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 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 + ")");
}
}
}