public Pair<Area, Point2D> getEntrancePoint(Area dest) {
if (dest == null) {
log.error("why try to move to " + dest + "?????");
return null;
}
Path path = agent.move.getPathTo(Collections.singleton(dest), PoliceMove.class);
ArrayList<EntityID> pathArray = path.getIds();
if (pathArray.isEmpty()) {
log.error("path is empty. why????");
return null;
}
Edge inComingEdge;
if (pathArray.size() == 1) {
inComingEdge = dest.getEdgeTo(agent.location());
} else {
inComingEdge = dest.getEdgeTo(pathArray.get(pathArray.size() - 2));
}
if (inComingEdge == null) return new Pair<Area, Point2D>(dest, dest.getPositionPoint());
Line2D wallLine =
inComingEdge
.getLine(); // new Line2D(edge.getStartX(), edge.getStartY(), edge.getEndX() -
// edge.getStartX(), edge.getEndY() - edge.getStartY());
Vector2D offset;
if (AliGeometryTools.havecorrectDirection(dest)) {
offset = wallLine.getDirection().getNormal().normalised().scale(10);
} else {
offset = wallLine.getDirection().getNormal().normalised().scale(-10);
}
Point2D destXY = inComingEdge.getMidPoint().plus(offset);
return new Pair<Area, Point2D>(dest, destXY);
}
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));
}
public static Blockade hasIntersectionWithBlockades(Pair<Integer, Integer> point, Area a) {
double size = ReachablityConstants.AGENT_WIDTH * 1 * 6;
if (!(a instanceof Road)) return null;
Road road = (Road) a;
if (!road.isBlockadesDefined()) return null;
if (road.getBlockades().size() == 0) return null;
Ellipse2D.Double expandHuman =
new Ellipse2D.Double(a.getX() - size / 2, a.getY() - size / 2, size, size);
java.awt.geom.Area area = new java.awt.geom.Area(expandHuman);
for (Blockade b : road.getBlockades()) {
area.intersect(new java.awt.geom.Area(b.getShape()));
if (!area.isEmpty()) return b;
}
return null;
}
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);
}
@Override
public int getWeightFromXYToXY(Area area, Point2D start, Point2D end) {
int dstlength = ((int) start.distance(end)) / MoveConstants.DIVISION_UNIT;
if (area instanceof Building || !area.isBlockadesDefined()) return dstlength;
ReachablityState rs = Reachablity.isReachable((Road) area, start, end);
switch (rs) {
case Close:
return MoveConstants.UNREACHABLE_COST_FOR_GRAPH_WEIGTHING;
case FoggyClose:
return dstlength * 5;
case FoggyOpen:
return dstlength * 2;
default:
return dstlength;
}
}
@Override
public int getOpenWeight(Area insideArea, WorldGraphEdge wge) {
// if (((FireBrigadeAgent) model().sosAgent()).targetFireZone() != null) {
// SOSFireZone fz = ((FireBrigadeAgent)
// model().sosAgent()).targetFireZone().generalFireZone();
// if (fz != null)
// if (fz.convexHull.isInConvex(fz.convex, new Point(insideArea.getX(), insideArea.getY())))
// // return (wge.getLenght() / MoveConstants.DIVISION_UNIT) * 8;
// return MoveConstants.UNREACHABLE_COST;
// }
// // return MoveConstants.UNREACHABLE_COST;
// return (wge.getLenght() / MoveConstants.DIVISION_UNIT);
if (insideArea.getSOSGroundArea() < 4000000) return getBlockWeight(insideArea, wge);
return (wge.getLenght() / MoveConstants.DIVISION_UNIT);
}
@Override
public int getWeightToXY(Area area, Edge edge, Point2D dst) {
int dstlength = ((int) edge.getMidPoint().distance(dst)) / MoveConstants.DIVISION_UNIT;
if (area instanceof Building || !area.isBlockadesDefined()) return dstlength;
ReachablityState rs = Reachablity.isReachable((Road) area, edge, dst);
switch (rs) {
case Close:
return MoveConstants.UNREACHABLE_COST_FOR_GRAPH_WEIGTHING;
case FoggyClose:
// return dstlength * 2;
case FoggyOpen:
case Open:
default:
return dstlength;
}
}
public long getWeightTo(Area target, Class<? extends MoveType> type) {
long weightTo = moves.get(type.hashCode()).getWeightTo(target, target.getX(), target.getY());
if (weightTo < 0) log().error(new Error("why it become negetive here???"));
return weightTo;
}
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 + ")");
}
}
}