rescuecore
Class Agent

java.lang.Object
  rescuecore.Agent

All Implemented Interfaces:

RescueConstants

Direct Known Subclasses:

CenterAgent, DummyAgent, PlatoonAgent

public abstract class Agent

extends java.lang.Object

implements RescueConstants

This is the base class for all agents. This class handles messages from the server, provides a memory of the simulation environment and convenience methods for path planning etc. This class also enforces the message limits imposed by the robocup rescue rules.

Agent implementations should provide at least one of the following three constructors:

1. A no-arg constructor - e.g. MyAgent()
2. A String[] constructor - e.g. MyAgent(String[] args)
3. A constructor that takes one or more String arguments - e.g. MyAgent(String arg1, String arg2)

The reason for this is that the AgentSystem allows arguments to be passed to the Agent via the command line. When creating an instance of the agent it first looks for any constructor that accepts the right number of String arguments, followed by the String[] constructor. Failing that, the no-arg constructor will be used.

For example, if the command line provides two arguments then the AgentSystem will use the MyAgent(String arg1, String arg2) constructor. If only one argument is provided then the MyAgent(String[] args) constructor is used.

Field Summary

protected AgentSystem	agentSystem
protected int	agentType
protected int	id
protected Memory	memory
protected int	timeStep
protected int	type

Fields inherited from interface rescuecore.RescueConstants

AGENT_TYPE_AMBULANCE_CENTER, AGENT_TYPE_AMBULANCE_TEAM, AGENT_TYPE_ANY, AGENT_TYPE_ANY_AGENT, AGENT_TYPE_ANY_BUILDING, AGENT_TYPE_ANY_MOBILE, AGENT_TYPE_CIVILIAN, AGENT_TYPE_FIRE_BRIGADE, AGENT_TYPE_FIRE_STATION, AGENT_TYPE_POLICE_FORCE, AGENT_TYPE_POLICE_OFFICE, AK_ACKNOWLEDGE, AK_CLEAR, AK_CONNECT, AK_EXTINGUISH, AK_LOAD, AK_MOVE, AK_RESCUE, AK_REST, AK_SAY, AK_TELL, AK_UNLOAD, BYTE_SIZE, COMMAND_ACKNOWLEDGE, COMMAND_CLEAR, COMMAND_CONNECT, COMMAND_EXTINGUISH, COMMAND_LOAD, COMMAND_MOVE, COMMAND_RESCUE, COMMAND_REST, COMMAND_SAY, COMMAND_TELL, COMMAND_UNLOAD, FIERYNESS_BURNING, FIERYNESS_BURNT_OUT, FIERYNESS_HEATING, FIERYNESS_INFERNO, FIERYNESS_MODERATELY_BURNT, FIERYNESS_NOT_BURNT, FIERYNESS_SLIGHTLY_BURNT, FIERYNESS_VERY_BURNT, GK_CONNECT_ERROR, GK_CONNECT_OK, HEADER_NULL, INT_SIZE, INTERNAL_TYPE_AMBULANCE_CENTER, INTERNAL_TYPE_AMBULANCE_TEAM, INTERNAL_TYPE_ANY_BUILDING, INTERNAL_TYPE_ANY_HUMANOID, INTERNAL_TYPE_ANY_PLATOON, INTERNAL_TYPE_BUILDING, INTERNAL_TYPE_CAR, INTERNAL_TYPE_CIVILIAN, INTERNAL_TYPE_FIRE_BRIGADE, INTERNAL_TYPE_FIRE_STATION, INTERNAL_TYPE_NODE, INTERNAL_TYPE_POLICE_FORCE, INTERNAL_TYPE_POLICE_OFFICE, INTERNAL_TYPE_REFUGE, INTERNAL_TYPE_RIVER, INTERNAL_TYPE_RIVER_NODE, INTERNAL_TYPE_ROAD, INTERNAL_TYPE_WORLD, KA_CONNECT_ERROR, KA_CONNECT_OK, KA_HEAR, KA_SENSE, KG_ACKNOWLEDGE, KG_CONNECT, KG_UPDATE, KS_COMMANDS, KS_CONNECT_ERROR, KS_CONNECT_OK, KS_UPDATE, KV_CONNECT_ERROR, KV_CONNECT_OK, KV_UPDATE, MAX_CENTER_MESSAGES, MAX_EXTINGUISH_DISTANCE, MAX_EXTINGUISH_POWER, MAX_HP, MAX_PLATOON_MESSAGES, MAX_RESCUE_DISTANCE, MAX_WATER, PROPERTY_BLOCK, PROPERTY_BROKENNESS, PROPERTY_BUILDING_APEXES, PROPERTY_BUILDING_AREA_GROUND, PROPERTY_BUILDING_AREA_TOTAL, PROPERTY_BUILDING_ATTRIBUTES, PROPERTY_BUILDING_CODE, PROPERTY_BUILDING_SHAPE_ID, PROPERTY_BURIEDNESS, PROPERTY_CARS_PASS_TO_HEAD, PROPERTY_CARS_PASS_TO_TAIL, PROPERTY_DAMAGE, PROPERTY_DIRECTION, PROPERTY_EDGES, PROPERTY_ENTRANCES, PROPERTY_FIERYNESS, PROPERTY_FLOORS, PROPERTY_HEAD, PROPERTY_HP, PROPERTY_HUMANS_PASS_TO_HEAD, PROPERTY_HUMANS_PASS_TO_TAIL, PROPERTY_IGNITION, PROPERTY_LATITUDE, PROPERTY_LENGTH, PROPERTY_LINES_TO_HEAD, PROPERTY_LINES_TO_TAIL, PROPERTY_LONGITUDE, PROPERTY_MAX, PROPERTY_MEDIAN_STRIP, PROPERTY_NULL, PROPERTY_POCKET_TO_TURN_ACROSS, PROPERTY_POSITION, PROPERTY_POSITION_EXTRA, PROPERTY_POSITION_HISTORY, PROPERTY_REPAIR_COST, PROPERTY_ROAD_KIND, PROPERTY_SHORTCUT_TO_TURN, PROPERTY_SIGNAL, PROPERTY_SIGNAL_TIMING, PROPERTY_STAMINA, PROPERTY_START_TIME, PROPERTY_STRETCHED_LENGTH, PROPERTY_TAIL, PROPERTY_TYPE_BOOLEAN, PROPERTY_TYPE_INT, PROPERTY_TYPE_INT_ARRAY, PROPERTY_WATER_QUANTITY, PROPERTY_WIDTH, PROPERTY_WIDTH_FOR_WALKERS, PROPERTY_WIND_DIRECTION, PROPERTY_WIND_FORCE, PROPERTY_X, PROPERTY_Y, SAY_LENGTH, SHORT_SIZE, SK_ACKNOWLEDGE, SK_CONNECT, SK_UPDATE, TELL_LENGTH, TYPE_AMBULANCE_CENTER, TYPE_AMBULANCE_TEAM, TYPE_BUILDING, TYPE_CAR, TYPE_CIVILIAN, TYPE_FIRE_BRIGADE, TYPE_FIRE_STATION, TYPE_NODE, TYPE_NULL, TYPE_POLICE_FORCE, TYPE_POLICE_OFFICE, TYPE_REFUGE, TYPE_RIVER, TYPE_RIVER_NODE, TYPE_ROAD, TYPE_WORLD, VK_ACKNOWLEDGE, VK_CONNECT

Constructor Summary

protected

Agent(int type) Create a new agent of a particular type.

Method Summary

protected void	appendCommand(Command c) Add a Command to our current set of Commands to be sent to the kernel.
protected void	flushCommands() Send all our buffered commands to the kernel
protected Memory	generateMemory() Construct a new Memory object for use by this Agent.
protected AgentSystem	getAgentSystem() Get the AgentSystem used for message passing
int	getAgentType() Get this agent's type
int	getID() Get this agent's unique id, assigned by the kernel
protected int	getMaxReceive() How many messages can this agent receive per timestep?
protected int	getMaxSend() How many messages can this agent send per timestep?
Memory	getMemory() Get this agents Memory
int	getType() Get the type of RescueObject that this agent represents
void	handleHear(int from, byte[] msg) Handle a KA_HEAR message
void	handleSense(java.io.DataInput in, int timeStep) Handle a KA_SENSE message
protected abstract boolean	hear(int from, byte[] msg) Called after a KA_HEAR is received
void	initialise(AgentSystem system, int id, RescueObject[] knowledge, RescueObject self) Initialise this agent
protected void	log(java.lang.String message) Log a message - the message will be prepended with "Agent : :"
protected void	say(byte[] message) Send an AK_SAY message to the kernel.
protected abstract void	sense() Called after a KA_SENSE is received
protected void	tell(byte[] message) Send an AK_TELL message to the kernel.
java.lang.String	toString()

Methods inherited from class java.lang.Object

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

Field Detail

agentSystem

protected AgentSystem agentSystem

type

protected int type

agentType

protected int agentType

id

protected int id

memory

protected Memory memory

timeStep

protected int timeStep

Constructor Detail

Agent

protected Agent(int type)

Create a new agent of a particular type.

Parameters:

type - The type of this agent - this value should be the logical OR of all types that this agent can be. For example, an Agent implementation that can be either a Police Force or an Ambulance Team should specify its type as AGENT_TYPE_POLICE_FORCE | AGENT_TYPE_AMBULANCE_TEAM.

See Also:

RescueConstants.AGENT_TYPE_CIVILIAN, RescueConstants.AGENT_TYPE_FIRE_BRIGADE, RescueConstants.AGENT_TYPE_FIRE_STATION, RescueConstants.AGENT_TYPE_POLICE_FORCE, RescueConstants.AGENT_TYPE_POLICE_OFFICE, RescueConstants.AGENT_TYPE_AMBULANCE_TEAM, RescueConstants.AGENT_TYPE_AMBULANCE_CENTER, RescueConstants.AGENT_TYPE_ANY_MOBILE, RescueConstants.AGENT_TYPE_ANY_BUILDING, RescueConstants.AGENT_TYPE_ANY_AGENT, RescueConstants.AGENT_TYPE_ANY

Method Detail

toString

public java.lang.String toString()

getMemory

public final Memory getMemory()

Get this agents Memory

Returns:

The agents Memory

getType

public final int getType()

Get the type of RescueObject that this agent represents

See Also:

RescueConstants.TYPE_CIVILIAN, RescueConstants.TYPE_CAR, RescueConstants.TYPE_FIRE_BRIGADE, RescueConstants.TYPE_FIRE_STATION, RescueConstants.TYPE_POLICE_FORCE, RescueConstants.TYPE_POLICE_OFFICE, RescueConstants.TYPE_AMBULANCE_TEAM, RescueConstants.TYPE_AMBULANCE_CENTER

getAgentType

public final int getAgentType()

Get this agent's type

See Also:

RescueConstants.AGENT_TYPE_CIVILIAN, RescueConstants.AGENT_TYPE_FIRE_BRIGADE, RescueConstants.AGENT_TYPE_FIRE_STATION, RescueConstants.AGENT_TYPE_POLICE_FORCE, RescueConstants.AGENT_TYPE_POLICE_OFFICE, RescueConstants.AGENT_TYPE_AMBULANCE_TEAM, RescueConstants.AGENT_TYPE_AMBULANCE_CENTER

getID

public final int getID()

Get this agent's unique id, assigned by the kernel

initialise

public void initialise(AgentSystem system,
                       int id,
                       RescueObject[] knowledge,
                       RescueObject self)

Initialise this agent

Parameters:

system - The AgentSystem controlling this agent

id - This agent's kernel-assigned id

knowledge - This agent's knowledge of the world

self - The RescueObject describing this agent

generateMemory

protected Memory generateMemory()

Construct a new Memory object for use by this Agent. This method allows Agents to customise their choice of Memory object. The default implementation returns an ArrayMemory.

Returns:

A new Memory object

log

protected final void log(java.lang.String message)

Log a message - the message will be prepended with "Agent : :"

Parameters:

message - The message to log

getAgentSystem

protected final AgentSystem getAgentSystem()

Get the AgentSystem used for message passing

Returns:

This agent's controlling AgentSystem

sense

protected abstract void sense()

Called after a KA_SENSE is received

hear

protected abstract boolean hear(int from,
                                byte[] msg)

Called after a KA_HEAR is received

Parameters:

from - The agent that sent the message

msg - The message body

Returns:

true iff this agent decided to hear the message

getMaxSend

protected final int getMaxSend()

How many messages can this agent send per timestep?

Returns:

The maximum number of messages this agent can send per timestep

getMaxReceive

protected final int getMaxReceive()

How many messages can this agent receive per timestep?

Returns:

The maximum number of messages this agent can receive per timestep

appendCommand

protected void appendCommand(Command c)

Add a Command to our current set of Commands to be sent to the kernel. Commands will be buffered until @{link #flushCommands()} is called.

Parameters:

c - The next Command to send.

flushCommands

protected void flushCommands()

Send all our buffered commands to the kernel

say

protected final void say(byte[] message)

Send an AK_SAY message to the kernel. If this agent has already send too many messages this timestep then this will be silently ignored

Parameters:

message - The message

tell

protected final void tell(byte[] message)

Send an AK_TELL message to the kernel. If this agent has already send too many messages this timestep then this will be silently ignored

Parameters:

message - The message

handleSense

public final void handleSense(java.io.DataInput in,
                              int timeStep)
                       throws UnknownTypeException,
                              UnknownPropertyException,
                              java.io.IOException

Handle a KA_SENSE message

Parameters:

in - The DataInput to read the sense from

timeStep - The timestep of the sense message

Throws:

UnknownTypeException - if an unknown object type appears

UnknownPropertyException - if an unknown property shows up

java.io.IOException - if an IO problem occurs

handleHear

public final void handleHear(int from,
                             byte[] msg)

Handle a KA_HEAR message

Parameters:

from - Who the message is from

msg - The body of the AK_SAY or AK_TELL message