作業途中の保存

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<CommandFire> updateInfo(MessageManager messageManager) {
+        super.updateInfo(messageManager);
+
+        // FireStationから受信したMessageCivilianを収集
+        final Set<EntityID> receivedCentreCivilians = messageManager.getReceivedMessageList(MessageCivilian.class).parallelStream()
+                .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)
+                .map(this.worldInfo::getEntity)
+                .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<CommandFire> setCommand(CommandFire command) {
+        // TODO
+        return this;
+    }
+
+    @Override
+    public CommandExecutor<CommandFire> 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 target))
+            return false;
+
+        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();
+        return positionURN != REFUGE && positionURN != AMBULANCE_TEAM;
+    }
+
+    /**
+     * 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;
+        return targetHuman.getBuriedness() > 0;
+    }
 }

src/main/java/autumn_2023/centralized/AuctionCommandPickerFire.java

 package autumn_2023.centralized;
 
-public class AuctionCommandPickerFire {
+import adf.core.agent.communication.standard.bundle.centralized.CommandFire;
+import adf.core.agent.communication.standard.bundle.centralized.CommandScout;
+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.CommandPicker;
+import adf.core.component.communication.CommunicationMessage;
+import java.util.ArrayList;
+import java.util.Collection;
+import java.util.Map;
+import rescuecore2.standard.entities.Area;
+import rescuecore2.standard.entities.Human;
+import rescuecore2.standard.entities.StandardEntity;
+import rescuecore2.standard.entities.StandardEntityURN;
+import rescuecore2.worldmodel.EntityID;
+public class AuctionCommandPickerFire extends CommandPicker{
+
+    private int scoutDistance;
+
+    private Collection<CommunicationMessage> messages;
+    private Map<EntityID, EntityID> allocationData;
+
+    public AuctionCommandPickerFire(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) 
+    {
+        super(ai, wi, si, moduleManager, developData);
+        this.messages = new ArrayList<>();
+        this.allocationData = null;
+        this.scoutDistance = developData.getInteger(
+            "adf.impl.centralized.DefaultCommandPickerFire.scoutDistance", 40000);
+    }
+
+    @Override
+    public CommandPicker setAllocatorResult(Map<EntityID, EntityID> allocationData) 
+    {
+        this.allocationData = allocationData;
+
+        return this;
+    }
+
+
+    @Override
+    public CommandPicker calc() 
+    {
+        this.messages.clear();
+        if (this.allocationData == null) 
+        {
+            return this;
+        }
+        for (EntityID agentID : this.allocationData.keySet()) 
+        {
+            StandardEntity agent = this.worldInfo.getEntity(agentID);
+            if (agent != null && agent.getStandardURN() == StandardEntityURN.FIRE_BRIGADE) 
+            {
+                StandardEntity target = this.worldInfo.getEntity(this.allocationData.get(agentID));
+                if (target != null) 
+                {
+                    if (target instanceof Human) 
+                    {
+                        CommandFire command = new CommandFire(true, agentID, target.getID(), CommandFire.ACTION_AUTONOMY);
+                        this.messages.add(command);
+                    } else if (target instanceof Area) 
+                    {
+                        CommandScout command = new CommandScout(true, agentID, target.getID(), this.scoutDistance);
+                        this.messages.add(command);
+                    }
+                }
+            }
+        }
+        return this;
+    }
+
+
+    @Override
+    public Collection<CommunicationMessage> getResult() 
+    {
+        return this.messages;
+    }
     
 }

src/main/java/autumn_2023/module/complex/AuctionFBHumanDetector.java

 package autumn_2023.module.complex;
 
-public class AuctionFBHumanDetector {
-    
-}
+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.module.complex.HumanDetector;
+import rescuecore2.standard.entities.Civilian;
+import rescuecore2.standard.entities.Human;
+import rescuecore2.standard.entities.StandardEntity;
+import rescuecore2.worldmodel.EntityID;
+
+import java.util.Set;
+import java.util.stream.Collectors;
+
+public class AuctionFBHumanDetector extends HumanDetector {
+    private EntityID result = null;
+
+    public AuctionFBHumanDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) {
+        super(ai, wi, si, moduleManager, developData);
+    }
+
+    @Override
+    public EntityID getTarget() {
+        return this.result;
+    }
+
+    @Override
+    public HumanDetector calc() {
+        final Set<EntityID> rescueTargetInSamePosition = this.worldInfo.getChanged().getChangedEntities().parallelStream()
+                .map(this.worldInfo::getEntity)
+                .filter(Civilian.class::isInstance)
+                .map(Civilian.class::cast)
+                .filter(e -> this.agentInfo.getPosition().equals(e.getPosition()))
+                .filter(Human::isHPDefined)
+                .filter(e -> e.getHP() > 0)
+                .filter(Human::isBuriednessDefined)
+                .filter(e -> e.getBuriedness() > 0)
+                .map(StandardEntity::getID)
+                .collect(Collectors.toSet());
+
+        if (rescueTargetInSamePosition.isEmpty()) {
+            this.result = null;
+            return this;
+        }
+
+        if (rescueTargetInSamePosition.contains(this.result)) {
+            return this;
+        }
+
+        this.result = rescueTargetInSamePosition.stream().findAny().orElse(null);
+        return this;
+    }
+}
\ No newline at end of file

src/main/java/autumn_2023/module/complex/AuctionFireTargetAllocator.java

@@ -2,6 +2,7 @@ package autumn_2023.module.complex;
 
 import adf.core.agent.communication.MessageManager;
 import adf.core.agent.communication.standard.bundle.MessageUtil;
+import adf.core.agent.communication.standard.bundle.StandardMessagePriority;
 import adf.core.agent.communication.standard.bundle.information.MessageCivilian;
 import adf.core.agent.develop.DevelopData;
 import adf.core.agent.info.AgentInfo;
@@ -18,87 +19,112 @@ import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 
-import rescuecore2.standard.entities.AmbulanceCentre;
 import rescuecore2.standard.entities.AmbulanceTeam;
+import rescuecore2.standard.entities.Civilian;
 import rescuecore2.standard.entities.FireBrigade;
 import rescuecore2.worldmodel.EntityID;
 
 public class AuctionFireTargetAllocator extends FireTargetAllocator{
 
     // 分散エージェントからの埋没市民のメッセージリスト
-    private List<EntityID> receivedAgentCivilians = new ArrayList<>();
-    private List<EntityID> finishreceivedCivilians = new ArrayList<>();
+    private List<EntityID> receivedAgentCivilians;
+    private List<EntityID> finishreceivedCivilians;
 
     // 分散エージェントからのコストのメッセージリスト
-    private List<MessageCost> RescueCosts = new ArrayList<>();
+    private List<MessageCost> rescueCosts;
+    private Map<EntityID, EntityID> rescueResult;
 
     public AuctionFireTargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) 
     {
         super(ai, wi, si, moduleManager, developData);
+
+        this.receivedAgentCivilians = new ArrayList<>();
+        this.finishreceivedCivilians = new ArrayList<>();
+        this.rescueCosts = new ArrayList<>();
+        this.rescueResult = new HashMap<>();
     }
 
 
     @Override
-  public FireTargetAllocator resume(PrecomputeData precomputeData) 
-  {
-    super.resume(precomputeData);
+    public FireTargetAllocator resume(PrecomputeData precomputeData) 
+    {
+        super.resume(precomputeData);
 
-    return this;
-  }
+        return this;
+    }
 
 
-  @Override
-  public FireTargetAllocator preparate() 
-  {
-    super.preparate();
+    @Override
+    public FireTargetAllocator preparate() 
+    {
+        super.preparate();
 
-    return this;
-  }
+        return this;
+    }
 
 
-  @Override
-  public Map<EntityID, EntityID> getResult() 
-  {
-    return new HashMap<>();
-  }
+    @Override
+    public Map<EntityID, EntityID> getResult() 
+    {
+        return this.rescueResult;
+    }
 
 
-  @Override
-  public FireTargetAllocator calc() 
-  {
-    return this;
-  }
+    @Override
+    public FireTargetAllocator calc() 
+    {
 
+        return this;
+    }
 
-  @Override
-  public FireTargetAllocator updateInfo(MessageManager messageManager) 
-  {
-    super.updateInfo(messageManager);
 
-    // そのステップで受信した(前ステップで送信された)メッセージ一覧
-    List<CommunicationMessage> messages = messageManager.getReceivedMessageList();
-    for(CommunicationMessage mes : messages) 
+    @Override
+    public FireTargetAllocator updateInfo(MessageManager messageManager) 
     {
-      // mesが市民の情報であれば
-      if (mes instanceof MessageCivilian) 
-      {
-        MessageCivilian mesCiv = (MessageCivilian) mes;
-        MessageUtil.reflectMessage(this.worldInfo, mesCiv);
-        if (this.worldInfo.getEntity(mesCiv.getSenderID()) instanceof AmbulanceTeam 
-            || this.worldInfo.getEntity(mesCiv.getSenderID()) instanceof FireBrigade) 
+        super.updateInfo(messageManager);
+
+        // 受信処理
+        // そのステップで受信した(前ステップで送信された)メッセージ一覧
+        List<CommunicationMessage> messages = messageManager.getReceivedMessageList();
+        for(CommunicationMessage mes : messages) 
+        {
+        // mesが市民の情報であれば
+        if (mes instanceof MessageCivilian) 
+        {
+            MessageCivilian mesCiv = (MessageCivilian) mes;
+            if(mesCiv.getSendingPriority() == StandardMessagePriority.HIGH)
+            {
+                MessageUtil.reflectMessage(this.worldInfo, mesCiv);
+                if (this.worldInfo.getEntity(mesCiv.getSenderID()) instanceof AmbulanceTeam 
+                    || this.worldInfo.getEntity(mesCiv.getSenderID()) instanceof FireBrigade) 
+                {
+                    if(!receivedAgentCivilians.contains(mesCiv.getAgentID())
+                        || !finishreceivedCivilians.contains(mesCiv.getAgentID()))
+                    {
+                        receivedAgentCivilians.add(mesCiv.getAgentID());
+                    }
+                }
+            }
+        }
+        // mesがコストの情報であれば
+        if (mes instanceof MessageCost) {
+            MessageCost mesCos = (MessageCost) mes;
+            if (this.worldInfo.getEntity(mesCos.getSenderID()) instanceof FireBrigade) 
+            {
+                rescueCosts.add(mesCos);
+            }
+        }
+        }
+
+        // 送信処理
+        // 埋没している市民の情報の送信
+        for(EntityID res : receivedAgentCivilians) 
         {
-          if(!receivedAgentCivilians.contains(mesCiv.getAgentID())
-            || !finishreceivedCivilians.contains(mesCiv.getAgentID()))
-          {
-            receivedAgentCivilians.add(mesCiv.getAgentID());
-          }
+            messageManager.addMessage(new MessageCivilian(true, StandardMessagePriority.HIGH, (Civilian)this.worldInfo.getEntity(res)));
+            finishreceivedCivilians.add(res);
         }
-      }
-      // mesがコストの情報であれば
-      if (mes instanceof MessageCost) {
-        
-      }
+        receivedAgentCivilians.clear();
+
+        return this;
     }
-    return this;
-  }
 }