mirror of
https://github.com/guilhermewerner/site-pi
synced 2025-06-17 06:14:19 +00:00
Initial commit
This commit is contained in:
GuiNerd
602
SitePi/wwwroot/uploads/NavigationBot.java
Normal file
602
SitePi/wwwroot/uploads/NavigationBot.java
Normal file
@ -0,0 +1,602 @@
|
||||
|
||||
package com.mycompany.mavenproject1;
|
||||
|
||||
import java.util.logging.Level;
|
||||
|
||||
import cz.cuni.amis.introspection.java.JProp;
|
||||
import cz.cuni.amis.pogamut.base.agent.navigation.IPathExecutorState;
|
||||
import cz.cuni.amis.pogamut.base.agent.navigation.PathExecutorState;
|
||||
import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.EventListener;
|
||||
import cz.cuni.amis.pogamut.base.utils.guice.AgentScoped;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavPoints;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.module.utils.TabooSet;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.navigation.IUT2004Navigation;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathAutoFixer;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathExecutorStuckState;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.navigation.astar.UT2004AStar;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap;
|
||||
import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.NavMeshModule;
|
||||
import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotModuleController;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.Initialize;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.BotKilled;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Item;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ItemPickedUp;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Player;
|
||||
import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
|
||||
import cz.cuni.amis.pogamut.ut2004.utils.UT2004BotRunner;
|
||||
import cz.cuni.amis.utils.collections.MyCollections;
|
||||
import cz.cuni.amis.utils.exception.PogamutException;
|
||||
import cz.cuni.amis.utils.flag.FlagListener;
|
||||
|
||||
/**
|
||||
* Example of Simple Pogamut bot, that randomly walks around the map.
|
||||
*
|
||||
* <p><p>
|
||||
* Bot is able to handle movers as well as teleporters.
|
||||
*
|
||||
* <p><p>
|
||||
* It also implements player-following, that is, if it sees a player,
|
||||
* it will start to navigate to it.
|
||||
*
|
||||
* <p><p>
|
||||
* We recommend you to try it on map DM-1on1-Albatross or CTF-LostFaith or DM-Flux2.
|
||||
*
|
||||
* <p><p>
|
||||
* This bot also contains an example of {@link TabooSet} usage.
|
||||
*
|
||||
* <p><p>
|
||||
* Bot also instantiates {@link UT2004PathAutoFixer} that automatically removes bad-edges
|
||||
* from navigation graph of UT2004. Note that Pogamut bot's cannot achieve 100% safe navigation
|
||||
* inside UT2004 maps mainly due to edges that does not contain enough information on how
|
||||
* to travel them, we're trying our best, but some edges inside navigation graph exported
|
||||
* from UT2004 cannot be traveled with our current implementation.
|
||||
*
|
||||
* <p><p>
|
||||
* You may control the way the bot informs you about its decisions via {@link ${symbol_pound}shouldLog} and {@link ${symbol_pound}shouldSpeak} flags.
|
||||
*
|
||||
* <p><p>
|
||||
* We advise to change chat settings within UT2004 via ESCAPE -> Settings -> HUD -> Max. Chat Count -> set to 8 (max).
|
||||
*
|
||||
* @author Rudolf Kadlec aka ik
|
||||
* @author Jakub Gemrot aka Jimmy
|
||||
*/
|
||||
@AgentScoped
|
||||
public class NavigationBot extends UT2004BotModuleController {
|
||||
|
||||
/**
|
||||
* Taboo set is working as "black-list", that is you might add some
|
||||
* NavPoints to it for a certain time, marking them as "unavailable".
|
||||
*/
|
||||
protected TabooSet<NavPoint> tabooNavPoints;
|
||||
|
||||
/**
|
||||
* Current navigation point we're navigating to.
|
||||
*/
|
||||
protected NavPoint targetNavPoint;
|
||||
|
||||
/**
|
||||
* Path auto fixer watches for navigation failures and if some navigation
|
||||
* link is found to be unwalkable, it removes it from underlying navigation
|
||||
* graph.
|
||||
*
|
||||
* Note that UT2004 navigation graphs are some times VERY stupid or contains
|
||||
* VERY HARD TO FOLLOW links...
|
||||
*/
|
||||
protected UT2004PathAutoFixer autoFixer;
|
||||
|
||||
/**
|
||||
* Standard {@link UT2004BotModuleController${symbol_pound}getNavigation()} is using {@link FloydWarshallMap} to find the path.
|
||||
* <p><p>
|
||||
* This {@link UT2004Navigation} is initialized using {@link UT2004BotModuleController${symbol_pound}getAStar()} and can be used to confirm, that
|
||||
* {@link UT2004AStar} is working in the map.
|
||||
*/
|
||||
protected UT2004Navigation navigationAStar;
|
||||
|
||||
/**
|
||||
* {@link NavigationBot${symbol_pound}talking} state.
|
||||
*/
|
||||
protected int talking;
|
||||
|
||||
/**
|
||||
* Whether to use {@link ${symbol_pound}navigationAStar} and {@link UT2004AStar} (== true).
|
||||
* <p><p>
|
||||
* Can be configured from NetBeans plugin during runtime.
|
||||
*/
|
||||
@JProp
|
||||
public boolean useAStar = false;
|
||||
|
||||
/**
|
||||
* Whether to use {@link ${symbol_pound}nmNav} or standard {@link UT2004BotModuleController${symbol_pound}getNavigation()}.
|
||||
* <p><p>
|
||||
* Can be configured from NetBeans plugin during runtime.
|
||||
* <p><p>
|
||||
* Note that you must have corresponding .navmesh file for a current played map within directory ./navmesh, more info available at {@link NavMeshModule}.
|
||||
* <p><p>
|
||||
* Note that navigation bot comes with only three navmeshes DM-TrainingDay, DM-1on1-Albatross and DM-Flux2 (see ./navmesh folder within the project folder).
|
||||
*/
|
||||
@JProp
|
||||
public boolean useNavMesh = false;
|
||||
|
||||
/**
|
||||
* Whether we should draw the navmesh before we start running using {@link ${symbol_pound}nmNav} or standard {@link UT2004BotModuleController${symbol_pound}getNavigation()}.
|
||||
* <p><p>
|
||||
* Can be configured from NetBeans plugin during runtime.
|
||||
*/
|
||||
@JProp
|
||||
public boolean drawNavMesh = true;
|
||||
|
||||
/**
|
||||
* Whether we should speak using in game communication within {@link ${symbol_pound}say(String)}.
|
||||
*/
|
||||
public boolean shouldSpeak = true;
|
||||
|
||||
/**
|
||||
* Whether to LOG messages within {@link ${symbol_pound}say(String)}.
|
||||
*/
|
||||
public boolean shouldLog = false;
|
||||
|
||||
/**
|
||||
* What log level to use.
|
||||
*/
|
||||
public Level navigationLogLevel = Level.WARNING;
|
||||
|
||||
/**
|
||||
* Here we will store either {@link UT2004BotModuleController${symbol_pound}getNavigation()} or {@link ${symbol_pound}navigationAStar} according to {@link ${symbol_pound}useAStar}.
|
||||
*/
|
||||
protected IUT2004Navigation navigationToUse;
|
||||
|
||||
private boolean navMeshDrawn = false;
|
||||
|
||||
private int waitForMesh;
|
||||
|
||||
private double waitingForMesh;
|
||||
|
||||
private boolean offMeshLinksDrawn = false;
|
||||
|
||||
private int waitForOffMeshLinks;
|
||||
|
||||
private double waitingForOffMeshLinks;
|
||||
|
||||
/**
|
||||
* Here we can modify initializing command for our bot.
|
||||
*
|
||||
* @return
|
||||
*/
|
||||
@Override
|
||||
public Initialize getInitializeCommand() {
|
||||
return new Initialize().setName("NavigationBot");
|
||||
}
|
||||
|
||||
@Override
|
||||
public void mapInfoObtained() {
|
||||
// YOU CAN USE navBuilder IN HERE
|
||||
|
||||
// IN WHICH CASE YOU SHOULD UNCOMMENT FOLLOWING LINE AFTER EVERY CHANGE
|
||||
navMeshModule.setReloadNavMesh(true); // tells NavMesh to reconstruct OffMeshPoints
|
||||
}
|
||||
|
||||
/**
|
||||
* The bot is initialized in the environment - a physical representation of
|
||||
* the bot is present in the game.
|
||||
*
|
||||
* @param config information about configuration
|
||||
* @param init information about configuration
|
||||
*/
|
||||
@SuppressWarnings("unchecked")
|
||||
@Override
|
||||
public void botInitialized(GameInfo gameInfo, ConfigChange config, InitedMessage init) {
|
||||
// initialize taboo set where we store temporarily unavailable navpoints
|
||||
tabooNavPoints = new TabooSet<NavPoint>(bot);
|
||||
|
||||
// auto-removes wrong navigation links between navpoints
|
||||
autoFixer = new UT2004PathAutoFixer(bot, navigation.getPathExecutor(), fwMap, aStar, navBuilder);
|
||||
|
||||
// IMPORTANT
|
||||
// adds a listener to the path executor for its state changes, it will allow you to
|
||||
// react on stuff like "PATH TARGET REACHED" or "BOT STUCK"
|
||||
navigation.getPathExecutor().getState().addStrongListener(new FlagListener<IPathExecutorState>() {
|
||||
|
||||
@Override
|
||||
public void flagChanged(IPathExecutorState changedValue) {
|
||||
pathExecutorStateChange(changedValue);
|
||||
}
|
||||
});
|
||||
|
||||
nmNav.getPathExecutor().getState().addStrongListener(new FlagListener<IPathExecutorState>() {
|
||||
|
||||
@Override
|
||||
public void flagChanged(IPathExecutorState changedValue) {
|
||||
pathExecutorStateChange(changedValue);
|
||||
}
|
||||
});
|
||||
|
||||
navigationAStar = new UT2004Navigation(bot, navigation.getPathExecutor(), aStar, navigation.getBackToNavGraph(), navigation.getRunStraight());
|
||||
navigationAStar.getLog().setLevel(navigationLogLevel);
|
||||
|
||||
navigation.getLog().setLevel(navigationLogLevel);
|
||||
|
||||
nmNav.setLogLevel(navigationLogLevel);
|
||||
}
|
||||
|
||||
/**
|
||||
* The bot is initialized in the environment - a physical representation of
|
||||
* the bot is present in the game.
|
||||
*
|
||||
* @param config information about configuration
|
||||
* @param init information about configuration
|
||||
*/
|
||||
@Override
|
||||
public void botFirstSpawn(GameInfo gameInfo, ConfigChange config, InitedMessage init, Self self) {
|
||||
// receive logs from the navigation so you can get a grasp on how it is working
|
||||
//navigation.getPathExecutor().getLog().setLevel(Level.ALL);
|
||||
//nmNav.setLogLevel(Level.ALL);
|
||||
//navigationAStar.getPathExecutor().getLog().setLevel(Level.ALL);
|
||||
}
|
||||
|
||||
/**
|
||||
* This method is called only once right before actual logic() method is
|
||||
* called for the first time.
|
||||
*/
|
||||
@Override
|
||||
public void beforeFirstLogic() {
|
||||
}
|
||||
|
||||
/**
|
||||
* Main method that controls the bot - makes decisions what to do next. It
|
||||
* is called iteratively by Pogamut engine every time a synchronous batch
|
||||
* from the environment is received. This is usually 4 times per second - it
|
||||
* is affected by visionTime variable, that can be adjusted in GameBots ini
|
||||
* file in UT2004/System folder.
|
||||
*/
|
||||
@Override
|
||||
public void logic() {
|
||||
// mark that another logic iteration has began
|
||||
say("--- Logic iteration ---");
|
||||
|
||||
// decide which navigation to use
|
||||
chooseNavigationToUse();
|
||||
if (navigationToUse == nmNav && drawNavMesh) {
|
||||
if (!drawNavMesh()) return;
|
||||
if (!drawOffMeshLinks()) return;
|
||||
}
|
||||
|
||||
if (players.canSeePlayers() || navigationToUse.getCurrentTargetPlayer() != null) {
|
||||
// we can see some player / is navigating to some point where we lost the player from sight
|
||||
// => navigate to player
|
||||
handlePlayerNavigation();
|
||||
} else {
|
||||
// no player can be seen
|
||||
// => navigate to navpoint
|
||||
handleNavPointNavigation();
|
||||
}
|
||||
}
|
||||
|
||||
private void chooseNavigationToUse() {
|
||||
if (useAStar) {
|
||||
if (navigationToUse != navigationAStar) {
|
||||
say("Using UT2004AStar to find path.");
|
||||
if (navigationToUse != null) navigationToUse.stopNavigation();
|
||||
navigationToUse = navigationAStar;
|
||||
info.getBotName().setInfo("UT2004-ASTAR");
|
||||
}
|
||||
} else
|
||||
if (useNavMesh) {
|
||||
if (nmNav.isAvailable()) {
|
||||
if (navigationToUse != nmNav) {
|
||||
say("Using NavMesh for navigation.");
|
||||
if (navigationToUse != null) navigationToUse.stopNavigation();
|
||||
navigationToUse = nmNav;
|
||||
info.getBotName().setInfo("NAVMESH");
|
||||
}
|
||||
} else {
|
||||
log.warning("NavMesh not available! See startup log for more details.");
|
||||
}
|
||||
}
|
||||
if (navigationToUse == null || (!useAStar && !useNavMesh)) {
|
||||
if (navigationToUse != navigation) {
|
||||
say("Using FloydWarshallMap to find path.");
|
||||
if (navigationToUse != null) navigationToUse.stopNavigation();
|
||||
navigationToUse = navigation;
|
||||
info.getBotName().setInfo("FW");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private void handlePlayerNavigation() {
|
||||
if (navigationToUse.isNavigating() && navigationToUse.getCurrentTargetPlayer() != null) {
|
||||
// WE'RE NAVIGATING TO SOME PLAYER
|
||||
logNavigation();
|
||||
return;
|
||||
}
|
||||
|
||||
// NAVIGATION HAS STOPPED ...
|
||||
// => we need to choose another player to navigate to
|
||||
|
||||
Player player = players.getNearestVisiblePlayer();
|
||||
if (player == null) {
|
||||
// NO PLAYERS AT SIGHT
|
||||
// => navigate to random navpoint
|
||||
handleNavPointNavigation();
|
||||
return;
|
||||
}
|
||||
|
||||
// CHECK DISTANCE TO THE PLAYER ...
|
||||
if (info.getLocation().getDistance(player.getLocation()) < UT2004Navigation.AT_PLAYER) {
|
||||
// PLAYER IS NEXT TO US...
|
||||
// => talk to player
|
||||
talkTo(player);
|
||||
return;
|
||||
}
|
||||
|
||||
navigationToUse.navigate(player);
|
||||
logNavigation();
|
||||
}
|
||||
|
||||
private void handleNavPointNavigation() {
|
||||
if (navigationToUse.isNavigatingToNavPoint()) {
|
||||
// IS TARGET CLOSE & NEXT TARGET NOT SPECIFIED?
|
||||
while (navigationToUse.getContinueTo() == null && navigationToUse.getRemainingDistance() < 400) {
|
||||
// YES, THERE IS NO "next-target" SET AND WE'RE ABOUT TO REACH OUR TARGET!
|
||||
NavPoint nextNavPoint = getRandomNavPoint();
|
||||
say("EXTENDING THE PATH: " + NavPoints.describe(nextNavPoint));
|
||||
navigationToUse.setContinueTo(nextNavPoint);
|
||||
// note that it is WHILE because navigation may immediately eat up "next target" and next target may be actually still too close!
|
||||
}
|
||||
|
||||
// WE'RE NAVIGATING TO SOME NAVPOINT
|
||||
logNavigation();
|
||||
return;
|
||||
}
|
||||
|
||||
// NAVIGATION HAS STOPPED ...
|
||||
// => we need to choose another navpoint to navigate to
|
||||
// => possibly follow some players ...
|
||||
|
||||
targetNavPoint = getRandomNavPoint();
|
||||
if (targetNavPoint == null) {
|
||||
log.severe("COULD NOT CHOOSE ANY NAVIGATION POINT TO RUN TO!!!");
|
||||
if (world.getAll(NavPoint.class).size() == 0) {
|
||||
log.severe("world.getAll(NavPoint.class).size() == 0, there are no navigation ponits to choose from! Is exporting of nav points enabled in GameBots2004.ini inside UT2004?");
|
||||
}
|
||||
config.setName("NavigationBot [CRASHED]");
|
||||
return;
|
||||
}
|
||||
|
||||
talking = 0;
|
||||
|
||||
say("CHOOSING FIRST NAVPOINT TO RUN TO: " + NavPoints.describe(targetNavPoint));
|
||||
navigationToUse.navigate(targetNavPoint);
|
||||
logNavigation();
|
||||
}
|
||||
|
||||
private void logNavigation() {
|
||||
// log how many navpoints & items the bot knows about and which is visible
|
||||
if (navigationToUse.getCurrentTargetPlayer() != null) {
|
||||
say("-> " + NavPoints.describe(navigationToUse.getCurrentTargetPlayer()));
|
||||
} else {
|
||||
say("-> " + NavPoints.describe(navigationToUse.getCurrentTarget()));
|
||||
}
|
||||
int pathLeftSize = navigationToUse.getPathExecutor().getPath() == null ? 0 : navigationToUse.getPathExecutor().getPath().size() - navigationToUse.getPathExecutor().getPathElementIndex();
|
||||
say("Path points left: " + pathLeftSize);
|
||||
say("Remaining distance: " + navigationToUse.getRemainingDistance());
|
||||
say("Visible navpoints: " + world.getAllVisible(NavPoint.class).size() + " / " + world.getAll(NavPoint.class).size());
|
||||
say("Visible items: " + items.getVisibleItems().values() + " / " + world.getAll(Item.class).size());
|
||||
say("Visible players: " + players.getVisiblePlayers().size());
|
||||
}
|
||||
|
||||
private void talkTo(Player player) {
|
||||
// FACE THE PLAYER
|
||||
move.turnTo(player);
|
||||
|
||||
// SEND MESSAGES
|
||||
switch (talking) {
|
||||
case 0:
|
||||
say("Hi!");
|
||||
break;
|
||||
case 4:
|
||||
say("Howdy!");
|
||||
break;
|
||||
case 10:
|
||||
say("I'm NavigationBot made to fool around and test Pogamut's navigation stuff!");
|
||||
break;
|
||||
case 18:
|
||||
say("My work is extremely important.");
|
||||
break;
|
||||
case 24:
|
||||
say("So do not interrupt me, ok?");
|
||||
break;
|
||||
case 26:
|
||||
if (random.nextDouble() > 0.5) {
|
||||
move.jump();
|
||||
}
|
||||
break;
|
||||
case 40:
|
||||
say(getRandomLogoutMessage());
|
||||
break;
|
||||
}
|
||||
|
||||
++talking;
|
||||
if (talking > 40) {
|
||||
talking = 25;
|
||||
}
|
||||
}
|
||||
|
||||
private String getRandomLogoutMessage() {
|
||||
switch (random.nextInt(8)) {
|
||||
case 0:
|
||||
return "I would appriciate if you log out or switch to SPECTATE mode.";
|
||||
case 1:
|
||||
return "Would you please log out or switch to SPECTATE mode.";
|
||||
case 2:
|
||||
return "Just log out, will ya?";
|
||||
case 3:
|
||||
return "As I've said, I'M SOMEONE, so log out, ok?";
|
||||
case 4:
|
||||
return "I can see you don't get it... LOGOUT! OK!";
|
||||
case 5:
|
||||
return "I hate when humans are so clueless... just press ESCAPE key and press Spectate button, that's all I want!";
|
||||
case 6:
|
||||
return "I guess you do not know how to switch to spectate mode, right? Just press ESCAPE key and press Spectate button";
|
||||
default:
|
||||
return "AHAHAHAYYYAAAA!";
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
private boolean drawNavMesh() {
|
||||
if (!navMeshDrawn) {
|
||||
navMeshDrawn = true;
|
||||
say("Drawing NavMesh...");
|
||||
navMeshModule.getNavMeshDraw().clearAll();
|
||||
navMeshModule.getNavMeshDraw().draw(true, false);
|
||||
say("Okey, drawing commands issued, now we have to wait a bit till it gets drawn completely...");
|
||||
|
||||
waitForMesh = navMeshModule.getNavMesh().getPolys().size() / 35;
|
||||
waitingForMesh = -info.getTimeDelta();
|
||||
}
|
||||
|
||||
if (waitForMesh > 0) {
|
||||
waitForMesh -= info.getTimeDelta();
|
||||
waitingForMesh += info.getTimeDelta();
|
||||
if (waitingForMesh > 2) {
|
||||
waitingForMesh = 0;
|
||||
say(((int)Math.round(waitForMesh)) + "s...");
|
||||
}
|
||||
if (waitForMesh > 0) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
private boolean drawOffMeshLinks() {
|
||||
if (!offMeshLinksDrawn) {
|
||||
offMeshLinksDrawn = true;
|
||||
|
||||
if (navMeshModule.getNavMesh().getOffMeshPoints().size() == 0) {
|
||||
say("Ha! There are no off-mesh points / links within this map!");
|
||||
return true;
|
||||
}
|
||||
|
||||
say("Drawing OffMesh Links...");
|
||||
navMeshModule.getNavMeshDraw().draw(false, true);
|
||||
say("Okey, drawing commands issued, now we have to wait a bit till it gets drawn completely...");
|
||||
waitForOffMeshLinks = navMeshModule.getNavMesh().getOffMeshPoints().size() / 10;
|
||||
waitingForOffMeshLinks = -info.getTimeDelta();
|
||||
}
|
||||
|
||||
if (waitForOffMeshLinks > 0) {
|
||||
waitForOffMeshLinks -= info.getTimeDelta();
|
||||
waitingForOffMeshLinks += info.getTimeDelta();
|
||||
if (waitingForOffMeshLinks > 2) {
|
||||
waitingForOffMeshLinks = 0;
|
||||
say(((int)Math.round(waitForOffMeshLinks)) + "s...");
|
||||
}
|
||||
if (waitForOffMeshLinks > 0) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
private void say(String text) {
|
||||
if (shouldSpeak) {
|
||||
body.getCommunication().sendGlobalTextMessage(text);
|
||||
}
|
||||
if (shouldLog) {
|
||||
say(text);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Called each time our bot die. Good for reseting all bot state dependent
|
||||
* variables.
|
||||
*
|
||||
* @param event
|
||||
*/
|
||||
@Override
|
||||
public void botKilled(BotKilled event) {
|
||||
navigation.stopNavigation();
|
||||
}
|
||||
|
||||
/**
|
||||
* Path executor has changed its state (note that {@link UT2004BotModuleController${symbol_pound}getPathExecutor()}
|
||||
* is internally used by
|
||||
* {@link UT2004BotModuleController${symbol_pound}getNavigation()} as well!).
|
||||
*
|
||||
* @param event
|
||||
*/
|
||||
protected void pathExecutorStateChange(IPathExecutorState event) {
|
||||
switch (event.getState()) {
|
||||
case PATH_COMPUTATION_FAILED:
|
||||
// if path computation fails to whatever reason, just try another navpoint
|
||||
// taboo bad navpoint for 3 minutes
|
||||
tabooNavPoints.add(targetNavPoint, 180);
|
||||
break;
|
||||
|
||||
case TARGET_REACHED:
|
||||
// taboo reached navpoint for 3 minutes
|
||||
tabooNavPoints.add(targetNavPoint, 180);
|
||||
break;
|
||||
|
||||
case STUCK:
|
||||
UT2004PathExecutorStuckState stuck = (UT2004PathExecutorStuckState)event;
|
||||
if (stuck.isGlobalTimeout()) {
|
||||
say("UT2004PathExecutor GLOBAL TIMEOUT!");
|
||||
} else {
|
||||
say(stuck.getStuckDetector() + " reported STUCK!");
|
||||
}
|
||||
if (stuck.getLink() == null) {
|
||||
say("STUCK LINK is NOT AVAILABLE!");
|
||||
} else {
|
||||
say("Bot has stuck while running from " + stuck.getLink().getFromNavPoint().getId() + " -> " + stuck.getLink().getToNavPoint().getId());
|
||||
}
|
||||
|
||||
// the bot has stuck! ... target nav point is unavailable currently
|
||||
tabooNavPoints.add(targetNavPoint, 60);
|
||||
break;
|
||||
|
||||
case STOPPED:
|
||||
// path execution has stopped
|
||||
targetNavPoint = null;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Randomly picks some navigation point to head to.
|
||||
*
|
||||
* @return randomly choosed navpoint
|
||||
*/
|
||||
protected NavPoint getRandomNavPoint() {
|
||||
say("Picking new target navpoint.");
|
||||
|
||||
// choose one feasible navpoint (== not belonging to tabooNavPoints) randomly
|
||||
NavPoint chosen = MyCollections.getRandomFiltered(getWorldView().getAll(NavPoint.class).values(), tabooNavPoints);
|
||||
|
||||
if (chosen != null) {
|
||||
return chosen;
|
||||
}
|
||||
|
||||
log.warning("All navpoints are tabooized at this moment, choosing navpoint randomly!");
|
||||
|
||||
// ok, all navpoints have been visited probably, try to pick one at random
|
||||
return MyCollections.getRandom(getWorldView().getAll(NavPoint.class).values());
|
||||
}
|
||||
|
||||
public static void main(String args[]) throws PogamutException {
|
||||
// wrapped logic for bots executions, suitable to run single bot in single JVM
|
||||
|
||||
// you can set the log level to FINER to see (almost) all logs
|
||||
// that describes decision making behind movement of the bot as well as incoming environment events
|
||||
// however note that in NetBeans this will cause your bot to lag heavilly (in Eclipse it is ok)
|
||||
new UT2004BotRunner(NavigationBot.class, "NavigationBot").setMain(true).setLogLevel(Level.WARNING).startAgent();
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user