/*
* Datei: PacmanAgent.java
* Autor(en): Lukas König
* Java-Version: 6.0
* Erstellt: 2010-10-27
*
* (c) This file and the EAS (Easy Agent Simulation) framework containing it
* is protected by Creative Commons by-nc-sa license. Any altered or
* further developed versions of this file have to meet the agreements
* stated by the license conditions.
*
* In a nutshell
* -------------
* You are free:
* - to Share -- to copy, distribute and transmit the work
* - to Remix -- to adapt the work
*
* Under the following conditions:
* - Attribution -- You must attribute the work in the manner specified by the
* author or licensor (but not in any way that suggests that they endorse
* you or your use of the work).
* - Noncommercial -- You may not use this work for commercial purposes.
* - Share Alike -- If you alter, transform, or build upon this work, you may
* distribute the resulting work only under the same or a similar license to
* this one.
*
* + Detailed license conditions (Germany):
* http://creativecommons.org/licenses/by-nc-sa/3.0/de/
* + Detailed license conditions (unported):
* http://creativecommons.org/licenses/by-nc-sa/3.0/deed.en
*
* This header must be placed in the beginning of any version of this file.
*/
package eas.users.demos.pacman;
import java.awt.Color;
import eas.math.geometry.Polygon2D;
import eas.math.geometry.Vector2D;
import eas.simulation.ConstantsSimulation;
import eas.simulation.Wink;
import eas.simulation.agent.GenericSensor;
import eas.simulation.event.EASEvent;
import eas.simulation.spatial.sim2D.standardAgents.AbstractAgent2D;
import eas.simulation.spatial.sim2D.standardEnvironments.AbstractEnvironment2D;
import eas.startSetup.ParCollection;
public class RealPacmanAgent extends AbstractAgent2D<AbstractEnvironment2D<?>> {
/**
*
*/
private static final long serialVersionUID = -7846777526952617626L;
private Polygon2D pacman;
private Color color;
public RealPacmanAgent(int id, AbstractEnvironment2D<?> env, ParCollection params) {
super(id, env, params);
this.addSensor(new GenericSensor<Float, AbstractEnvironment2D<AbstractAgent2D<?>>, AbstractAgent2D<?>>() {
/**
*
*/
private static final long serialVersionUID = -850570281361687891L;
@Override
public Float sense(AbstractEnvironment2D<AbstractAgent2D<?>> env, AbstractAgent2D<?> agent) {
return (float) env.getWheelSpeedLeft(agent.id());
}
@Override
public String id() {
return "Wheel-Speed-Left";
}
});
this.addSensor(new GenericSensor<Float, AbstractEnvironment2D<AbstractAgent2D<?>>, AbstractAgent2D<?>>() {
/**
*
*/
private static final long serialVersionUID = -953172563969605174L;
@Override
public Float sense(AbstractEnvironment2D<AbstractAgent2D<?>> env, AbstractAgent2D<?> agent) {
return (float) env.getWheelSpeedRight(agent.id());
}
@Override
public String id() {
return "Wheel-Speed-Right";
}
});
this.color = Color.yellow;
}
@Override
public Polygon2D getAgentShape() {
if (pacman == null) {
final double precision = 40;
final double radius = 1;
pacman = new Polygon2D();
for (double d = 0; d < Math.PI * 1.75; d += Math.PI * 2 / precision) {
pacman.add(new Vector2D(Math.sin(d) * radius, Math.cos(d) * radius));
}
pacman.add(new Vector2D(0, 0));
pacman.rotate(Vector2D.NULL_VECTOR, -Math.PI * 0.125);
}
return pacman;
}
@SuppressWarnings("rawtypes")
@Override
public synchronized void step(Wink simTime) {
handleEventStatic(this.lastEvent);
this.lastEvent = null;
if (!((AbstractEnvironment2D) this.getEnvironment()).differentialDriveForward(this.id())) {
this.pacmanDead();
}
this.getEnvironment().setWheelSpeedLeft(this.id(), this.getEnvironment().getWheelSpeedLeft(this.id()) / 1.03);
this.getEnvironment().setWheelSpeedRight(this.id(), this.getEnvironment().getWheelSpeedRight(this.id()) / 1.03);
}
private EASEvent lastEvent;
@Override
public synchronized void handleEvent(EASEvent e, Wink lastActionTime) {
this.lastEvent = e;
}
@SuppressWarnings("rawtypes")
private void handleEventStatic(EASEvent e) {
if (e == null) {
return;
}
if (e.getEventDescription().equals(ConstantsSimulation.KEY_EVENT_IDENTIFIER + " ")) { // SPACE
((PacmanWorld) ((AbstractEnvironment2D) this.getEnvironment())).resetPacman();
this.color = Color.yellow;
}
if (this.color.equals(Color.red)) {
return;
}
final double speedChangeForward = 0.15;
final double speedChangeTurn = 0.01;
if (e.getEventDescription().equals(ConstantsSimulation.KEY_EVENT_ARROW_KEY_ENCODING_UP)) { // UP
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedLeft(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedLeft(this.id()) + speedChangeForward);
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedRight(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedRight(this.id()) + speedChangeForward);
}
if (e.getEventDescription().equals(ConstantsSimulation.KEY_EVENT_ARROW_KEY_ENCODING_DOWN)) { // DOWN
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedLeft(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedLeft(this.id()) - speedChangeForward);
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedRight(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedRight(this.id()) - speedChangeForward);
}
if (e.getEventDescription().equals(ConstantsSimulation.KEY_EVENT_ARROW_KEY_ENCODING_LEFT)) { // LEFT
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedLeft(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedLeft(this.id()) - speedChangeTurn);
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedRight(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedRight(this.id()) + speedChangeTurn);
}
if (e.getEventDescription().equals(ConstantsSimulation.KEY_EVENT_ARROW_KEY_ENCODING_RIGHT)) { // RIGHT
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedLeft(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedLeft(this.id()) + speedChangeTurn);
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedRight(
this.id(),
((AbstractEnvironment2D) this.getEnvironment()).getWheelSpeedRight(this.id()) - speedChangeTurn);
}
}
@SuppressWarnings("rawtypes")
public void pacmanDead() {
this.color = Color.red;
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedLeft(this.id(), 0);
((AbstractEnvironment2D) this.getEnvironment()).setWheelSpeedRight(this.id(), 0);
}
@Override
public Color getAgentColor() {
return this.color;
}
}