DriverDecentralizedLogicExample.java

package cz.agents.agentpolis.darptestbed.simmodel.agent.driver.logic;

import com.google.common.collect.Maps;
import cz.agents.agentpolis.darptestbed.global.Utils;
import cz.agents.agentpolis.darptestbed.siminfrastructure.communication.passenger.message.DriverArrivedMessage;
import cz.agents.agentpolis.darptestbed.siminfrastructure.communication.passenger.message.Proposal;
import cz.agents.agentpolis.darptestbed.siminfrastructure.communication.passenger.protocol.PassengerMessageProtocol;
import cz.agents.agentpolis.darptestbed.siminfrastructure.communication.protocol.GeneralMessageProtocol;
import cz.agents.agentpolis.darptestbed.siminfrastructure.communication.receiver.StringMessage;
import cz.agents.agentpolis.darptestbed.simmodel.agent.data.Request;
import cz.agents.agentpolis.darptestbed.simmodel.agent.data.TripInfo;
import cz.agents.agentpolis.darptestbed.simmodel.agent.data.TripPlan;
import cz.agents.agentpolis.darptestbed.simmodel.agent.data.generator.PassengersInAndOutPair;
import cz.agents.agentpolis.darptestbed.simmodel.entity.vehicle.TestbedVehicle;
import cz.agents.agentpolis.darptestbed.simmodel.environment.model.TestbedModel;
import cz.agents.agentpolis.siminfrastructure.planner.trip.Trip;
import cz.agents.agentpolis.siminfrastructure.planner.trip.Trips;
import cz.agents.agentpolis.simmodel.agent.activity.movement.DriveVehicleActivity;
import cz.agents.agentpolis.simmodel.environment.model.citymodel.transportnetwork.AllNetworkNodes;
import cz.agents.agentpolis.simmodel.environment.model.query.AgentPositionQuery;

import java.util.Arrays;
import java.util.HashSet;
import java.util.Map;

/**
 * Example of decentralized control mechanism. Related classes: PassengerDecentralizedLogicExample
 */
public class DriverDecentralizedLogicExample extends DriverDecentralizedLogic {

    public DriverDecentralizedLogicExample(String agentId, PassengerMessageProtocol sender,
                                           GeneralMessageProtocol generalMessageProtocol, TestbedModel taxiModel,
                                           AgentPositionQuery positionQuery, AllNetworkNodes allNetworkNodes, Utils utils, TestbedVehicle vehicle,
                                           DriveVehicleActivity drivingActivity) {
        super(agentId, sender, generalMessageProtocol, taxiModel, positionQuery, allNetworkNodes, utils, vehicle,
                drivingActivity);
    }

    // If we receive a request from the passenger ...
    @Override
    public void processNewRequest(Request request) {

        // debug output
        LOGGER.info("Request: [" + utils.toHoursAndMinutes(request.getTimeWindow().getEarliestDeparture()) + "] "
                + request.getPassengerId() + "->" + this.getAgentId() + ", latest departure: "
                + utils.toHoursAndMinutes(request.getTimeWindow().getLatestDeparture()));

        // if we don't have some of the requested special equipment (wheelchair support, etc.), reject the request
        if (!this.getVehicle().getVehicleEquipments().containsAll(request.getAdditionalRequirements())) {
            sendRequestRejectionToPassenger(request);
            return;
        }

        // if we already have a passenger on board, reject this request
        if (this.getCurrentPassengersOnBoard() > 0) {
            sendRequestRejectionToPassenger(request);
            return;
        }

        // if we currently have a trip plan which is not empty, reject this request
        if (this.getTripPlan() != null && this.getTripPlan().getTrips().numTrips() > 0) {
            sendRequestRejectionToPassenger(request);
            return;
        }

        // if we're already busy doing something, reject the request
        if (this.isBusy()) {
            sendRequestRejectionToPassenger(request);
            return;
        }

        // compute the driving time between the passenger and the driver
        double timeToPassenger = utils.computeDrivingTime(this.getAgentId(), request.getPassengerId());
        // estimate when this driver could pick the passenger up
        long pickUpTime = Math.max(request.getTimeWindow().getEarliestDeparture(), utils.getCurrentTime() + Math.round(timeToPassenger));

        // compute the driving time between the passenger's origin and destination
        double timeToDrive = utils.computeDrivingTime(request.getFromNode(), request.getToNode());
        // estimate when this driver could drop the passenger off
        long dropOffTime = pickUpTime + Math.round(timeToDrive);


        // if this driver is able to pick the passenger up in time & drop him off in time ...
        if ((pickUpTime <= request.getTimeWindow().getLatestDeparture()) && (dropOffTime <= request.getTimeWindow().getLatestArrival())) {

            // send a proposal to the passenger
            this.sendProposalToPassenger(new Proposal(request, this.getAgentId(), this.getVehicle().getId()));

            // while we're waiting for the reply, flag ourselves as "busy", so we won't accept new requests
            this.setBusy();
        } else {
            // otherwise, if we can't possibly satisfy this request within specified time windows, send a rejection
            sendRequestRejectionToPassenger(request);
        }

    }

    // If passenger accepts our proposal...
    @Override
    public void processNewAcceptance(Proposal proposal) {

        // original request
        Request request = proposal.getRequest();

        // plan the trips (paths)
        // (1) from driver to passenger's departure node and
        // (2) from origin to arrival node
        Trip toPassenger = utils.planTrip(this.getVehicle().getId(), this.getCurrentPositionNode(), request.getFromNode());
        Trip toDestination = utils.planTrip(this.getVehicle().getId(), request.getFromNode(), request.getToNode());

        // concatenate those two trips into a drivePath for the driver
        Trips drivePath = new Trips();
        if (toPassenger != null && toPassenger.numOfCurrentTripItems() > 1) drivePath.addTrip(toPassenger);
        if (toDestination != null && toDestination.numOfCurrentTripItems() > 1) drivePath.addTrip(toDestination);

        // if we didn't successfully find and concatenate two required trips reject the request (we can't find a way to fulfill it)
        if (drivePath.numTrips() != 2) {
            // send a rejection
            sendRequestRejectionToPassenger(request);
            // flag ourselves as "free" again
            this.setFree();

            return;
        }

        // create a pickup map for this path (tells driver where he should pick up which passengers)
        Map<Long, PassengersInAndOutPair> pickUpAndDropOffMap = Maps.newHashMap();
        pickUpAndDropOffMap.put(request.getFromNode(),
                new PassengersInAndOutPair(new HashSet<>(Arrays.asList(request.getPassengerId())),
                        new HashSet<String>()));
        pickUpAndDropOffMap.put(request.getToNode(),
                new PassengersInAndOutPair(new HashSet<String>(),
                        new HashSet<>(Arrays.asList(request.getPassengerId()))));

        // set the trip plan for the driver
        TripPlan tripPlan = new TripPlan(drivePath, pickUpAndDropOffMap);
        this.setTripPlan(tripPlan);
        LOGGER.info("Setting trip plan for " + this.getAgentId() + " (" + this.getCurrentPassengersOnBoard() + "/" + this.getVehicle().getCapacity() + ") to:\n\n" + tripPlan);

        // start driving
        driveNextPartOfTripPlan();

    }

    // Process a rejection obtained by the passenger (not used in this example - passengers accept everything).
    @Override
    public void processNewRejection(Proposal proposal) {
    }

    // This is called by a timer at regular intervals.
    // You can use this instead of processNewRequest() if you want to store the requests in some array/queue and select among them.
    @Override
    public void processRequests() {
    }

    // This is called by a timer at regular intervals.
    @Override
    public void processAcceptancesAndRejections() {
    }

    // Notify the passenger that the taxi arrived, so he can get in.
    @Override
    protected void sendTaxiArrivedToPickup(String passengerId) {
        sender.sendMessage(passengerId, new DriverArrivedMessage(getAgentId(), new TripInfo(getAgentId(), this.getVehicle().getId())));
    }

    @Override
    protected void sendTaxiArrivedToDropOff(String passengerId) {
        sender.sendMessage(passengerId, new DriverArrivedMessage(getAgentId(), new TripInfo(getAgentId(), this.getVehicle().getId())));
    }

    @Override
    protected void sendTaxiArrivedLateMessageToDispatching(String passengerId) {
    }
}