示例#1
0
  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);
  }
示例#2
0
文件: Move.java 项目: jpollo/rcrss
  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 + ")");
  }
示例#3
0
文件: Move.java 项目: jpollo/rcrss
  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 + ")");
      }
    }
  }