@SuppressWarnings({"rawtypes", "unchecked"})
@Override
public void planBody() {
ABMBDILoggerSetter.setup(LOGGER);
// *System.out.println("["+agentID+"]"+"---IN IDLE PLAN BEFORE CALCULATE ROOT");
int noOfRoot = calculateNoOfRoot();
noOfRoot--; // This plan itself is considered as a TopLevelGoal root.
int noOfWait = ((SyncInteger) getBeliefbase().getBelief("noOfWait").getFact()).read();
// System.out.println("["+agentID+"]"+"---NO WAIT :"+noOfWait + "---NO ROOT :"+noOfRoot);
// This rechecks of condition is required,
// as there is a possibility of messages to be handed down during
if (noOfRoot == noOfWait) {
startAtomic();
// *System.out.println("["+agentID+"]"+"*****************IDLE*********");
// Prevent other plan to execute
getBeliefbase().getBelief("isIdle").setFact(true);
ISpaceObject myself = (ISpaceObject) getBeliefbase().getBelief("myself").getFact();
// idle
getBeliefbase().getBelief("agentState").setFact(IDLE);
Map parameters = new HashMap();
parameters.put("objectID", myself.getId());
parameters.put("objectType", myself.getType());
parameters.put("agentID", myself.getProperty("agentID"));
callEnvironmentAction("idle_action", parameters);
// LOGGER.info(myself.getProperty("agentID") + " IDLE");
endAtomic();
super.waitForFactChanged("agentState"); // agentState change will be triggered by Environment
int agentState = (Integer) getBeliefbase().getBelief("agentState").getFact();
// *System.out.println(agentID+"------just wake up");
// updateBelief
if (agentState == RUN_ACTION_PERCEPT || agentState == RUN_NOACTION_PERCEPT) {
updateAgentBeliefs();
}
// System.out.println("------belief updated :" + this);
// Signal Changes of Action State.
if (agentState == RUN_ACTION_PERCEPT || agentState == RUN_ACTION_NOPERCEPT) {
getBeliefbase()
.getBelief("actionChange")
.setFact(!((Boolean) getBeliefbase().getBelief("actionChange").getFact()));
// System.out.println("------belief updated :" + this);
}
getBeliefbase().getBelief("isIdle").setFact(false);
} else {
fail();
}
}
@Override
public void execute(
IEnvironmentSpace environment, ISpaceObject obj, long progress, IClockService clock) {
Vector2Int targetPosition = (Vector2Int) getProperty(PROPERTY_DESTINATION);
Collection<ISpaceObject> spaceObjectsByGridPosition =
((Grid2D) environment).getSpaceObjectsByGridPosition(targetPosition, null);
for (ISpaceObject spaceObject : spaceObjectsByGridPosition) {
for (MapType mapType : MapType.getOnlySolids()) {
if (mapType.toString().equals(spaceObject.getType())) {
currentTaskSpaceObject = (SpaceObject) spaceObject;
}
}
}
TileChanger tilechanger = new TileChanger((Grid2D) environment);
String neighborhood = (String) currentTaskSpaceObject.getProperty(ISO.Properties.NEIGHBORHOOD);
tilechanger
.addParameter("bearbeitung", new Integer(0))
.addParameter(ISO.Properties.STATUS, "byImpCreated")
.addParameter(ISO.Properties.CLICKED, false)
.addParameter(ISO.Properties.LOCKED, false)
.addParameter(ISO.Properties.NEIGHBORHOOD, neighborhood)
.addParameter(ISO.Properties.INTPOSITION, targetPosition)
.addParameter(
ISO.Properties.DOUBLE_POSITION,
new Vector2Double(targetPosition.getXAsDouble(), targetPosition.getYAsDouble()))
.changeTile(
targetPosition,
MapType.DIRT_PATH,
new ArrayList<MapType>(Arrays.asList(MapType.GOLD_DROPED)));
// imp stop claiming the sector ground
obj.setProperty(ISObjStrings.PROPERTY_STATUS, "Idle");
this.setFinished(environment, obj, true);
}
private IFuture<Void> reachTargetDestination(final Task currentImpTask) {
final Future<Void> ret = new Future<Void>();
final Vector2Int currentImpTaskPosition = currentImpTask.getTargetPosition();
Collection<ISpaceObject> spaceObjectsByGridPosition =
environment.getSpaceObjectsByGridPosition(currentImpTask.getTargetPosition(), null);
for (ISpaceObject spaceObject : spaceObjectsByGridPosition) {
if (MapType.DIRT_PATH.toString().equals(spaceObject.getType())) {
currentTaskSpaceObject = (SpaceObject) spaceObject;
}
}
if (currentImpTaskPosition != null && currentTaskSpaceObject != null) {
// went to the position where the imp can dig from
if (currentImpTask.getTargetPosition() != null) {
IFuture<AchieveMoveToSector> reachSectorToDigFrom =
rplan.dispatchSubgoal(capa.new AchieveMoveToSector(currentImpTask.getTargetPosition()));
reachSectorToDigFrom.addResultListener(
new ExceptionDelegationResultListener<AbstractCreatureBDI.AchieveMoveToSector, Void>(
ret) {
public void customResultAvailable(AbstractCreatureBDI.AchieveMoveToSector amt) {
claimSector(currentImpTask)
.addResultListener(
new DelegationResultListener<Void>(ret) {
public void customResultAvailable(Void result) {
// add new Tile and remove the old, claim the sector ground
Map<String, Object> props = new HashMap<String, Object>();
props.put("Task", currentImpTask);
props.put(
ClaimSectorChangeTileTask.PROPERTY_DESTINATION,
currentImpTask.getTargetPosition());
claimtaskid =
capa.getEnvironment()
.createObjectTask(
ClaimSectorChangeTileTask.PROPERTY_TYPENAME,
props,
capa.getMySpaceObject().getId());
cplan
.invokeInterruptable(
new IResultCommand<IFuture<Void>, Void>() {
public IFuture<Void> execute(Void args) {
return capa.getEnvironment()
.waitForTask(
claimtaskid, capa.getMySpaceObject().getId());
}
})
.addResultListener(new DelegationResultListener<Void>(ret));
ret.setResult(null);
}
});
}
});
} else {
// TODO: fail!! sector from task should be reachable for destroy
// => catch
System.out.println("fail!! sector from task should be reachable for destroy ");
capa.getMySpaceObject().setProperty(ISObjStrings.PROPERTY_STATUS, "Idle");
rplan.abort();
}
} else {
System.out.println("ClaimSectorPlan: Task has no Int Position");
rplan.abort();
}
return ret;
}
