cz.cuni.amis.pogamut.ut2004.agent.navigation
Class UT2004Navigation

java.lang.Object
  cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation

All Implemented Interfaces:

IUT2004Navigation

public class UT2004Navigation
extends Object
implements IUT2004Navigation

Facade for navigation in UT2004. Method navigate() can be called both synchronously and asynchronously. Uses IUT2004PathExecutor, FloydWarshallMap, IUT2004RunStraight and IUT2004GetBackToNavGraph to handle all possible navigation cases.

Author:

knight, jimmy

Field Summary

protected static int	ARRIVED_AT_LOCATION_XY_THRESHOLD Location threshold for checking whether we have arrived on target.
protected static int	ARRIVED_AT_LOCATION_Z_THRESHOLD Location threshold for checking whether we have arrived on target.
static double	AT_PLAYER We're managed to get to player
protected UT2004Bot	bot UT2004Bot reference.
protected IWorldEventListener<BotKilled>	botKilledMessageListener
protected ILocated	continueTo Where the bot will continue to.
protected IPathFuture<NavPoint>	continueToPath Path to prolong.
protected IPathFuture	currentPathFuture Current path stored in IPathFuture object.
protected ILocated	currentTarget Current location target.
protected Player	currentTargetPlayer Current target is player (if not null)
protected IWorldEventListener<EndMessage>	endMessageListener
static double	EXTEND_PATH_THRESHOLD
protected double	extendPathThreshold From which distance we should use IUT2004PathExecutor.extendPath(List).
protected NavPoint	fromNavPoint Navpoint we're running from (initial position when path executor has been triggered)
protected IUT2004GetBackToNavGraph	getBackToNavGraph UT2004GetBackToNavGraph for returning bot back to the navigation graph.
protected ILocated	lastTarget Last location target.
protected Player	lastTargetPlayer Last location target.
protected LogCategory	log Log used by this class.
protected boolean	navigating Whether navigation is running.
protected static int	NEW_PATH_DISTANCE_THRESHOLD Location threshold for requesting of a new path or switching a path.
protected IUT2004PathExecutor<ILocated>	pathExecutor UT2004PathExecutor that is used for the navigation.
protected IPathPlanner<NavPoint>	pathPlanner FloydWarshallMap that is used for path planning.
protected static double	PLAYER_DISTANCE_TRASHOLD When PLAYER is further from currentTarget than this location, recompute the path
protected boolean	runningStraightToPlayer We're running straight to the player.
protected Location	runningStraightToPlayerFailedAt Where run-straight failed.
protected IUT2004RunStraight	runStraight UT2004RunStraight is used to run directly to player at some moment.
protected cz.cuni.amis.utils.flag.Flag<NavigationState>	state State of UT2004Navigation
protected NavPoint	toNavPoint Navpoint we're running to, nearest navpoint to currentTarget
protected boolean	usingGetBackToNavGraph Whether we're using getBackToNavGraph.

Constructor Summary

UT2004Navigation(UT2004Bot bot, AgentInfo info, AdvancedLocomotion move)
Will auto-create all needed UT2004Navigation subparts.

UT2004Navigation(UT2004Bot bot, IUT2004PathExecutor ut2004PathExecutor, IPathPlanner<NavPoint> pathPlanner, IUT2004GetBackToNavGraph getBackOnPath, IUT2004RunStraight runStraight)
Here you may specify any custom UT2004Navigation parts.

UT2004Navigation(UT2004Bot bot, IUT2004PathExecutor ut2004PathExecutor, IPathPlanner<NavPoint> pathPlanner, IUT2004GetBackToNavGraph getBackOnPath, IUT2004RunStraight runStraight, double extendPathThreshold)
Here you may specify any custom UT2004Navigation parts.

Method Summary

void	addStrongNavigationListener(cz.cuni.amis.utils.flag.FlagListener<NavigationState> listener) Use this to register listeners to various states the navigation - stuck, target reached, etc.
IUT2004GetBackToNavGraph	getBackToNavGraph() Returns underlying IUT2004GetBackToNavGraph object that is being used by this IUT2004Navigation.
ILocated	getContinueTo() Returns where the bot will continue to, for more info see IUT2004Navigation.setContinueTo(ILocated).
List<ILocated>	getCurrentPathCopy() Returns COPY of current path in list.
List<ILocated>	getCurrentPathDirect() Returns current path as in IPathFuture object that is used by ut2004pathExecutor to navigate.
ILocated	getCurrentTarget() Current POINT where the navigation is trying to get to.
Item	getCurrentTargetItem() If navigation is trying to get to some item, otherwise returns null.
NavPoint	getCurrentTargetNavPoint() If navigation is trying to get to some navpoint, otherwise returns null.
Player	getCurrentTargetPlayer() If navigation is trying to get to some player, otherwise returns null.
ILocated	getFocus() Returns current focus of the bots, may be null (== no focus).
ILocated	getLastTarget() Returns previous location we tried to get to (i.e., what was getCurrentTarget() before another navigate(ILocated) or navigate(Player) was called.
Item	getLastTargetItem() If previous target was an item, returns non-null Item we previously tried to get to.
Player	getLastTargetPlayer() If previous target was a player, returns non-null player we previously tried to get to (i.e., what was getCurrentTargetPlayer() before another navigate(ILocated) or navigate(Player) was called.
Logger	getLog() Returns logger used by the object.
NavPoint	getNearestNavPoint(ILocated location) Returns nearest navigation point to input location.
IUT2004PathExecutor<ILocated>	getPathExecutor() Returns underlying IUT2004PathExecutor object that is being used by this IUT2004Navigation.
double	getRemainingDistance() Returns how far is our target (path-distance == real-distance).
IUT2004RunStraight	getRunStraight() Returns underlying IUT2004RunStraight object that is being used by this IUT2004Navigation.
cz.cuni.amis.utils.flag.Flag<NavigationState>	getState() Returns an immutable flag with the current state of the navigation.
boolean	isNavigating() True if navigating, e.g., trying to get somewhere using either IUT2004PathExecutor, IUT2004GetBackToNavGraph or IUT2004RunStraight.
boolean	isNavigatingToItem() Whether we're currently navigating to item (final target).
boolean	isNavigatingToNavPoint() Whether we're currently navigating to navpoint (final target).
boolean	isNavigatingToPlayer() Whether we're currently navigating to player (final target).
boolean	isPathExecuting() Whether UT2004Navigation is currently using IUT2004PathExecutor to follow the path.
boolean	isRunningStraight() Whether UT2004Navigation is currently using runStraight to get to player by running straight to it/him/her.
boolean	isTryingToGetBackToNav() Whether UT2004Navigation is currently trying to get back to nav using IUT2004GetBackToNavGraph.
protected void	navigate()
void	navigate(ILocated target) This method can be called periodically or asynchronously.
void	navigate(IPathFuture<ILocated> pathHandle) Let the bot to follow this path.
void	navigate(Player player) This method can be called periodically or asynchronously.
protected void	noPath()
protected boolean	processPathFuture(IPathFuture futurePath, ILocated currentTarget) Checks if last path element is in close distance from our desired target and if not, we will add our desired target as the last path element.
void	removeStrongNavigationListener(cz.cuni.amis.utils.flag.FlagListener<NavigationState> listener) Removes path state listener.
protected void	reset(boolean stopGetBackToNavGraph, NavigationState resultState)
void	setContinueTo(ILocated continueTo) When the bot is about to reach its target, it will prolong his path to continue to 'target'.
void	setFocus(ILocated located) Sets focus of the bot when navigating (when using this object to run to some location target)! To reset focus call this method with null parameter.
void	stopNavigation() Stops navigation and resets the class.
protected void	stuck()
protected void	switchState(NavigationState newState)
protected void	targetReached()

Methods inherited from class java.lang.Object

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

Field Detail

EXTEND_PATH_THRESHOLD

public static double EXTEND_PATH_THRESHOLD

log

protected LogCategory log

Log used by this class.

pathExecutor

protected IUT2004PathExecutor<ILocated> pathExecutor

UT2004PathExecutor that is used for the navigation.

pathPlanner

protected IPathPlanner<NavPoint> pathPlanner

FloydWarshallMap that is used for path planning.

bot

protected UT2004Bot bot

UT2004Bot reference.

getBackToNavGraph

protected IUT2004GetBackToNavGraph getBackToNavGraph

UT2004GetBackToNavGraph for returning bot back to the navigation graph.

runStraight

protected IUT2004RunStraight runStraight

UT2004RunStraight is used to run directly to player at some moment.

extendPathThreshold

protected double extendPathThreshold

From which distance we should use IUT2004PathExecutor.extendPath(List).

NEW_PATH_DISTANCE_THRESHOLD

protected static final int NEW_PATH_DISTANCE_THRESHOLD

Location threshold for requesting of a new path or switching a path.

See Also:

Constant Field Values

ARRIVED_AT_LOCATION_XY_THRESHOLD

protected static final int ARRIVED_AT_LOCATION_XY_THRESHOLD

Location threshold for checking whether we have arrived on target. For XY - 2D plane distance

See Also:

Constant Field Values

ARRIVED_AT_LOCATION_Z_THRESHOLD

protected static final int ARRIVED_AT_LOCATION_Z_THRESHOLD

Location threshold for checking whether we have arrived on target. For Z distance.

See Also:

Constant Field Values

PLAYER_DISTANCE_TRASHOLD

protected static final double PLAYER_DISTANCE_TRASHOLD

When PLAYER is further from currentTarget than this location, recompute the path

See Also:

Constant Field Values

AT_PLAYER

public static final double AT_PLAYER

We're managed to get to player

See Also:

Constant Field Values

state

protected cz.cuni.amis.utils.flag.Flag<NavigationState> state

State of UT2004Navigation

endMessageListener

protected IWorldEventListener<EndMessage> endMessageListener

botKilledMessageListener

protected IWorldEventListener<BotKilled> botKilledMessageListener

lastTarget

protected ILocated lastTarget

Last location target.

lastTargetPlayer

protected Player lastTargetPlayer

Last location target.

currentTarget

protected ILocated currentTarget

Current location target.

currentTargetPlayer

protected Player currentTargetPlayer

Current target is player (if not null)

fromNavPoint

protected NavPoint fromNavPoint

Navpoint we're running from (initial position when path executor has been triggered)

toNavPoint

protected NavPoint toNavPoint

Navpoint we're running to, nearest navpoint to currentTarget

currentPathFuture

protected IPathFuture currentPathFuture

Current path stored in IPathFuture object.

navigating

protected boolean navigating

Whether navigation is running.

runningStraightToPlayer

protected boolean runningStraightToPlayer

We're running straight to the player.

runningStraightToPlayerFailedAt

protected Location runningStraightToPlayerFailedAt

Where run-straight failed.

usingGetBackToNavGraph

protected boolean usingGetBackToNavGraph

Whether we're using getBackToNavGraph.

continueTo

protected ILocated continueTo

Where the bot will continue to.

continueToPath

protected IPathFuture<NavPoint> continueToPath

Path to prolong.

Constructor Detail

UT2004Navigation

public UT2004Navigation(UT2004Bot bot,
                        IUT2004PathExecutor ut2004PathExecutor,
                        IPathPlanner<NavPoint> pathPlanner,
                        IUT2004GetBackToNavGraph getBackOnPath,
                        IUT2004RunStraight runStraight)

Here you may specify any custom UT2004Navigation parts.

Parameters:

bot -

ut2004PathExecutor -

pathPlanner -

getBackOnPath -

runStraight -

UT2004Navigation

public UT2004Navigation(UT2004Bot bot,
                        IUT2004PathExecutor ut2004PathExecutor,
                        IPathPlanner<NavPoint> pathPlanner,
                        IUT2004GetBackToNavGraph getBackOnPath,
                        IUT2004RunStraight runStraight,
                        double extendPathThreshold)

Here you may specify any custom UT2004Navigation parts.

Parameters:

bot -

ut2004PathExecutor -

pathPlanner -

getBackOnPath -

runStraight -

UT2004Navigation

public UT2004Navigation(UT2004Bot bot,
                        AgentInfo info,
                        AdvancedLocomotion move)

Will auto-create all needed UT2004Navigation subparts.

Parameters:

bot -

info -

move -

Method Detail

getLog

public Logger getLog()

Description copied from interface: IUT2004Navigation

Returns logger used by the object.

Specified by:

getLog in interface IUT2004Navigation

Returns:

addStrongNavigationListener

public void addStrongNavigationListener(cz.cuni.amis.utils.flag.FlagListener<NavigationState> listener)

Description copied from interface: IUT2004Navigation

Use this to register listeners to various states the navigation - stuck, target reached, etc. See NavigationState.

Specified by:

addStrongNavigationListener in interface IUT2004Navigation

removeStrongNavigationListener

public void removeStrongNavigationListener(cz.cuni.amis.utils.flag.FlagListener<NavigationState> listener)

Description copied from interface: IUT2004Navigation

Removes path state listener.

Specified by:

removeStrongNavigationListener in interface IUT2004Navigation

getPathExecutor

public IUT2004PathExecutor<ILocated> getPathExecutor()

Description copied from interface: IUT2004Navigation

Returns underlying IUT2004PathExecutor object that is being used by this IUT2004Navigation.

Specified by:

getPathExecutor in interface IUT2004Navigation

Returns:

getBackToNavGraph

public IUT2004GetBackToNavGraph getBackToNavGraph()

Description copied from interface: IUT2004Navigation

Returns underlying IUT2004GetBackToNavGraph object that is being used by this IUT2004Navigation.

Specified by:

getBackToNavGraph in interface IUT2004Navigation

Returns:

getRunStraight

public IUT2004RunStraight getRunStraight()

Description copied from interface: IUT2004Navigation

Returns underlying IUT2004RunStraight object that is being used by this IUT2004Navigation.

Specified by:

getRunStraight in interface IUT2004Navigation

Returns:

isNavigating

public boolean isNavigating()

Description copied from interface: IUT2004Navigation

True if navigating, e.g., trying to get somewhere using either IUT2004PathExecutor, IUT2004GetBackToNavGraph or IUT2004RunStraight.

Specified by:

isNavigating in interface IUT2004Navigation

Returns:

isNavigatingToNavPoint

public boolean isNavigatingToNavPoint()

Description copied from interface: IUT2004Navigation

Whether we're currently navigating to navpoint (final target).

Specified by:

isNavigatingToNavPoint in interface IUT2004Navigation

Returns:

isNavigatingToItem

public boolean isNavigatingToItem()

Description copied from interface: IUT2004Navigation

Whether we're currently navigating to item (final target).

Specified by:

isNavigatingToItem in interface IUT2004Navigation

Returns:

isNavigatingToPlayer

public boolean isNavigatingToPlayer()

Description copied from interface: IUT2004Navigation

Whether we're currently navigating to player (final target).

Specified by:

isNavigatingToPlayer in interface IUT2004Navigation

Returns:

isTryingToGetBackToNav

public boolean isTryingToGetBackToNav()

Description copied from interface: IUT2004Navigation

Whether UT2004Navigation is currently trying to get back to nav using IUT2004GetBackToNavGraph.

Specified by:

isTryingToGetBackToNav in interface IUT2004Navigation

Returns:

isPathExecuting

public boolean isPathExecuting()

Description copied from interface: IUT2004Navigation

Whether UT2004Navigation is currently using IUT2004PathExecutor to follow the path.

Specified by:

isPathExecuting in interface IUT2004Navigation

Returns:

isRunningStraight

public boolean isRunningStraight()

Description copied from interface: IUT2004Navigation

Whether UT2004Navigation is currently using runStraight to get to player by running straight to it/him/her.

Specified by:

isRunningStraight in interface IUT2004Navigation

Returns:

getFocus

public ILocated getFocus()

Description copied from interface: IUT2004Navigation

Returns current focus of the bots, may be null (== no focus).

Specified by:

getFocus in interface IUT2004Navigation

setFocus

public void setFocus(ILocated located)

Description copied from interface: IUT2004Navigation

Sets focus of the bot when navigating (when using this object to run to some location target)! To reset focus call this method with null parameter.

Specified by:

setFocus in interface IUT2004Navigation

stopNavigation

public void stopNavigation()

Description copied from interface: IUT2004Navigation

Stops navigation and resets the class. Does NOT reset focus!

Specified by:

stopNavigation in interface IUT2004Navigation

navigate

public void navigate(ILocated target)

Description copied from interface: IUT2004Navigation

This method can be called periodically or asynchronously. Will move bot to 'target'. The bot will stop on bad input (location == null).

Specified by:

navigate in interface IUT2004Navigation

Parameters:

target - target location

navigate

public void navigate(Player player)

Description copied from interface: IUT2004Navigation

This method can be called periodically or asynchronously. Will move bot to input location. Uses UT2004PathExecutor and FloydWarshallMap. The bot will stop on bad input (location null).

Specified by:

navigate in interface IUT2004Navigation

navigate

public void navigate(IPathFuture<ILocated> pathHandle)

Description copied from interface: IUT2004Navigation

Let the bot to follow this path.

Specified by:

navigate in interface IUT2004Navigation

getNearestNavPoint

public NavPoint getNearestNavPoint(ILocated location)

Description copied from interface: IUT2004Navigation

Returns nearest navigation point to input location. FloydWarshallMap works only on NavPoints.

Specified by:

getNearestNavPoint in interface IUT2004Navigation

Returns:

getContinueTo

public ILocated getContinueTo()

Description copied from interface: IUT2004Navigation

Returns where the bot will continue to, for more info see IUT2004Navigation.setContinueTo(ILocated). WARNING: continueTo is reset when bot stop navigating / stuck, etc. WARNING: continueTo is also "nullified" when the bot actually prolongs its path to reach the 'target'.

Specified by:

getContinueTo in interface IUT2004Navigation

Returns:

setContinueTo

public void setContinueTo(ILocated continueTo)

Description copied from interface: IUT2004Navigation

When the bot is about to reach its target, it will prolong his path to continue to 'target'. DOES NOT WORK WITH IUT2004Navigation.navigate(Player). WARNING: continueTo is reset when bot stop navigating / stuck, etc. WARNING: continueTo is also "nullified" when the bot actually prolongs its path to reach the 'target'.

Specified by:

setContinueTo in interface IUT2004Navigation

Parameters:

continueTo - cannot be Player

getCurrentPathCopy

public List<ILocated> getCurrentPathCopy()

Description copied from interface: IUT2004Navigation

Returns COPY of current path in list. May take some time to fill up. Returns empty list if path not computed.

Specified by:

getCurrentPathCopy in interface IUT2004Navigation

Returns:

getCurrentPathDirect

public List<ILocated> getCurrentPathDirect()

Description copied from interface: IUT2004Navigation

Returns current path as in IPathFuture object that is used by ut2004pathExecutor to navigate. Can be altered. May return null if path not computed! Be carefull when altering this during UT2004PathExecutor run - it may cause undesirable behavior.

Specified by:

getCurrentPathDirect in interface IUT2004Navigation

Returns:

getCurrentTarget

public ILocated getCurrentTarget()

Description copied from interface: IUT2004Navigation

Current POINT where the navigation is trying to get to.

Specified by:

getCurrentTarget in interface IUT2004Navigation

Returns:

getCurrentTargetPlayer

public Player getCurrentTargetPlayer()

Description copied from interface: IUT2004Navigation

If navigation is trying to get to some player, otherwise returns null.

Specified by:

getCurrentTargetPlayer in interface IUT2004Navigation

Returns:

getCurrentTargetItem

public Item getCurrentTargetItem()

Description copied from interface: IUT2004Navigation

If navigation is trying to get to some item, otherwise returns null.

Specified by:

getCurrentTargetItem in interface IUT2004Navigation

Returns:

getCurrentTargetNavPoint

public NavPoint getCurrentTargetNavPoint()

Description copied from interface: IUT2004Navigation

If navigation is trying to get to some navpoint, otherwise returns null.

Specified by:

getCurrentTargetNavPoint in interface IUT2004Navigation

Returns:

getLastTarget

public ILocated getLastTarget()

Description copied from interface: IUT2004Navigation

Returns previous location we tried to get to (i.e., what was getCurrentTarget() before another navigate(ILocated) or navigate(Player) was called.

Specified by:

getLastTarget in interface IUT2004Navigation

Returns:

getLastTargetPlayer

public Player getLastTargetPlayer()

Description copied from interface: IUT2004Navigation

If previous target was a player, returns non-null player we previously tried to get to (i.e., what was getCurrentTargetPlayer() before another navigate(ILocated) or navigate(Player) was called.

Specified by:

getLastTargetPlayer in interface IUT2004Navigation

Returns:

getLastTargetItem

public Item getLastTargetItem()

Description copied from interface: IUT2004Navigation

If previous target was an item, returns non-null Item we previously tried to get to. (i.e., what was getCurrentTargetItem() before another navigate(ILocated) or navigate(Player) was called.

Specified by:

getLastTargetItem in interface IUT2004Navigation

Returns:

getRemainingDistance

public double getRemainingDistance()

Description copied from interface: IUT2004Navigation

Returns how far is our target (path-distance == real-distance). May return -1 if it cannot be computed.

Specified by:

getRemainingDistance in interface IUT2004Navigation

Returns:

navigate

protected void navigate()

processPathFuture

protected boolean processPathFuture(IPathFuture futurePath,
                                    ILocated currentTarget)

Checks if last path element is in close distance from our desired target and if not, we will add our desired target as the last path element.

Parameters:

futurePath -

switchState

protected void switchState(NavigationState newState)

noPath

protected void noPath()

stuck

protected void stuck()

targetReached

protected void targetReached()

reset

protected void reset(boolean stopGetBackToNavGraph,
                     NavigationState resultState)

getState

public cz.cuni.amis.utils.flag.Flag<NavigationState> getState()

Description copied from interface: IUT2004Navigation

Returns an immutable flag with the current state of the navigation.

Specified by:

getState in interface IUT2004Navigation

Returns:

an immutable flag with the current state of the navigation.