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);
}
public void move(Path path) throws SOSActionException {
log.info("moving to path: " + path);
if (path == null) {
log.error("path is null!!!");
moveToARandomArea();
}
justMakeReachable(path);
agent.move(path);
}
protected void move(Collection<? extends Area> destination) throws SOSActionException {
log.info("moving to: " + destination);
if (destination.isEmpty()) {
log.error("Move to empty destination????? random move....");
moveToARandomArea();
}
Path path = agent.move.getPathTo(destination, PoliceMove.class);
move(path);
}
@SuppressWarnings("unused")
private void moveToPointWithGoodReachablity(ArrayList<Pair<? extends Area, Point2D>> destinations)
throws SOSActionException {
log.info("moving to: " + destinations);
if (destinations.isEmpty()) {
log.error("Move to empty destination????? random move....");
moveToARandomArea();
}
Path path = agent.move.getPathToPoints(destinations, PoliceMove.class);
moveWithGoodReachablity(path);
}
public void makeReachableTo(List<? extends StandardEntity> targets) throws SOSActionException {
log.info("makeReachableTo " + targets);
ArrayList<Pair<? extends Area, Point2D>> reachableAreas =
new ArrayList<Pair<? extends Area, Point2D>>();
for (StandardEntity entity : targets) {
if (entity == null) {
log.error("A null entity passed to makeReachableTo!!! WHY?");
continue;
}
if (entity.getPositionPair() == null) {
log.error("A null position entity(" + entity + ") passed to makeReachableTo!!! WHY?");
continue;
}
if (!isReachableTo(entity)) {
reachableAreas.addAll(PoliceUtils.getReachableAreasPair(entity));
}
}
log.debug("reachableAreas = " + reachableAreas);
if (!reachableAreas.isEmpty()) {
moveToPoint(reachableAreas);
}
}
private static void setConstantsFromConfig(String[] args) throws IOException {
try {
config = new Config(new File("sos.config"));
CommandLineOptions.processArgs(args, config);
// if(config.getIntValue("sos.password")==SOSConstant.PASSWORD)
if (!SOSConstant.IS_CHALLENGE_RUNNING)
SOSConstant.IS_CHALLENGE_RUNNING = config.getBooleanValue("sos.IS_CHALLENGE_RUNNING", true);
if (!SOSConstant.NO_ANY_LOG)
SOSConstant.NO_ANY_LOG = config.getBooleanValue("sos.NO_ANY_LOG", true);
} catch (ConfigException e1) {
sosLogger.error(e1.getMessage());
}
}
