public SOSShape(int[] apexes) {
super();
if (apexes.length <= 4) {
errorReason = ("a shape with just 2 point???? what is the advantages?");
valid = false;
}
int count = apexes.length / 2;
int[] xs = new int[count];
int[] ys = new int[count];
for (int i = 0; i < count; ++i) {
xs[i] = apexes[i * 2];
ys[i] = apexes[i * 2 + 1];
}
this.xpoints = xs;
this.ypoints = ys;
this.npoints = count;
if (apexes.length == 0) {
errorReason = ("sos shape has error in defination!!!!!!apexes.length should be >0");
valid = false;
} else computeCenter(apexes);
if (!contains(centerX, centerY)) {
errorReason = ("[sos shape] center point not in shape!!!!!!");
valid = false;
}
if (SOSGeometryTools.computeArea(apexes) < 100) {
errorReason = ("[sos shape]Too Small Area....=" + SOSGeometryTools.computeArea(apexes));
valid = false;
}
}
private void checkAlakiStock(Path path) throws SOSActionException {
log().info("checking alaki stock");
CycleInformations cycleinfo1 = me.informationStacker.getInformations(1);
CycleInformations cycleinfo2 = me.informationStacker.getInformations(2);
CycleInformations cycleinfo3 = me.informationStacker.getInformations(3);
// Move Stock Move Stock Stock Stock
log().trace("cycleinfo1:" + cycleinfo1);
log().trace("cycleinfo2:" + cycleinfo2);
log().trace("cycleinfo3:" + cycleinfo3);
if (!(cycleinfo1.getAct() instanceof MoveAction)
|| cycleinfo1.getAct() instanceof StockMoveAction) return;
if (
/* !(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 + ")");
}
}
public static double distance(Building b1, Building b2) {
double distance = Integer.MAX_VALUE;
for (int i = 0; i < b1.getApexes().length / 2; i += 2) {
for (int j = 0; j < b2.getApexes().length / 2; j += 2) {
double dis =
SOSGeometryTools.distance(
b1.getApexes()[i], b1.getApexes()[i + 1], b2.getApexes()[j], b2.getApexes()[j + 1]);
if (dis < distance) distance = dis;
}
}
return distance;
}
@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);
}
}
}
}
// TODO add stopped time to 3 cycles
private void checkTraffic() throws SOSActionException {
log().info("Checking traffic");
if (me.time() < 4) {
log().debug("No Traffic! Beacuse time is less than 4");
return;
}
CycleInformations cycleinfo1 = me.informationStacker.getInformations(1);
CycleInformations cycleinfo2 = me.informationStacker.getInformations(2);
CycleInformations cycleinfo3 = me.informationStacker.getInformations(3);
if (cycleinfo1.getAct() instanceof MoveAction
&& cycleinfo2.getAct() instanceof MoveAction
&& cycleinfo3.getAct() instanceof MoveAction) {
// Path path1 = ((MoveAction) cycleinfo1.getAct()).getPath();
Path path2 = ((MoveAction) cycleinfo2.getAct()).getPath();
// Path path3 = ((MoveAction) cycleinfo3.getAct()).getPath();
log().info("Three(3) 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());
if (cycleinfo1.getPositionPair().first().equals(cycleinfo2.getPositionPair().first())
&& cycleinfo1.getPositionPair().first().equals(cycleinfo3.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) {
if (path2.getEdges() != null && !path2.getEdges()[0].haveTraffic()) {
this.traffic.add(new Pair<GraphEdge, Integer>(path2.getEdges()[0], me.time()));
path2.getEdges()[0].setHaveTraffic();
log().info("Traffic added to " + path2.getEdges()[0]);
}
}
}
}
}
private void computeCenter(int[] apexes) {
rescuecore2.geometry.Point2D p = SOSGeometryTools.computeCentroid(apexes);
centerX = (int) p.getX();
centerY = (int) p.getY();
if (apexes.length < 6) return;
try {
Point2D point1 = null, point2 = null, middlePoint = null;
ArrayList<rescuecore2.geometry.Point2D> twoPointOutOfLine = null;
if (!contains(centerX, centerY)) { // if the point is not inside the polygon
/////////////////////// finding a point inside polygon////////////////
FOR:
for (int i = 0; i < apexes.length - 2; i += 2) {
point1 = new rescuecore2.geometry.Point2D(apexes[i], apexes[i + 1]);
point2 = new rescuecore2.geometry.Point2D(apexes[i + 2], apexes[i + 3]);
middlePoint =
new rescuecore2.geometry.Point2D(
(apexes[i] + apexes[i + 2]) / 2, (apexes[i + 1] + apexes[i + 3]) / 2);
twoPointOutOfLine =
Utility.get2PointsAroundAPointOutOfLine(point1, point2, middlePoint, 2);
for (rescuecore2.geometry.Point2D point2d : twoPointOutOfLine) {
if (contains(point2d.getX(), point2d.getY())) {
centerX = (int) point2d.getX();
centerY = (int) point2d.getY();
break FOR;
}
}
}
/*
if (!contains(centerX, centerY)) {
debug.show("SOS Shape", new ShapeDebugFrame.AWTShapeInfo(this, "apexes=" + Arrays.toString(apexes), Color.blue, false),
new ShapeDebugFrame.Point2DShapeInfo(point1, "Point 1", Color.red, true),
new ShapeDebugFrame.Point2DShapeInfo(point2, "Point 2", Color.green, true),
new ShapeDebugFrame.Point2DShapeInfo(middlePoint, "middlePoint", Color.pink, true),
new ShapeDebugFrame.Point2DShapeInfo(twoPointOutOfLine.get(0), "twoPointOutOfLine 1", Color.magenta, true),
new ShapeDebugFrame.Point2DShapeInfo(twoPointOutOfLine.get(1), "twoPointOutOfLine 2", Color.black, true),
new ShapeDebugFrame.DetailInfo("area:" + SOSGeometryTools.computeAreaUnsigned(apexes))
);
}
*/
///////////////////////////////////////////////////////////////////////
}
} catch (Exception e) {
e.printStackTrace();
System.err.println(this.getClass().getSimpleName() + " have error" + e.getMessage());
}
}
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 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 + ")");
}
}
}