public StudentDecision decide(
StudentView controlledStudent, StudentEnvironmentView environmentView) {
// jesli juz dotarlismy do celu
if (controlledStudent.getLocation().equals(target)) {
logger.level1("[StudentRouteAlgorithm] Osiagnieto cel:" + target);
// dotarlismy
target = null;
}
// jesli nie mamy celu
if (target == null) {
// pytamy algorytm wewnetrzny o decyzje
StudentDecision internalAlgorithmDecision =
internalAlgorithm.decide(controlledStudent, environmentView);
logger.level1("[StudentRouteAlgorithm] Wykonywanie rozkazu: " + internalAlgorithmDecision);
if (internalAlgorithmDecision.getDecisionType() == StudentDecisionType.GO_TO) {
// zapis nowego celu
target = (Location) internalAlgorithmDecision.getArg0();
logger.level1("[StudentRouteAlgorithm] Obrano nowy cel: " + target);
} else {
// podejmowanie innej decyzji
return internalAlgorithmDecision;
}
}
// dazenie do celu
// jesli stoimy na celu
if (controlledStudent.getLocation().equals(target)) {
logger.level1("[StudentRouteAlgorithm] Osiagneto cel: " + target);
// to nie robimy nic bo nie ma to sensu
return new StudentDecision(StudentDecisionType.WAIT, null, null);
}
// tworzenie grafu
Graph graph =
new Graph(
environmentView.getWidth(),
environmentView.getHeight(),
controlledStudent.getLocation(),
environmentView.getStudentAreaMarkerViews());
List<Location> path = graph.getPathToLocation(target);
logger.level1("[StudentRouteAlgorithm] Wyznaczono sciezke: " + path);
// interesuje nsa nastepny krok wiec
Turn turn = Turn.getTurn(path.get(0), path.get(1), 1);
// zwracanie rozkazu
return new StudentDecision(StudentDecisionType.MOVE, turn, null);
}
public Decision decide(RobotView controlledRobot, RobotEnvironmentView environmentView) {
// jesli aktualnie nic nie robimy
if (currentOperation == null) {
// pytamy algorytm wewnetrzny o decyzje
Decision internalAlgorithmDecision =
internalAlgorithm.decide(controlledRobot, environmentView);
logger.level1("[DeliverAlgorithm] Wykonywanie rozkazu: " + internalAlgorithmDecision);
switch (internalAlgorithmDecision.getDecisionType()) {
// wyluskiwanie decyzji
case DELIVER_TO_DESK:
case DELIVER_TO_BOOKSHELF:
case TAKE_FROM_DESK:
case TAKE_FROM_BOOKSHELF:
currentOperation = internalAlgorithmDecision;
logger.level1("[DeliverAlgorithm] Wyznaczono nowa operacje: " + currentOperation);
break;
// jesli to zaden z obsluiwanych rozkazow, to przekazuje dalej
default:
return internalAlgorithmDecision;
}
}
// wykonywanie operacji
switch (currentOperation.getDecisionType()) {
// przywozenie ksiazki
case DELIVER_TO_DESK:
{
// wyluskiwanie argumentow
int deskNumber = -1;
if (currentOperation.getArg0() instanceof DeskView) {
deskNumber = ((DeskView) currentOperation.getArg0()).getNumber();
} else {
deskNumber = (Integer) currentOperation.getArg0();
}
DeskView desk = environmentView.getDeskViewByNumber(deskNumber);
int isbn = -1;
if (currentOperation.getArg0() instanceof Book) {
isbn = ((Book) currentOperation.getArg1()).getIsbn();
} else {
isbn = (Integer) currentOperation.getArg1();
}
// jesli jestesmy na wlasciwym miejscu
if (desk.getRobotPadLocation().equals(controlledRobot.getLocation())) {
logger.level1("[DeliverAlgorithm] Konczenie wykonywania operacji: " + currentOperation);
currentOperation = null;
// oddawanie ksiazki
return new Decision(
DecisionType.PUT,
Turn.getTurn(controlledRobot.getLocation(), desk.getLocation(), 1),
isbn);
} else {
return new Decision(DecisionType.GO_TO_DESK, desk);
}
}
// odkladanie ksiazki
case DELIVER_TO_BOOKSHELF:
{
// wyluskiwanie argumentow
int isbn = -1;
if (currentOperation.getArg0() instanceof Book) {
isbn = ((Book) currentOperation.getArg0()).getIsbn();
} else {
isbn = (Integer) currentOperation.getArg0();
}
BookshelfView bookshelf = environmentView.getBookshelfViewByIsbn(isbn);
// jesli jestesmy na wlasciwym miejscu
if (bookshelf.getRobotPadLocation().equals(controlledRobot.getLocation())) {
logger.level1("[DeliverAlgorithm] Konczenie wykonywania operacji: " + currentOperation);
currentOperation = null;
// oddawanie ksiazki
return new Decision(
DecisionType.PUT,
Turn.getTurn(controlledRobot.getLocation(), bookshelf.getLocation(), 1),
isbn);
} else {
return new Decision(DecisionType.GO_TO_BOOKSHELF, bookshelf);
}
}
// pobieranie ksiazki z polki
case TAKE_FROM_DESK:
{
// wyluskiwanie argumentow
int deskNumber = -1;
if (currentOperation.getArg0() instanceof DeskView) {
deskNumber = ((DeskView) currentOperation.getArg0()).getNumber();
} else {
deskNumber = (Integer) currentOperation.getArg0();
}
DeskView desk = environmentView.getDeskViewByNumber(deskNumber);
int isbn = -1;
if (currentOperation.getArg0() instanceof Book) {
isbn = ((Book) currentOperation.getArg1()).getIsbn();
} else {
isbn = (Integer) currentOperation.getArg1();
}
// jesli jestesmy na wlasciwym miejscu
if (desk.getRobotPadLocation().equals(controlledRobot.getLocation())) {
logger.level1("[DeliverAlgorithm] Konczenie wykonywania operacji: " + currentOperation);
currentOperation = null;
// oddawanie ksiazki
return new Decision(
DecisionType.TAKE,
Turn.getTurn(controlledRobot.getLocation(), desk.getLocation(), 1),
isbn);
} else {
return new Decision(DecisionType.GO_TO_DESK, desk);
}
}
// pobieranie ksiazki z polki
case TAKE_FROM_BOOKSHELF:
{
// wyluskiwanie argumentow
int isbn = (Integer) currentOperation.getArg0();
BookshelfView bookshelf = environmentView.getBookshelfViewByIsbn(isbn);
// jesli jestesmy na wlasciwym miejscu
if (bookshelf.getRobotPadLocation().equals(controlledRobot.getLocation())) {
logger.level1("[DeliverAlgorithm] Konczenie wykonywania operacji: " + currentOperation);
currentOperation = null;
// oddawanie ksiazki
return new Decision(
DecisionType.TAKE,
Turn.getTurn(controlledRobot.getLocation(), bookshelf.getLocation(), 1),
isbn);
} else {
return new Decision(DecisionType.GO_TO_BOOKSHELF, bookshelf);
}
}
default:
throw new AlgorithmException("Ten blad nie powinien wystapic");
}
}