPair());
log().debug("2 cycle ago position:" + cycleinfo2.getPositionPair());
log().debug("3 cycle ago position:" + cycleinfo3.getPositionPair());
log().debug("4 cycle ago position:" + cycleinfo4.getPositionPair());
if (cycleinfo1.getPositionPair().first().equals(cycleinfo2.getPositionPair().first())
&& cycleinfo1.getPositionPair().first().equals(cycleinfo3.getPositionPair().first())
&& cycleinfo1.getPositionPair().first().equals(cycleinfo4.getPositionPair().first())) {
if (SOSGeometryTools.getDistance(
cycleinfo1.getPositionPair().second(), cycleinfo2.getPositionPair().second())
< MoveConstants.TRAFFIC_CHECKING_DISTANCE
&& SOSGeometryTools.getDistance(
cycleinfo1.getPositionPair().second(), cycleinfo3.getPositionPair().second())
< MoveConstants.TRAFFIC_CHECKING_DISTANCE
&& SOSGeometryTools.getDistance(
cycleinfo1.getPositionPair().second(), cycleinfo4.getPositionPair().second())
< MoveConstants.TRAFFIC_CHECKING_DISTANCE) {
//////////////////// DO TRAFFIC/////////////////////////////
log().warn("4 cycle stock!--> do random walk");
move(bfs.getDummyRandomWalkPath(), false);
}
}
}
}
// **---------------------------------------------INTERFACE
// SEGMENT----------------------------------------------**//
// ********* STANDARD MOVE INTERFACE *********//
public void moveStandard(Area destination) throws SOSActionException {
move(destination, StandardMove.class);
}
public void moveStandard(Collection<? extends Area> destination) throws SOSActionException {
move(destination, StandardMove.class);
}
public void moveStandardXY(Area destination, int x, int y) throws SOSActionException {
moveXY(destination, x, y, StandardMove.class);
}
public void moveStandardXY(Collection<Pair<? extends Area, Point2D>> destinations)
throws SOSActionException {
moveXY(destinations, StandardMove.class);
}
// ********* POLICE MOVE INTERFACE *********//
public void movePolice(Area destination) throws SOSActionException {
move(destination, PoliceMove.class);
}
public void movePolice(Collection<? extends Area> destination) throws SOSActionException {
move(destination, PoliceMove.class);
}
public void movePoliceXY(Area destination, int x, int y) throws SOSActionException {
moveXY(destination, x, y, PoliceMove.class);
}
public void movePoliceXY(Collection<Pair<? extends Area, Point2D>> destinations)
throws SOSActionException {
moveXY(destinations, PoliceMove.class);
}
public void moveToShape(Collection<ShapeInArea> des, Class<? extends MoveType> type)
throws SOSActionException {
if (!(me.me() instanceof Human)) {
log().warn("can't use move in Center Agent " + me + "\n");
return;
}
try {
checkTraffic(); // TODO uncomment
MoveType mt = moves.get(type.hashCode());
if (mt != null) {
Path path = mt.getPathToShape(des);
log().debug("MOVE " + type.getSimpleName() + "\nTO : " + path + "\n");
move(path);
} else log().error(new Error("in move can not found type=" + type.getSimpleName()));
} catch (SOSActionException e) {
throw e;
} catch (Exception er) {
log().error(er);
log().warn("using bfs for finding path");
ArrayList<Area> goals = new ArrayList<Area>();
for (ShapeInArea shapeInArea : des) {
goals.add(shapeInArea.getArea(me.model()));
}
move(bfs.breadthFirstSearch((Area) me.location(), goals));
}
log().error("in move can not found type=" + type.getSimpleName());
me.problemRest("in move can not found type=" + type.getSimpleName());
}
// ********* GENERAL MOVE INTERFACE *********//
public void move(Area destination, Class<? extends MoveType> type) throws SOSActionException {
move(Collections.singleton(destination), type);
}
public void move(Collection<? extends Area> goals, Class<? extends MoveType> type)
throws SOSActionException {
if (!(me.me() instanceof Human)) {
log().warn("can't use move in Center Agent " + me + "\n");
return;
}
try {
checkTraffic(); // TODO uncomment
MoveType mt = moves.get(type.hashCode());
if (mt != null) {
Path path = mt.getPathTo(goals);
log().debug("MOVE " + type.getSimpleName() + "\nTO : " + path + "\n");
move(path);
} else log().error(new Error("in move can not found type=" + type.getSimpleName()));
} catch (SOSActionException ec) {
throw ec;
} catch (Exception er) {
log().error(er);
log().warn("using bfs for finding path");
move(bfs.breadthFirstSearch((Area) me.location(), goals));
}
log().error("in move can not found type=" + type.getSimpleName());
me.problemRest("in move can not found type=" + type.getSimpleName());
}
public void moveXY(Area destination, int x, int y, Class<? extends MoveType> type)
throws SOSActionException {
Pair<? extends Area, Point2D> pair = new Pair<Area, Point2D>(destination, new Point2D(x, y));
ArrayList<Pair<? extends Area, Point2D>> arr = new ArrayList<Pair<? extends Area, Point2D>>();
arr.add(pair);
moveXY(arr, type);
}
public void moveXY(
Collection<Pair<? extends Area, Point2D>> destinations, Class<? extends MoveType> type)
throws SOSActionException {
if (!(me.me() instanceof Human)) {
log().warn("can't use move in Center Agent " + me + "\n");
return;
}
try {
checkTraffic();
MoveType mt = moves.get(type.hashCode());
if (mt != null) {
Path path = mt.getPathToPoints(destinations);
log().debug("MOVE XY" + type.getSimpleName() + "\nTO : " + path + "\n");
move(path);
} else log().error(new Error("in move can not found type=" + type.getSimpleName()));
} catch (SOSActionException e) {
throw e;
} catch (Exception er) {
log().error(er);
log().warn("using bfs for finding path");
move(bfs.breadthFirstSearchXY((Area) me.location(), destinations));
}
log().error("in move can not found type=" + type.getSimpleName());
me.problemRest("in move can not found type=" + type.getSimpleName());
}
public void move(Path path, Class<? extends MoveType> type) throws SOSActionException {
if (!(me.me() instanceof Human)) {
log().warn("can't use move in Center Agent " + me + "\n");
return;
}
MoveType mt = moves.get(type.hashCode());
if (mt != null) {
log().debug("MOVE " + type.getSimpleName() + "\nTO : " + path + "\n");
move(path);
} else log().error(new Error("in move can not found type=" + type.getSimpleName()));
log().error("in move can not found type=" + type.getSimpleName());
me.problemRest("in move can not found type=" + type.getSimpleName());
}
public void move(Path path) throws SOSActionException {
move(path, true);
}
public void move(Path path, boolean checkStock) throws SOSActionException {
if (!(me.me() instanceof Human)) {
log().warn("can't use move in Center Agent " + me + "\n");
return;
}
if (path == null) {
log().error("move to null??....doing random walk");
((PlatoonAgent<?>) me).randomWalk(true);
}
log().debug("MOVE TO : " + path + "\n");
if (checkStock) checkStock(path);
Point2D xy = path.getDestination().second();
me.informationStacker.addInfo(me.model(), new MoveAction(path));
me.send(
new AKMove(me.getID(), me.model().time(), path.getIds(), (int) xy.getX(), (int) xy.getY()));
throw new SOSActionException("MoveXY(" + path + ", " + xy + ")");
}
// *************************************** GET PATH
// *************************************************/
public Path getPathTo(Collection<? extends Area> destinations, Class<? extends MoveType> type) {
MoveType mt = moves.get(type.hashCode());
if (mt != null) {
Path path = mt.getPathTo(destinations);
log().debug("Move.getPathTo " + type.getSimpleName() + "\nTO : " + path + "\n");
return path;
} else log().error(new Error("in Move.getPathTo can not found type=" + type.getSimpleName()));
return null;
}