[Jason-developers] SF.net SVN: jason: [1273] trunk/applications/jason-team/src

[<jom...@us...>]

Revision: 1273
          http://jason.svn.sourceforge.net/jason/?rev=1273&view=rev
Author:   jomifred
Date:     2008-04-27 11:05:25 -0700 (Sun, 27 Apr 2008)

Log Message:
-----------
jason team: add path_length.java

Modified Paths:
--------------
    trunk/applications/jason-team/src/asl/exploration.asl
    trunk/applications/jason-team/src/asl/herding.asl

Added Paths:
-----------
    trunk/applications/jason-team/src/java/jia/path_length.java

Modified: trunk/applications/jason-team/src/asl/exploration.asl
===================================================================
--- trunk/applications/jason-team/src/asl/exploration.asl	2008-04-27 17:57:30 UTC (rev 1272)
+++ trunk/applications/jason-team/src/asl/exploration.asl	2008-04-27 18:05:25 UTC (rev 1273)
@@ -66,7 +66,7 @@
      
      // find distance to even agents
      .findall(ag_d(D,AgName),
-              ally_pos(AgName,X,Y) & agent_id(AgName,Id) & Id mod 2 == 0 & jia.dist(MyX, MyY, X, Y, D),
+              ally_pos(AgName,X,Y) & agent_id(AgName,Id) & Id mod 2 == 0 & jia.path_length(MyX, MyY, X, Y, D),
               LOdd);
      .sort(LOdd, LSOdd);
 

Modified: trunk/applications/jason-team/src/asl/herding.asl
===================================================================
--- trunk/applications/jason-team/src/asl/herding.asl	2008-04-27 17:57:30 UTC (rev 1272)
+++ trunk/applications/jason-team/src/asl/herding.asl	2008-04-27 18:05:25 UTC (rev 1273)
@@ -36,7 +36,7 @@
 // TODO: use min
 +!closest([],S,S,P,D).
 +!closest([pos(XH,YH)|T],Aux,S,pos(XP,YP),LD)
-  :  jia.dist(XH,YH,XP,YP,D) & D < LD // usar A*
+  :  jia.path_length(XH,YH,XP,YP,D) & D < LD // usar A*
   <- !closest(T,[pos(XH,YH)|Aux],S,pos(XP,YP),D).
 +!closest([pos(XH,YH)|T],Aux,S,pos(XP,YP),LD)
   <- .concat(Aux,[pos(XH,YH)],Aux2);

Added: trunk/applications/jason-team/src/java/jia/path_length.java
===================================================================
--- trunk/applications/jason-team/src/java/jia/path_length.java	                        (rev 0)
+++ trunk/applications/jason-team/src/java/jia/path_length.java	2008-04-27 18:05:25 UTC (rev 1273)
@@ -0,0 +1,51 @@
+package jia;
+
+import jason.asSemantics.DefaultInternalAction;
+import jason.asSemantics.TransitionSystem;
+import jason.asSemantics.Unifier;
+import jason.asSyntax.NumberTerm;
+import jason.asSyntax.NumberTermImpl;
+import jason.asSyntax.Term;
+import jason.environment.grid.Location;
+
+import java.util.logging.Level;
+
+import arch.CowboyArch;
+import arch.LocalWorldModel;
+import busca.Nodo;
+
+public class path_length extends DefaultInternalAction {
+    
+    @Override
+    public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
+        try {
+            LocalWorldModel model = ((CowboyArch)ts.getUserAgArch()).getModel();
+    
+            int iagx = (int)((NumberTerm)terms[0]).solve();
+            int iagy = (int)((NumberTerm)terms[1]).solve();
+            int itox = (int)((NumberTerm)terms[2]).solve();
+            int itoy = (int)((NumberTerm)terms[3]).solve();
+            
+            if (model.inGrid(itox,itoy)) {
+            	
+                // destination should be a free place
+                while (!model.isFreeOfObstacle(itox,itoy) && itox > 0) itox--;
+                while (!model.isFreeOfObstacle(itox,itoy) && itox < model.getWidth()) itox++;
+
+                Location from = new Location(iagx, iagy);
+                Location to   = new Location(itox, itoy);
+                
+                Nodo solution = new Search(model, from, to, ts.getUserAgArch()).search();
+                if (solution != null) {
+                    int length = solution.getProfundidade();
+                    return un.unifies(terms[4], new NumberTermImpl(length));
+                } else {
+                    ts.getLogger().info("No route from "+from+" to "+to+"!"+"\n"+model);
+                }
+            }
+        } catch (Throwable e) {
+            ts.getLogger().log(Level.SEVERE, "jia.path_length error: "+e, e);
+        }
+        return false;
+    }
+}


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