1 package cz.cuni.amis.pogamut.sposh.context;
2
3 import java.util.Random;
4 import java.util.logging.Level;
5
6 import cz.cuni.amis.pogamut.base.agent.navigation.IPathPlanner;
7 import cz.cuni.amis.pogamut.base.communication.command.IAct;
8 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.AnnotationListenerRegistrator;
9 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.EventListener;
10 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassEventListener;
11 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectClassListener;
12 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectEventListener;
13 import cz.cuni.amis.pogamut.base.communication.worldview.listener.annotation.ObjectListener;
14 import cz.cuni.amis.pogamut.base.utils.logging.LogCategory;
15 import cz.cuni.amis.pogamut.base.utils.math.DistanceUtils;
16 import cz.cuni.amis.pogamut.base3d.worldview.IVisionWorldView;
17 import cz.cuni.amis.pogamut.base3d.worldview.object.ILocated;
18 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Animations;
19 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Emoticons;
20 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Inventory;
21 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Places;
22 import cz.cuni.amis.pogamut.emohawk.agent.module.sensomotoric.Steering;
23 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.AgentConfig;
24 import cz.cuni.amis.pogamut.ut2004.agent.module.sensomotoric.Raycasting;
25 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentInfo;
26 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.AgentStats;
27 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Game;
28 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Players;
29 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.Senses;
30 import cz.cuni.amis.pogamut.ut2004.agent.module.sensor.UT2004AgentInfo;
31 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004AStarPathPlanner;
32 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004GetBackToNavGraph;
33 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004Navigation;
34 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004PathExecutor;
35 import cz.cuni.amis.pogamut.ut2004.agent.navigation.UT2004RunStraight;
36 import cz.cuni.amis.pogamut.ut2004.agent.navigation.floydwarshall.FloydWarshallMap;
37 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.KefikRunner;
38 import cz.cuni.amis.pogamut.ut2004.agent.navigation.loquenavigator.LoqueNavigator;
39 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004DistanceStuckDetector;
40 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004PositionStuckDetector;
41 import cz.cuni.amis.pogamut.ut2004.agent.navigation.stuckdetector.UT2004TimeStuckDetector;
42 import cz.cuni.amis.pogamut.ut2004.bot.IUT2004BotController;
43 import cz.cuni.amis.pogamut.ut2004.bot.command.AdvancedLocomotion;
44 import cz.cuni.amis.pogamut.ut2004.bot.command.Communication;
45 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004Bot;
46 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotController;
47 import cz.cuni.amis.pogamut.ut2004.bot.impl.UT2004BotModuleController;
48 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbcommands.GetPath;
49 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.AutoTraceRay;
50 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.BotKilled;
51 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.ConfigChange;
52 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo;
53 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage;
54 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.NavPoint;
55 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.PathList;
56 import cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.Self;
57
58 /**
59 * Primitive State Context for Emohawk.
60 * @author Jimmy
61 */
62 public class EmohawkContext<BOT extends UT2004Bot> extends Context<BOT> implements IUT2004Context<BOT> {
63
64 /**
65 * Random number generator that is usually useful to have during decision making.
66 */
67 protected Random random = new Random(System.currentTimeMillis());
68
69 /**
70 * Alias for user's log.
71 */
72 protected LogCategory log = null;
73
74 /**
75 * Memory module specialized on general info about the game - game type, time limit, frag limit, etc.
76 * <p><p>
77 * May be used since {@link SposhBotLogic#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)}
78 * is called.
79 * <p><p>
80 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
81 */
82 protected Game game;
83
84 /**
85 * Memory module specialized on general info about the agent whereabouts - location, rotation, health, current weapon, who is enemy/friend, etc.
86 * <p><p>
87 * May be used since first {@link Self} message is received, i.e, since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
88 * is called.
89 * <p><p>
90 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
91 */
92 protected AgentInfo info;
93
94 /**
95 * Memory module specialized on whereabouts of other players - who is visible, enemy / friend, whether bot can see anybody, etc.
96 * <p><p>
97 * May be used since {@link SposhBotLogic#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)}
98 * is called.
99 * <p><p>
100 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
101 */
102 protected Players players;
103
104 // /**
105 // * Sensory module that provides mapping between {@link ItemType} and {@link ItemDescriptor} providing
106 // * an easy way to obtain item descriptors for various items in UT2004.
107 // * <p><p>
108 // * May be used since {@link SposhBotLogic#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)}
109 // * is called.
110 // * <p><p>
111 // * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
112 // */
113 // protected ItemDescriptors descriptors;
114 //
115 // /**
116 // * Memory module specialized on items on the map - which are visible and which are probably spawned.
117 // * <p><p>
118 // * May be used since {@link SposhBotLogic#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)}
119 // * is called.
120 // * <p><p>
121 // * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
122 // */
123 // protected Items items;
124
125 /**
126 * Memory module specialized on agent's senses - whether the bot has been recently killed, collide with level's geometry, etc.
127 * <p><p>
128 * May be used since {@link SposhBotLogic#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)}
129 * is called.
130 * <p><p>
131 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
132 */
133 protected Senses senses;
134
135 // /**
136 // * Memory module specialized on info about the bot's weapon and ammo inventory - it can tell you which weapons are loaded, melee/ranged, etc.
137 // * <p><p>
138 // * May be used since {@link SposhBotLogic#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)}
139 // * is called.
140 // * <p><p>
141 // * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
142 // */
143 // protected Weaponry weaponry;
144
145 /**
146 * Memory module specialized on the agent's configuration inside UT2004 - name, vision time, manual spawn, cheats (if enabled at GB2004).
147 * <p><p>
148 * May be used since {@link SposhBotLogic#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.InitedMessage)}
149 * is called.
150 * <p><p>
151 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
152 */
153 protected AgentConfig config;
154
155 /**
156 * Support for creating rays used for raycasting (see {@link AutoTraceRay} that is being utilized).
157 * <p><p>
158 * May be used since {@link SposhBotLogic#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)}
159 * is called.
160 */
161 protected Raycasting raycasting;
162
163 // /**
164 // * Creates and wraps all available commands that can be issued to the virtual body of the bot inside UT2004.
165 // * <p><p>
166 // * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
167 // * is called.
168 // * <p><p>
169 // * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
170 // */
171 // protected CompleteBotCommandsWrapper body;
172 //
173 // /**
174 // * Shortcut for <i>body.getImprovedShooting()</i> that allows you to shoot at opponent.
175 // * <p><p>
176 // * Note: more weapon-handling methods are available through {@link UT2004Behaviour#weaponry}.
177 // * <p><p>
178 // * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
179 // * is called.
180 // * <p><p>
181 // * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
182 // */
183 // protected ImprovedShooting shoot;
184
185 /**
186 * Shortcut for <i>body.getAdvancedLocomotion()</i> that allows you to manually steer the movement through the environment.
187 * <p><p>
188 * Note: navigation is done via {@link UT2004Behaviour#pathExecutor} that needs {@link PathHandle} from the {@link UT2004Behaviour#pathPlanner}.
189 * <p><p>
190 * May be used since since the first {@link SposhBotLogic#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
191 * is called.
192 * <p><p>
193 * Initialized inside {@link UT2004Behaviour#initializeModules(UT2004Bot)}.
194 */
195 protected AdvancedLocomotion move;
196
197 /**
198 * Allows you to speak!
199 */
200 protected Communication comm;
201
202 /**
203 * Executor is used for following a path in the environment.
204 * <p><p>
205 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
206 * is called.
207 * <p><p>
208 * Initialized inside {@link UT2004BotModuleControllerNew#initializePathFinding(UT2004Bot)}.
209 */
210 protected UT2004PathExecutor<ILocated> pathExecutor = null;
211
212 /**
213 * Planner used to compute the path (consisting of navigation points) inside the map.
214 * <p><p>
215 * May be used since since the first {@link IUT2004BotController#botFirstSpawn(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage, Self)}
216 * is called.
217 * <p><p>
218 * Initialized inside {@link UT2004BotModuleControllerNew#initializePathFinding(UT2004Bot)}.
219 */
220 protected IPathPlanner<ILocated> pathPlanner = null;
221
222 // /**
223 // * Weapon preferences for your bot. See {@link WeaponPrefs} class javadoc. It allows you to define preferences for
224 // * weapons to be used at given distance (together with their firing mode).
225 // */
226 // protected WeaponPrefs weaponPrefs;
227
228 // /**
229 // * Navigation graph builder that may be used to manually extend the navigation graph of the UT2004.
230 // * <p><p>
231 // * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
232 // * is called.
233 // * <p><p>
234 // * Initialized inside {@link UT2004BotModuleController#initializeModules(UT2004Bot)}.
235 // */
236 // protected NavigationGraphBuilder navBuilder;
237
238 /**
239 * Module that is providing various statistics about the bot. You may also used it to output these stats (in CSV format)
240 * into some file using {@link AgentStats#startOutput(String)} or {@link AgentStats#startOutput(String, boolean)}.
241 */
242 protected AgentStats stats;
243
244 /**
245 * Path-planner ({@link IPathPlanner} using {@link NavPoint}s), you may use it to find paths inside the environment wihtout
246 * waiting for round-trip of {@link GetPath} command and {@link PathList}s response from UT2004. It is much faster than
247 * {@link UT2004BotModuleController#pathPlanner} but you need to pass {@link NavPoint} instances to planner instead of
248 * {@link ILocated} ... to find the nearest {@link NavPoint} instance, {@link DistanceUtils} is a handy, check especially
249 * {@link DistanceUtils#getNearest(java.util.Collection, ILocated)}.
250 */
251 protected FloydWarshallMap fwMap;
252
253 /**
254 * Command module that is internally using {@link UT2004PathExecutor} for path-following and {@link FloydWarshallMap}
255 * for path planning resulting in unified class that can solely handle navigation of the bot within the environment.
256 * <p><p>
257 * In contrast to {@link UT2004PathExecutor} methods
258 * of this module may be recalled every {@link UT2004BotModuleController#logic()} iteration even with
259 * the same argument (which is not true for {@link UT2004PathExecutor#followPath(cz.cuni.amis.pogamut.base.agent.navigation.IPathFuture)}.
260 * <p><p>
261 * Note that this class is actually initialized with instances of {@link UT2004BotModuleController#pathExecutor} and {@link UT2004BotModuleController#fwMap}
262 * 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)}
263 * method.
264 * <p><p>
265 * May be used since first {@link UT2004BotModuleController#logic()} is called.
266 * <p><p>
267 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
268 */
269 protected UT2004Navigation navigation;
270
271 /**
272 * Listener registrator that probes declared methods for the presence of {@link EventListener}, {@link ObjectClassEventListener},
273 * {@link ObjectClassListener}, {@link ObjectEventListener} and {@link ObjectListener} annotations and automatically registers
274 * them as listeners on a specific events.
275 * <p><p>
276 * Note that this registrator is usable for 'this' object only! It will work only for 'this' object.
277 */
278 protected AnnotationListenerRegistrator listenerRegistrator;
279
280 /**
281 * Shortcut for the {@link UT2004BotModuleController#getWorldView()}.
282 */
283 protected IVisionWorldView world;
284
285 /**
286 * Shortcut for the {@link UT2004BotModuleController#getAct()}.
287 */
288 protected IAct act;
289
290 /**
291 * Navigation helper that is able to get your bot back to the nearest navigation graph so you can use {@link UT2004BotModuleController#navigation}
292 * without fear of catastrophe.
293 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
294 * is called.
295 * <p><p>
296 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
297 */
298 protected UT2004GetBackToNavGraph getBackToNavGraph;
299
300 /**
301 * Navigation helper that can run-straight to some point with stuck detectors.
302 * <p><p>
303 * May be used since {@link IUT2004BotController#botInitialized(cz.cuni.amis.pogamut.ut2004.communication.messages.gbinfomessages.GameInfo, ConfigChange, InitedMessage)}
304 * is called.
305 * <p><p>
306 * Initialized inside {@link UT2004BotModuleController#initializePathFinding(UT2004Bot)}.
307 */
308 protected UT2004RunStraight runStraight;
309
310 /**
311 * Module for handling animations.
312 */
313 protected Animations animations;
314
315 /**
316 * Module for handling emoticons.
317 */
318 protected Emoticons emoticons;
319
320 /**
321 * High-level description of the map.
322 */
323 protected Places places;
324
325 /**
326 * High-level access to steering library.
327 */
328 protected Steering steering;
329
330 /**
331 * High-level access to inventory and items.
332 */
333 protected Inventory inventory;
334
335 public EmohawkContext(String name, BOT bot) {
336 super(name, bot);
337 log = bot.getLogger().getCategory(UT2004BotController.USER_LOG_CATEGORY_ID);
338 log.setLevel(Level.ALL);
339 }
340
341 /**
342 * Called after the construction of the {@link UT2004Behaviour} before the GameBots2004 greets the bot even before
343 * {@link UT2004Behaviour#prepareBehaviour(UT2004Bot)} method.
344 * <p><p>
345 * <b>NOTE:</b> This is Pogamut's developers reserved method - do not override it and if you do, always use 'super'
346 * to call parent's initializeBehaviour.
347 */
348 protected void initialize() {
349 initializeModules(bot);
350 initializePathFinding(bot);
351 initializeListeners(bot);
352 }
353
354 /**
355 * Initializes {@link UT2004Behaviour#listenerRegistrator} and calls {@link AnnotationListenerRegistrator#addListeners()} method
356 * to probe all declared methods for event-annotation presence.
357 * @param bot
358 */
359 protected void initializeListeners(BOT bot) {
360 listenerRegistrator = new AnnotationListenerRegistrator(this, getWorldView(), bot.getLogger().getCategory("Listeners"));
361 listenerRegistrator.addListeners();
362 }
363
364 /**
365 * Initializes path-finding modules: {@link UT2004BotModuleControllerNew#pathPlanner} and {@link UT2004BotModuleControllerNew#pathExecutor}.
366 * If you need different path planner / path executor - override this method and initialize your own modules.
367 * @param bot
368 */
369 protected void initializePathFinding(BOT bot) {
370 pathPlanner = new UT2004AStarPathPlanner(bot);
371 fwMap = new FloydWarshallMap(bot);
372 pathExecutor =
373 new UT2004PathExecutor<ILocated>(
374 bot, info, move,
375 new LoqueNavigator<ILocated>(bot, info, move,
376 bot.getLog())
377 );
378
379 // add stuck detectors that watch over the path-following, if it (heuristicly) finds out that the bot has stuck somewhere,
380 // it reports an appropriate path event and the path executor will stop following the path which in turn allows
381 // us to issue another follow-path command in the right time
382 pathExecutor.addStuckDetector(new UT2004TimeStuckDetector(bot, 3000, 100000)); // if the bot does not move for 3 seconds, considered that it is stuck
383 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
384 pathExecutor.addStuckDetector(new UT2004DistanceStuckDetector(bot)); // watch over distances to target
385
386 getBackToNavGraph = new UT2004GetBackToNavGraph(bot, info, move);
387 runStraight = new UT2004RunStraight(bot, info, move);
388 navigation = new UT2004Navigation(bot, pathExecutor, fwMap, getBackToNavGraph, runStraight);
389 }
390
391 /**
392 * Initializes memory/command modules of the bot.
393 *
394 * @param bot
395 */
396 protected void initializeModules(BOT bot) {
397 world = bot.getWorldView();
398 act = bot.getAct();
399 game = new Game(bot);
400 info = new UT2004AgentInfo(bot, game);
401 players = new Players(bot);
402 // descriptors = new ItemDescriptors(bot);
403 // weaponry = new Weaponry(bot, descriptors);
404 // items = new Items(bot, info, game, weaponry, null);
405 senses = new Senses(bot, info, players);
406 config = new AgentConfig(bot);
407 raycasting = new Raycasting(bot);
408 // shoot = body.getImprovedShooting();
409 move = new AdvancedLocomotion(getBot(), getBot().getLogger().getCategory("Move"));
410 comm = new Communication(getBot(), getBot().getLogger().getCategory("Communicaton"));
411 // navBuilder = new NavigationGraphBuilder(bot);
412 stats = new AgentStats(bot);
413 animations = new Animations(bot);
414 emoticons = new Emoticons(bot);
415 places = new Places(bot);
416 steering = new Steering(bot);
417 inventory = new Inventory(bot);
418 // weaponPrefs = new WeaponPrefs(weaponry, bot);
419 }
420
421 /**
422 * Called after the behaviour construction to initialize user's data structures.
423 * @param bot
424 */
425 protected void prepareBehaviour(BOT bot) {
426 }
427
428 /**
429 * This method is called whenever {@link InitedMessage} is received. Various agent modules are usable since this
430 * method is called.
431 *
432 * @param gameInfo
433 * @param config
434 * @param init
435 * @param self
436 */
437 public void botInitialized(GameInfo info, ConfigChange config, InitedMessage init) {
438 }
439
440 /**
441 * This method is called only once whenever first batch of information what the bot can see is received.
442 * <i><i>
443 * It is sort of "first-logic-method" where you may issue commands for the first time and handle everything
444 * else in bot's logic then. It eliminates the need to have 'boolean firstLogic' field inside your bot.
445 * <p><p>
446 * Note that this method has advantage over the {@link IUT2004BotController#botInitialized(GameInfo, ConfigChange, InitedMessage)}
447 * that you already have {@link Self} object.
448 *
449 * @param gameInfo
450 * @param config
451 * @param init
452 * @param self
453 */
454 public void botSpawned(GameInfo gameInfo, ConfigChange config, InitedMessage init, Self self) {
455 }
456
457 /**
458 * Called after {@link UT2004Behaviour#botFirstSpawn(GameInfo, ConfigChange, InitedMessage, Self)} as a hook for Pogamut's core developers
459 * to finalize initialization of various modules.
460 * <p><p>
461 * <b>NOTE:</b> This is Pogamut's developers reserved method - do not override it and if you do, always use 'super'
462 * to call parent's finishControllerInitialization.
463 */
464 public void finishInitialization() {
465 // if (navBuilder.isUsed()) {
466 // log.info("Navigation graph has been altered by 'navBuilder', triggering recomputation of Floyd-Warshall path matrix...");
467 // Level oldLevel = fwMap.getLog().getLevel();
468 // fwMap.getLog().setLevel(Level.FINER);
469 // fwMap.refreshPathMatrix();
470 // fwMap.getLog().setLevel(oldLevel);
471 // }
472 }
473
474 /**
475 * This method is called before the SPOSH iteration is invoked. You may clear previous-state variables here.
476 */
477 public void logicIteration() {
478 }
479
480 /**
481 * Called whenever the bot gets killed inside the game.
482 *
483 * @param event
484 */
485 public void botKilled(BotKilled event) {
486 }
487
488 public IVisionWorldView getWorldView() {
489 return bot.getWorldView();
490 }
491
492 public IAct getAct() {
493 return bot.getAct();
494 }
495
496 public Random getRandom() {
497 return random;
498 }
499
500 public LogCategory getLog() {
501 return log;
502 }
503
504 public Game getGame() {
505 return game;
506 }
507
508 public AgentInfo getInfo() {
509 return info;
510 }
511
512 public Players getPlayers() {
513 return players;
514 }
515
516 public Senses getSenses() {
517 return senses;
518 }
519
520 public AgentConfig getConfig() {
521 return config;
522 }
523
524 public Raycasting getRaycasting() {
525 return raycasting;
526 }
527
528 public AdvancedLocomotion getMove() {
529 return move;
530 }
531
532 public UT2004PathExecutor<ILocated> getPathExecutor() {
533 return pathExecutor;
534 }
535
536 public IPathPlanner<ILocated> getPathPlanner() {
537 return pathPlanner;
538 }
539
540 public AgentStats getStats() {
541 return stats;
542 }
543
544 public FloydWarshallMap getFwMap() {
545 return fwMap;
546 }
547
548 public UT2004Navigation getNavigation() {
549 return navigation;
550 }
551
552 public AnnotationListenerRegistrator getListenerRegistrator() {
553 return listenerRegistrator;
554 }
555
556 public IVisionWorldView getWorld() {
557 return world;
558 }
559
560 public UT2004GetBackToNavGraph getBackToNavGraph() {
561 return getBackToNavGraph;
562 }
563
564 public Communication getComm() {
565 return comm;
566 }
567
568 public UT2004GetBackToNavGraph getGetBackToNavGraph() {
569 return getBackToNavGraph;
570 }
571
572 public UT2004RunStraight getRunStraight() {
573 return runStraight;
574 }
575
576 public Animations getAnimations() {
577 return animations;
578 }
579
580 public Emoticons getEmoticons() {
581 return emoticons;
582 }
583
584 public Places getPlaces() {
585 return places;
586 }
587
588 public Steering getSteering() {
589 return steering;
590 }
591
592 public Inventory getInventory() {
593 return inventory;
594 }
595
596 }