示例#1
0
  public void calculateNextHop() {
    // look at list of travel points, and the list of occupiedPoints.
    // calculate next 3 areas and put them in the list movementQueue

    if (this.uiMap == null) return;
    if (this.uiMap.getCells() == null) return;
    if (this.travelPoints.size() == 0) return;

    this.moveMentQueue.clear();
    Point nextDest = this.travelPoints.get(0);
    AStar finder = new AStar();
    if (location.x == nextDest.x && location.y == nextDest.y) {
      this.moveMentQueue.add(location);
      movementVerified = true;
      return;
    } else {
      Cell[] path = finder.findPath(uiMap, location, nextDest);
      if (path != null) {
        if (path.length > 1) {
          this.moveMentQueue.add(path[1].getPosition());
        }
        if (path.length > 2) {
          this.moveMentQueue.add(path[2].getPosition());
        }
        if (path.length > 3) {
          this.moveMentQueue.add(path[3].getPosition());
        }
        // this.moveMentQueue.add(path[0].getPosition());
      } else {
        /*if(!lastClaimRejected)
        {
        this.moveMentQueue.clear();
        this.moveMentQueue.add(location);
        }*/
        uiMap = null;
        /*ACLMessage mapReq = new ACLMessage(ACLMessage.QUERY_IF);
        mapReq.addReceiver(guiAgents[0]);
        mapReq.setContent("Give me map");
        mapReq.setConversationId("map-request");
        this.send(mapReq);*/
        lastClaimRejected = true;
        addBehaviour(new MapUpdateRequest());
        return;
      }
    }

    // fill moveMentQueue with the 3 found locations
    addBehaviour(new HopRequest()); // one shot behaviour to claim the hop
  }
示例#2
0
  public Integer calculatePathCost(Point l) {
    // the agent has a current position and a list of points (travelPoints)
    // orderd to visit. return the current amount of spaces it has to move
    // before being idle again
    // temporarily add the given point to the end of travelPoints, a request
    // has been made how far the robot has to move to THAT point

    if (uiMap == null) return 1000000000;
    if (location.x == l.x && location.y == l.y) {
      return 0;
    }

    AStar finder = new AStar();
    Cell[] path = finder.findPath(uiMap, location, l);
    if (path != null) {
      int totalLength = path.length;

      // System.out.println("robot: " + this.getName() + " holdingitem: " + holdingItem.toString());

      if (holdingItem.x != 0 && holdingItem.y != 0 || nextDestination.size() > 0) {
        // System.out.println("I'm holding an item: " + this.getName());
        if (travelPoints.size() > 0) {
          Cell[] pth = finder.findPath(uiMap, location, travelPoints.get(0));
          if (pth != null) {
            totalLength += pth.length;
          } else {
            totalLength += 100;
          }
          for (int i = 0; i < travelPoints.size() - 1; i++) {
            Point srcDest = this.travelPoints.get(i);
            Point nxtDest = this.travelPoints.get(i + 1);
            Cell[] npth = finder.findPath(uiMap, srcDest, nxtDest);
            if (npth != null) {
              totalLength += npth.length;
            } else {
              totalLength += 100;
            }
            // totalLength += finder.findPath(uiMap, srcDest, nxtDest).length;
          }
        }
      }
      // System.out.println("This is the total length: " + totalLength + " me: " + this.getName());
      return totalLength;
    }

    return (5); // Debugging purpose in version without a loaded map
  }