def clear_path_through_passages_and_cave(self):
wanted_passages, wanted_cave = self.find_wanted_passages_and_cave()
#log("wanted_passages: {}, wanted_cave: {}".format(wanted_passages, wanted_cave), "TEST", False)
can_move = True
for elm, entrance in wanted_passages + wanted_cave:
if not self.is_free(elm):
can_move = False
break
if can_move:
for elm, entrance in wanted_passages + wanted_cave:
BLACKBOARD.claim(self.id_, elm)
#TODO: remove claims somewhere!
return True
all_locations = []
#TODO: Maybe the agent should consider taking another route instead of waiting
for elm, entrance in wanted_passages + wanted_cave:
all_locations += self.find_area(elm)
request = Request(self.id_, all_locations)
box, location = self.unpack_intentions_to_box_and_location()
if location is not None and location in LEVEL.goals_by_pos:
request.goal = LEVEL.goals_by_pos[location]
request.box = box
BLACKBOARD.add(request, self.id_)
return False
def request_get(self, task_id):
request = Request(req='GET',
headers={
'Task-id': task_id,
'Session': self.session_id
})
return self.__parse(request)
def request_change_theme(self, path):
request = Request(req='THEME',
headers={
"Path": path,
'Session': self.session_id
})
return self.__parse(request)
def request_move(self, task_id, from_index, to_index):
request = Request(req='MOVE',
headers={
'Task-id': task_id,
'From': from_index,
'To': to_index,
'Session': self.session_id
})
return self.__parse(request)
def request_login(self, user, password):
assert self.logined is False
verify = utils.get_md5(password)
request = Request(req='LOGIN',
headers={
'User': user,
'Verify': verify
})
return self.__parse(request)
def request_update(self, task_json):
request = Request(req='UPDATE',
content=json.dumps(task_json),
headers={'Session': self.session_id})
return self.__parse(request)
def request_add(self, task_json):
request = Request(req='ADD',
content=json.dumps(task_json),
headers={'Session': self.session_id})
return self.__parse(request)
def request_list(self):
request = Request(req='LIST', headers={'Session': self.session_id})
return self.__parse(request)
def request_archive(self):
request = Request(req='ARCHIVE', headers={'Session': self.session_id})
return self.__parse(request)
def analyse_situation(self):
log("Starting to analyse situation for agent {}".format(self.id_),
"ANALYSE", False)
action = self.current_plan[0]
if action.action.action_type == ActionType.NoOp:
return "", None
# Can/should we do a retreat move?
rf_loc = action.required_free
if rf_loc == (self.row, self.col):
log("self.id_: {}, rf_loc: {}, (self.row, self.col): {}, action: {}"
.format(self.id_, rf_loc, (self.row, self.col), action))
self.current_plan = []
self.remove_intentions_from_blackboard()
self.wait(1)
state = self.beliefs
#Space is occupied
if not (state.is_free(*rf_loc)):
#If agent at the position
#TODO: a more efficient way to find other_agent
if rf_loc in state.agents:
log(
"Agent {} found agent at desired location {}".format(
self.id_, rf_loc), "ANALYSE", False)
for agent in self.all_agents:
if (agent.row, agent.col) == rf_loc:
other_agent = agent
if self.about_to_crash(agent=other_agent):
log(
"Agent {} thinks it will crash with agent {} and is looking for retreat move"
.format(self.id_, other_agent.id_), "ANALYSE", False)
return "try retreat", other_agent
else:
if len(
other_agent.current_plan
) == 0 or other_agent.current_plan[
0].action.action_type == ActionType.NoOp or other_agent.is_next_action_impossible(
):
#TODO: it is not supposed to update the plan here! fix!
#Try to go around:
box, location = self.unpack_intentions_to_box_and_location(
)
if box is not None and location is not None:
simple_plan = self.search_for_simple_plan(
self.heuristic, (box, location),
ignore_all_other_agents=False)
if simple_plan is not None and len(
simple_plan) > 0:
self.current_plan = simple_plan
if self.sound() and len(self.current_plan) > 1:
log(
"Agent {} thinks agent {} is standing still but found a path around. Path: {}"
.format(self.id_, other_agent.id_,
self.current_plan), "ANALYSE",
False)
else:
log(
"Agent {} thinks agent {} is standing still but path found is not sound. Path: {}"
.format(self.id_, other_agent.id_,
self.current_plan), "ANALYSE",
False)
self.wait(1)
return "going around agent", other_agent
#TODO
area_required = [
action.required_free
for action in self.current_plan[:5]
if action.action.action_type != ActionType.NoOp
]
request = Request(self.id_, area_required)
#TODO: check if request is there!
if not BLACKBOARD.request_is_there(self.id_, request):
BLACKBOARD.add(request, self.id_)
log(
"Agent {} added request ({}) to make agent {} move"
.format(self.id_, request,
other_agent.id_), "ANALYSE", False)
log(
"Agent {} is waiting for agent {} to move".format(
self.id_, other_agent.id_), "ANALYSE", False)
return "wait", None
else:
log(
"Agent {} thinks it can wait for agent {} to pass".
format(self.id_,
other_agent.id_), "ANALYSE", False)
return "wait", None
#If box at the location
if rf_loc in state.boxes:
log(
"Agent {} found box at desired location {}".format(
self.id_, rf_loc), "ANALYSE", False)
box = state.boxes[rf_loc] #find the box
moving, other_agent = self.box_on_the_move(box)
if moving:
log(
"Agent {} thinks agent {} is moving the box {}".format(
self.id_, other_agent, box), "ANALYSE", False)
if self.about_to_crash(box=box, agent=other_agent):
log(
"Agent {} thinks it will crash with agent {} currently moving the box {}"
.format(self.id_, other_agent,
box), "ANALYSE", False)
return "try retreat", other_agent
else:
return "wait", None
else:
#Try to go around, if not possible make request
#TODO: Try to move around
box, location = self.unpack_intentions_to_box_and_location(
)
if box is not None and location is not None:
simple_plan = self.search_for_simple_plan(
self.heuristic, (box, location),
ignore_all_other_agents=False)
if simple_plan is not None and len(simple_plan) > 0:
self.current_plan = simple_plan
if self.sound() and len(self.current_plan) > 1:
log(
"Agent {} thinks box is static but found a path around. Path: {}"
.format(self.id_, self.current_plan),
"ANALYSE", False)
else:
self.wait(1)
return "going around box", other_agent
area_required = [
action.required_free
for action in self.current_plan[:5]
if action.action.action_type != ActionType.NoOp
]
request = Request(self.id_, area_required)
if not BLACKBOARD.request_is_there(self.id_, request):
BLACKBOARD.add(request, self.id_)
log(
"Agent {} added request ({}) to make box {} move".
format(self.id_, request, box), "ANALYSE", False)
log(
"Agent {} is waiting for box {} to move".format(
self.id_, box), "ANALYSE", False)
return "wait", None
#When do we get here?
return "need to replan", None