cz.cuni.pogamut.Client
Class PathManager

java.lang.Object
  cz.cuni.pogamut.Client.PathManager

All Implemented Interfaces:

RcvMsgListener, java.util.EventListener

public class PathManager
extends java.lang.Object
implements RcvMsgListener

This class encapsulate work with paths during navigation so it is on one place and it is clearer what is going on with them
1) call either retrievePathGB() or retrievePathAStart()
2) check it's result ... if PATH_FOUND then use getPath() to get found path


3) When the path is successfully retrieved, you may then call runAlongPath() method.

Nested Class Summary

private static class	PathManager.Lift
static class	PathManager.PathResult Result when finding the path...
private static class	PathManager.RunAlongPathState
static class	PathManager.RunResult Result of the runAlongPath.

Field Summary

private java.util.List<Triple>	agentLocationHistory History of agent's location - stuck check is working over this...
private AgentBody	body AgentBody, we need it to be able to issue commands.
private NeighNav	edge Edge between navpoints we're running over.
private NavPoint	fromNavPoint Navpoint we're running from.
private GameMap	gameMap Owner of the PathManager
private long	lastAgentLocationAddedMillis When was the last time we've added the agent location to the history?
private long	lastJumpMillis When was the last time the bot has tried to jump over obstacle, millis
private long	lastPathRequestSent When was the last time System.currentTimeMillis() when we've asked GB to get us a path.
private int	liftAttempts How many times we've tried to get to the lift.
private java.util.logging.Logger	log Platform log.
private java.lang.String	logPrefix Log prefix.
private Mover	myMover Filled when we have to enter the lift.
private java.util.ArrayList<NavPoint>	path Current path the manager is working over
private static int	PATH_ID_START_COUNTER First path id to use.
static long	PATH_REQUEST_TIMEOUT How many millis we will wait for the GB to answer GETPATH command before we timeout...
private int	pathId Last used pathId when communicating with GB.
private boolean	pathRequestSent Whether we sent request to the GB to get the path.
protected java.util.HashMap<java.lang.String,java.util.ArrayList<NavPoint>>	pathsFromGB Structure that stores collected paths according to their id.
private Triple	pathToLocation Last path requested was for this location
private boolean	returningToLiftExit Whether the command to return to lift exit has been issued.
private PathManager.RunAlongPathState	runningState State of the runAlongPath() that allows us to handle lifts.
private int	runningToNavPointIndex Index of the navpoint we're running to.
private NavPoint	toNavPoint Navpoint we're running to.
private boolean	waitingForLift If true the bot has started to wait for the lift...
private long	waitingForLiftStartedMillis Time when the bot started to wait for the lift.
private double	zCoordWhenLiftCenterReached What was the bot z-coord when lift center has been reached?

Constructor Summary

PathManager(GameMap gameMap, AgentBody body, java.util.logging.Logger platformLog)
Creates a new instance of PathManager, body is passed so the PathManager may hook a listener to sniff PATH messages and SPAWN messages (to know when to restart itself) and issue commands.

Method Summary

private double	deviationFromTheRunningLine(Triple agentLocation)
private NavPoint	getNavPointFromMemory(NavPoint np) Retrieves navpoint from memory or if not found returns current 'np'.
private NavPoint	getNextNavPoint()
java.util.ArrayList<NavPoint>	getPath() When you get PATH_FOUND result from either retrievePathGB() or retrievePathAStart(), you may call this method to actually get that path.
java.util.ArrayList<NavPoint>	getPath(java.lang.String pathId) Returns path of specific id if present.
private PathManager.Lift	isNavpointLift(NavPoint np) Called if toNavPoint is not null, checks whether we're not entering the lift with the next navpoint.
private boolean	isStucked()
private void	jumpCheck(Triple agentLocation)
private Mover	locateMover(Triple location)
private double	maxDistanceInAgentLocationHistory() Returns max distance between two locations in agentLocationHistory
void	receiveMessage(RcvMsgEvent e) Saves obtained paths from GB and restart path manager if bot is respawned.
void	restartPathManager() Call to reset all variables of the path manager - called also internally when restarting paths.
void	restartRunAlongPath() Used to restart the running along path - all variables cleared - called automaticaly during restartPathManager() or agent respawn.
PathManager.PathResult	retrievePathAStar(NavPoint target) Use this method before you call runAlongPath() to prepare the path to run along :) When PATH_FOUND is returned, you may then call runAlongPath().
PathManager.PathResult	retrievePathGB(Triple location) Use this method before you call runAlongPath() to prepare the path to run along :) When PATH_FOUND is returned, you may then call runAlongPath().
private PathManager.RunResult	runAlongPath_EnteringLiftState(Triple agentLocation)
private PathManager.RunResult	runAlongPath_ExitingLift(Triple agentLocation)
private PathManager.RunResult	runAlongPath_InCenterOfTheLiftState(Triple agentLocation)
private PathManager.RunResult	runAlongPath_PathRestartedState(Triple agentLocation)
private PathManager.RunResult	runAlongPath_RunningToNavpointState(Triple agentLocation)
PathManager.RunResult	runAlongPath() method to follow smoothly desired path - list of navigation points obtained from game map can handle movers - wait on it until top and leave note that movers in the way are in this fashion: - LiftExit -> LiftCenter -> LiftExit so as agent is supposed to go up when he is supposed to go to LiftCenter (therefore is around first LiftExit) he waits for mover to be about his level and then goes on it, wait to level with second LiftExit and move on
private void	switchToNextNavPoint() Changes runningToNavPointIndex, fromNavpoint = toNavPoint, toNavPoint = next navpoint (if there is any, otherwise null, path ended).

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

PATH_REQUEST_TIMEOUT

public static final long PATH_REQUEST_TIMEOUT

How many millis we will wait for the GB to answer GETPATH command before we timeout...

See Also:

Constant Field Values

PATH_ID_START_COUNTER

private static final int PATH_ID_START_COUNTER

First path id to use.

See Also:

Constant Field Values

pathsFromGB

protected java.util.HashMap<java.lang.String,java.util.ArrayList<NavPoint>> pathsFromGB

Structure that stores collected paths according to their id.

pathRequestSent

private boolean pathRequestSent

Whether we sent request to the GB to get the path.

pathId

private int pathId

Last used pathId when communicating with GB.

pathToLocation

private Triple pathToLocation

Last path requested was for this location

path

private java.util.ArrayList<NavPoint> path

Current path the manager is working over

lastPathRequestSent

private long lastPathRequestSent

When was the last time System.currentTimeMillis() when we've asked GB to get us a path.

gameMap

private GameMap gameMap

Owner of the PathManager

body

private AgentBody body

AgentBody, we need it to be able to issue commands.

log

private java.util.logging.Logger log

Platform log.

runningState

private PathManager.RunAlongPathState runningState

State of the runAlongPath() that allows us to handle lifts.

fromNavPoint

private NavPoint fromNavPoint

Navpoint we're running from.

toNavPoint

private NavPoint toNavPoint

Navpoint we're running to.

edge

private NeighNav edge

Edge between navpoints we're running over.

runningToNavPointIndex

private int runningToNavPointIndex

Index of the navpoint we're running to.

logPrefix

private java.lang.String logPrefix

Log prefix.

myMover

private Mover myMover

Filled when we have to enter the lift.

waitingForLift

private boolean waitingForLift

If true the bot has started to wait for the lift...

waitingForLiftStartedMillis

private long waitingForLiftStartedMillis

Time when the bot started to wait for the lift.

returningToLiftExit

private boolean returningToLiftExit

Whether the command to return to lift exit has been issued.

liftAttempts

private int liftAttempts

How many times we've tried to get to the lift.

zCoordWhenLiftCenterReached

private double zCoordWhenLiftCenterReached

What was the bot z-coord when lift center has been reached?

agentLocationHistory

private java.util.List<Triple> agentLocationHistory

History of agent's location - stuck check is working over this...

lastAgentLocationAddedMillis

private long lastAgentLocationAddedMillis

When was the last time we've added the agent location to the history?

lastJumpMillis

private long lastJumpMillis

When was the last time the bot has tried to jump over obstacle, millis

Constructor Detail

PathManager

public PathManager(GameMap gameMap,
                   AgentBody body,
                   java.util.logging.Logger platformLog)

Creates a new instance of PathManager, body is passed so the PathManager may hook a listener to sniff PATH messages and SPAWN messages (to know when to restart itself) and issue commands.

GameMap is needed for the PathManager to be able to use AStar.

Method Detail

restartPathManager

public void restartPathManager()

Call to reset all variables of the path manager - called also internally when restarting paths.

retrievePathGB

public PathManager.PathResult retrievePathGB(Triple location)

Use this method before you call runAlongPath() to prepare the path to run along :)

When PATH_FOUND is returned, you may then call runAlongPath().

If NO_PATH is returned, the PathManager is restarted and you next call of this method will send another GETPATH command.

If called for different location then previous calls, the path manager is restarted and new GETPATH is sent.

If returning OBTAINING_PATH just keep calling this method with the same 'location' until it returns NO_PATH or PATH_FOUND.

Parameters:

location -

Returns:

retrievePathAStar

public PathManager.PathResult retrievePathAStar(NavPoint target)

Use this method before you call runAlongPath() to prepare the path to run along :)

When PATH_FOUND is returned, you may then call runAlongPath().

If NO_PATH is returned, the AStar was unable to find a path from agent's current location.

Parameters:

target -

Returns:

receiveMessage

public void receiveMessage(RcvMsgEvent e)

Saves obtained paths from GB and restart path manager if bot is respawned.

Specified by:

receiveMessage in interface RcvMsgListener

getPath

public java.util.ArrayList<NavPoint> getPath()

When you get PATH_FOUND result from either retrievePathGB() or retrievePathAStart(), you may call this method to actually get that path.

Returns:

found path

restartRunAlongPath

public void restartRunAlongPath()

Used to restart the running along path - all variables cleared - called automaticaly during restartPathManager() or agent respawn.

deviationFromTheRunningLine

private double deviationFromTheRunningLine(Triple agentLocation)

getNavPointFromMemory

private NavPoint getNavPointFromMemory(NavPoint np)

Retrieves navpoint from memory or if not found returns current 'np'.

Parameters:

np -

Returns:

switchToNextNavPoint

private void switchToNextNavPoint()

Changes runningToNavPointIndex, fromNavpoint = toNavPoint, toNavPoint = next navpoint (if there is any, otherwise null, path ended).

getNextNavPoint

private NavPoint getNextNavPoint()

isNavpointLift

private PathManager.Lift isNavpointLift(NavPoint np)

Called if toNavPoint is not null, checks whether we're not entering the lift with the next navpoint.

getPath

public java.util.ArrayList<NavPoint> getPath(java.lang.String pathId)

Returns path of specific id if present.

Parameters:

pathId -

Returns:

maxDistanceInAgentLocationHistory

private double maxDistanceInAgentLocationHistory()

Returns max distance between two locations in agentLocationHistory

Returns:

isStucked

private boolean isStucked()

jumpCheck

private void jumpCheck(Triple agentLocation)

runAlongPath

public PathManager.RunResult runAlongPath()

method to follow smoothly desired path - list of navigation points obtained from game map can handle movers - wait on it until top and leave note that movers in the way are in this fashion: - LiftExit -> LiftCenter -> LiftExit so as agent is supposed to go up when he is supposed to go to LiftCenter (therefore is around first LiftExit) he waits for mover to be about his level and then goes on it, wait to level with second LiftExit and move on

Returns:

boolean value - true if there are no problems, false if agent reaches the end or is unable to reach next navPoint

runAlongPath_PathRestartedState

private PathManager.RunResult runAlongPath_PathRestartedState(Triple agentLocation)

runAlongPath_RunningToNavpointState

private PathManager.RunResult runAlongPath_RunningToNavpointState(Triple agentLocation)

locateMover

private Mover locateMover(Triple location)

runAlongPath_EnteringLiftState

private PathManager.RunResult runAlongPath_EnteringLiftState(Triple agentLocation)

runAlongPath_InCenterOfTheLiftState

private PathManager.RunResult runAlongPath_InCenterOfTheLiftState(Triple agentLocation)

runAlongPath_ExitingLift

private PathManager.RunResult runAlongPath_ExitingLift(Triple agentLocation)