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[Jason-developers] SF.net SVN: jason: [1233] trunk/applications/jason-team
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From: <jom...@us...> - 2008-04-20 20:16:55
|
Revision: 1233
http://jason.svn.sourceforge.net/jason/?rev=1233&view=rev
Author: jomifred
Date: 2008-04-20 13:16:53 -0700 (Sun, 20 Apr 2008)
Log Message:
-----------
update jason team
add massim monitor
Modified Paths:
--------------
trunk/applications/jason-team/AC-Local-JasonTeam.mas2j
trunk/applications/jason-team/massim-agents/demoAgent.jar
trunk/applications/jason-team/src/asl/dummy.asl
trunk/applications/jason-team/src/java/agent/UniqueBelsBB.java
trunk/applications/jason-team/src/java/arch/ACArchitecture.java
trunk/applications/jason-team/src/java/arch/ACProxy.java
trunk/applications/jason-team/src/java/arch/CowboyArch.java
trunk/applications/jason-team/src/java/arch/LocalWorldModel.java
trunk/applications/jason-team/src/java/env/WorldModel.java
trunk/applications/jason-team/src/java/env/WorldView.java
trunk/applications/jason-team/src/java/jia/Search.java
trunk/applications/jason-team/src/java/jia/Vec.java
trunk/applications/jason-team/src/java/jia/herd_position.java
trunk/applications/jason-team/src/java/test/TestBasicHerding.java
Added Paths:
-----------
trunk/applications/jason-team/doc/scenario-r4.pdf
trunk/applications/jason-team/massim-server/massim/rmi/
trunk/applications/jason-team/massim-server/massim/rmi/SimulationStateServer.class
trunk/applications/jason-team/massim-server/massim/rmi/SimulationStateServerObserver$SimulationStateServerImplementation.class
trunk/applications/jason-team/massim-server/massim/rmi/SimulationStateServerObserver.class
trunk/applications/jason-team/massim-server/massim/rmi/StringMapServer.class
trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentObserver$XMLDocumentServerImplementation.class
trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentObserver.class
trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentServer.class
trunk/applications/jason-team/massim-servermonitor/
trunk/applications/jason-team/massim-servermonitor/LICENSE
trunk/applications/jason-team/massim-servermonitor/README
trunk/applications/jason-team/massim-servermonitor/massimServerMonitor.jar
trunk/applications/jason-team/massim-servermonitor/startMonitor.sh
Removed Paths:
-------------
trunk/applications/jason-team/doc/scenario-r3.pdf
Modified: trunk/applications/jason-team/AC-Local-JasonTeam.mas2j
===================================================================
--- trunk/applications/jason-team/AC-Local-JasonTeam.mas2j 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/AC-Local-JasonTeam.mas2j 2008-04-20 20:16:53 UTC (rev 1233)
@@ -11,7 +11,7 @@
agents:
gaucho1 dummy.asl
- [verbose=1, gui=no, write_status=yes, ac_sim_back_dir="./massim-server/backup",
+ [verbose=1, gui=yes, write_status=yes, ac_sim_back_dir="./massim-server/backup",
host="localhost", port=12300, username=participant1, password="1"]
agentArchClass arch.ACArchitecture
agentClass agent.SelectEvent
Deleted: trunk/applications/jason-team/doc/scenario-r3.pdf
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Modified: trunk/applications/jason-team/massim-agents/demoAgent.jar
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Added: trunk/applications/jason-team/massim-server/massim/rmi/SimulationStateServer.class
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___________________________________________________________________
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Property changes on: trunk/applications/jason-team/massim-server/massim/rmi/SimulationStateServerObserver$SimulationStateServerImplementation.class
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Property changes on: trunk/applications/jason-team/massim-server/massim/rmi/SimulationStateServerObserver.class
___________________________________________________________________
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===================================================================
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Property changes on: trunk/applications/jason-team/massim-server/massim/rmi/StringMapServer.class
___________________________________________________________________
Name: svn:mime-type
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Added: trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentObserver$XMLDocumentServerImplementation.class
===================================================================
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Property changes on: trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentObserver$XMLDocumentServerImplementation.class
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===================================================================
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Property changes on: trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentObserver.class
___________________________________________________________________
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+ application/octet-stream
Added: trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentServer.class
===================================================================
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Property changes on: trunk/applications/jason-team/massim-server/massim/rmi/XMLDocumentServer.class
___________________________________________________________________
Name: svn:mime-type
+ application/octet-stream
Added: trunk/applications/jason-team/massim-servermonitor/LICENSE
===================================================================
--- trunk/applications/jason-team/massim-servermonitor/LICENSE (rev 0)
+++ trunk/applications/jason-team/massim-servermonitor/LICENSE 2008-04-20 20:16:53 UTC (rev 1233)
@@ -0,0 +1,353 @@
+###############################################################
+# Multi-Agent Programming Contest 2008 #
+# #
+# Support package MASSim servermonitor #
+# LICENSE file for the MASSim servermonitor package #
+# #
+# For the details on the contest, check the Contest website: #
+# http://cig.in.tu-clausthal.de/agentcontest2008/ #
+# #
+# Organizers: #
+# J. Dix, M. Dastani, P. Novak, T.M. Behrens #
+###############################################################
+
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
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Added: trunk/applications/jason-team/massim-servermonitor/README
===================================================================
--- trunk/applications/jason-team/massim-servermonitor/README (rev 0)
+++ trunk/applications/jason-team/massim-servermonitor/README 2008-04-20 20:16:53 UTC (rev 1233)
@@ -0,0 +1,58 @@
+###############################################################
+# Multi-Agent Programming Contest 2008 #
+# #
+# Support package MASSim servermonitor #
+# README file for the MASSim servermonitor package #
+# #
+# For the details on the contest, check the Contest website: #
+# http://cig.in.tu-clausthal.de/agentcontest2008/ #
+# #
+# Organizers: #
+# J. Dix, M. Dastani, P. Novak, T.M. Behrens #
+###############################################################
+
+MASSim servermonitor package.
+
+1. Prerequisites.
+
+You only need the sun-java5 / sun-java6 (jre and jdk) installed to run the server.
+
+2. Installing and running.
+
+·Unpack the file anywhere:
+ tar xzvf massim-ServerMonitor-version.tag.gz -C output_dir
+
+·Switch to the new directory:
+ cd output_dir/massim-ServerMonitor
+
+·Run the script provided in the package:
+ ./startMonitor.sh
+
+3. Options.
+You can pass to startMonitor.sh script any of the following parameters:
+ --help Displays the help
+ --host <RMI hostname> Hostname of the computer where the massim-server is running
+ --port <RMI port> Port of the rmiregistry
+ --service <RMI servicename> See 4 for details
+ --sleeptime <time> Thread sleeptime in ms
+ --disable-stylesheets Disables reading of configfile and stylesheet use
+ --conf <configfile>
+
+If no parameters are given default values will be used.
+Default values:
+ host = localhost
+ port = 1099
+ service = xmlsimulation
+ sleeptime = 10000ms
+ conf = configfile contained in servermonitor.jar
+
+4. RMI servicesnames
+ xmlsimulation Simulation dependend statistics (number of steps, agentscores, ...)
+ statistics Statistics for the tournament (ranking, results of simulations, ...)
+ server2 Statistics of connected agents (name, port, ip)
+
+5. Questions, problems, suggestions, ...
+
+please, ask to the Agent Contest 2008 mail-list agentcontest2008-general [at] in.tu-clausthal.de
+or for more fast communication: jens.dehnert [at] tu-clausthal.de or slawomir.deren [at] tu-clausthal.de
+
Added: trunk/applications/jason-team/massim-servermonitor/massimServerMonitor.jar
===================================================================
(Binary files differ)
Property changes on: trunk/applications/jason-team/massim-servermonitor/massimServerMonitor.jar
___________________________________________________________________
Name: svn:mime-type
+ application/octet-stream
Added: trunk/applications/jason-team/massim-servermonitor/startMonitor.sh
===================================================================
--- trunk/applications/jason-team/massim-servermonitor/startMonitor.sh (rev 0)
+++ trunk/applications/jason-team/massim-servermonitor/startMonitor.sh 2008-04-20 20:16:53 UTC (rev 1233)
@@ -0,0 +1,8 @@
+###################################
+#!/bin/sh #
+###################################
+
+clear
+
+echo "Launching Monitor"
+java -jar massimServerMonitor.jar $*
\ No newline at end of file
Property changes on: trunk/applications/jason-team/massim-servermonitor/startMonitor.sh
___________________________________________________________________
Name: svn:executable
+ *
Modified: trunk/applications/jason-team/src/asl/dummy.asl
===================================================================
--- trunk/applications/jason-team/src/asl/dummy.asl 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/asl/dummy.asl 2008-04-20 20:16:53 UTC (rev 1233)
@@ -29,44 +29,60 @@
not jia.obstacle(X,Y).
// whether some location X,Y has an agent and I am near that location
+/*
agent_in_target :-
pos(AgX,AgY,_) &
target(TX,TY) &
(cell(TX,TY,ally(_)) | cell(TX,TY,enemy(_)) | cell(TX,TY,cow(_))) &
jia.dist(TX,TY,AgX,AgY,D) &
D <= 2. // this number should be the same used by A* (DIST_FOR_AG_OBSTACLE constant)
+*/
/* -- initial goal */
-!move.
+!decide_target.
-/* -- reaction to cows -- */
+/* -- reaction to some perceptions -- */
+// revise target when see first cow
+pos(_,_,_) // new cycle
- : cell(_,_,cow(_)) // I see cows
+ : goal(search) & cell(_,_,cow(_)) // I see cows and was searching
<- !decide_target.
+
+// revise target each 4 steps
++pos(Step,_,_) // new cycle
+ : Step mod 4 == 0
+ <- !decide_target.
-/* -- what todo when arrive at location */
+/* -- decide a new target -- */
++!decide_target
+ : not pos(_,_,_)
+ <- .print("waiting my location....");
+ .wait("+pos(_,_,_)");
+ !decide_target.
+
+!decide_target
- : jia.herd_position(X,Y) & // compute new location
- (not target(_,_) | (target(TX,TY) & (TX \== X | TY \== Y))) // no target OR new target?
- <- .print("COWS! going to ",X,",",Y," previous target ",TX,",",TY);
+ : jia.herd_position(six,X,Y) //& // compute new location
+ //(not target(_,_) | (target(TX,TY) & (TX \== X | TY \== Y))) // no target OR new target
+ <- .print("COWS! going to ",X,",",Y); //," previous target ",TX,",",TY);
+ -+goal(herd);
-+target(X,Y).
+!decide_target // chose a new random pos
: not cell(_,_,cow(_))
<- ?random_pos(NX,NY);
.print("New random target: ",NX,",",NY);
+ -+goal(search);
-+target(NX,NY).
+
+//+!decide_target
+// <- .print("No need for a new target, consider last herding location.");
+// do(skip). // send an action so that the simulator does not wait for me.
-+!decide_target
- <- .print("No need for a new target, consider last herding location.");
- do(skip). // send an action so that the simulator does not wait for me.
-
/* -- plans to move to a destination represented in the belief target(X,Y)
-- (it is a kind of persistent goal)
*/
@@ -84,8 +100,28 @@
.wait("+pos(_,_,_)");
!move.
++!move
+ : not target(_,_)
+ <- .print("waiting my target....");
+ .wait("+target(_,_)");
+ !move.
+
++!move
+ : pos(X,Y,_) & target(X,Y) // I am at target
+ <- -+at_target;
+ do(skip);
+ !!move.
+
+// does one step towards target
++!move
+ : pos(X,Y,_) &
+ target(BX,BY) &
+ jia.direction(X, Y, BX, BY, D) // jia.direction finds one action D (using A*) towards the target
+ <- do(D); // this action will "block" the intention until it is sent to the simulator (in the end of the cycle)
+ !!move. // continue moving
+
// find a new destination
-+!move
+/*+!move
: pos(X,Y,_) &
(not target(_,_) | // I have no target OR
target(X,Y) | // I am at target OR
@@ -93,26 +129,18 @@
agent_in_target | // there is an agent in the target
(target(BX,BY) & jia.direction(X, Y, BX, BY, skip))) // is impossible to go to target
<- !decide_target.
-
-// does one step towards target
-+!move
- : pos(X,Y,_) &
- target(BX,BY) &
- jia.direction(X, Y, BX, BY, D) // jia.direction finds one action D (using A*) towards the target
- <- do(D); // this action will "block" the intention until it is sent to the simulator (in the end of the cycle)
- !!move. // continue moving
+*/
// in case of failure, move
-!move
<- .current_intention(I); .println("failure in move, intention: ",I);
!move.
-
+restart
<- .print("*** restart ***");
.drop_all_desires;
.abolish(target(_,_));
- !move.
+ !decide_target.
/* -- tests -- */
Modified: trunk/applications/jason-team/src/java/agent/UniqueBelsBB.java
===================================================================
--- trunk/applications/jason-team/src/java/agent/UniqueBelsBB.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/agent/UniqueBelsBB.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -45,7 +45,7 @@
Literal linbb = null;
boolean remove = false;
- Iterator<Literal> relevant = getRelevant(bel);
+ Iterator<Literal> relevant = getCandidateBeliefs(bel, null);
if (relevant != null) {
final int kbArity = kb.getArity();
while (relevant.hasNext() && !remove) {
Modified: trunk/applications/jason-team/src/java/arch/ACArchitecture.java
===================================================================
--- trunk/applications/jason-team/src/java/arch/ACArchitecture.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/arch/ACArchitecture.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -144,7 +144,10 @@
void newCycle() {
String w = "";
- if (lastActionInCurrentCycle == null) w = "*** ";
+ if (lastActionInCurrentCycle == null) {
+ w = "*** ";
+ addRestart();
+ }
logger.info(w+"Last sent action was "+lastActionInCurrentCycle+" for cycle "+getCycle()+". The following was not sent: "+toExecute);
setLastAct(lastActionInCurrentCycle);
Modified: trunk/applications/jason-team/src/java/arch/ACProxy.java
===================================================================
--- trunk/applications/jason-team/src/java/arch/ACProxy.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/arch/ACProxy.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -160,7 +160,7 @@
lpos.addTerm(new NumberTermImpl(step));
percepts.add(lpos);
- arq.getModel().clearCowsList();
+ arq.initKnownCows();
int enemyId = 1;
// add in perception what is around
@@ -211,12 +211,13 @@
}
}
- //if (logger.isLoggable(Level.FINE))
- logger.info("Request action for "+lpos+" / "+rid + " percepts: "+percepts);
arq.perceptionRatioPerceived(maxx);
+ arq.sendCowsToTeam();
arq.startNextStep(step, percepts);
+ //if (logger.isLoggable(Level.FINE))
+ logger.info("Request action for "+lpos+" / percepts: "+percepts);
} catch (Exception e) {
logger.log(Level.SEVERE, "error processing request",e);
}
Modified: trunk/applications/jason-team/src/java/arch/CowboyArch.java
===================================================================
--- trunk/applications/jason-team/src/java/arch/CowboyArch.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/arch/CowboyArch.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -13,6 +13,7 @@
import jason.mas2j.ClassParameters;
import jason.runtime.Settings;
+import java.util.Collection;
import java.util.Iterator;
import java.util.logging.Level;
import java.util.logging.Logger;
@@ -83,6 +84,10 @@
simId = id;
}
+ public boolean hasGUI() {
+ return gui;
+ }
+
public int getMyId() {
if (myId < 0) {
myId = getAgId(getAgName());
@@ -162,7 +167,8 @@
lo3 = new Location(-1,-1),
lo4 = new Location(-1,-1),
lo5 = new Location(-1,-1),
- lo6 = new Location(-1,-1);
+ lo6 = new Location(-1,-1),
+ lo7 = new Location(-1,-1);
Location oldLoc;
@@ -203,6 +209,7 @@
}
}
+ lo7 = lo6;
lo6 = lo5;
lo5 = lo4;
lo4 = lo3;
@@ -211,23 +218,27 @@
lo1 = new Location(x,y);
if (isRobotFrozen()) {
- try {
- logger.info("** Arch adding restart for "+getAgName());
- getTS().getC().create();
-
- getTS().getAg().getBB().abolish(new Literal("restart").getPredicateIndicator());
- getTS().getAg().addBel(new Literal("restart"));
- lo2 = new Location(-1,-1); // to not restart again in the next cycle
- } catch (Exception e) {
- logger.info("Error in restart!"+ e);
- }
+ addRestart();
}
}
/** returns true if the agent do not move in the last 5 location perception */
public boolean isRobotFrozen() {
- return lo1.equals(lo2) && lo2.equals(lo3) && lo3.equals(lo4) && lo4.equals(lo5) && lo5.equals(lo6);
+ return lo1.equals(lo2) && lo2.equals(lo3) && lo3.equals(lo4) && lo4.equals(lo5) && lo5.equals(lo6) && lo6.equals(lo7);
}
+
+ protected void addRestart() {
+ try {
+ logger.info("** Arch adding restart for "+getAgName());
+ getTS().getC().create();
+
+ getTS().getAg().getBB().abolish(new Literal("restart").getPredicateIndicator());
+ getTS().getAg().addBel(new Literal("restart"));
+ lo2 = new Location(-1,-1); // to not restart again in the next cycle
+ } catch (Exception e) {
+ logger.info("Error in restart!"+ e);
+ }
+ }
public static Literal createCellPerception(int x, int y, Term obj) {
Literal l = new Literal("cell");
@@ -237,9 +248,23 @@
return l;
}
+ private static final Literal cowstoclean = Literal.parseLiteral("cell(_,_,cow(_))");
+ synchronized void initKnownCows() throws RevisionFailedException {
+ model.clearCows();
+ getTS().getAg().abolish(cowstoclean, null);
+ }
void cowPerceived(int x, int y) {
model.addCow(x,y);
}
+
+ void sendCowsToTeam() {
+ try {
+ Message m = new Message("tell-cows", null, null, model.getCows());
+ broadcast(m);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
void enemyPerceived(int x, int y) {
model.add(WorldModel.ENEMY, x, y);
@@ -276,8 +301,9 @@
}
}
+ @SuppressWarnings("unchecked")
@Override
- public void checkMail() {
+ synchronized public void checkMail() {
try {
super.checkMail();
@@ -286,38 +312,45 @@
Iterator<Message> im = getTS().getC().getMailBox().iterator();
while (im.hasNext()) {
Message m = im.next();
- String ms = m.getPropCont().toString();
- if (ms.startsWith("cell") && ms.endsWith("obstacle)") && model != null) {
- Literal p = (Literal)m.getPropCont();
- int x = (int)((NumberTerm)p.getTerm(0)).solve();
- int y = (int)((NumberTerm)p.getTerm(1)).solve();
- if (model.inGrid(x,y)) {
- model.add(WorldModel.OBSTACLE, x, y);
- if (acView != null) acView.addObject(WorldModel.OBSTACLE, x, y);
+ if (m.getIlForce().equals("tell-cows")) {
+ for (Location l: (Collection<Location>)m.getPropCont()) {
+ cowPerceived(l.x, l.y);
}
im.remove();
- //getTS().getAg().getLogger().info("received obs="+p);
-
- } else if (ms.startsWith("my_status") && model != null) {
- // update others location
- Literal p = Literal.parseLiteral(m.getPropCont().toString());
- int x = (int)((NumberTerm)p.getTerm(0)).solve();
- int y = (int)((NumberTerm)p.getTerm(1)).solve();
- if (model.inGrid(x,y)) {
- try {
- int agid = getAgId(m.getSender());
- model.setAgPos(agid, x, y);
- if (acView != null) acView.getModel().setAgPos(agid, x, y);
- model.incVisited(x, y);
- //getTS().getAg().getLogger().info("ag pos "+getMinerId(m.getSender())+" = "+x+","+y);
- Structure tAlly = new Structure("ally");
- tAlly.addTerm(new Atom(m.getSender()));
- getTS().getAg().addBel( createCellPerception(x, y, tAlly));
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- im.remove();
+ } else {
+ String ms = m.getPropCont().toString();
+ if (ms.startsWith("cell") && ms.endsWith("obstacle)") && model != null) {
+ Literal p = (Literal)m.getPropCont();
+ int x = (int)((NumberTerm)p.getTerm(0)).solve();
+ int y = (int)((NumberTerm)p.getTerm(1)).solve();
+ if (model.inGrid(x,y)) {
+ model.add(WorldModel.OBSTACLE, x, y);
+ if (acView != null) acView.addObject(WorldModel.OBSTACLE, x, y);
+ }
+ im.remove();
+ //getTS().getAg().getLogger().info("received obs="+p);
+
+ } else if (ms.startsWith("my_status") && model != null) {
+ // update others location
+ Literal p = Literal.parseLiteral(m.getPropCont().toString());
+ int x = (int)((NumberTerm)p.getTerm(0)).solve();
+ int y = (int)((NumberTerm)p.getTerm(1)).solve();
+ if (model.inGrid(x,y)) {
+ try {
+ int agid = getAgId(m.getSender());
+ model.setAgPos(agid, x, y);
+ if (acView != null) acView.getModel().setAgPos(agid, x, y);
+ model.incVisited(x, y);
+ //getTS().getAg().getLogger().info("ag pos "+getMinerId(m.getSender())+" = "+x+","+y);
+ Structure tAlly = new Structure("ally");
+ tAlly.addTerm(new Atom(m.getSender()));
+ getTS().getAg().addBel( createCellPerception(x, y, tAlly));
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ im.remove();
+ }
}
}
} catch (Exception e) {
Modified: trunk/applications/jason-team/src/java/arch/LocalWorldModel.java
===================================================================
--- trunk/applications/jason-team/src/java/arch/LocalWorldModel.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/arch/LocalWorldModel.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -3,8 +3,11 @@
import jason.environment.grid.Location;
import java.util.ArrayList;
+import java.util.Collection;
+import java.util.HashSet;
import java.util.List;
import java.util.Random;
+import java.util.Set;
import env.WorldModel;
@@ -21,7 +24,7 @@
private Random random = new Random();
- List<Location> cows = new ArrayList<Location>();
+ Set<Location> cows = new HashSet<Location>();
//private Logger logger = Logger.getLogger("jasonTeamSimLocal.mas2j." + LocalWorldModel.class.getName());
@@ -44,7 +47,8 @@
}
}
- public void clearCowsList() {
+ public void clearCows() {
+ removeAll(WorldModel.COW);
cows.clear();
}
public void addCow(int x, int y) {
@@ -54,7 +58,7 @@
public void addCow(Location l) {
addCow(l.x, l.y);
}
- public List<Location> getCows() {
+ public Collection<Location> getCows() {
return cows;
}
@@ -75,6 +79,18 @@
}
}
+ public int countObjInArea(int obj, Location startPoint, int size) {
+ int c = 0;
+ for (int x = startPoint.x-size; x <= startPoint.x+size; x++) {
+ for (int y = startPoint.y-size; y <= startPoint.y+size; y++) {
+ if (hasObject(obj, x, y)) {
+ c++;
+ }
+ }
+ }
+ return c;
+ }
+
public int getVisited(Location l) {
return visited[l.x][l.y];
}
Modified: trunk/applications/jason-team/src/java/env/WorldModel.java
===================================================================
--- trunk/applications/jason-team/src/java/env/WorldModel.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/env/WorldModel.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -17,6 +17,7 @@
public static final int CORRAL = 32;
public static final int ENEMY = 64;
public static final int TARGET = 128; // one agent target location
+ public static final int FORPLACE = 256; // a place in a formation
public static final int nbActions = 8;
@@ -164,6 +165,14 @@
return maxSteps;
}
+ public void removeAll(int obj) {
+ for (int i = 0; i < width; i++) {
+ for (int j = 0; j < height; j++) {
+ if (hasObject(obj, i, j))
+ remove(obj, i, j);
+ }
+ }
+ }
/** Actions **/
Modified: trunk/applications/jason-team/src/java/env/WorldView.java
===================================================================
--- trunk/applications/jason-team/src/java/env/WorldView.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/env/WorldView.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -202,6 +202,7 @@
case WorldModel.COW: drawCow(g, x, y); break;
case WorldModel.ENEMY: drawEnemy(g, x, y); break;
case WorldModel.TARGET: drawTarget(g, x, y); break;
+ case WorldModel.FORPLACE: drawFormPlace(g, x, y); break;
}
}
@@ -269,6 +270,15 @@
g.drawRect(x * cellSizeW + 4, y * cellSizeH + 4, cellSizeW - 8, cellSizeH - 8);
}
+ public void drawFormPlace(Graphics g, int x, int y) {
+ g.setColor(Color.green);
+ g.drawRect(x * cellSizeW + 2, y * cellSizeH + 2, cellSizeW - 4, cellSizeH - 4);
+ g.setColor(Color.lightGray);
+ g.drawRect(x * cellSizeW + 3, y * cellSizeH + 3, cellSizeW - 6, cellSizeH - 6);
+ g.setColor(Color.gray);
+ g.drawRect(x * cellSizeW + 4, y * cellSizeH + 4, cellSizeW - 8, cellSizeH - 8);
+ }
+
public void drawCow(Graphics g, int x, int y) {
g.setColor(Color.black);
g.drawRect(x * cellSizeW + 2, y * cellSizeH + 2, cellSizeW - 4, cellSizeH - 4);
Modified: trunk/applications/jason-team/src/java/jia/Search.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/Search.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/jia/Search.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -211,36 +211,13 @@
int cost = 1;
if (ia.considerCowsAsObstacles) {
- cost += countCowsBeside(newl,1);
- cost += countCowsBeside(newl,2);
+ cost += ia.model.countObjInArea(WorldModel.CORRAL, newl,1);
+ cost += ia.model.countObjInArea(WorldModel.CORRAL, newl,2);
}
s.add(new GridState(newl,op,ia, cost));
}
-
- private int countCowsBeside(Location l, int d) {
- int c = 0;
- for (int x = l.x-d; x <= l.x+d; x++) {
- for (int y = l.y-d; y <= l.y+d; y++) {
- if (ia.model.hasObject(WorldModel.COW, x, y)) {
- c++;
- }
- }
- }
- return c;
- /*
- if (ia.model.hasObject(WorldModel.COW, l.x, l.y)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x+1, l.y)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x-1, l.y)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x, l.y+1)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x, l.y-1)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x+1, l.y+1)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x-1, l.y+1)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x+1, l.y-1)) c++;
- if (ia.model.hasObject(WorldModel.COW, l.x-1, l.y-1)) c++;
- */
- }
-
+
public boolean equals(Object o) {
if (o != null && o instanceof GridState) {
GridState m = (GridState)o;
Modified: trunk/applications/jason-team/src/java/jia/Vec.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/Vec.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/jia/Vec.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -10,10 +10,12 @@
public class Vec implements Cloneable {
- public final int x,y;
+ public final double x,y;
public final double r,t;
- public Vec(int x, int y) {
+ public static final double PI2 = 2.0 * Math.PI;
+
+ public Vec(double x, double y) {
this.x = x;
this.y = y;
this.r = Math.sqrt(x*x + y*y);
@@ -28,13 +30,13 @@
this.t = Math.atan2(y,x);
}
- public int getX() { return x; }
- public int getY() { return y; }
+ public int getX() { return (int)Math.round(x); }
+ public int getY() { return (int)Math.round(y); }
public double magnitude() { return r; }
public double angle() { return t; }
- public Location getLocation(LocalWorldModel model) {
- return new Location(x, model.getHeight()-y-1);
+ public Location getLocation(LocalWorldModel model) {
+ return new Location(getX(), model.getHeight()-getY()-1);
}
public Vec add(Vec v) {
@@ -46,6 +48,11 @@
public Vec product(double e) {
return new Vec((int)(x * e), (int)(y *e));
}
+ public Vec newAngle(double t) {
+ while (t > PI2) t = t - PI2;
+ while (t < 0) t = t + PI2;
+ return new Vec(r*Math.cos(t), r*Math.sin(t));
+ }
@Override
public boolean equals(Object o) {
@@ -53,7 +60,7 @@
if (o == this) return true;
if (o instanceof Vec) {
Vec v = (Vec)o;
- return (x == v.x) && (y == v.y);
+ return (getX() == v.getX()) && (getY() == v.getY());
}
return false;
}
@@ -151,6 +158,6 @@
@Override
public String toString() {
- return x + "," + y;
+ return getX() + "," + getY();
}
}
Modified: trunk/applications/jason-team/src/java/jia/herd_position.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/herd_position.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/jia/herd_position.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -14,6 +14,7 @@
import arch.CowboyArch;
import arch.LocalWorldModel;
import busca.Nodo;
+import env.WorldModel;
/**
* Gives a good location to herd cows
@@ -24,17 +25,31 @@
public static final double maxStdDev = 3;
+ public enum Formation {
+ one { int[] getAngles() { return new int[] { 0 }; } },
+ six { int[] getAngles() { return new int[] { 10, -10, 30, -30, 60, -60 }; } };
+ abstract int[] getAngles();
+ };
+
@Override
public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
try {
+ CowboyArch arch = (CowboyArch)ts.getUserAgArch();
+ LocalWorldModel model = arch.getModel();
+ if (model == null)
+ return false;
- LocalWorldModel model = ((CowboyArch)ts.getUserAgArch()).getModel();
-
- Location agTarget = getAgTarget(model);
+ Location agLoc = model.getAgPos(arch.getMyId());
+
+ // update GUI
+ if (arch.hasGUI())
+ setFormationLoc(model, Formation.valueOf(terms[0].toString()));
+
+ Location agTarget = getAgTarget(model,Formation.valueOf(terms[0].toString()), agLoc);
if (agTarget != null) {
- agTarget = model.nearFree(agTarget);
- return un.unifies(terms[0], new NumberTermImpl(agTarget.x)) &&
- un.unifies(terms[1], new NumberTermImpl(agTarget.y));
+ agTarget = nearFreeForAg(model, agLoc, agTarget);
+ return un.unifies(terms[1], new NumberTermImpl(agTarget.x)) &&
+ un.unifies(terms[2], new NumberTermImpl(agTarget.y));
}
} catch (Throwable e) {
ts.getLogger().log(Level.SEVERE, "herd_position error: "+e, e);
@@ -42,7 +57,34 @@
return false;
}
- public Location getAgTarget(LocalWorldModel model) throws Exception {
+ public Location getAgTarget(LocalWorldModel model, Formation formation, Location ag) throws Exception {
+ Location r = null;
+ List<Location> locs = formationPlaces(model, formation);
+ if (locs != null) {
+ for (Location l : locs) {
+ r = l;
+ if (ag.equals(l) || // I am there
+ model.countObjInArea(WorldModel.AGENT, l, 1) == 0) { // someone else is there
+ break;
+ }
+ }
+ }
+ return r;
+ }
+
+ public void setFormationLoc(LocalWorldModel model, Formation formation) throws Exception {
+ model.removeAll(WorldModel.FORPLACE);
+ List<Location> locs = formationPlaces(model, formation);
+ if (locs != null) {
+ for (Location l : locs) {
+ if (model.inGrid(l)) {
+ model.add(WorldModel.FORPLACE, l);
+ }
+ }
+ }
+ }
+
+ private List<Location> formationPlaces(LocalWorldModel model, Formation formation) throws Exception {
List<Vec> cows = new ArrayList<Vec>();
for (Location c: model.getCows()) {
cows.add(new Vec(model, c));
@@ -61,34 +103,48 @@
int stepsFromCenter = (int)Vec.max(cows).sub(mean).magnitude()+1;
int n = Math.min(stepsFromCenter, np.size());
- Vec ctarget = new Vec(model, s.getNodeLocation(np.get(n)));
- Vec agTarget = mean.sub(ctarget).add(mean); // .product(1.5)
- return agTarget.getLocation(model);
+ Vec cowstarget = new Vec(model, s.getNodeLocation(np.get(n)));
+ Vec agsTarget = mean.sub(cowstarget);
+ Vec agTarget = agsTarget;
+ List<Location> r = new ArrayList<Location>();
+ for (int angle: formation.getAngles()) {
+ double nt = angle * (Math.PI / 180);
+ for (double varangle = nt; nt < 180; nt += 5) {
+ agTarget = agsTarget.newAngle(agsTarget.angle() + varangle);
+ Location l = agTarget.add(mean).getLocation(model);
- /*
- List<Vec> cowsTarget = new ArrayList<Vec>();
- for (Location c: model.getCows()) {
- Search s = new Search(model, c, model.getCorralCenter(), null, false, false, false, null);
- Location cowTarget = WorldModel.getNewLocationForAction(c, s.firstAction(s.search()));
- cowsTarget.add(new Vec(model, cowTarget));
+ // if l is in the path of cows, continue with next varangle
+ boolean inpath = false;
+ for (Nodo pn: np) {
+ if (l.equals(s.getNodeLocation(pn))) {
+ inpath = true;
+ break;
+ }
+ }
+ if (!inpath) {
+ r.add(l);
+ break;
+ }
+ }
}
-
- Vec stddev = Vec.stddev(cowsTarget);
-
- // remove max if stddev is too big
- while (stddev.magnitude() > maxStdDev) {
- cowsTarget.remove(Vec.max(cowsTarget));
- stddev = Vec.stddev(cowsTarget);
+ return r;
+ }
+
+ public Location nearFreeForAg(LocalWorldModel model, Location ag, Location t) throws Exception {
+ // run A* to get the path from ag to t
+ Search s = new Search(model, t, ag, null, false, false, true, null);
+ List<Nodo> np = s.normalPath(s.search());
+
+ int i = 0;
+ for (Nodo n: np) {
+ if (model.isFree(s.getNodeLocation(n))) {
+ return s.getNodeLocation(n);
+ }
+ i++;
+ if (i > 3) // do not go to far from target
+ break;
}
-
- Vec mean = Vec.mean(cowsTarget);
- if (mean.magnitude() > 0) {
- double incvalue = (Vec.max(cowsTarget).sub(mean).magnitude()+2) / mean.magnitude();
- return mean.product(incvalue+1).getLocation(model);
- } else {
- return null;
- }
- */
+ return model.nearFree(t);
}
}
Modified: trunk/applications/jason-team/src/java/test/TestBasicHerding.java
===================================================================
--- trunk/applications/jason-team/src/java/test/TestBasicHerding.java 2008-04-20 20:13:53 UTC (rev 1232)
+++ trunk/applications/jason-team/src/java/test/TestBasicHerding.java 2008-04-20 20:16:53 UTC (rev 1233)
@@ -7,15 +7,15 @@
import java.util.ArrayList;
import java.util.List;
-import jia.Search;
import jia.Vec;
import jia.herd_position;
+import jia.herd_position.Formation;
import org.junit.Before;
import org.junit.Test;
import arch.LocalWorldModel;
-import busca.Nodo;
+import env.WorldModel;
public class TestBasicHerding {
@@ -72,6 +72,8 @@
assertEquals(new Location(3,44), cowboy.getLocation(model));
assertEquals(new Location(1,49), model.getCorralCenter());
assertEquals(new Vec(3,2), new Vec(6,7).sub(cowboy)); //new Vec(model, cowboy.getLocation(model), cow.add(cowboy).getLocation(model)));
+ Vec v = new Vec(3,2);
+ assertEquals(v, v.newAngle(v.angle()));
}
/*
@@ -144,6 +146,7 @@
}
*/
+ /*
@Test
public void moveCows2() throws Exception {
scenario1();
@@ -179,40 +182,56 @@
Location byIA = new herd_position().getAgTarget(model);
assertEquals(byIA, agTarget.getLocation(model));
}
-
+ */
+
@Test
- public void moveCows3() throws Exception {
- scenario2();
- List<Vec> cowsTarget = new ArrayList<Vec>();
+ public void moveCows2() throws Exception {
+ scenario1();
+
+ List<Vec> cowsl = new ArrayList<Vec>();
for (int i=0; i<cows.length; i++) {
- cowsTarget.add(cows[i]);
+ cowsl.add(cows[i]);
}
// find center/clusterise
- cowsTarget = Vec.cluster(cowsTarget, 2);
+ cowsl = Vec.cluster(cowsl, 2);
+ Vec stddev = Vec.stddev(cowsl);
+ assertTrue(stddev.magnitude() < 3);
- Vec mean = Vec.mean(cowsTarget);
- assertEquals(new Vec(9,1), mean);
+ Vec mean = Vec.mean(cowsl);
+ assertEquals(new Vec(5,8), mean);
- // run A* to see the cluster target in n steps
- Search s = new Search(model, mean.getLocation(model), model.getCorralCenter(), null, false, false, false, null);
- List<Nodo> np = s.normalPath(s.search());
- //System.out.println(np);
+ int stepsFromCenter = (int)Vec.max(cowsl).sub(mean).magnitude()+1;
+ assertEquals(3, stepsFromCenter);
+
+ Location byIA = new herd_position().getAgTarget(model, Formation.one, c...
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