HuntPlan.java

package jadex.bdi.examples.hunterprey.ldahunter;

import jadex.application.space.envsupport.environment.ISpaceAction;
import jadex.application.space.envsupport.environment.ISpaceObject;
import jadex.application.space.envsupport.environment.space2d.Grid2D;
import jadex.application.space.envsupport.environment.space2d.Space2D;
import jadex.application.space.envsupport.math.IVector2;
import jadex.bdi.examples.hunterprey.MoveAction;
import jadex.bdi.examples.hunterprey.ldahunter.potentialfield.JointField;
import jadex.bdi.examples.hunterprey.ldahunter.potentialfield.PotentialFrame;
import jadex.bdi.runtime.Plan;

import java.util.HashMap;
import java.util.Map;

/**
 * A plan skeleton. Custom code goes into the body() method.
 */
public class HuntPlan extends Plan {
	ISpaceObject myself;
	IVector2 myLoc;
	JointField jf;
	PotentialFrame pf;
	ISpaceObject[] vis;
	ISpaceObject prey;
	Grid2D	env;

	/**
	 * The plan body. The plan is finished when this method returns.
	 */
	public void body() {
		// set variables
		env = (Grid2D)getBeliefbase().getBelief("env").getFact();
		vis = (ISpaceObject[])getBeliefbase().getBeliefSet("vision").getFacts();
		myself = (ISpaceObject)getBeliefbase().getBelief("myself").getFact();
		myLoc = (IVector2)myself.getProperty(Space2D.PROPERTY_POSITION);

		jf = (JointField) getBeliefbase().getBelief("potential_field")
				.getFact();
		pf = (PotentialFrame) getBeliefbase().getBelief("potential_window")
				.getFact();

		prey = (ISpaceObject) getBeliefbase().getBelief("next_sheep").getFact();

		if(prey!=null)
		{
			IVector2	ppos	= (IVector2)prey.getProperty(Space2D.PROPERTY_POSITION);
			if(env.getDistance(myLoc, ppos).getAsInteger()>2)
				throw new RuntimeException("Wurks0: "+getScope().getAgentName()+", "+prey);			
				
			
			try
			{
				env.getSpaceObject(prey.getId());
			}
			catch(Exception e)
			{
				throw new RuntimeException("Wurks1: "+getScope().getAgentName()+", "+prey);			
			}
		}
		
		jf.update(vis, myself);

		if (!eating())
			foolAround();
	}

	/**
	 * @return true if it was eating
	 */
	protected boolean eating() {
		if (prey != null) {
			if (prey.getProperty(Space2D.PROPERTY_POSITION).equals(myLoc)) { // eat it
				jf.eaten(prey);
				pf.update(jf, myLoc, myLoc.getXAsInteger(), myLoc.getYAsInteger());

				try
				{
//					System.out.println("Eating: "+getScope().getAgentName()+", "+prey);
					SyncResultListener srl	= new SyncResultListener();
					Map params = new HashMap();
					params.put(ISpaceAction.ACTOR_ID, getComponentIdentifier());
					params.put(ISpaceAction.OBJECT_ID, prey);
					env.performSpaceAction("eat", params, srl);
					srl.waitForResult();
//					System.out.println("Ate: "+getScope().getAgentName()+", "+prey);
				}
				catch(RuntimeException e)
				{
//					System.out.println("Eating failed: "+getScope().getAgentName()+", "+prey);
					// Ignore when eating fails.
					fail();
				}

				return true;
			}
		}
		return false;
	}

	/** 
   */
	protected void foolAround() {
		IVector2 to;
		String dir = null;

		to = (prey != null ? (IVector2)prey.getProperty(Space2D.PROPERTY_POSITION) : jf.getBestLocation()).copy();
		pf.update(jf, myLoc, to.getXAsInteger(), to.getYAsInteger());

		while (env.getDistance(myLoc, to).getAsInteger() > 1
				&& jf.getNearerLocation((IVector2)to)) {/**/
		}

		if (env.getDistance(myLoc, to).getAsInteger() == 1) {
			dir	= MoveAction.getDirection(env, myLoc, to);
		}

		if (dir==null || MoveAction.DIRECTION_NONE.equals(dir)) {
			String posDirs[] = MoveAction.getPossibleDirections(env, myLoc);
			String lastDir = (String) getBeliefbase().getBelief(
					"last_direction").getFact();
			dir = posDirs[randomInt(posDirs.length)];
			for (int i = 0; i < posDirs.length; i++) {
				if (lastDir == posDirs[i] && Math.random() > 0.2) {
					dir = lastDir;
					break;
				}
			}
		}

//		getLogger().info("Moving " + dir + " to " + to);

		getBeliefbase().getBelief("last_direction").setFact(dir);

//		System.out.println("Moving: "+myself);
		SyncResultListener srl	= new SyncResultListener();
		Map params = new HashMap();
		params.put(ISpaceAction.ACTOR_ID, getComponentIdentifier());
		params.put(MoveAction.PARAMETER_DIRECTION, dir);
		env.performSpaceAction("move", params, srl);
		srl.waitForResult();
//		System.out.println("Moved: "+myself);
	}

	/**
	 * @param max
	 * @return integer less than max
	 */
	int randomInt(final int max) {
		int rnd = (int) Math.floor(Math.random() * max);
		return (rnd < max) ? rnd : max - 1;
	}

}