1 package cz.cuni.amis.pogamut.ut2004.bot.impl;
2
3 import java.util.Random;
4 import java.util.logging.Level;
5
6 import cz.cuni.amis.pathfinding.map.IPFMapView;
7 import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
8 import cz.cuni.amis.pogamut.base.agent.navigation.PathExecutorState;
9 import cz.cuni.amis.pogamut.base.agent.state.impl.AgentState;
10 import cz.cuni.amis.pogamut.base.agent.state.level0.IAgentState;
11 import cz.cuni.amis.pogamut.base.agent.state.level1.IAgentStateDown;
12 import cz.cuni.amis.pogamut.base.communication.command.IAct;
13 import cz.cuni.amis.pogamut.base.communication.worldview.IWorldView;
14 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.AnnotationListenerRegistrator;
15 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.EventListener;
16 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassEventListener;
17 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassListener;
18 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectEventListener;
19 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectListener;
20 import cz.cuni.amis.pogamut.base.utils.math.DistanceUtils;
21 import cz.cuni.amis.pogamut.base3d.worldview.IVisionWorldView;
22 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
23 import cz.cuni.amis.pogamut.unreal.agent.navigation.IUnrealPathExecutor;
24 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.AdrenalineCombo;
25 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.AgentConfig;
26 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Raycasting;
27 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.UT2004Weaponry;
28 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Weaponry;
29 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentInfo;
30 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.UT2004AgentInfo;
31 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentStats;
32 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.CTF;
33 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Game;
34 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.ItemDescriptors;
35 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Items;
36 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavPoints;
37 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.NavigationGraphBuilder;
38 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Players;
39 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Senses;
40 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.UT2004Items;
41 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.WeaponPrefs;
42 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.visibility.Visibility;
43 import cz.cuni.amis.pogamut.ut2004.agent.navigation.IUT2004GetBackToNavGraph;
44 import cz.cuni.amis.pogamut.ut2004.agent.navigation.IUT2004Navigation;
45 import cz.cuni.amis.pogamut.ut2004.agent.navigation.IUT2004PathExecutor;
46 import cz.cuni.amis.pogamut.ut2004.agent.navigation.IUT2004RunStraight;
47 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathPlanner;
48 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004GetBackToNavGraph;
49 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation;
50 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathExecutor;
51 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004RunStraight;
52 import cz.cuni.amis.pogamut.ut2004.agent.navigation.astar.UT2004AStar;
53 import cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap;
54 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator;
55 import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.LevelGeometry;
56 import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.LevelGeometryModule;
57 import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.NavMesh;
58 import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.NavMeshModule;
59 import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.drawing.IUT2004ServerProvider;
60 import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.drawing.UT2004Draw;
61 import cz.cuni.amis.pogamut.ut2004.agent.navigation.navmesh.drawing.UT2004ServerProvider;
62 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004DistanceStuckDetector;
63 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004PositionStuckDetector;
64 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004TimeStuckDetector;
65 import cz.cuni.amis.pogamut.ut2004.bot.IUT2004BotController;
66 import cz.cuni.amis.pogamut.ut2004.bot.command.AdvancedLocomotion;
67 import cz.cuni.amis.pogamut.ut2004.bot.command.CompleteBotCommandsWrapper;
68 import cz.cuni.amis.pogamut.ut2004.bot.command.ImprovedShooting;
69 import cz.cuni.amis.pogamut.ut2004.communication.messages.ItemType;
70 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.DrawStayingDebugLines;
71 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.GetPath;
72 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.AutoTraceRay;
73 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange;
74 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage;
75 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
76 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PathList;
77 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
78 import cz.cuni.amis.pogamut.ut2004.communication.translator.itemdescriptor.ItemDescriptor;
79 import cz.cuni.amis.utils.flag.FlagListener;
80
81 import java.io.FileNotFoundException;
82 import java.io.IOException;
83 import java.util.logging.Logger;
84
85 /**
86 * The most advanced controller that is available. This controller contains all useful modules pre-instantiated.
87 *
88 * @author Jimmy
89 *
90 * @param <BOT>
91 */
92 public class UT2004BotModuleController<BOT extends UT2004Bot> extends UT2004BotLogicController<BOT> {
93
94 /**
95 * Random number generator that is usually useful to have during decision making.
96 */
97 protected Random random = new Random(System.currentTimeMillis());
98
99 /**
100 * Command module that is internally using {@link UT2004PathExecutor} for path-following and {@link FloydWarshallMap}
101 * for path planning resulting in unified class that can solely handle navigation of the bot within the environment.
102 * <p><p>
103 * In contrast to {@link UT2004PathExecutor} methods
104 * of this module may be recalled every {@link UT2004BotModuleController#logic()} iteration even with
105 * the same argument (which is not true for {@link UT2004PathExecutor#followPath(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture)}.
106 * <p><p>
107 * Note that this class is actually initialized with instances of {@link UT2004BotModuleController#pathExecutor} and {@link UT2004BotModuleController#fwMap}
108 * so you must take care if using add/remove stuck detectors or reinitilize this property to your liking (you can do that in {@link UT2004BotModuleController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
109 * method.
110 * <p><p>
111 * May be used since first {@link UT2004BotModuleController#logic()} is called.
112 * <p><p>
113 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
114 */
115 protected IUT2004Navigation navigation;
116
117 /**
118 * Memory module specialized on general info about the game - game type, time limit, frag limit, etc.
119 * <p><p>
120 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
121 * is called.
122 * <p><p>
123 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
124 */
125 protected Game game;
126
127 /**
128 * Memory module specialized on general info about the agent whereabouts - location, rotation, health, current weapon, who is enemy/friend, etc.
129 * <p><p>
130 * May be used since first {@link Self} message is received, i.e, since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
131 * is called.
132 * <p><p>
133 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
134 */
135 protected AgentInfo info;
136
137 /**
138 * Memory module specialized on whereabouts of other players - who is visible, enemy / friend, whether bot can see anybody, etc.
139 * <p><p>
140 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
141 * is called.
142 * <p><p>
143 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
144 */
145 protected Players players;
146
147 /**
148 * Sensory module that provides mapping between {@link ItemType} and {@link ItemDescriptor} providing
149 * an easy way to obtain item descriptors for various items in UT2004.
150 * <p><p>
151 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
152 * is called.
153 * <p><p>
154 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
155 */
156 protected ItemDescriptors descriptors;
157
158 /**
159 * Memory module specialized on items on the map - which are visible and which are probably spawned.
160 * <p><p>
161 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
162 * is called.
163 * <p><p>
164 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
165 */
166 protected Items items;
167
168 /**
169 * Memory module specialized on agent's senses - whether the bot has been recently killed, collide with level's geometry, etc.
170 * <p><p>
171 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
172 * is called.
173 * <p><p>
174 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
175 */
176 protected Senses senses;
177
178 /**
179 * Memory module specialized on info about the bot's weapon and ammo inventory - it can tell you which weapons are loaded, melee/ranged, etc.
180 * <p><p>
181 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
182 * is called.
183 * <p><p>
184 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
185 */
186 protected Weaponry weaponry;
187
188 /**
189 * Memory module specialized on the agent's configuration inside UT2004 - name, vision time, manual spawn, cheats (if enabled at GB2004).
190 * <p><p>
191 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
192 * is called.
193 * <p><p>
194 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
195 */
196 protected AgentConfig config;
197
198 /**
199 * Support for creating rays used for raycasting (see {@link AutoTraceRay} that is being utilized).
200 * <p><p>
201 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
202 * is called.
203 * <p><p>
204 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
205 */
206 protected Raycasting raycasting;
207
208 /**
209 * Wraps all available commands that can be issued to the virtual body of the bot inside UT2004.
210 * <p><p>
211 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
212 * is called.
213 * <p><p>
214 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
215 */
216 protected CompleteBotCommandsWrapper body;
217
218 /**
219 * Shortcut for <i>body.getAdvancedShooting()</i> that allows you to shoot at opponent.
220 * <p><p>
221 * Note: more weapon-handling methods are available through {@link UT2004BotModuleControllerNew#weaponry}.
222 * <p><p>
223 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
224 * is called.
225 * <p><p>
226 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
227 */
228 protected ImprovedShooting shoot;
229
230 /**
231 * Shortcut for <i>body.getAdvancedLocomotion()</i> that allows you to manually steer the movement through the environment.
232 * <p><p>
233 * Note: navigation is done via {@link UT2004BotModuleControllerNew#pathExecutor} that needs {@link PathHandle} from the {@link UT2004BotModuleControllerNew#pathPlanner}.
234 * <p><p>
235 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
236 * is called.
237 * <p><p>
238 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
239 */
240 protected AdvancedLocomotion move;
241
242 /**
243 * Module specialized on CTF games. Enabled only for CTF games, check {@link CTF#isEnabled()}.
244 * <p><p>
245 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
246 */
247 protected CTF ctf;
248
249 /**
250 * Module for adrenaline combos.
251 */
252 protected AdrenalineCombo combo;
253
254 /**
255 * Executor is used for following a path in the environment.
256 * <p><p>
257 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
258 * is called.
259 * <p><p>
260 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
261 * <p><p>
262 * {@link UT2004PathExecutor#addStuckDetector(cz.cuni.amis.pogamut.base.agent.navigation.IStuckDetector)} is initialized with default stuck detectors:
263 * {@link UT2004TimeStuckDetector}, {@link UT2004PositionStuckDetector}, {@link UT2004DistanceStuckDetector}.
264 * <p><p>
265 * If one of stuck detectors (heuristicly) finds out that the bot has stuck somewhere,
266 * it reports it back to {@link UT2004PathExecutor} and the path executor will stop following the path switching
267 * itself to {@link PathExecutorState#STUCK}, which in turn allows us to issue another follow-path command in the right time.
268 */
269 protected IUT2004PathExecutor<ILocated> pathExecutor = null;
270
271 /**
272 * Planner used to compute the path (consisting of navigation points) inside the map.
273 * <p><p>
274 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
275 * is called.
276 * <p><p>
277 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
278 */
279 protected IPathPlanner<ILocated> pathPlanner = null;
280
281 /**
282 * Navigation graph builder that may be used to manually extend the navigation graph of the UT2004.
283 * <p><p>
284 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
285 * is called.
286 * <p><p>
287 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
288 */
289 protected NavigationGraphBuilder navBuilder = null;
290
291 /**
292 * Listener registrator that probes declared methods for the presence of {@link EventListener}, {@link ObjectClassEventListener},
293 * {@link ObjectClassListener}, {@link ObjectEventListener} and {@link ObjectListener} annotations and automatically registers
294 * them as listeners on a specific events.
295 * <p><p>
296 * Note that this registrator is usable for 'this' object only! It will work only for 'this' object.
297 */
298 protected AnnotationListenerRegistrator listenerRegistrator;
299
300 /**
301 * Weapon preferences for your bot. See {@link WeaponPrefs} class javadoc. It allows you to define preferences for
302 * weapons to be used at given distance (together with their firing modes).
303 */
304 protected WeaponPrefs weaponPrefs;
305
306 /**
307 * Shortcut for the {@link UT2004Bot#getWorldView()}.
308 */
309 protected IVisionWorldView world;
310
311 /**
312 * Shortcut for the {@link UT2004Bot#getAct()}.
313 */
314 protected IAct act;
315
316 /**
317 * Module that is providing various statistics about the bot. You may also used it to output these stats (in CSV format)
318 * into some file using {@link AgentStats#startOutput(String)} or {@link AgentStats#startOutput(String, boolean)}.
319 */
320 protected AgentStats stats;
321
322 /**
323 * Path-planner ({@link IPathPlanner} using {@link NavPoint}s), you may use it to find paths inside the environment wihtout
324 * waiting for round-trip of {@link GetPath} command and {@link PathList}s response from UT2004. It is much faster than
325 * {@link UT2004BotModuleController#pathPlanner} but you need to pass {@link NavPoint} instances to planner instead of
326 * {@link ILocated} ... to find the nearest {@link NavPoint} instance, {@link DistanceUtils} is a handy, check especially
327 * {@link DistanceUtils#getNearest(java.util.Collection, ILocated)}.
328 */
329 protected FloydWarshallMap fwMap;
330
331 /**
332 * Navigation helper that is able to get your bot back to the nearest navigation graph so you can use {@link UT2004BotModuleController#navigation}
333 * without fear of catastrophe.
334 * <p><p>
335 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
336 * is called.
337 * <p><p>
338 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
339 */
340 protected IUT2004GetBackToNavGraph getBackToNavGraph;
341
342 /**
343 * Navigation helper that can run-straight to some point with stuck detectors.
344 * <p><p>
345 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
346 * is called.
347 * <p><p>
348 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
349 */
350 protected IUT2004RunStraight runStraight;
351
352 /**
353 * Module that provides visibility/cover information for the map.
354 * <p><p>
355 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
356 * is called.
357 * <p><p>
358 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
359 */
360 protected Visibility visibility;
361
362 /**
363 * Module that provides shortcut for getting {@link NavPoint}s out of {@link IWorldView}.
364 * <p><p>
365 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
366 * is called.
367 * <p><p>
368 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
369 */
370 protected NavPoints navPoints;
371
372 /**
373 * Class providing A-Star algorithm over the navpoints as they are present within the {@link IWorldView}.
374 * <p><p>
375 * You may provide custom {@link IPFMapView} over the map in-order to greatly customize the A-Star search.
376 */
377 protected UT2004AStar aStar;
378
379 /**
380 * Class providing {@link NavMesh} instance via {@link NavMeshModule#getNavMesh()} method.
381 * <p><p>
382 * Note that ".navmesh" file for concrete UT2004 map needs to be present inside local directory of the bot in order for this module to be working.
383 * <p><p>
384 * Download preprocessed navmesh files from: svn://artemis.ms.mff.cuni.cz/pogamut/trunk/project/Addons/UT2004NavMeshTools/04-NavMeshes
385 * <p><p>
386 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
387 * is called.
388 * <p><p>
389 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
390 */
391 protected NavMeshModule navMeshModule;
392
393 /**
394 * Class providing {@link LevelGeometry} instance via {@link LevelGeometryModule#getLevelGeometry()} method.
395 * <p><p>
396 * Note that ".obj", ".centre", ".scale" files must be present inside local directory of the bot in order for this module to be working.
397 * <p><p>
398 * Download preprocessed level geometry from: svn://artemis.ms.mff.cuni.cz/pogamut/trunk/project/Addons/UT2004NavMeshTools/04-NavMeshes
399 * <p><p>
400 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
401 * is called.
402 * <p><p>
403 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
404 */
405 protected LevelGeometryModule levelGeometryModule;
406
407 /**
408 * Utility class that provides shared instance of {@link UT2004Server}.
409 */
410 private IUT2004ServerProvider serverProvider;
411
412 /**
413 * Class providing interface for the use of {@link DrawStayingDebugLines} inside UT2004. Can be used to draw debug stuff (lines) right into UT2004.
414 * <p><p>
415 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
416 * is called.
417 * <p><p>
418 * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
419 */
420 protected UT2004Draw draw;
421
422 private FlagListener<IAgentState> botStateListener = new FlagListener<IAgentState>() {
423
424 @Override
425 public void flagChanged(IAgentState changedValue) {
426 if (changedValue instanceof IAgentStateDown) {
427 botAgentDown();
428 }
429 }
430 };
431
432 @Override
433 public void initializeController(BOT bot) {
434 super.initializeController(bot);
435
436 bot.getState().addListener(botStateListener);
437
438 world = getWorldView();
439 act = getAct();
440 initializeModules(bot);
441 initializePathFinding(bot);
442 initializeListeners(bot);
443 }
444
445 /**
446 * Initializes {@link UT2004BotModuleControllerNew#listenerRegistrator} and calls {@link AnnotationListenerRegistrator#addListeners()} method
447 * to probe all declared methods for event-annotation presence.
448 * @param bot
449 */
450 protected void initializeListeners(BOT bot) {
451 listenerRegistrator = new AnnotationListenerRegistrator(this, getWorldView(), bot.getLogger().getCategory("Listeners"));
452 listenerRegistrator.addListeners();
453 }
454
455 /**
456 * Initializes path-finding modules: {@link UT2004BotModuleControllerNew#pathPlanner}, {@link UT2004BotModuleController#fwMap} and {@link UT2004BotModuleControllerNew#pathExecutor}.
457 * If you need different path planner / path executor - override this method and initialize your own modules.
458 * @param bot
459 */
460 protected void initializePathFinding(BOT bot) {
461 pathPlanner = new UT2004AStarPathPlanner(bot);
462 fwMap = new FloydWarshallMap(bot);
463 aStar = new UT2004AStar(bot);
464 pathExecutor =
465 new UT2004PathExecutor<ILocated>(
466 bot, info,move,
467 new LoqueNavigator<ILocated>(bot,info,move, bot.getLog()),
468 bot.getLog()
469 );
470
471 // add stuck detectors that watch over the path-following, if it (heuristicly) finds out that the bot has stuck somewhere,
472 // it reports an appropriate path event and the path executor will stop following the path which in turn allows
473 // us to issue another follow-path command in the right time
474 pathExecutor.addStuckDetector(new UT2004TimeStuckDetector(bot, 3000, 100000)); // if the bot does not move for 3 seconds, considered that it is stuck
475 pathExecutor.addStuckDetector(new UT2004PositionStuckDetector(bot)); // watch over the position history of the bot, if the bot does not move sufficiently enough, consider that it is stuck
476 pathExecutor.addStuckDetector(new UT2004DistanceStuckDetector(bot)); // watch over distances to target
477
478 getBackToNavGraph = new UT2004GetBackToNavGraph(bot, info, move);
479 runStraight = new UT2004RunStraight(bot, info, move);
480 navigation = new UT2004Navigation(bot, pathExecutor, fwMap, getBackToNavGraph, runStraight);
481 }
482
483 /**
484 * Initializes memory/command modules of the bot.
485 *
486 * @param bot
487 */
488 protected void initializeModules(BOT bot) {
489 game = new Game(bot);
490 navPoints = new NavPoints(bot);
491 players = new Players(bot);
492 descriptors = new ItemDescriptors(bot);
493 config = new AgentConfig(bot);
494 raycasting = new Raycasting(bot);
495 stats = new AgentStats(bot);
496 navBuilder = new NavigationGraphBuilder(bot);
497 info = new UT2004AgentInfo(bot, game);
498 visibility = new Visibility(bot, info);
499 ctf = new CTF(bot, info);
500 weaponry = new UT2004Weaponry(bot, descriptors);
501 items = new UT2004Items(bot, info, game, weaponry, null);
502 senses = new Senses(bot, info, players);
503 body = new CompleteBotCommandsWrapper(bot, weaponry, null);
504 shoot = body.getImprovedShooting();
505 move = body.getLocomotion();
506 weaponPrefs = new WeaponPrefs(weaponry, bot);
507 combo = new AdrenalineCombo(bot, info);
508 serverProvider = new UT2004ServerProvider();
509 navMeshModule = new NavMeshModule(serverProvider, getWorldView(), bot.getLogger());
510 levelGeometryModule = new LevelGeometryModule(getWorldView(), bot.getLogger());
511 draw = new UT2004Draw(bot.getLogger().getCategory("Draw"), serverProvider);
512 }
513
514 @Override
515 public void finishControllerInitialization() {
516 if (navBuilder.isUsed()) {
517 log.info("Navigation graph has been altered by 'navBuilder', triggering recomputation of Floyd-Warshall path matrix...");
518 Level oldLevel = fwMap.getLog().getLevel();
519 fwMap.getLog().setLevel(Level.FINER);
520 fwMap.refreshPathMatrix();
521 fwMap.getLog().setLevel(oldLevel);
522
523 aStar.mapChanged();
524 }
525 }
526
527 //
528 //
529 // MODULE GETTERS
530 //
531 //
532
533 public Random getRandom() {
534 return random;
535 }
536
537 public UT2004AStar getAStar() {
538 return aStar;
539 }
540
541 public Game getGame() {
542 return game;
543 }
544
545 public AgentInfo getInfo() {
546 return info;
547 }
548
549 public Players getPlayers() {
550 return players;
551 }
552
553 public ItemDescriptors getDescriptors() {
554 return descriptors;
555 }
556
557 public Items getItems() {
558 return items;
559 }
560
561 public Senses getSenses() {
562 return senses;
563 }
564
565 public Weaponry getWeaponry() {
566 return weaponry;
567 }
568
569 public AgentConfig getConfig() {
570 return config;
571 }
572
573 public Raycasting getRaycasting() {
574 return raycasting;
575 }
576
577 public CompleteBotCommandsWrapper getBody() {
578 return body;
579 }
580
581 public ImprovedShooting getShoot() {
582 return shoot;
583 }
584
585 public AdvancedLocomotion getMove() {
586 return move;
587 }
588
589 public IUnrealPathExecutor<ILocated> getPathExecutor() {
590 return pathExecutor;
591 }
592
593 public IPathPlanner<ILocated> getPathPlanner() {
594 return pathPlanner;
595 }
596
597 public AdrenalineCombo getCombo() {
598 return combo;
599 }
600
601 public NavigationGraphBuilder getNavBuilder() {
602 return navBuilder;
603 }
604
605 public WeaponPrefs getWeaponPrefs() {
606 return weaponPrefs;
607 }
608
609 public IVisionWorldView getWorld() {
610 return world;
611 }
612
613 public AgentStats getStats() {
614 return stats;
615 }
616
617 public FloydWarshallMap getFwMap() {
618 return fwMap;
619 }
620
621 public IUT2004Navigation getNavigation() {
622 return navigation;
623 }
624
625 public Visibility getVisibility() {
626 return visibility;
627 }
628
629 public NavMeshModule getNavMeshModule() {
630 return navMeshModule;
631 }
632
633 public NavMesh getNavMesh() {
634 if (!navMeshModule.isInitialized()) log.warning("NavMeshModule has not been initialized (yet)! You are either calling this method too early or missing .navmesh file in the local directory of your bot!");
635 return navMeshModule.getNavMesh();
636 }
637
638 public LevelGeometryModule getLevelGeometryModule() {
639 return levelGeometryModule;
640 }
641
642 public LevelGeometry getLevelGeometry() {
643 if (!levelGeometryModule.isInitialized()) log.warning("LevelGeometryModule has not been initialized (yet)! You are either calling this method too early or missing .obj, .scale, .center files in the local directory of your bot!");
644 return levelGeometryModule.getLevelGeometry();
645 }
646
647 // ==========
648 // LIFE-CYCLE
649 // ==========
650
651 protected void botAgentDown() {
652 if (serverProvider != null) {
653 serverProvider.killServer();
654 }
655 }
656
657 }