@Override
protected void aktion() {
Vector2Double einheit = (Vector2Double) _einheit.getProperty("position");
Vector2Double meinepos = (Vector2Double) _avatar.getProperty(Space2D.PROPERTY_POSITION);
if ((einheit.getDistance(meinepos)).getAsDouble() <= 1.0) {
_ausfuehr = false;
return;
}
if (_schritt == 0) {
IVector2 zielpos = (IVector2) _einheit.getProperty("position");
_mypos = (IVector2) _avatar.getProperty(Space2D.PROPERTY_POSITION);
_startvektor = _mypos.copy();
_zielvektor = zielpos.copy();
_suche = new AStarSearch(_startvektor, _zielvektor, grid, true);
_erreichbar = _suche.istErreichbar();
if (_erreichbar) {
Stack<Vector2Int> pfad = _suche.gibPfad();
if (pfad.isEmpty()) {
_ausfuehr = false;
return;
}
pfad.pop();
Vector2Int nextp = new Vector2Int(pfad.pop());
Vector2Double nextpdouble = new Vector2Double(nextp);
IVector2 nextpos = nextpdouble.add(0.5);
_x_m = _mypos.copy().getXAsDouble();
_y_m = _mypos.copy().getYAsDouble();
double x_ne = nextpos.copy().getXAsDouble();
double y_ne = nextpos.copy().getYAsDouble();
_x_nd = x_ne - _x_m;
_y_nd = _y_m - y_ne;
} else {
_ausfuehr = false;
return;
}
}
if (_erreichbar) {
bewegung();
}
}
@SuppressWarnings({"rawtypes", "unchecked"})
@Override
public void planBody() {
ABMBDILoggerSetter.setup(LOGGER);
// *System.out.println("["+agentID+"]"+"---IN IDLE PLAN BEFORE CALCULATE ROOT");
int noOfRoot = calculateNoOfRoot();
noOfRoot--; // This plan itself is considered as a TopLevelGoal root.
int noOfWait = ((SyncInteger) getBeliefbase().getBelief("noOfWait").getFact()).read();
// System.out.println("["+agentID+"]"+"---NO WAIT :"+noOfWait + "---NO ROOT :"+noOfRoot);
// This rechecks of condition is required,
// as there is a possibility of messages to be handed down during
if (noOfRoot == noOfWait) {
startAtomic();
// *System.out.println("["+agentID+"]"+"*****************IDLE*********");
// Prevent other plan to execute
getBeliefbase().getBelief("isIdle").setFact(true);
ISpaceObject myself = (ISpaceObject) getBeliefbase().getBelief("myself").getFact();
// idle
getBeliefbase().getBelief("agentState").setFact(IDLE);
Map parameters = new HashMap();
parameters.put("objectID", myself.getId());
parameters.put("objectType", myself.getType());
parameters.put("agentID", myself.getProperty("agentID"));
callEnvironmentAction("idle_action", parameters);
// LOGGER.info(myself.getProperty("agentID") + " IDLE");
endAtomic();
super.waitForFactChanged("agentState"); // agentState change will be triggered by Environment
int agentState = (Integer) getBeliefbase().getBelief("agentState").getFact();
// *System.out.println(agentID+"------just wake up");
// updateBelief
if (agentState == RUN_ACTION_PERCEPT || agentState == RUN_NOACTION_PERCEPT) {
updateAgentBeliefs();
}
// System.out.println("------belief updated :" + this);
// Signal Changes of Action State.
if (agentState == RUN_ACTION_PERCEPT || agentState == RUN_ACTION_NOPERCEPT) {
getBeliefbase()
.getBelief("actionChange")
.setFact(!((Boolean) getBeliefbase().getBelief("actionChange").getFact()));
// System.out.println("------belief updated :" + this);
}
getBeliefbase().getBelief("isIdle").setFact(false);
} else {
fail();
}
}
private void updateAgentBeliefs() {
ISpaceObject myself = (ISpaceObject) getBeliefbase().getBelief("myself").getFact();
PerceptContainer localPerceptContainer =
(PerceptContainer) myself.getProperty("perceptContainer");
// Update Agent Beliefs
Set<String> perceptIDSet = localPerceptContainer.perceptIDSet();
// System.out.println("~~~~~Inside belief update :" + perceptIDSet.size() +"-"+this);
// for (String perceptID : perceptIDSet)
Object[] perceptIDSetA = perceptIDSet.toArray();
for (int m = 0; m < perceptIDSetA.length; m++) {
String perceptID = (String) perceptIDSetA[m];
startAtomic();
IGoal[] oldGoal = this.getGoalbase().getGoals();
try {
if (getBeliefbase().containsBelief(perceptID)) {
Object oldFact = getBeliefbase().getBelief(perceptID).getFact();
Object newFact = localPerceptContainer.read(perceptID);
// if (oldFact == null)
// System.out.println("NULLL OLD FACT CREATE EXCEPTION!");
if (!newFact.equals(oldFact)) {
getBeliefbase().getBelief(perceptID).setFact(newFact);
}
// System.out.println("------Inside belief update :" + perceptID +"-"+this);
} else if (getBeliefbase().containsBeliefSet(perceptID)) {
IBeliefSet beliefSet = getBeliefbase().getBeliefSet(perceptID);
Object newFact = localPerceptContainer.read(perceptID);
if (newFact.getClass().equals(beliefSet.getClazz())) {
// Replace the old fact with the new one
if (beliefSet.containsFact(newFact) == true) beliefSet.removeFact(newFact);
beliefSet.addFact(newFact);
} else {
Object[] newFacts = (Object[]) newFact;
for (int i = 0; i < newFacts.length; i++) {
if (beliefSet.containsFact(newFacts[i]) == true) beliefSet.removeFact(newFacts[i]);
beliefSet.addFact(newFacts[i]);
}
String nh = "";
for (int i = 0; i < newFacts.length; i++) {
nh = nh + newFacts[i].toString();
}
System.out.println(agentID + nh);
}
} else {
// System.out.println("------Inside belief update");
LOGGER.severe("perceptID is not recognized by Jadex's belief/beliefset");
// throw new RuntimeException ("perceptID is not recognized by Jadex's belief/beliefset");
}
} catch (Exception e) {
LOGGER.severe(e.getMessage());
}
// No need to track new number of goals, because the goal itself is created and the plan
// are in queue to be launched even before this idleplan could dispatch another idleplan
int noOfNewlyGeneratedGoal = this.getNoOfNewlyGeneratedGoalSince(oldGoal);
endAtomic();
if (noOfNewlyGeneratedGoal > 0) {
SyncInteger noOfTopLevelGoal =
(SyncInteger) getBeliefbase().getBelief("noOfTopLevelGoal").getFact();
// noOfTopLevelGoal = noOfTopLevelGoal + noOfNewlyGeneratedGoal;
noOfTopLevelGoal.add(noOfNewlyGeneratedGoal);
getBeliefbase().getBelief("noOfTopLevelGoal").setFact(noOfTopLevelGoal);
}
// System.out.println("------Inside belief update :" + perceptID +"-"+this);
}
}