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Basic search drones

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Bazsalanszky 2022-05-19 17:58:03 +02:00
parent 4a2efe3bb3
commit 3b463807ea
Signed by: Bazsalanszky
GPG key ID: B40814F4EFE23F96
16 changed files with 904 additions and 70 deletions
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airSeaRescue.mas2j
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@ -14,5 +14,11 @@ MAS airSeaRescue {
environment: operator.WorldEnvironment(1,500,yes)
agents: victim#4;
agents:
victim#4;
searchDrone#2;
operator;
}

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miner.asl Normal file
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@ -0,0 +1,294 @@
/* beliefs */
last_dir(null). // the last movement I did
free.
/* rules */
// next line is the bottom of the quadrant
// if 2 lines bellow is too far
calc_new_y(AgY,QuadY2,QuadY2) :- AgY+2 > QuadY2.
// otherwise, the next line is 2 lines bellow
calc_new_y(AgY,_,Y) :- Y = AgY+2.
/* plans for sending the initial position to leader */
+gsize(S,_,_) : true // S is the simulation Id
<- !send_init_pos(S).
+!send_init_pos(S) : pos(X,Y)
<- .send(leader,tell,init_pos(S,X,Y)).
+!send_init_pos(S) : not pos(_,_) // if I do not know my position yet
<- .wait("+pos(X,Y)", 500); // wait for it and try again
!!send_init_pos(S).
/* plans for wandering in my quadrant when I'm free */
+free : last_checked(X,Y) <- !prep_around(X,Y).
+free : quadrant(X1,Y1,X2,Y2) <- !prep_around(X1,Y1).
+free : true <- !wait_for_quad.
@pwfq[atomic]
+!wait_for_quad : free & quadrant(_,_,_,_)
<- -+free.
+!wait_for_quad : free
<- .wait("+quadrant(X1,Y1,X2,Y2)", 500);
!!wait_for_quad.
+!wait_for_quad : not free
<- .print("No longer free while waiting for quadrant.").
-!wait_for_quad // .wait might fail
<- !!wait_for_quad.
// if I am around the upper-left corner, move to upper-right corner
+around(X1,Y1) : quadrant(X1,Y1,X2,Y2) & free
<- .print("in Q1 to ",X2,"x",Y1);
!prep_around(X2,Y1).
// if I am around the bottom-right corner, move to upper-left corner
+around(X2,Y2) : quadrant(X1,Y1,X2,Y2) & free
<- .print("in Q4 to ",X1,"x",Y1);
!prep_around(X1,Y1).
// if I am around the right side, move to left side two lines bellow
+around(X2,Y) : quadrant(X1,Y1,X2,Y2) & free
<- ?calc_new_y(Y,Y2,YF);
.print("in Q2 to ",X1,"x",YF);
!prep_around(X1,YF).
// if I am around the left side, move to right side two lines bellow
+around(X1,Y) : quadrant(X1,Y1,X2,Y2) & free
<- ?calc_new_y(Y,Y2,YF);
.print("in Q3 to ", X2, "x", YF);
!prep_around(X2,YF).
// last "around" was none of the above, go back to my quadrant
+around(X,Y) : quadrant(X1,Y1,X2,Y2) & free & Y <= Y2 & Y >= Y1
<- .print("in no Q, going to X1");
!prep_around(X1,Y).
+around(X,Y) : quadrant(X1,Y1,X2,Y2) & free & X <= X2 & X >= X1
<- .print("in no Q, going to Y1");
!prep_around(X,Y1).
+around(X,Y) : quadrant(X1,Y1,X2,Y2)
<- .print("It should never happen!!!!!! - go home");
!prep_around(X1,Y1).
+!prep_around(X,Y) : free
<- -around(_,_); -last_dir(_); !around(X,Y).
+!around(X,Y)
: // I am around to some location if I am near it or
// the last action was skip (meaning that there are no paths to there)
(pos(AgX,AgY) & jia.neighbour(AgX,AgY,X,Y)) | last_dir(skip)
<- +around(X,Y).
+!around(X,Y) : not around(X,Y)
<- !next_step(X,Y);
!!around(X,Y).
+!around(X,Y) : true
<- !!around(X,Y).
+!next_step(X,Y)
: pos(AgX,AgY)
<- jia.get_direction(AgX, AgY, X, Y, D);
//.print("from ",AgX,"x",AgY," to ", X,"x",Y," -> ",D);
-+last_dir(D);
do(D).
+!next_step(X,Y) : not pos(_,_) // I still do not know my position
<- !next_step(X,Y).
-!next_step(X,Y) : true // failure handling -> start again!
<- .print("Failed next_step to ", X,"x",Y," fixing and trying again!");
-+last_dir(null);
!next_step(X,Y).
/* Gold-searching Plans */
// I perceived unknown gold and I am free, handle it
@pcell[atomic] // atomic: so as not to handle another
// event until handle gold is initialised
+cell(X,Y,gold)
: not carrying_gold & free
<- -free;
+gold(X,Y);
.print("Gold perceived: ",gold(X,Y));
!init_handle(gold(X,Y)).
// if I see gold and I'm not free but also not carrying gold yet
// (I'm probably going towards one), abort handle(gold) and pick up
// this one which is nearer
@pcell2[atomic]
+cell(X,Y,gold)
: not carrying_gold & not free &
.desire(handle(gold(OldX,OldY))) & // I desire to handle another gold which
pos(AgX,AgY) &
operator.dist(X, Y, AgX,AgY,DNewG) &
operator.dist(OldX,OldY,AgX,AgY,DOldG) &
DNewG < DOldG // is farther than the one just perceived
<- +gold(X,Y);
.drop_desire(handle(gold(OldX,OldY)));
.print("Giving up current gold ",gold(OldX,OldY),
" to handle ",gold(X,Y)," which I am seeing!");
.print("Announcing ",gold(OldX,OldY)," to others");
.broadcast(tell,gold(OldX,OldY));
.broadcast(untell, committed_to(gold(OldX,OldY)));
!init_handle(gold(X,Y)).
// I am not free, just add gold belief and announce to others
+cell(X,Y,gold)
: not gold(X,Y) & not committed_to(gold(X,Y))
<- +gold(X,Y);
.print("Announcing ",gold(X,Y)," to others");
.broadcast(tell,gold(X,Y)).
// someone else sent me a gold location
+gold(X1,Y1)[source(A)]
: A \== self &
not allocated(gold(X1,Y1),_) & // The gold was not allocated yet
not carrying_gold & // I am not carrying gold
free & // and I am free
pos(X2,Y2) &
.my_name(Me)
<- operator.dist(X1,Y1,X2,Y2,D); // bid
.send(leader,tell,bid(gold(X1,Y1),D,Me)).
// bid high as I'm not free
+gold(X1,Y1)[source(A)]
: A \== self & .my_name(Me)
<- .send(leader,tell,bid(gold(X1,Y1),10000,Me)).
// gold allocated to me
@palloc1[atomic]
+allocated(Gold,Ag)[source(leader)]
: .my_name(Ag) & free // I am still free
<- -free;
.print("Gold ",Gold," allocated to ",Ag);
!init_handle(Gold).
// some gold was allocated to me, but I can not
// handle it anymore, re-announce
@palloc2[atomic]
+allocated(Gold,Ag)[source(leader)]
: .my_name(Ag) & not free // I am no longer free
<- .print("I can not handle ",Gold," anymore!");
.print("(Re)announcing ",Gold," to others");
.broadcast(tell,Gold).
// someone else picked up the gold I am going to go,
// so drops the intention and chose another gold
@ppgd[atomic]
+picked(G)[source(A)]
: .desire(handle(G)) | .desire(init_handle(G))
<- .print(A," has taken ",G," that I am pursuing! Dropping my intention.");
.abolish(G);
.drop_desire(handle(G));
!!choose_gold.
// someone else picked up a gold I know about,
// remove from my belief base
+picked(gold(X,Y))
<- -gold(X,Y)[source(_)].
@pih1[atomic]
+!init_handle(Gold)
: .desire(around(_,_))
<- .print("Dropping around(_,_) desires and intentions to handle ",Gold);
.drop_desire(around(_,_));
!init_handle(Gold).
@pih2[atomic]
+!init_handle(Gold)
: pos(X,Y)
<- .print("Going for ",Gold);
-+last_checked(X,Y);
!!handle(Gold). // must use !! to perform "handle" as not atomic
+!handle(gold(X,Y))
: not free
<- .print("Handling ",gold(X,Y)," now.");
.broadcast(tell, committed_to(gold(X,Y)));
!pos(X,Y);
!ensure(pick,gold(X,Y));
// broadcast that I got the gold(X,Y), to avoid someone
// else to pursue this gold
.broadcast(tell,picked(gold(X,Y)));
?depot(_,DX,DY);
!pos(DX,DY);
!ensure(drop, 0);
-gold(X,Y)[source(_)];
.print("Finish handling ",gold(X,Y));
!!choose_gold.
// if ensure(pick/drop) failed, pursue another gold
-!handle(G) : G
<- .print("failed to catch gold ",G);
.abolish(G); // ignore source
!!choose_gold.
-!handle(G) : true
<- .print("failed to handle ",G,", it isn't in the BB anyway");
!!choose_gold.
// no known gold to choose from
// become free again to search for gold
+!choose_gold
: not gold(_,_)
<- -+free.
// Finished one gold, but others left
// find the closest gold among the known options,
// that nobody else committed to
+!choose_gold
: gold(_,_)
<- .findall(gold(X,Y),gold(X,Y),LG);
!calc_gold_distance(LG,LD);
.length(LD,LLD); LLD > 0;
.print("Uncommitted gold distances: ",LD,LLD);
.min(LD,d(_,NewG));
.print("Next gold is ",NewG);
!!handle(NewG).
-!choose_gold <- -+free.
+!calc_gold_distance([],[]).
+!calc_gold_distance([gold(GX,GY)|R],[d(D,gold(GX,GY))|RD])
: pos(IX,IY) & not committed_to(gold(GX,GY))
<- operator.dist(IX,IY,GX,GY,D);
!calc_gold_distance(R,RD).
+!calc_gold_distance([_|R],RD)
<- !calc_gold_distance(R,RD).
// BCG!
// !pos is used when it is algways possible to go
// so this plans should not be used: +!pos(X,Y) : last_dir(skip) <-
// .print("It is not possible to go to ",X,"x",Y).
// in the future
//+last_dir(skip) <- .drop_goal(pos)
+!pos(X,Y) : pos(X,Y) <- .print("I've reached ",X,"x",Y).
+!pos(X,Y) : not pos(X,Y)
<- !next_step(X,Y);
!pos(X,Y).
+!ensure(pick,_) : pos(X,Y) & cell(X,Y,gold)
<- do(pick); ?carrying_gold.
// fail if no gold there or not carrying_gold after pick!
// handle(G) will "catch" this failure.
+!ensure(drop, _) : pos(X,Y) & depot(_,X,Y)
<- do(drop). //TODO: not ?carrying_gold.
/* end of a simulation */
+end_of_simulation(S,_) : true
<- .drop_all_desires;
.abolish(quadrant(_,_,_,_));
.abolish(gold(_,_));
.abolish(committed_to(_));
.abolish(picked(_));
.abolish(last_checked(_,_));
-+free;
.print("-- END ",S," --").

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operator.asl Normal file
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@ -0,0 +1,76 @@
// Agent operator in project airSeaRescue.mas2j
/* quadrant allocation */
@quads[atomic]
+gsize(W,H) : true
<- // calculate the area of each quadrant and remember them
.print("Defining quadrants for ",W,"x",H," simulation ",S);
+quad(1, 0, 0, W div 2 - 1, H - 1);
+quad(2, W div 2, 0, W-1, H - 1);
.print("Finished all quadrs for ").
+init_pos(X,Y)[source(A)]
: // if all miners have sent their position
.count(init_pos(_,_),2)
<- .print("* InitPos ",A," is ",X,"x",Y);
// remember who doesn't have a quadrant allocated
// (initially all miners)
+~quad(searchDrone1); +~quad(searchDrone2);
!assign_all_quads([1,2]).
+init_pos(X,Y)[source(A)]
<- .print("- InitPos ",A," is ",X,"x",Y).
+!assign_all_quads([]).
+!assign_all_quads([Q|T])
<- !assign_quad(Q);
!assign_all_quads(T).
// assign quadrant Q to a miner
+!assign_quad(Q)
: quad(Q,X1,Y1,X2,Y2) &
~quad(_) // there still is a miner without quadrant
<- .findall(Ag, ~quad(Ag), LAgs);
!calc_ag_dist(Q,LAgs,LD);
.min(LD,d(Dist,Ag));
.print(Ag, "'s Quadrant is: ",Q);
-~quad(Ag);
.send(Ag,tell,quadrant(X1,Y1,X2,Y2)).
+!calc_ag_dist(Q,[],[]).
+!calc_ag_dist(Q,[Ag|RAg],[d(Dist,Ag)|RDist])
: quad(Q,X1,Y1,X2,Y2) & init_pos(AgX,AgY)[source(Ag)]
<- // get the distance between X1,Y1 and AgX,AgY
operator.dist(X1,Y1,AgX,AgY,Dist);
!calc_ag_dist(Q,RAg,RDist).
/* negotiation for found gold */
+bid(Gold,D,Ag)
: .count(bid(Gold,_,_),3) // three bids were received
<- .print("bid from ",Ag," for ",Gold," is ",D);
!allocate_miner(Gold);
.abolish(bid(Gold,_,_)).
+bid(Gold,D,Ag)
<- .print("bid from ",Ag," for ",Gold," is ",D).
+!allocate_miner(Gold)
<- .findall(op(Dist,A),bid(Gold,Dist,A),LD);
.min(LD,op(DistCloser,Closer));
DistCloser < 10000;
.print("Gold ",Gold," was allocated to ",Closer, " options were ",LD);
.broadcast(tell,allocated(Gold,Closer)).
//-Gold[source(_)].
-!allocate_miner(Gold)
<- .print("could not allocate gold ",Gold).
/* end of simulation plans */
@end_of_simulation[atomic]
+end_of_simulation(_) : true
<- .print("-- END "," --");
.abolish(init_pos(_,_)).

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@ -0,0 +1,276 @@
// Agent searchDrone in project airSeaRescue.mas2j
/* Initial beliefs and rules */
free.
life(500).
/* Initial goals */
// next line is the bottom of the quadrant
// if 2 lines bellow is too far
calc_new_y(AgY,QuadY2,QuadY2) :- AgY+2 > QuadY2.
// otherwise, the next line is 2 lines bellow
calc_new_y(AgY,_,Y) :- Y = AgY+2.
+gsize(_,_) : true
<- !send_init_pos.
+!send_init_pos : pos(X,Y)
<- .print("Position initialised");
.send(operator,tell,init_pos(X,Y)).
+!send_init_pos : not pos(_,_) // if I do not know my position yet
<- .wait("+pos(X,Y)", 500); // wait for it and try again
!!send_init_pos(S).
+free : last_checked(X,Y) <- !prep_around(X,Y).
+free : quadrant(X1,Y1,X2,Y2) <- !prep_around(X1,Y1).
+free : true <- !wait_for_quad.
@pwfq[atomic]
+!wait_for_quad : free & quadrant(_,_,_,_)
<- -+free.
+!wait_for_quad : free
<- .wait("+quadrant(X1,Y1,X2,Y2)", 500);
!!wait_for_quad.
+!wait_for_quad : not free
<- .print("No longer free while waiting for quadrant.").
-!wait_for_quad // .wait might fail
<- !!wait_for_quad.
// if I am around the upper-left corner, move to upper-right corner
+around(X1,Y1) : quadrant(X1,Y1,X2,Y2) & free
<- .print("in Q1 to ",X2,"x",Y1);
!prep_around(X2,Y1).
// if I am around the bottom-right corner, move to upper-left corner
+around(X2,Y2) : quadrant(X1,Y1,X2,Y2) & free
<- .print("in Q4 to ",X1,"x",Y1);
!prep_around(X1,Y1).
// if I am around the right side, move to left side two lines bellow
+around(X2,Y) : quadrant(X1,Y1,X2,Y2) & free
<- ?calc_new_y(Y,Y2,YF);
.print("in Q2 to ",X1,"x",YF);
!prep_around(X1,YF).
// if I am around the left side, move to right side two lines bellow
+around(X1,Y) : quadrant(X1,Y1,X2,Y2) & free
<- ?calc_new_y(Y,Y2,YF);
.print("in Q3 to ", X2, "x", YF);
!prep_around(X2,YF).
// last "around" was none of the above, go back to my quadrant
+around(X,Y) : quadrant(X1,Y1,X2,Y2) & free & Y <= Y2 & Y >= Y1
<- .print("in no Q, going to X1");
!prep_around(X1,Y).
+around(X,Y) : quadrant(X1,Y1,X2,Y2) & free & X <= X2 & X >= X1
<- .print("in no Q, going to Y1");
!prep_around(X,Y1).
+around(X,Y) : quadrant(X1,Y1,X2,Y2)
<- .print("It should never happen!!!!!! - go home");
!prep_around(X1,Y1).
+!prep_around(X,Y) : free
<- -around(_,_); -last_dir(_); !around(X,Y).
+!around(X,Y)
: // I am around to some location if I am near it or
// the last action was skip (meaning that there are no paths to there)
(pos(AgX,AgY) & searchDrone.neighbour(AgX,AgY,X,Y)) | last_dir(skip)
<- +around(X,Y).
+!around(X,Y) : not around(X,Y)
<- !next_step(X,Y);
!!around(X,Y).
+!around(X,Y) : true
<- !!around(X,Y).
+!next_step(X,Y)
: pos(AgX,AgY)
<- searchDrone.get_direction(AgX, AgY, X, Y, D);
//.print("from ",AgX,"x",AgY," to ", X,"x",Y," -> ",D);
-+last_dir(D);
do(D).
+!next_step(X,Y) : not pos(_,_) // I still do not know my position
<- !next_step(X,Y).
-!next_step(X,Y) : true // failure handling -> start again!
<- .print("Failed next_step to ", X,"x",Y," fixing and trying again!");
-+last_dir(null);
!next_step(X,Y).
/* Gold-searching Plans */
// I perceived unknown gold and I am free, handle it
@pcell[atomic] // atomic: so as not to handle another
// event until handle gold is initialised
+cell(X,Y,gold)
: not carrying_gold & free
<- -free;
+gold(X,Y);
.print("Gold perceived: ",gold(X,Y));
!init_handle(gold(X,Y)).
// if I see gold and I'm not free but also not carrying gold yet
// (I'm probably going towards one), abort handle(gold) and pick up
// this one which is nearer
@pcell2[atomic]
+cell(X,Y,gold)
: not carrying_gold & not free &
.desire(handle(gold(OldX,OldY))) & // I desire to handle another gold which
pos(AgX,AgY) &
operator.dist(X, Y, AgX,AgY,DNewG) &
operator.dist(OldX,OldY,AgX,AgY,DOldG) &
DNewG < DOldG // is farther than the one just perceived
<- +gold(X,Y);
.drop_desire(handle(gold(OldX,OldY)));
.print("Giving up current gold ",gold(OldX,OldY),
" to handle ",gold(X,Y)," which I am seeing!");
.print("Announcing ",gold(OldX,OldY)," to others");
.broadcast(tell,gold(OldX,OldY));
.broadcast(untell, committed_to(gold(OldX,OldY)));
!init_handle(gold(X,Y)).
// I am not free, just add gold belief and announce to others
+cell(X,Y,gold)
: not gold(X,Y) & not committed_to(gold(X,Y))
<- +gold(X,Y);
.print("Announcing ",gold(X,Y)," to others");
.broadcast(tell,gold(X,Y)).
// someone else sent me a gold location
+gold(X1,Y1)[source(A)]
: A \== self &
not allocated(gold(X1,Y1),_) & // The gold was not allocated yet
not carrying_gold & // I am not carrying gold
free & // and I am free
pos(X2,Y2) &
.my_name(Me)
<- operator.dist(X1,Y1,X2,Y2,D); // bid
.send(leader,tell,bid(gold(X1,Y1),D,Me)).
// bid high as I'm not free
+gold(X1,Y1)[source(A)]
: A \== self & .my_name(Me)
<- .send(leader,tell,bid(gold(X1,Y1),10000,Me)).
// gold allocated to me
@palloc1[atomic]
+allocated(Gold,Ag)[source(leader)]
: .my_name(Ag) & free // I am still free
<- -free;
.print("Gold ",Gold," allocated to ",Ag);
!init_handle(Gold).
// some gold was allocated to me, but I can not
// handle it anymore, re-announce
@palloc2[atomic]
+allocated(Gold,Ag)[source(leader)]
: .my_name(Ag) & not free // I am no longer free
<- .print("I can not handle ",Gold," anymore!");
.print("(Re)announcing ",Gold," to others");
.broadcast(tell,Gold).
// someone else picked up the gold I am going to go,
// so drops the intention and chose another gold
@ppgd[atomic]
+picked(G)[source(A)]
: .desire(handle(G)) | .desire(init_handle(G))
<- .print(A," has taken ",G," that I am pursuing! Dropping my intention.");
.abolish(G);
.drop_desire(handle(G));
!!choose_gold.
// someone else picked up a gold I know about,
// remove from my belief base
+picked(gold(X,Y))
<- -gold(X,Y)[source(_)].
@pih1[atomic]
+!init_handle(Gold)
: .desire(around(_,_))
<- .print("Dropping around(_,_) desires and intentions to handle ",Gold);
.drop_desire(around(_,_));
!init_handle(Gold).
@pih2[atomic]
+!init_handle(Gold)
: pos(X,Y)
<- .print("Going for ",Gold);
-+last_checked(X,Y);
!!handle(Gold). // must use !! to perform "handle" as not atomic
+!handle(gold(X,Y))
: not free
<- .print("Handling ",gold(X,Y)," now.");
.broadcast(tell, committed_to(gold(X,Y)));
!pos(X,Y);
!ensure(pick,gold(X,Y));
// broadcast that I got the gold(X,Y), to avoid someone
// else to pursue this gold
.broadcast(tell,picked(gold(X,Y)));
?depot(_,DX,DY);
!pos(DX,DY);
!ensure(drop, 0);
-gold(X,Y)[source(_)];
.print("Finish handling ",gold(X,Y));
!!choose_gold.
// if ensure(pick/drop) failed, pursue another gold
-!handle(G) : G
<- .print("failed to catch gold ",G);
.abolish(G); // ignore source
!!choose_gold.
-!handle(G) : true
<- .print("failed to handle ",G,", it isn't in the BB anyway");
!!choose_gold.
// no known gold to choose from
// become free again to search for gold
+!choose_gold
: not gold(_,_)
<- -+free.
// Finished one gold, but others left
// find the closest gold among the known options,
// that nobody else committed to
+!choose_gold
: gold(_,_)
<- .findall(gold(X,Y),gold(X,Y),LG);
!calc_gold_distance(LG,LD);
.length(LD,LLD); LLD > 0;
.print("Uncommitted gold distances: ",LD,LLD);
.min(LD,d(_,NewG));
.print("Next gold is ",NewG);
!!handle(NewG).
-!choose_gold <- -+free.
+!calc_gold_distance([],[]).
+!calc_gold_distance([gold(GX,GY)|R],[d(D,gold(GX,GY))|RD])
: pos(IX,IY) & not committed_to(gold(GX,GY))
<- operator.dist(IX,IY,GX,GY,D);
!calc_gold_distance(R,RD).
+!calc_gold_distance([_|R],RD)
<- !calc_gold_distance(R,RD).
// BCG!
// !pos is used when it is algways possible to go
// so this plans should not be used: +!pos(X,Y) : last_dir(skip) <-
// .print("It is not possible to go to ",X,"x",Y).
// in the future
//+last_dir(skip) <- .drop_goal(pos)
+!pos(X,Y) : pos(X,Y) <- .print("I've reached ",X,"x",Y).
+!pos(X,Y) : not pos(X,Y)
<- !next_step(X,Y);
!pos(X,Y).
+!ensure(pick,_) : pos(X,Y) & cell(X,Y,gold)
<- do(pick); ?carrying_gold.
// fail if no gold there or not carrying_gold after pick!
// handle(G) will "catch" this failure.
+!ensure(drop, _) : pos(X,Y) & depot(_,X,Y)
<- do(drop). //TODO: not ?carrying_gold.

141
src/java/operator/WorldEnvironment.java
View file

@ -1,9 +1,6 @@
package operator;
import jason.asSyntax.Literal;
import jason.asSyntax.NumberTerm;
import jason.asSyntax.Structure;
import jason.asSyntax.Term;
import jason.asSyntax.*;
import jason.environment.Environment;
import jason.environment.grid.Location;
@ -31,7 +28,6 @@ public class WorldEnvironment extends Environment {
UP, DOWN, RIGHT, LEFT
}
;
@Override
public void init(String[] args) {
@ -56,10 +52,57 @@ public class WorldEnvironment extends Environment {
}
private void updateAgetPos(int i) {
clearPercepts("victom" + (i + 1));
String prefix = "";
if (i < 4)
prefix = "victim";
else if (i < 6) {
prefix = "searchDrone";
}
int offset = 0;
if (i > 3 && i < 6) {
offset = 4;
}
clearPercepts(prefix + (i + 1));
Location l = model.getAgPos(i);
addPercept("victim" + (i + 1), Literal.parseLiteral("pos(" + l.x + "," + l.y + ")"));
addPercept(prefix + (i + 1 - offset), Literal.parseLiteral("pos(" + l.x + "," + l.y + ")"));
}
private void updateAgPercept(int ag) {
updateAgPercept(getNameFromId(ag), ag);
}
private void updateAgPercept(String agName, int ag) {
clearPercepts(agName);
// its location
Location l = model.getAgPos(ag);
addPercept(agName, Literal.parseLiteral("pos(" + l.x + "," + l.y + ")"));
updateAgPercept(agName, l.x - 1, l.y - 1);
updateAgPercept(agName, l.x - 1, l.y);
updateAgPercept(agName, l.x - 1, l.y + 1);
updateAgPercept(agName, l.x, l.y - 1);
updateAgPercept(agName, l.x, l.y);
updateAgPercept(agName, l.x, l.y + 1);
updateAgPercept(agName, l.x + 1, l.y - 1);
updateAgPercept(agName, l.x + 1, l.y);
updateAgPercept(agName, l.x + 1, l.y + 1);
}
private void updateAgPercept(String agName, int x, int y) {
if (model == null || !model.inGrid(x,y)) return;
if (model.hasObject(WorldModel.OBSTACLE, x, y)) {
addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",obstacle)"));
} else {
if (model.hasObject(WorldModel.VICTIM, x, y)) {
addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",gold)"));
}
if (model.hasObject(WorldModel.ENEMY, x, y)) {
addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",enemy)"));
}
if (model.hasObject(WorldModel.AGENT, x, y)) {
addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",ally)"));
}
}
}
@ -72,44 +115,62 @@ public class WorldEnvironment extends Environment {
@Override
public boolean executeAction(String ag, Structure action) {
boolean result = false;
try {
if (sleep > 0) {
Thread.sleep(sleep);
}
int agId = getAgIdBasedOnName(ag);
synchronized(this) {
boolean result = false;
try {
if (sleep > 0) {
Thread.sleep(sleep);
}
int agId = getAgIdBasedOnName(ag);
if (action.equals(up)) {
result = model.move(Move.UP, agId);
} else if (action.equals(down)) {
result = model.move(Move.DOWN, agId);
} else if (action.equals(right)) {
result = model.move(Move.RIGHT, agId);
} else if (action.equals(left)) {
result = model.move(Move.LEFT, agId);
} else if (action.equals(skip)) {
result = true;
} else if (action.getFunctor().equals("decLife")) {
int life = (int)((NumberTerm)action.getTerm(0)).solve();
System.out.println(life);
result = true;
//removePercept(ag,Literal.parseLiteral("life("+life+")"));
// addPercept(ag,Literal.parseLiteral("life("+(life-1)+")"));
} else {
logger.info("executing: " + action + ", but not implemented!");
if (action.equals(up)) {
result = model.move(Move.UP, agId);
} else if (action.equals(down)) {
result = model.move(Move.DOWN, agId);
} else if (action.equals(right)) {
result = model.move(Move.RIGHT, agId);
} else if (action.equals(left)) {
result = model.move(Move.LEFT, agId);
} else if (action.equals(skip)) {
result = true;
} else if (action.getFunctor().equals("decLife")) {
int life = (int) ((NumberTerm) action.getTerm(0)).solve();
System.out.println(life);
result = true;
//removePercept(ag,Literal.parseLiteral("life("+life+")"));
// addPercept(ag,Literal.parseLiteral("life("+(life-1)+")"));
} else {
logger.info("executing: " + action + ", but not implemented!");
}
if (result) {
updateAgPercept(agId);
return true;
}
} catch (Exception e) {
logger.log(Level.SEVERE, "error executing " + action + " for " + ag, e);
}
if (result) {
//updateAgPercept(agId);
return true;
}
} catch (Exception e) {
logger.log(Level.SEVERE, "error executing " + action + " for " + ag, e);
return false;
}
return false;
}
private int getAgIdBasedOnName(String agName) {
return (Integer.parseInt(agName.substring(agName.length() - 1)) - 1);
public static int getAgIdBasedOnName(String agName) {
int i = Integer.parseInt(agName.substring(agName.length() - 1)) - 1;
if (agName.startsWith("victim")) {
return i;
}
if (agName.startsWith("searchDrone")) {
return i + 4;
}
return -1;
}
public String getNameFromId(int i) {
if(i < 4) {
return "victim"+(i+1);
} else if (i < 6) {
return "searchDrone"+(i+5);
}
return "";
}
public void setSleep(int value) {

9
src/java/operator/WorldModel.java
View file

@ -20,7 +20,7 @@ public class WorldModel extends GridWorldModel {
static WorldModel senario1() {
WorldModel result = new WorldModel(35, 35, 4);
WorldModel result = new WorldModel(35, 35, 6);
Random random1 = new Random();
for (int i = 0; i <= 4; i++) {
result.add(WorldModel.OBSTACLE, random1.nextInt(34), random1.nextInt(34));
@ -29,11 +29,15 @@ public class WorldModel extends GridWorldModel {
result.setAgPos(1, 20, 0);
result.setAgPos(2, 3, 20);
result.setAgPos(3, 20, 20);
System.out.println(result.getNbOfAgs());
result.setAgPos(4,33,34);
result.setAgPos(5,0,34);
result.add(DEPOT,34,34);
model = result;
return result;
}
boolean move(WorldEnvironment.Move dir, int ag) throws Exception {
synchronized boolean move(WorldEnvironment.Move dir, int ag) throws Exception {
Location l = getAgPos(ag);
switch (dir) {
case UP:
@ -62,7 +66,6 @@ public class WorldModel extends GridWorldModel {
@Override
public Location getAgPos(int ag) {
System.out.println(agPos.length+" "+ag+" "+agPos[0].x+" "+agPos[0].y);
return super.getAgPos(ag);
}

58
src/java/operator/WorldView.java
View file

@ -25,8 +25,8 @@ public class WorldView extends GridWorldView {
}
JLabel jlMouseLoc;
JSlider jSpeed;
JLabel jGoldsC;
JSlider jSpeed;
JLabel jGoldsC;
@Override
public void initComponents(int width) {
@ -44,11 +44,11 @@ public class WorldView extends GridWorldView {
jSpeed.setMajorTickSpacing(100);
jSpeed.setMinorTickSpacing(20);
jSpeed.setInverted(true);
Hashtable<Integer,Component> labelTable = new Hashtable<Integer,Component>();
labelTable.put( 0, new JLabel("max") );
labelTable.put( 200, new JLabel("speed") );
labelTable.put( 400, new JLabel("min") );
jSpeed.setLabelTable( labelTable );
Hashtable<Integer, Component> labelTable = new Hashtable<Integer, Component>();
labelTable.put(0, new JLabel("max"));
labelTable.put(200, new JLabel("speed"));
labelTable.put(400, new JLabel("min"));
jSpeed.setLabelTable(labelTable);
JPanel p = new JPanel(new FlowLayout());
p.setBorder(BorderFactory.createEtchedBorder());
p.add(jSpeed);
@ -82,7 +82,7 @@ public class WorldView extends GridWorldView {
jSpeed.addChangeListener(new ChangeListener() {
public void stateChanged(ChangeEvent e) {
if (env != null) {
env.setSleep((int)jSpeed.getValue());
env.setSleep((int) jSpeed.getValue());
}
}
});
@ -99,26 +99,36 @@ public class WorldView extends GridWorldView {
udpateCollectedGolds();*/
}
}
public void mouseExited(MouseEvent e) {}
public void mouseEntered(MouseEvent e) {}
public void mousePressed(MouseEvent e) {}
public void mouseReleased(MouseEvent e) {}
public void mouseExited(MouseEvent e) {
}
public void mouseEntered(MouseEvent e) {
}
public void mousePressed(MouseEvent e) {
}
public void mouseReleased(MouseEvent e) {
}
});
getCanvas().addMouseMotionListener(new MouseMotionListener() {
public void mouseDragged(MouseEvent e) { }
public void mouseDragged(MouseEvent e) {
}
public void mouseMoved(MouseEvent e) {
int col = e.getX() / cellSizeW;
int lin = e.getY() / cellSizeH;
if (col >= 0 && lin >= 0 && col < getModel().getWidth() && lin < getModel().getHeight()) {
jlMouseLoc.setText(col+","+lin+")");
jlMouseLoc.setText(col + "," + lin + ")");
}
}
});
}
public void udpateCollectedGolds() {
WorldModel wm = (WorldModel)model;
WorldModel wm = (WorldModel) model;
//jGoldsC.setText(wm.getGoldsInDepot() + "/" + wm.getInitialNbGolds());
}
@ -140,14 +150,16 @@ public class WorldView extends GridWorldView {
@Override
public void drawAgent(Graphics g, int x, int y, Color c, int id) {
Color idColor = Color.black;
/*if (((WorldModel)model).isCarryingGold(id)) {
super.drawAgent(g, x, y, Color.yellow, -1);
} else {*/
super.drawAgent(g, x, y, Color.GREEN, -1);
idColor = Color.white;
if(id <4){
idColor = Color.RED;
} else if (id < 6) {
idColor = Color.MAGENTA;
}
super.drawAgent(g, x, y, idColor, -1);
idColor = Color.white;
//}
g.setColor(idColor);
drawString(g, x, y, defaultFont, String.valueOf(id+1));
drawString(g, x, y, defaultFont, String.valueOf(id + 1));
}
public void drawDepot(Graphics g, int x, int y) {
@ -182,13 +194,13 @@ public class WorldView extends GridWorldView {
public static void main(String[] args) throws Exception {
WorldEnvironment env = new WorldEnvironment();
env.init(new String[] {"5","50","yes"});
env.init(new String[]{"5", "50", "yes"});
}
@Override
public void drawEmpty(Graphics g, int x, int y) {
g.setColor(Color.blue);
g.fillRect(x * cellSizeW + 1, y * cellSizeH+1, cellSizeW-1, cellSizeH-1);
g.fillRect(x * cellSizeW + 1, y * cellSizeH + 1, cellSizeW - 1, cellSizeH - 1);
g.setColor(Color.cyan);
g.drawRect(x * cellSizeW, y * cellSizeH, cellSizeW, cellSizeH);
}

27
src/java/operator/dist.java Normal file
View file

@ -0,0 +1,27 @@
package operator;
import jason.asSemantics.DefaultInternalAction;
import jason.asSemantics.TransitionSystem;
import jason.asSemantics.Unifier;
import jason.asSyntax.NumberTerm;
import jason.asSyntax.NumberTermImpl;
import jason.asSyntax.Term;
import jason.environment.grid.Location;
public class dist extends DefaultInternalAction {
@Override
public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
try {
int iagx = (int) ((NumberTerm) terms[0]).solve();
int iagy = (int) ((NumberTerm) terms[1]).solve();
int itox = (int) ((NumberTerm) terms[2]).solve();
int itoy = (int) ((NumberTerm) terms[3]).solve();
int dist = new Location(iagx, iagy).distance(new Location(itox, itoy));
return un.unifies(terms[4], new NumberTermImpl(dist));
} catch (Throwable e) {
e.printStackTrace();
return false;
}
}
}

55
src/java/searchDrone/get_direction.java Normal file
View file

@ -0,0 +1,55 @@
package searchDrone;
import jason.asSemantics.DefaultInternalAction;
import jason.asSemantics.TransitionSystem;
import jason.asSemantics.Unifier;
import jason.asSyntax.Atom;
import jason.asSyntax.NumberTerm;
import jason.asSyntax.Term;
import jason.environment.grid.Location;
import operator.WorldEnvironment;
import operator.WorldModel;
public class get_direction extends DefaultInternalAction {
@Override
public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
try {
String sAction = "skip";
int id = WorldEnvironment.getAgIdBasedOnName(ts.getAgArch().getAgName());
WorldModel model = WorldModel.get();
Location agent_loc =model.getAgPos(id);
int agent_x = agent_loc.x;
int agent_y = agent_loc.y;
int to_x = (int)((NumberTerm)terms[2]).solve();
int to_y = (int)((NumberTerm)terms[3]).solve();
if (model.inGrid(to_x,to_y)) {
Location agnet_location = new Location(agent_x, agent_y);
while (!model.isFreeOfObstacle(to_x,to_y) && to_x > 0) to_x--;
while (!model.isFreeOfObstacle(to_x,to_y) && to_x < model.getWidth()) to_x++;
while (!model.isFreeOfObstacle(to_x,to_y) && to_y > 0) to_y--;
while (!model.isFreeOfObstacle(to_x,to_y) && to_y < model.getHeight()) to_y++;
System.out.println("To: "+to_x+", "+to_y+"\t"+agent_x+", "+agent_y);
if(to_x < agent_x && model.isFreeOfObstacle(agent_x-1,agent_y)){
sAction = "left";
}else if (to_x > agent_x && model.isFreeOfObstacle(agent_x+1,agent_y)){
sAction = "right";
}
if (to_y < agent_y && model.isFreeOfObstacle(agent_x,agent_y-1)){
sAction = "up";
} else if (to_y > agent_y && model.isFreeOfObstacle(agent_x,agent_y+1)) {
sAction = "down";
}
}
System.out.println(sAction);
return un.unifies(terms[4], new Atom(sAction));
} catch (Throwable e) {
e.printStackTrace();
return false;
}
}
}

26
src/java/searchDrone/neighbour.java Normal file
View file

@ -0,0 +1,26 @@
package searchDrone;
import jason.asSemantics.DefaultInternalAction;
import jason.asSemantics.TransitionSystem;
import jason.asSemantics.Unifier;
import jason.asSyntax.NumberTerm;
import jason.asSyntax.Term;
import jason.environment.grid.Location;
public class neighbour extends DefaultInternalAction {
@Override
public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
try {
int iagx = (int)((NumberTerm)terms[0]).solve();
int iagy = (int)((NumberTerm)terms[1]).solve();
int itox = (int)((NumberTerm)terms[2]).solve();
int itoy = (int)((NumberTerm)terms[3]).solve();
return new Location(iagx, iagy).isNeigbour(new Location(itox, itoy));
} catch (Throwable e) {
e.printStackTrace();
return false;
}
}
}

2
src/java/victim/get_direction.java
View file

@ -28,7 +28,6 @@ public class get_direction extends DefaultInternalAction {
List<String> actions = new ArrayList<>();
System.out.println("X: "+AgX+" Y: "+AgY);
if(AgX < 34)
actions.add("right");
if(AgX > 0)
@ -38,7 +37,6 @@ public class get_direction extends DefaultInternalAction {
if(AgY >= 0)
actions.add("up");
String action = actions.get(r.nextInt(actions.size()));
System.out.println(actions);
return un.unifies(terms[2], new Atom(action));
} catch (Throwable e) {
e.printStackTrace();

2
victim.asl
View file

@ -1,4 +1,4 @@
// Agent sample_agent in project airSeaRescue
// Agent victim in project airSeaRescue
/* Initial beliefs and rules */
free.