1 package cz.cuni.amis.pogamut.ut2004.agent.module.sensor;
2
3 import java.util.ArrayList;
4 import java.util.Collections;
5 import java.util.HashMap;
6 import java.util.HashSet;
7 import java.util.Iterator;
8 import java.util.List;
9 import java.util.Map;
10 import java.util.Random;
11 import java.util.Set;
12 import java.util.logging.Logger;
13
14 import cz.cuni.amis.pogamut.base.agent.module.SensorModule;
15 import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
16 import cz.cuni.amis.pogamut.base.communication.worldview.IWorldView;
17 import cz.cuni.amis.pogamut.base.communication.worldview.event.IWorldEventListener;
18 import cz.cuni.amis.pogamut.base.communication.worldview.object.IWorldObjectEvent;
19 import cz.cuni.amis.pogamut.base.communication.worldview.object.IWorldObjectEventListener;
20 import cz.cuni.amis.pogamut.base.communication.worldview.object.event.WorldObjectUpdatedEvent;
21 import cz.cuni.amis.pogamut.base.utils.math.DistanceUtils;
22 import cz.cuni.amis.pogamut.base.utils.math.DistanceUtils.IGetDistance;
23 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
24 import cz.cuni.amis.pogamut.unreal.communication.messages.UnrealId;
25 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Weaponry;
26 import cz.cuni.amis.pogamut.ut2004.agent.module.utils.TabooSet;
27 import cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap;
28 import cz.cuni.amis.pogamut.ut2004.bot.IUT2004BotController;
29 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
30 import cz.cuni.amis.pogamut.ut2004.communication.messages.ItemType;
31 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.EndMessage;
32 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Item;
33 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ItemPickedUp;
34 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
35 import cz.cuni.amis.pogamut.ut2004.communication.translator.shared.events.MapPointListObtained;
36 import cz.cuni.amis.pogamut.ut2004.utils.UnrealUtils;
37 import cz.cuni.amis.utils.NullCheck;
38 import cz.cuni.amis.utils.collections.MyCollections;
39 import cz.cuni.amis.utils.maps.HashMapMap;
40
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58 public abstract class Items extends SensorModule<UT2004Bot> {
59
60 private Random random = new Random(System.currentTimeMillis());
61
62 private IPathPlanner<NavPoint> pathPlanner = null;
63
64 private NavPoint obtainNavPoint(ILocated obj) {
65 if (obj instanceof NavPoint) return (NavPoint)obj;
66 if (obj instanceof Item) return ((Item)obj).getNavPoint();
67 return null;
68 }
69
70 private IGetDistance<ILocated> pathPlannerGetDistance = new IGetDistance<ILocated>() {
71
72 @Override
73 public double getDistance(ILocated object, ILocated target) {
74 if (object == null || target == null) return Double.POSITIVE_INFINITY;
75 if (pathPlanner == null) return target.getLocation().getDistance(object.getLocation());
76 NavPoint objectNP = obtainNavPoint(object);
77 NavPoint targetNP = obtainNavPoint(target);
78 if (objectNP == null || targetNP == null) return Double.POSITIVE_INFINITY;
79 return pathPlanner.getDistance(objectNP, targetNP);
80 }
81
82 };
83
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87
88
89 public void setPathPlanner(IPathPlanner<NavPoint> pathPlanner) {
90 this.pathPlanner = pathPlanner;
91 }
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102 public abstract boolean isPickable(Item item);
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116 public Map<UnrealId, Item> getAllItems()
117 {
118 return Collections.unmodifiableMap(items.all);
119 }
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129
130 public Map<UnrealId, Item> getAllItems(ItemType type)
131 {
132 return Collections.unmodifiableMap(items.allCategories.get(type));
133 }
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146
147 public Map<UnrealId, Item> getAllItems(ItemType.Category category) {
148 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
149 for (ItemType type : category.getTypes()) {
150 result.putAll(getAllItems(type));
151 }
152 return result;
153 }
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166
167 public Map<UnrealId, Item> getAllItems(ItemType.Group group) {
168 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
169 for (ItemType type : group.getTypes()) {
170 result.putAll(getAllItems(type));
171 }
172 return result;
173 }
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181
182
183 public Item getItem(UnrealId id) {
184 Item item = items.all.get(id);
185 if (item == null) item = items.visible.get(id);
186 return item;
187 }
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196
197 public Item getItem(String stringUnrealId) {
198 return getItem(UnrealId.get(stringUnrealId));
199 }
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208 public Item getRandomItem() {
209 if (getAllItems().size() == 0) return null;
210 int num = random.nextInt(getAllItems().size());
211 Iterator<Item> iter = getAllItems().values().iterator();
212 for (int i = 0; i < num-1; ++i) iter.next();
213 return iter.next();
214 }
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220
221 public Item getNearestItem() {
222 return DistanceUtils.getNearest(getAllItems().values(), agentInfo.getLocation());
223 }
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230 public Item getPathNearestItem() {
231 return DistanceUtils.getNearest(getAllItems().values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
232 }
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240 public Item getNearestItem(ItemType.Category category) {
241 return DistanceUtils.getNearest(getAllItems(category).values(), agentInfo.getLocation());
242 }
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248
249
250 public Item getPathNearestItem(ItemType.Category category) {
251 return DistanceUtils.getNearest(getAllItems(category).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
252 }
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259
260 public Item getNearestItem(ItemType.Group group) {
261 return DistanceUtils.getNearest(getAllItems(group).values(), agentInfo.getLocation());
262 }
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268
269
270 public Item getPathNearestItem(ItemType.Group group) {
271 return DistanceUtils.getNearest(getAllItems(group).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
272 }
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280 public Item getNearestItem(ItemType type) {
281 return DistanceUtils.getNearest(getAllItems(type).values(), agentInfo.getLocation());
282 }
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289
290 public Item getPathNearestItem(ItemType type) {
291 return DistanceUtils.getNearest(getAllItems(type).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
292 }
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306 public Map<UnrealId, Item> getVisibleItems()
307 {
308 return Collections.unmodifiableMap(items.visible);
309 }
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321 public Map<UnrealId, Item> getVisibleItems(ItemType type)
322 {
323 return Collections.unmodifiableMap(items.visibleCategories.get(type));
324 }
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338 public Map<UnrealId, Item> getVisibleItems(ItemType.Category category) {
339 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
340 for (ItemType type : category.getTypes()) {
341 result.putAll(getVisibleItems(type));
342 }
343 return result;
344 }
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357
358 public Map<UnrealId, Item> getVisibleItems(ItemType.Group group) {
359 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
360 for (ItemType type : group.getTypes()) {
361 result.putAll(getVisibleItems(type));
362 }
363 return result;
364 }
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374
375 public Item getVisibleItem(UnrealId id) {
376 Item item = items.visible.get(id);
377 return item;
378 }
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388
389 public Item getVisibleItem(String stringUnrealId) {
390 return getVisibleItem(UnrealId.get(stringUnrealId));
391 }
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396
397
398 public Item getNearestVisibleItem() {
399 return DistanceUtils.getNearest(getVisibleItems().values(), agentInfo.getLocation());
400 }
401
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407 public Item getPathNearestVisibleItem() {
408 return DistanceUtils.getNearest(getVisibleItems().values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
409 }
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415
416
417 public Item getNearestVisibleItem(ItemType.Category category) {
418 return DistanceUtils.getNearest(getVisibleItems(category).values(), agentInfo.getLocation());
419 }
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424
425
426
427 public Item getPathNearestVisibleItem(ItemType.Category category) {
428 return DistanceUtils.getNearest(getVisibleItems(category).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
429 }
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435
436
437 public Item getNearestVisibleItem(ItemType.Group group) {
438 return DistanceUtils.getNearest(getVisibleItems(group).values(), agentInfo.getLocation());
439 }
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446
447 public Item getPathNearestVisibleItem(ItemType.Group group) {
448 return DistanceUtils.getNearest(getVisibleItems(group).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
449 }
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455
456
457 public Item getNearestVisibleItem(ItemType type) {
458 return DistanceUtils.getNearest(getVisibleItems(type).values(), agentInfo.getLocation());
459 }
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465
466
467 public Item getPathNearestVisibleItem(ItemType type) {
468 return DistanceUtils.getNearest(getVisibleItems(type).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
469 }
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484 public Map<UnrealId, Item> getKnownPickups()
485 {
486 return Collections.unmodifiableMap(items.known);
487 }
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500 public Map<UnrealId, Item> getKnownPickups(ItemType type)
501 {
502 return Collections.unmodifiableMap(items.knownCategories.get(type));
503 }
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517 public Map<UnrealId, Item> getKnownPickups(ItemType.Category category) {
518 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
519 for (ItemType type : category.getTypes()) {
520 result.putAll(getKnownPickups(type));
521 }
522 return result;
523 }
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537 public Map<UnrealId, Item> getKnownPickups(ItemType.Group group) {
538 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
539 for (ItemType type : group.getTypes()) {
540 result.putAll(getKnownPickups(type));
541 }
542 return result;
543 }
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553 public Item getKnownPickup(UnrealId id) {
554 return items.known.get(id);
555 }
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565 public Item getKnownPickup(String stringUnrealId) {
566 return getKnownPickup(UnrealId.get(stringUnrealId));
567 }
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579 public Map<UnrealId, Item> getSpawnedItems() {
580 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
581 for (Item item : getAllItems().values()) {
582 if (isPickupSpawned(item)) result.put(item.getId(), item);
583 }
584 return result;
585 }
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595 public Map<UnrealId, Item> getSpawnedItems(ItemType type) {
596 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
597 for (Item item : getAllItems(type).values()) {
598 if (isPickupSpawned(item)) {
599 result.put(item.getId(), item);
600 }
601 }
602 return result;
603 }
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617 public Map<UnrealId, Item> getSpawnedItems(ItemType.Category category) {
618 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
619 for (ItemType type : category.getTypes()) {
620 result.putAll(getSpawnedItems(type));
621 }
622 return result;
623 }
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637 public Map<UnrealId, Item> getSpawnedItems(ItemType.Group group) {
638 Map<UnrealId, Item> result = new HashMap<UnrealId, Item>();
639 for (ItemType type : group.getTypes()) {
640 result.putAll(getSpawnedItems(type));
641 }
642 return result;
643 }
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649
650 public Item getNearestSpawnedItem() {
651 return DistanceUtils.getNearest(getSpawnedItems().values(), agentInfo.getLocation());
652 }
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659 public Item getPathNearestSpawnedItem() {
660 return DistanceUtils.getNearest(getSpawnedItems().values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
661 }
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666
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668
669 public Item getNearestSpawnedItem(ItemType.Category category) {
670 return DistanceUtils.getNearest(getSpawnedItems(category).values(), agentInfo.getLocation());
671 }
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676
677
678
679 public Item getPathNearestSpawnedItem(ItemType.Category category) {
680 return DistanceUtils.getNearest(getSpawnedItems(category).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
681 }
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689 public Item getNearestSpawnedItem(ItemType.Group group) {
690 return DistanceUtils.getNearest(getSpawnedItems(group).values(), agentInfo.getLocation());
691 }
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699 public Item getPathNearestSpawnedItem(ItemType.Group group) {
700 return DistanceUtils.getNearest(getSpawnedItems(group).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
701 }
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709 public Item getNearestSpawnedItem(ItemType type) {
710 return DistanceUtils.getNearest(getSpawnedItems(type).values(), agentInfo.getLocation());
711 }
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719 public Item getPathNearestSpawnedItem(ItemType type) {
720 return DistanceUtils.getNearest(getSpawnedItems(type).values(), agentInfo.getNearestNavPoint(), pathPlannerGetDistance);
721 }
722
723
724
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728 public double getItemRespawnUT2004Time(Item item) {
729 return getItemRespawnTime(item.getType()) * UnrealUtils.UT2004_TIME_SPEED;
730 }
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737 public double getItemRespawnUT2004Time(ItemType itemType) {
738 return getItemRespawnTime(itemType) * UnrealUtils.UT2004_TIME_SPEED;
739 }
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741
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745
746 public double getItemRespawnTime(Item item) {
747 return getItemRespawnTime(item.getType());
748 }
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754
755 public abstract double getItemRespawnTime(ItemType itemType);
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773 public boolean isPickupSpawned(Item item) {
774 if (item == null) return false;
775 if (item.isVisible()) {
776
777 return true;
778 }
779 NavPoint np = item.getNavPoint();
780 if (np == null) {
781 np = navPoints.get(item.getNavPointId());
782 }
783 if (np != null) {
784 if (np.isVisible()) {
785
786 return np.isItemSpawned();
787 } else {
788 return !items.itemMissing.isTaboo(item);
789 }
790 } else {
791
792 return !items.itemMissing.isTaboo(item);
793 }
794 }
795
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811
812 public boolean isPickupSpawned(UnrealId itemId) {
813 return isPickupSpawned(items.all.get(itemId));
814 }
815
816
817
818
819
820
821 private class ItemMaps
822 {
823
824 private HashMap<UnrealId, Item> all = new HashMap<UnrealId, Item> ();
825
826 private HashMap<UnrealId, Item> visible = new HashMap<UnrealId, Item> ();
827
828 private HashMap<UnrealId, Item> reachable = new HashMap<UnrealId, Item> ();
829
830 private HashMap<UnrealId, Item> known = new HashMap<UnrealId, Item> ();
831
832 private HashMapMap<ItemType, UnrealId, Item> allCategories = new HashMapMap<ItemType, UnrealId, Item>();
833
834 private HashMapMap<ItemType, UnrealId, Item> visibleCategories = new HashMapMap<ItemType, UnrealId, Item> ();
835
836 private HashMapMap<ItemType, UnrealId, Item> reachableCategories = new HashMapMap<ItemType, UnrealId, Item> ();
837
838 private HashMapMap<ItemType, UnrealId, Item> knownCategories = new HashMapMap<ItemType, UnrealId, Item> ();
839
840 private TabooSet<Item> itemMissing;
841
842 private Set<Item> justPickedUp = new HashSet<Item>();
843
844 private HashMap<UnrealId, Boolean> itemSpawned = new HashMap<UnrealId, Boolean>();
845
846 public ItemMaps(UT2004Bot bot) {
847 itemMissing = new TabooSet<Item>(bot);
848 }
849
850 private void notify(NavPoint navPoint) {
851 if (navPoint.getItem() == null) return;
852 Item item = getItem(navPoint.getItem());
853 if (item == null) return;
854
855 if (navPoint.isItemSpawned()) {
856
857 itemMissing.remove(item);
858 } else {
859 if (itemMissing.isTaboo(item)) {
860
861 return;
862 }
863 itemMissing.add(item, getItemRespawnUT2004Time(item));
864 }
865 }
866
867
868
869
870
871 private void notify(Item item)
872 {
873 UnrealId uid = item.getId();
874
875
876 if (!all.containsKey(uid)) {
877 all.put(uid, item);
878 allCategories.put(item.getType(), item.getId(), item);
879 }
880
881
882 boolean wasVisible = visible.containsKey(uid);
883 boolean isVisible = item.isVisible();
884
885
886 if (isVisible && !wasVisible)
887 {
888
889 visible.put(uid, item);
890 visibleCategories.put(item.getType(), item.getId(), item);
891 }
892 else if (!isVisible && wasVisible)
893 {
894
895 visible.remove(uid);
896 visibleCategories.remove(item.getType(), item.getId());
897 }
898
899
900 if (!isVisible && item.isDropped()) {
901 all.remove(uid);
902 allCategories.remove(item.getType(), item.getId());
903 }
904
905 }
906
907
908
909
910
911 private void notify(Map<UnrealId, Item> items)
912 {
913
914 known.putAll(items);
915 for (Item item : items.values()) {
916 knownCategories.put(item.getType(), item.getId(), item);
917 notify(item);
918 }
919 }
920
921
922
923
924
925 private void notifyBatchEnd(List<NavPoint> navPoints) {
926 justPickedUp.clear();
927 }
928
929
930
931
932
933 private void notify(ItemPickedUp event) {
934 Item item = all.get(event.getId());
935 if (item == null) return;
936 justPickedUp.add(item);
937 itemMissing.add(item, getItemRespawnUT2004Time(item));
938 }
939
940 private void clear() {
941 all.clear();
942 allCategories.clear();
943 itemMissing.clear();
944 justPickedUp.clear();
945 known.clear();
946 knownCategories.clear();
947 reachable.clear();
948 reachableCategories.clear();
949 visible.clear();
950 visibleCategories.clear();
951 }
952 }
953
954
955 private ItemMaps items;
956
957
958
959 protected class ItemsListener implements IWorldObjectEventListener<Item, IWorldObjectEvent<Item>> {
960
961 public ItemsListener(IWorldView worldView) {
962 worldView.addObjectListener(Item.class, IWorldObjectEvent.class, this);
963 }
964
965 public void notify(IWorldObjectEvent<Item> event) {
966 items.notify(event.getObject());
967 }
968
969 }
970
971 protected ItemsListener itemsListener;
972
973
974
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986
987 protected ItemsListener createItemsListener(IWorldView worldView) {
988 return new ItemsListener(worldView);
989 }
990
991
992
993
994
995
996 protected class MapPointsListener implements IWorldEventListener<MapPointListObtained>
997 {
998
999
1000
1001
1002 public MapPointsListener(IWorldView worldView)
1003 {
1004 worldView.addEventListener(MapPointListObtained.class, this);
1005 }
1006
1007 @Override
1008 public void notify(MapPointListObtained event)
1009 {
1010 navPoints = event.getNavPoints();
1011 items.notify(event.getItems());
1012 }
1013
1014 }
1015
1016
1017 protected MapPointsListener mapPointsListener;
1018 protected Map<UnrealId, NavPoint> navPoints = new HashMap<UnrealId, NavPoint>();
1019
1020
1021
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1024
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1029
1030 protected MapPointsListener createMapPointsListener(IWorldView worldView) {
1031 return new MapPointsListener(worldView);
1032 }
1033
1034
1035
1036
1037
1038
1039 protected class NavPointListener implements IWorldObjectEventListener<NavPoint, WorldObjectUpdatedEvent<NavPoint>>
1040 {
1041
1042
1043
1044
1045 public NavPointListener(IWorldView worldView) {
1046 worldView.addObjectListener(NavPoint.class, WorldObjectUpdatedEvent.class, this);
1047 }
1048
1049 @Override
1050 public void notify(WorldObjectUpdatedEvent<NavPoint> event) {
1051 items.notify(event.getObject());
1052 if (event.getObject().isVisible()) {
1053 navPointsToProcess.add(event.getObject());
1054 } else {
1055 navPointsToProcess.remove(event.getObject());
1056 }
1057 }
1058
1059 }
1060
1061
1062
1063
1064
1065 protected List<NavPoint> navPointsToProcess = new ArrayList<NavPoint>();
1066
1067 protected NavPointListener navPointListener;
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1072
1073
1074 protected class EndMessageListener implements IWorldEventListener<EndMessage>
1075 {
1076
1077
1078
1079
1080 public EndMessageListener(IWorldView worldView)
1081 {
1082 worldView.addEventListener(EndMessage.class, this);
1083 }
1084
1085 @Override
1086 public void notify(EndMessage event)
1087 {
1088 items.notifyBatchEnd(navPointsToProcess);
1089 }
1090
1091 }
1092
1093 protected EndMessageListener endMessageListener;
1094
1095
1096
1097
1098
1099
1100 protected class ItemPickedUpListener implements IWorldEventListener<ItemPickedUp>
1101 {
1102
1103
1104
1105
1106 public ItemPickedUpListener(IWorldView worldView)
1107 {
1108 worldView.addEventListener(ItemPickedUp.class, this);
1109 }
1110
1111 @Override
1112 public void notify(ItemPickedUp event)
1113 {
1114 items.notify(event);
1115 }
1116
1117 }
1118
1119 protected ItemPickedUpListener itemPickedUpListener;
1120
1121
1122
1123
1124 protected AgentInfo agentInfo;
1125
1126
1127 protected Weaponry weaponry;
1128
1129
1130 protected Game game;
1131
1132
1133
1134
1135
1136
1137
1138
1139 public Items(UT2004Bot bot, AgentInfo agentInfo, Game game, Weaponry weaponry, Logger log)
1140 {
1141 super(bot, log);
1142
1143
1144 this.agentInfo = agentInfo;
1145 NullCheck.check(this.agentInfo, "agentInfo");
1146
1147 this.weaponry = weaponry;
1148 NullCheck.check(this.weaponry, "weaponry");
1149
1150 this.game = game;
1151 NullCheck.check(this.game, "game");
1152
1153 items = new ItemMaps(bot);
1154
1155
1156 itemsListener = createItemsListener(worldView);
1157 mapPointsListener = createMapPointsListener(worldView);
1158 navPointListener = new NavPointListener(worldView);
1159 endMessageListener = new EndMessageListener(worldView);
1160 itemPickedUpListener = new ItemPickedUpListener(worldView);
1161
1162 cleanUp();
1163 }
1164
1165 @Override
1166 protected void cleanUp() {
1167 super.cleanUp();
1168 navPoints.clear();
1169 items.clear();
1170 }
1171
1172 }