private void justMakeReachable(Path path) throws SOSActionException {
log.info("making reachable to " + path);
if (!PoliceConstants.IS_NEW_CLEAR) {
ArrayList<Blockade> blocks = new ArrayList<Blockade>();
ArrayList<Blockade> blockadeEdge = reachableWithEdge.getBlockingBlockadeOfPath(path);
blocks.addAll(blockadeEdge);
//
if (blocks.isEmpty()) {
blocks.addAll(reachablityTool.getBlockingBlockadeOfPath(path));
log.debug("clearableBlockadeToReachablebyReachablityTool is " + blocks);
// ArrayList<Blockade> blockadeEdge =
// clearableBlockadeToFullReachable.getBlockingBlockadeOfPath(path);
}
log.debug("clearableBlockadeToReachableWithEdge is " + blocks);
Blockade clearBlock = chooseBestBlockade(blocks);
if (clearBlock != null) clear(clearBlock);
else log.debug("No Blockade found---> we can move");
} else {
Point next = agent.degreeClearableToPoint.nextPointToClear(path, true, true);
if (next != null) {
// log.warn("clear at" + next);
clear(next);
}
}
}
private void justMakeReachableWithGoodReachablity(Path path) throws SOSActionException {
log.info("making reachable with good reachablity to " + path);
ArrayList<Blockade> blocks = reachablityTool.getBlockingBlockadeOfPath(path);
log.debug("clearableBlockadeToReachablebyReachablityTool is " + blocks);
ArrayList<Blockade> blockadeEdge = reachableWithEdge.getBlockingBlockadeOfPath(path);
blocks.addAll(blockadeEdge);
log.debug("clearableBlockadeToReachableWithEdge is " + blocks);
Blockade clearBlock = chooseBestBlockade(blocks);
if (clearBlock != null) clear(clearBlock);
else if (clearBlock == null && !blocks.isEmpty()) {
log.debug("No blockade is in range but the path is close!!! so move to close area");
ArrayList<Pair<? extends Area, Point2D>> dest =
new ArrayList<Pair<? extends Area, Point2D>>();
for (Blockade blockade : blocks) {
dest.add(blockade.getPositionPair());
}
path = agent.move.getPathToPoints(dest, PoliceMove.class);
agent.move(path);
} else log.debug("No Blockade found---> we can move");
}