add CommandFireにメッセージの送受信処理を追加

src/main/java/autumn_2023/centralized/AuctionCommandExecutorFire.java

 package autumn_2023.centralized;
 
-public class AuctionCommandExecutorFire {
+import adf.core.agent.communication.MessageManager;
+import adf.core.agent.communication.standard.bundle.StandardMessagePriority;
+import adf.core.agent.communication.standard.bundle.centralized.CommandFire;
+import adf.core.agent.communication.standard.bundle.information.MessageCivilian;
+import adf.core.agent.develop.DevelopData;
+import adf.core.agent.info.AgentInfo;
+import adf.core.agent.info.ScenarioInfo;
+import adf.core.agent.info.WorldInfo;
+import adf.core.agent.module.ModuleManager;
+import adf.core.component.centralized.CommandExecutor;
+import adf.core.component.module.algorithm.PathPlanning;
+import autumn_2023.module.comm.infomation.MessageCost;
+import rescuecore2.standard.entities.*;
+import rescuecore2.worldmodel.EntityID;
 
+import java.util.*;
+import java.util.stream.Collectors;
+
+import static rescuecore2.standard.entities.StandardEntityURN.AMBULANCE_TEAM;
+import static rescuecore2.standard.entities.StandardEntityURN.REFUGE;
+
+public class AuctionCommandExecutorFire extends CommandExecutor<CommandFire> {
+
+    /*
+    救急司令所からすでに受け取った埋没市民のIDの集合
+     */
+    private final Set<EntityID> bidCentreCivilians = new HashSet<>();
+    private final PathPlanning pathPlanning;
+
+    public AuctionCommandExecutorFire(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) {
+        super(ai, wi, si, moduleManager, developData);
+
+        this.pathPlanning = moduleManager.getModule("SampleHumanDetector.PathPlanning",
+                "adf.impl.module.algorithm.DijkstraPathPlanning");
+    }
+
+    @Override
+    public CommandExecutor updateInfo(MessageManager messageManager) {
+        super.updateInfo(messageManager);
+
+        // FireStationから受信したMessageCivilianを収集
+        final Set<EntityID> receivedCentreCivilians = messageManager.getReceivedMessageList().parallelStream()
+                .filter(MessageCivilian.class::isInstance)
+                .map(MessageCivilian.class::cast)
+                .filter(e -> this.worldInfo.getEntity(e.getSenderID()) instanceof FireStation)
+                .map(MessageCivilian::getAgentID)
+                .filter(e -> !this.bidCentreCivilians.contains(e))
+                .collect(Collectors.toSet());
+
+        // 新規メッセージクラスを用いてタスク実行時のコストを救急司令所に送信
+        receivedCentreCivilians.parallelStream()
+                .map(e -> new MessageCost(true, StandardMessagePriority.HIGH, e, CalculationCost(e)))
+                .forEach(messageManager::addMessage);
+
+        // 知覚した救助対象の市民の情報をMessageCivilianとして指令所に送信
+        this.worldInfo.getChanged().getChangedEntities().parallelStream()
+                .filter(this::isRescueTarget)
+                .filter(Civilian.class::isInstance)
+                .map(Civilian.class::cast)
+                .map(e -> new MessageCivilian(true, StandardMessagePriority.HIGH, e))
+                .forEach(messageManager::addMessage);
+
+        this.bidCentreCivilians.addAll(receivedCentreCivilians);
+
+        return this;
+    }
+
+    @Override
+    public CommandExecutor setCommand(CommandFire command) {
+        // TODO
+        return this;
+    }
+
+    @Override
+    public CommandExecutor calc() {
+        // TODO
+        return this;
+    }
+
+    /**
+     * 対象が救助活動の対象であるか否かを判定するメソッド
+     * @param entity 対象のエンティティ
+     * @return entityが救助活動の対象であるか否か
+     */
+    private boolean isValidHuman(StandardEntity entity) {
+        if (entity == null)
+            return false;
+        if (!(entity instanceof Human))
+            return false;
+
+        Human target = (Human) entity;
+        if (!target.isHPDefined() || target.getHP() == 0)
+            return false;
+        if (!target.isPositionDefined())
+            return false;
+        if (!target.isDamageDefined() || target.getDamage() == 0)
+            return false;
+        if (!target.isBuriednessDefined())
+            return false;
+
+        StandardEntity position = worldInfo.getPosition(target);
+        if (position == null)
+            return false;
+
+        StandardEntityURN positionURN = position.getStandardURN();
+        if (positionURN == REFUGE || positionURN == AMBULANCE_TEAM)
+            return false;
+
+        return true;
+    }
+
+    /**
+     * 消防隊が対象を救出をするためのコストを計算するメソッド
+     * @param target 埋没したエージェントのID
+     * @return targetへ移動するためのステップ数
+     */
+    private int CalculationCost(EntityID target){
+        double targetDistance = this.pathPlanning.getDistance(this.agentInfo.getID(), target);
+        return (int)(Math.ceil(targetDistance / 40000));
+    }
+
+    /**
+     * 対象が消防隊による救出の対象であるか否かを判定するメソッド
+     * @param target 判定対象のエンティティID
+     * @return targetが救出対象であるか否か
+     */
+    private boolean isRescueTarget(EntityID target) {
+        final StandardEntity targetEntity = this.worldInfo.getEntity(target);
+        if (!isValidHuman(targetEntity))
+            return false;
+
+        final Human targetHuman = (Human) targetEntity;
+        if (targetHuman.getBuriedness() <= 0)
+            return false;
+
+        return true;
+    }
 }