remove unnecessary module

config/module.cfg

@@ -3,7 +3,7 @@ DefaultTacticsAmbulanceTeam.HumanDetector : autumn_2023.module.complex.Centraliz
 DefaultTacticsAmbulanceTeam.Search : sample_team.module.complex.SampleSearch
 DefaultTacticsAmbulanceTeam.ExtActionTransport : adf.impl.extaction.DefaultExtActionTransport
 DefaultTacticsAmbulanceTeam.ExtActionMove : adf.impl.extaction.DefaultExtActionMove
-#DefaultTacticsAmbulanceTeam.CommandExecutorAmbulance : adf.impl.centralized.DefaultCommandExecutorAmbulance
+DefaultTacticsAmbulanceTeam.CommandExecutorAmbulance : adf.impl.centralized.DefaultCommandExecutorAmbulance
 DefaultTacticsAmbulanceTeam.CommandExecutorAmbulance : autumn_2023.centralized.CentralizedControlCommandExecutorA
 DefaultTacticsAmbulanceTeam.CommandExecutorScout : adf.impl.centralized.DefaultCommandExecutorScout
 
@@ -24,13 +24,10 @@ DefaultTacticsPoliceForce.CommandExecutorPolice : adf.impl.centralized.DefaultCo
 DefaultTacticsPoliceForce.CommandExecutorScout : adf.impl.centralized.DefaultCommandExecutorScoutPolice
 
 ## DefaultTacticsAmbulanceCentre
-#DefaultTacticsAmbulanceCentre.TargetAllocator : sample_team.module.complex.SampleAmbulanceTargetAllocator
-#DefaultTacticsAmbulanceCentre.CommandPicker : adf.impl.centralized.DefaultCommandPickerAmbulance
-DefaultTacticsAmbulanceCentre.TargetAllocator : autumn_2023.module.complex.CentralizedControlATAllocator
-DefaultTacticsAmbulanceCentre.CommandPicker : autumn_2023.centralized.CentralizedControlCommandPickerA
+DefaultTacticsAmbulanceCentre.TargetAllocator : sample_team.module.complex.SampleAmbulanceTargetAllocator
+DefaultTacticsAmbulanceCentre.CommandPicker : adf.impl.centralized.DefaultCommandPickerAmbulance
 
 ## DefaultTacticsFireStation
-#DefaultTacticsFireStation.TargetAllocator : sample_team.module.complex.SampleFireTargetAllocator
 DefaultTacticsFireStation.CommandPicker : adf.impl.centralized.DefaultCommandPickerFire
 TacticsFireStation.TargetAllocator : autumn_2023.module.complex.CentralizedControlFBAllocator
 
@@ -96,8 +93,8 @@ DefaultCommandExecutorScoutPolice.PathPlanning : adf.impl.module.algorithm.Dijks
 DefaultCommandExecutorScoutPolice.ExtActionClear : adf.impl.extaction.DefaultExtActionClear
 
 ## MessageManager
-MessageManager.PlatoonChannelSubscriber : autumn_2023.module.comm.DefaultChannelSubscriber
-MessageManager.CenterChannelSubscriber : autumn_2023.module.comm.DefaultChannelSubscriber
+MessageManager.PlatoonChannelSubscriber : adf.impl.module.comm.DefaultChannelSubscriber
+MessageManager.CenterChannelSubscriber : adf.impl.module.comm.DefaultChannelSubscriber
 MessageManager.PlatoonMessageCoordinator : autumn_2023.module.comm.CentralizedControlMessageCoordinator
 MessageManager.CenterMessageCoordinator : autumn_2023.module.comm.CentralizedControlMessageCoordinator
 

src/main/java/autumn_2023/centralized/CentralizedControlCommandExecutorA.java

-package autumn_2023.centralized;
-
-import static rescuecore2.standard.entities.StandardEntityURN.AMBULANCE_TEAM;
-import static rescuecore2.standard.entities.StandardEntityURN.CIVILIAN;
-import static rescuecore2.standard.entities.StandardEntityURN.REFUGE;
-import adf.core.agent.action.common.ActionMove;
-import adf.core.agent.action.common.ActionRest;
-import adf.core.agent.communication.MessageManager;
-import adf.core.agent.communication.standard.bundle.centralized.CommandAmbulance;
-import adf.core.agent.communication.standard.bundle.centralized.MessageReport;
-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.agent.precompute.PrecomputeData;
-import adf.core.component.centralized.CommandExecutor;
-import adf.core.component.extaction.ExtAction;
-import adf.core.component.module.algorithm.PathPlanning;
-import java.util.Collection;
-import java.util.List;
-import java.util.Objects;
-import rescuecore2.standard.entities.Area;
-import rescuecore2.standard.entities.Human;
-import rescuecore2.standard.entities.StandardEntity;
-import rescuecore2.worldmodel.EntityID;
-
-public class CentralizedControlCommandExecutorA
-    extends CommandExecutor<CommandAmbulance> {
-
-  private static final int ACTION_UNKNOWN = -1;
-  private static final int ACTION_REST = CommandAmbulance.ACTION_REST;
-  private static final int ACTION_MOVE = CommandAmbulance.ACTION_MOVE;
-  private static final int ACTION_RESCUE = CommandAmbulance.ACTION_RESCUE;
-  private static final int ACTION_LOAD = CommandAmbulance.ACTION_LOAD;
-  private static final int ACTION_UNLOAD = CommandAmbulance.ACTION_UNLOAD;
-  private static final int ACTION_AUTONOMY = CommandAmbulance.ACTION_AUTONOMY;
-
-  private PathPlanning pathPlanning;
-
-  private ExtAction actionTransport;
-  private ExtAction actionExtMove;
-
-  private int commandType;
-  private EntityID target;
-  private EntityID commanderID;
-
-  public CentralizedControlCommandExecutorA(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) {
-    super(ai, wi, si, moduleManager, developData);
-    this.commandType = ACTION_UNKNOWN;
-    switch (scenarioInfo.getMode()) {
-      case PRECOMPUTATION_PHASE:
-      case PRECOMPUTED:
-      case NON_PRECOMPUTE:
-        this.pathPlanning = moduleManager.getModule(
-            "DefaultCommandExecutorAmbulance.PathPlanning",
-            "adf.impl.module.algorithm.DijkstraPathPlanning");
-        this.actionTransport = moduleManager.getExtAction(
-            "DefaultCommandExecutorAmbulance.ExtActionTransport",
-            "adf.impl.extaction.DefaultExtActionTransport");
-        this.actionExtMove = moduleManager.getExtAction(
-            "DefaultCommandExecutorAmbulance.ExActionMove",
-            "adf.impl.extaction.DefaultExtActionMove");
-        break;
-    }
-  }
-
-
-  @Override
-  public CommandExecutor setCommand(CommandAmbulance command) {
-    EntityID agentID = this.agentInfo.getID();
-    if (command.isToIDDefined() && Objects.requireNonNull(command.getToID())
-        .getValue() == agentID.getValue()) {
-      this.commandType = command.getAction();
-      this.target = command.getTargetID();
-      this.commanderID = command.getSenderID();
-    }
-    return this;
-  }
-
-
-  @Override
-  public CommandExecutor updateInfo(MessageManager messageManager) {
-    super.updateInfo(messageManager);
-    if (this.getCountUpdateInfo() >= 2) {
-      return this;
-    }
-    this.pathPlanning.updateInfo(messageManager);
-    this.actionTransport.updateInfo(messageManager);
-    this.actionExtMove.updateInfo(messageManager);
-
-    if (this.isCommandCompleted()) {
-      if (this.commandType != ACTION_UNKNOWN) {
-        messageManager
-            .addMessage(new MessageReport(true, true, false, this.commanderID));
-        if (this.commandType == ACTION_LOAD) {
-          this.commandType = ACTION_UNLOAD;
-          this.target = null;
-        } else {
-          this.commandType = ACTION_UNKNOWN;
-          this.target = null;
-          this.commanderID = null;
-        }
-      }
-    }
-    return this;
-  }
-
-
-  @Override
-  public CommandExecutor precompute(PrecomputeData precomputeData) {
-    super.precompute(precomputeData);
-    if (this.getCountPrecompute() >= 2) {
-      return this;
-    }
-    this.pathPlanning.precompute(precomputeData);
-    this.actionTransport.precompute(precomputeData);
-    this.actionExtMove.precompute(precomputeData);
-    return this;
-  }
-
-
-  @Override
-  public CommandExecutor resume(PrecomputeData precomputeData) {
-    super.resume(precomputeData);
-    if (this.getCountResume() >= 2) {
-      return this;
-    }
-    this.pathPlanning.resume(precomputeData);
-    this.actionTransport.resume(precomputeData);
-    this.actionExtMove.resume(precomputeData);
-    return this;
-  }
-
-
-  @Override
-  public CommandExecutor preparate() {
-    super.preparate();
-    if (this.getCountPreparate() >= 2) {
-      return this;
-    }
-    this.pathPlanning.preparate();
-    this.actionTransport.preparate();
-    this.actionExtMove.preparate();
-    return this;
-  }
-
-
-  @Override
-  public CommandExecutor calc() {
-    this.result = null;
-    //System.out.println("time:"+this.agentInfo.getTime()+" id:"+this.agentInfo.getID()+" excutor");
-    switch (this.commandType) {
-      case ACTION_REST:
-        EntityID position = this.agentInfo.getPosition();
-        if (this.target == null) {
-          Collection<
-              EntityID> refuges = this.worldInfo.getEntityIDsOfType(REFUGE);
-          if (refuges.contains(position)) {
-            this.result = new ActionRest();
-          } else {
-            this.pathPlanning.setFrom(position);
-            this.pathPlanning.setDestination(refuges);
-            List<EntityID> path = this.pathPlanning.calc().getResult();
-            if (path != null && path.size() > 0) {
-              this.result = new ActionMove(path);
-            } else {
-              this.result = new ActionRest();
-            }
-          }
-          return this;
-        }
-        if (position.getValue() != this.target.getValue()) {
-          List<EntityID> path = this.pathPlanning.getResult(position,
-              this.target);
-          if (path != null && path.size() > 0) {
-            this.result = new ActionMove(path);
-            return this;
-          }
-        }
-        this.result = new ActionRest();
-        return this;
-      case ACTION_MOVE:
-        if (this.target != null) {
-          this.result = this.actionExtMove.setTarget(this.target).calc()
-              .getAction();
-        }
-        return this;
-      case ACTION_RESCUE:
-        if (this.target != null) {
-          this.result = this.actionTransport.setTarget(this.target).calc()
-              .getAction();
-        }
-        return this;
-      case ACTION_LOAD:
-        if (this.target != null) {
-          this.result = this.actionTransport.setTarget(this.target).calc()
-              .getAction();
-        }
-        return this;
-      case ACTION_UNLOAD:
-        if (this.target != null) {
-          this.result = this.actionTransport.setTarget(this.target).calc()
-              .getAction();
-        }
-        return this;
-      case ACTION_AUTONOMY:
-        if (this.target == null) {
-          return this;
-        }
-        StandardEntity targetEntity = this.worldInfo.getEntity(this.target);
-        if (targetEntity instanceof Area) {
-          if (this.agentInfo.someoneOnBoard() == null) {
-            this.result = this.actionExtMove.setTarget(this.target).calc()
-                .getAction();
-          } else {
-            this.result = this.actionTransport.setTarget(this.target).calc()
-                .getAction();
-          }
-        } else if (targetEntity instanceof Human) {
-          this.result = this.actionTransport.setTarget(this.target).calc()
-              .getAction();
-        }
-    }
-    return this;
-  }
-
-
-  private boolean isCommandCompleted() {
-    Human agent = (Human) this.agentInfo.me();
-    switch (this.commandType) {
-      case ACTION_REST:
-        if (this.target == null) {
-          return (agent.getDamage() == 0);
-        }
-        if (Objects.requireNonNull(this.worldInfo.getEntity(this.target))
-            .getStandardURN() == REFUGE) {
-          if (agent.getPosition().getValue() == this.target.getValue()) {
-            return (agent.getDamage() == 0);
-          }
-        }
-        return false;
-      case ACTION_MOVE:
-        return this.target == null || this.agentInfo.getPosition()
-            .getValue() == this.target.getValue();
-      case ACTION_RESCUE:
-        if (this.target == null) {
-          return true;
-        }
-        Human human = (Human) Objects
-            .requireNonNull(this.worldInfo.getEntity(this.target));
-        return human.isBuriednessDefined() && human.getBuriedness() == 0
-            || (human.isHPDefined() && human.getHP() == 0);
-      case ACTION_LOAD:
-        if (this.target == null) {
-          return true;
-        }
-        Human human1 = (Human) Objects
-            .requireNonNull(this.worldInfo.getEntity(this.target));
-        if ((human1.isHPDefined() && human1.getHP() == 0)) {
-          return true;
-        }
-        if (human1.getStandardURN() != CIVILIAN) {
-          this.commandType = ACTION_RESCUE;
-          return this.isCommandCompleted();
-        }
-        if (human1.isPositionDefined()) {
-          EntityID position = human1.getPosition();
-          if (this.worldInfo.getEntityIDsOfType(AMBULANCE_TEAM)
-              .contains(position)) {
-            return true;
-          } else if (this.worldInfo.getEntity(position)
-              .getStandardURN() == REFUGE) {
-            return true;
-          }
-        }
-        return false;
-      case ACTION_UNLOAD:
-        if (this.target != null) {
-          StandardEntity entity = this.worldInfo.getEntity(this.target);
-          if (entity != null && entity instanceof Area) {
-            if (this.target.getValue() != this.agentInfo.getPosition()
-                .getValue()) {
-              return false;
-            }
-          }
-        }
-        return (this.agentInfo.someoneOnBoard() == null);
-      case ACTION_AUTONOMY:
-        if (this.target != null) {
-          StandardEntity targetEntity = this.worldInfo.getEntity(this.target);
-          if (targetEntity instanceof Area) {
-            this.commandType = this.agentInfo.someoneOnBoard() == null
-                ? ACTION_MOVE
-                : ACTION_UNLOAD;
-            return this.isCommandCompleted();
-          } else if (targetEntity instanceof Human) {
-            Human h = (Human) targetEntity;
-            if ((h.isHPDefined() && h.getHP() == 0)) {
-              return true;
-            }
-            this.commandType = h.getStandardURN() == CIVILIAN ? ACTION_LOAD
-                : ACTION_RESCUE;
-            return this.isCommandCompleted();
-          }
-        }
-        return true;
-    }
-    return true;
-  }
-}
\ No newline at end of file

src/main/java/autumn_2023/centralized/CentralizedControlCommandPickerA.java

-package autumn_2023.centralized;
-
-import adf.core.agent.communication.standard.bundle.centralized.CommandAmbulance;
-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 CentralizedControlCommandPickerA extends CommandPicker {
-
-  private int scoutDistance;
-
-  private Collection<CommunicationMessage> messages;
-  private Map<EntityID, EntityID> allocationData;
-
-  public CentralizedControlCommandPickerA(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.DefaultCommandPickerAmbulance.scoutDistance",
-        40000);
-  }
-
-
-  @Override
-  public CommandPicker
-      setAllocatorResult(Map<EntityID, EntityID> allocationData) {
-    this.allocationData = allocationData;
-    return this;
-  }
-
-
-  @Override
-  public CommandPicker calc() {
-    //System.out.println("time:"+this.agentInfo.getTime()+" id:"+this.agentInfo.getID()+" picker");
-    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.AMBULANCE_TEAM) {
-        StandardEntity target = this.worldInfo
-            .getEntity(this.allocationData.get(agentID));
-        if (target != null) {
-          if (target instanceof Human) {
-            CommandAmbulance command = new CommandAmbulance(true, agentID,
-                target.getID(), CommandAmbulance.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;
-  }
-}
\ No newline at end of file

src/main/java/autumn_2023/module/comm/DefaultChannelSubscriber.java

-package autumn_2023.module.comm;
-
-import adf.core.agent.communication.MessageManager;
-import adf.core.agent.info.AgentInfo;
-import adf.core.agent.info.ScenarioInfo;
-import adf.core.agent.info.WorldInfo;
-import adf.core.component.communication.ChannelSubscriber;
-import rescuecore2.standard.entities.StandardEntityURN;
-
-public class DefaultChannelSubscriber extends ChannelSubscriber {
-
-  @Override
-  public void subscribe(AgentInfo agentInfo, WorldInfo worldInfo,
-      ScenarioInfo scenarioInfo, MessageManager messageManager) {
-    // subscribe only once at the beginning
-    if (agentInfo.getTime() == 1) {
-      int numChannels = scenarioInfo.getCommsChannelsCount() - 1; // 0th channel
-                                                                  // is the
-                                                                  // voice
-                                                                  // channel
-
-      int maxChannelCount = 0;
-      boolean isPlatoon = isPlatoonAgent(agentInfo, worldInfo);
-      if (isPlatoon) {
-        maxChannelCount = scenarioInfo.getCommsChannelsMaxPlatoon();
-      } else {
-        maxChannelCount = scenarioInfo.getCommsChannelsMaxOffice();
-      }
-
-      StandardEntityURN agentType = getAgentType(agentInfo, worldInfo);
-      int[] channels = new int[maxChannelCount];
-      for (int i = 0; i < maxChannelCount; i++) {
-        channels[i] = getChannelNumber(agentType, i, numChannels);
-      }
-
-      messageManager.subscribeToChannels(channels);
-    }
-  }
-
-
-  protected boolean isPlatoonAgent(AgentInfo agentInfo, WorldInfo worldInfo) {
-    StandardEntityURN agentType = getAgentType(agentInfo, worldInfo);
-    if (agentType == StandardEntityURN.FIRE_BRIGADE
-        || agentType == StandardEntityURN.POLICE_FORCE
-        || agentType == StandardEntityURN.AMBULANCE_TEAM) {
-      return true;
-    }
-    return false;
-  }
-
-
-  protected StandardEntityURN getAgentType(AgentInfo agentInfo,
-      WorldInfo worldInfo) {
-    StandardEntityURN agentType = worldInfo.getEntity(agentInfo.getID())
-        .getStandardURN();
-    return agentType;
-  }
-
-
-  public static int getChannelNumber(StandardEntityURN agentType,
-      int channelIndex, int numChannels) {
-    int agentIndex = 0;
-    if (agentType == StandardEntityURN.FIRE_BRIGADE
-        || agentType == StandardEntityURN.FIRE_STATION) {
-      agentIndex = 1;
-    } else if (agentType == StandardEntityURN.POLICE_FORCE
-        || agentType == StandardEntityURN.POLICE_OFFICE) {
-      agentIndex = 2;
-    } else if (agentType == StandardEntityURN.AMBULANCE_TEAM
-        || agentType == StandardEntityURN.AMBULANCE_CENTRE) {
-      agentIndex = 3;
-    }
-
-    int index = (3 * channelIndex) + agentIndex;
-    if ((index % numChannels) == 0) {
-      index = numChannels;
-    } else {
-      index = index % numChannels;
-    }
-    return index;
-  }
-
-
-  public static void main(String[] args) {
-    int numChannels = 6;
-    int maxChannels = 2;
-    for (int i = 0; i < maxChannels; i++) {
-      System.out.println("FIREBRIGADE-" + i + ":"
-          + getChannelNumber(StandardEntityURN.FIRE_BRIGADE, i, numChannels));
-    }
-    for (int i = 0; i < maxChannels; i++) {
-      System.out.println("POLICE-" + i + ":"
-          + getChannelNumber(StandardEntityURN.POLICE_OFFICE, i, numChannels));
-    }
-    for (int i = 0; i < maxChannels; i++) {
-      System.out.println("AMB-" + i + ":" + getChannelNumber(
-          StandardEntityURN.AMBULANCE_CENTRE, i, numChannels));
-    }
-  }
-}
\ No newline at end of file

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

-package autumn_2023.module.complex;
-
-import static rescuecore2.standard.entities.StandardEntityURN.REFUGE;
-import adf.core.agent.communication.MessageManager;
-import adf.core.agent.communication.standard.bundle.MessageUtil;
-import adf.core.agent.communication.standard.bundle.centralized.CommandAmbulance;
-import adf.core.agent.communication.standard.bundle.centralized.MessageReport;
-import adf.core.agent.communication.standard.bundle.information.MessageAmbulanceTeam;
-import adf.core.agent.communication.standard.bundle.information.MessageCivilian;
-import adf.core.agent.communication.standard.bundle.information.MessageFireBrigade;
-import adf.core.agent.communication.standard.bundle.information.MessagePoliceForce;
-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.agent.precompute.PrecomputeData;
-import adf.core.component.communication.CommunicationMessage;
-import adf.core.component.module.complex.AmbulanceTargetAllocator;
-import java.util.ArrayList;
-import java.util.Collection;
-import java.util.Comparator;
-import java.util.HashMap;
-import java.util.HashSet;
-import java.util.List;
-import java.util.Map;
-import rescuecore2.standard.entities.AmbulanceTeam;
-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 CentralizedControlATAllocator extends AmbulanceTargetAllocator {
-
-  private Collection<EntityID> priorityHumans;
-  private Collection<EntityID> targetHumans;
-
-  private Map<EntityID, AmbulanceTeamInfo> ambulanceTeamInfoMap;
-
-  public CentralizedControlATAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) {
-    super(ai, wi, si, moduleManager, developData);
-    this.priorityHumans = new HashSet<>();
-    this.targetHumans = new HashSet<>();
-    this.ambulanceTeamInfoMap = new HashMap<>();
-  }
-
-
-  @Override
-  public AmbulanceTargetAllocator resume(PrecomputeData precomputeData) {
-    super.resume(precomputeData);
-    if (this.getCountResume() >= 2) {
-      return this;
-    }
-    for (EntityID id : this.worldInfo
-        .getEntityIDsOfType(StandardEntityURN.AMBULANCE_TEAM)) {
-      this.ambulanceTeamInfoMap.put(id, new AmbulanceTeamInfo(id));
-    }
-    return this;
-  }
-
-
-  @Override
-  public AmbulanceTargetAllocator preparate() {
-    super.preparate();
-    if (this.getCountPrecompute() >= 2) {
-      return this;
-    }
-    for (EntityID id : this.worldInfo
-        .getEntityIDsOfType(StandardEntityURN.AMBULANCE_TEAM)) {
-      this.ambulanceTeamInfoMap.put(id, new AmbulanceTeamInfo(id));
-    }
-    return this;
-  }
-
-
-  @Override
-  public Map<EntityID, EntityID> getResult() {
-    return this.convert(this.ambulanceTeamInfoMap);
-  }
-
-
-  @Override
-  public AmbulanceTargetAllocator calc() {
-    //System.out.println("time:"+this.agentInfo.getTime()+" id:"+this.agentInfo.getID()+" allocator");
-    List<StandardEntity> agents = this
-        .getActionAgents(this.ambulanceTeamInfoMap);
-    Collection<EntityID> removes = new ArrayList<>();
-    int currentTime = this.agentInfo.getTime();
-    for (EntityID target : this.priorityHumans) {
-      if (agents.size() > 0) {
-        StandardEntity targetEntity = this.worldInfo.getEntity(target);
-        if (targetEntity != null && targetEntity instanceof Human
-            && ((Human) targetEntity).isPositionDefined()) {
-          agents.sort(new DistanceSorter(this.worldInfo, targetEntity));
-          StandardEntity result = agents.get(0);
-          agents.remove(0);
-          AmbulanceTeamInfo info = this.ambulanceTeamInfoMap
-              .get(result.getID());
-          if (info != null) {
-            info.canNewAction = false;
-            info.target = target;
-            info.commandTime = currentTime;
-            this.ambulanceTeamInfoMap.put(result.getID(), info);
-            removes.add(target);
-          }
-        }
-      }
-    }
-    this.priorityHumans.removeAll(removes);
-    removes.clear();
-    for (EntityID target : this.targetHumans) {
-      if (agents.size() > 0) {
-        StandardEntity targetEntity = this.worldInfo.getEntity(target);
-        if (targetEntity != null && targetEntity instanceof Human
-            && ((Human) targetEntity).isPositionDefined()) {
-          agents.sort(new DistanceSorter(this.worldInfo, targetEntity));
-          StandardEntity result = agents.get(0);
-          agents.remove(0);
-          AmbulanceTeamInfo info = this.ambulanceTeamInfoMap
-              .get(result.getID());
-          if (info != null) {
-            info.canNewAction = false;
-            info.target = target;
-            info.commandTime = currentTime;
-            this.ambulanceTeamInfoMap.put(result.getID(), info);
-            removes.add(target);
-          }
-        }
-      }
-    }
-    this.targetHumans.removeAll(removes);
-    return this;
-  }
-
-
-  @Override
-  public AmbulanceTargetAllocator updateInfo(MessageManager messageManager) {
-    super.updateInfo(messageManager);
-    if (this.getCountUpdateInfo() >= 2) {
-      return this;
-    }
-    int currentTime = this.agentInfo.getTime();
-    for (CommunicationMessage message : messageManager
-        .getReceivedMessageList()) {
-      Class<? extends CommunicationMessage> messageClass = message.getClass();
-      if (messageClass == MessageCivilian.class) {
-        MessageCivilian mc = (MessageCivilian) message;
-        MessageUtil.reflectMessage(this.worldInfo, mc);
-        if (mc.isBuriednessDefined() && mc.getBuriedness() > 0) {
-          this.targetHumans.add(mc.getAgentID());
-        } else {
-          this.priorityHumans.remove(mc.getAgentID());
-          this.targetHumans.remove(mc.getAgentID());
-        }
-      } else if (messageClass == MessageFireBrigade.class) {
-        MessageFireBrigade mfb = (MessageFireBrigade) message;
-        MessageUtil.reflectMessage(this.worldInfo, mfb);
-        if (mfb.isBuriednessDefined() && mfb.getBuriedness() > 0) {
-          this.priorityHumans.add(mfb.getAgentID());
-        } else {
-          this.priorityHumans.remove(mfb.getAgentID());
-          this.targetHumans.remove(mfb.getAgentID());
-        }
-      } else if (messageClass == MessagePoliceForce.class) {
-        MessagePoliceForce mpf = (MessagePoliceForce) message;
-        MessageUtil.reflectMessage(this.worldInfo, mpf);
-        if (mpf.isBuriednessDefined() && mpf.getBuriedness() > 0) {
-          this.priorityHumans.add(mpf.getAgentID());
-        } else {
-          this.priorityHumans.remove(mpf.getAgentID());
-          this.targetHumans.remove(mpf.getAgentID());
-        }
-      }
-    }
-    for (CommunicationMessage message : messageManager
-        .getReceivedMessageList(MessageAmbulanceTeam.class)) {
-      MessageAmbulanceTeam mat = (MessageAmbulanceTeam) message;
-      MessageUtil.reflectMessage(this.worldInfo, mat);
-      if (mat.isBuriednessDefined() && mat.getBuriedness() > 0) {
-        this.priorityHumans.add(mat.getAgentID());
-      } else {
-        this.priorityHumans.remove(mat.getAgentID());
-        this.targetHumans.remove(mat.getAgentID());
-      }
-      AmbulanceTeamInfo info = this.ambulanceTeamInfoMap.get(mat.getAgentID());
-      if (info == null) {
-        info = new AmbulanceTeamInfo(mat.getAgentID());
-      }
-      if (currentTime >= info.commandTime + 2) {
-        this.ambulanceTeamInfoMap.put(mat.getAgentID(), this.update(info, mat));
-      }
-    }
-    for (CommunicationMessage message : messageManager
-        .getReceivedMessageList(CommandAmbulance.class)) {
-      CommandAmbulance command = (CommandAmbulance) message;
-      if (command.getAction() == CommandAmbulance.ACTION_RESCUE
-          && command.isBroadcast()) {
-        this.priorityHumans.add(command.getTargetID());
-        this.targetHumans.add(command.getTargetID());
-      } else if (command.getAction() == CommandAmbulance.ACTION_LOAD
-          && command.isBroadcast()) {
-        this.priorityHumans.add(command.getTargetID());
-        this.targetHumans.add(command.getTargetID());
-      }
-    }
-    for (CommunicationMessage message : messageManager
-        .getReceivedMessageList(MessageReport.class)) {
-      MessageReport report = (MessageReport) message;
-      AmbulanceTeamInfo info = this.ambulanceTeamInfoMap
-          .get(report.getSenderID());
-      if (info != null && report.isDone()) {
-        info.canNewAction = true;
-        this.priorityHumans.remove(info.target);
-        this.targetHumans.remove(info.target);
-        info.target = null;
-        this.ambulanceTeamInfoMap.put(info.agentID, info);
-      }
-    }
-    return this;
-  }
-
-
-  private Map<EntityID, EntityID>
-      convert(Map<EntityID, AmbulanceTeamInfo> map) {
-    Map<EntityID, EntityID> result = new HashMap<>();
-    for (EntityID id : map.keySet()) {
-      AmbulanceTeamInfo info = map.get(id);
-      if (info != null && info.target != null) {
-        result.put(id, info.target);
-      }
-    }
-    return result;
-  }
-
-
-  private List<StandardEntity>
-      getActionAgents(Map<EntityID, AmbulanceTeamInfo> map) {
-    List<StandardEntity> result = new ArrayList<>();
-    for (StandardEntity entity : this.worldInfo
-        .getEntitiesOfType(StandardEntityURN.POLICE_FORCE)) {
-      AmbulanceTeamInfo info = map.get(entity.getID());
-      if (info != null && info.canNewAction
-          && ((AmbulanceTeam) entity).isPositionDefined()) {
-        result.add(entity);
-      }
-    }
-    return result;
-  }
-
-
-  private AmbulanceTeamInfo update(AmbulanceTeamInfo info,
-      MessageAmbulanceTeam message) {
-    if (message.isBuriednessDefined() && message.getBuriedness() > 0) {
-      info.canNewAction = false;
-      if (info.target != null) {
-        this.targetHumans.add(info.target);
-        info.target = null;
-      }
-      return info;
-    }
-    if (message.getAction() == MessageAmbulanceTeam.ACTION_REST) {
-      info.canNewAction = true;
-      if (info.target != null) {
-        this.targetHumans.add(info.target);
-        info.target = null;
-      }
-    } else if (message.getAction() == MessageAmbulanceTeam.ACTION_MOVE) {
-      if (message.getTargetID() != null) {
-        StandardEntity entity = this.worldInfo.getEntity(message.getTargetID());
-        if (entity != null) {
-          if (entity instanceof Area) {
-            if (entity.getStandardURN() == REFUGE) {
-              info.canNewAction = false;
-              return info;
-            }
-            StandardEntity targetEntity = this.worldInfo.getEntity(info.target);
-            if (targetEntity != null) {
-              if (targetEntity instanceof Human) {
-                targetEntity = this.worldInfo.getPosition((Human) targetEntity);
-                if (targetEntity == null) {
-                  this.priorityHumans.remove(info.target);
-                  this.targetHumans.remove(info.target);
-                  info.canNewAction = true;
-                  info.target = null;
-                  return info;
-                }
-              }
-              if (targetEntity.getID().getValue() == entity.getID()
-                  .getValue()) {
-                info.canNewAction = false;
-              } else {
-                info.canNewAction = true;
-                if (info.target != null) {
-                  this.targetHumans.add(info.target);
-                  info.target = null;
-                }
-              }
-            } else {
-              info.canNewAction = true;
-              info.target = null;
-            }
-            return info;
-          } else if (entity instanceof Human) {
-            if (entity.getID().getValue() == info.target.getValue()) {
-              info.canNewAction = false;
-            } else {
-              info.canNewAction = true;
-              this.targetHumans.add(info.target);
-              this.targetHumans.add(entity.getID());
-              info.target = null;
-            }
-            return info;
-          }
-        }
-      }
-      info.canNewAction = true;
-      if (info.target != null) {
-        this.targetHumans.add(info.target);
-        info.target = null;
-      }
-    } else if (message.getAction() == MessageAmbulanceTeam.ACTION_RESCUE) {
-      info.canNewAction = true;
-      if (info.target != null) {
-        this.targetHumans.add(info.target);
-        info.target = null;
-      }
-    } else if (message.getAction() == MessageAmbulanceTeam.ACTION_LOAD) {
-      info.canNewAction = false;
-    } else if (message.getAction() == MessageAmbulanceTeam.ACTION_UNLOAD) {
-      info.canNewAction = true;
-      this.priorityHumans.remove(info.target);
-      this.targetHumans.remove(info.target);
-      info.target = null;
-    }
-    return info;
-  }
-
-  private class AmbulanceTeamInfo {
-
-    EntityID agentID;
-    EntityID target;
-    boolean canNewAction;
-    int commandTime;
-
-    AmbulanceTeamInfo(EntityID id) {
-      agentID = id;
-      target = null;
-      canNewAction = true;
-      commandTime = -1;
-    }
-  }
-
-  private class DistanceSorter implements Comparator<StandardEntity> {
-
-    private StandardEntity reference;
-    private WorldInfo worldInfo;
-
-    DistanceSorter(WorldInfo wi, StandardEntity reference) {
-      this.reference = reference;
-      this.worldInfo = wi;
-    }
-
-
-    public int compare(StandardEntity a, StandardEntity b) {
-      int d1 = this.worldInfo.getDistance(this.reference, a);
-      int d2 = this.worldInfo.getDistance(this.reference, b);
-      return d1 - d2;
-    }
-  }
-}
\ No newline at end of file