package jadex.bdibpmn.examples.marsworld;
import jadex.application.space.envsupport.environment.AbstractTask;
import jadex.application.space.envsupport.environment.IEnvironmentSpace;
import jadex.application.space.envsupport.environment.ISpaceObject;
import jadex.application.space.envsupport.environment.space2d.Space2D;
import jadex.application.space.envsupport.math.IVector2;
import jadex.application.space.envsupport.math.Vector1Double;
import jadex.bdi.runtime.IBDIExternalAccess;
import jadex.bdi.runtime.IBDIInternalAccess;
import jadex.bridge.IComponentStep;
import jadex.bridge.IInternalAccess;
import jadex.commons.service.clock.IClockService;
import java.util.Iterator;
import java.util.Set;
/**
* Move an object towards a destination.
*/
public class MoveTask extends AbstractTask
{
//-------- constants --------
/** The destination property. */
public static final String PROPERTY_TYPENAME = "move";
/** The destination property. */
public static final String PROPERTY_DESTINATION = "destination";
/** The scope property. */
public static final String PROPERTY_SCOPE = "scope";
/** The speed property of the moving object (units per second). */
public static final String PROPERTY_SPEED = "speed";
/** The vision property of the moving object (radius in units). */
public static final String PROPERTY_VISION = "vision";
//-------- IObjectTask methods --------
/**
* Executes the task.
* Handles exceptions. Subclasses should implement doExecute() instead.
* @param space The environment in which the task is executing.
* @param obj The object that is executing the task.
* @param progress The time that has passed according to the environment executor.
*/
public void execute(IEnvironmentSpace space, ISpaceObject obj, long progress, IClockService clock)
{
IVector2 destination = (IVector2)getProperty(PROPERTY_DESTINATION);
final IBDIExternalAccess scope = (IBDIExternalAccess)getProperty(PROPERTY_SCOPE);
double speed = ((Number)obj.getProperty(PROPERTY_SPEED)).doubleValue();
double maxdist = progress*speed*0.001;
IVector2 loc = (IVector2)obj.getProperty(Space2D.PROPERTY_POSITION);
// Todo: how to handle border conditions!?
IVector2 newloc = ((Space2D)space).getDistance(loc, destination).getAsDouble()<=maxdist
? destination : destination.copy().subtract(loc).normalize().multiply(maxdist).add(loc);
((Space2D)space).setPosition(obj.getId(), newloc);
// Process vision at new location.
double vision = ((Number)obj.getProperty(PROPERTY_VISION)).doubleValue();
final Set objects = ((Space2D)space).getNearObjects((IVector2)obj.getProperty(Space2D.PROPERTY_POSITION), new Vector1Double(vision));
if(objects!=null)
{
for(Iterator it=objects.iterator(); it.hasNext(); )
{
final ISpaceObject so = (ISpaceObject)it.next();
if(so.getType().equals("target"))
{
scope.scheduleStep(new IComponentStep()
{
public Object execute(IInternalAccess ia)
{
IBDIInternalAccess bia = (IBDIInternalAccess)ia;
if(!bia.getBeliefbase().getBeliefSet("my_targets").containsFact(so))
{
bia.getBeliefbase().getBeliefSet("my_targets").addFact(so);
}
return null;
}
});
// scope.getBeliefbase().containsBeliefSetFact("my_targets", so).addResultListener(new DefaultResultListener()
// {
// public void resultAvailable(Object source, Object result)
// {
// if(!((Boolean)result).booleanValue())
// {
// scope.getBeliefbase().addBeliefSetFact("my_targets", so);
// // System.out.println("New target seen: "+scope.getAgentName()+", "+objects[i]);
// }
// }
// });
}
}
// scope.invokeLater(new Runnable()
// {
// public void run()
// {
// IBeliefSet targetsbel = scope.getBeliefbase().getBeliefSet("my_targets");
// for(Iterator it=objects.iterator(); it.hasNext(); )
// {
// ISpaceObject so = (ISpaceObject)it.next();
// if(so.getType().equals("target") && !targetsbel.containsFact(so))
// {
//// System.out.println("New target seen: "+scope.getAgentName()+", "+objects[i]);
// targetsbel.addFact(so);
// }
// }
// }
// });
}
if(newloc==destination)
setFinished(space, obj, true);
}
}