From 5657baac66269cf6b918d391ef11d082a7216757 Mon Sep 17 00:00:00 2001
From: Balazs Toldi <balazs@toldi.eu>
Date: Thu, 26 May 2022 11:14:05 +0200
Subject: [PATCH] Better search drone logic

---
 .../executionHistory/executionHistory.lock    | Bin 17 -> 17 bytes
 .gradle/7.4/fileHashes/fileHashes.lock        | Bin 17 -> 17 bytes
 .../buildOutputCleanup.lock                   | Bin 17 -> 17 bytes
 .gradle/file-system.probe                     | Bin 8 -> 8 bytes
 airSeaRescue.mas2j                            |   4 +-
 searchDrone.asl                               | 180 +-----------------
 src/java/common/Constants.java                |   8 +
 src/java/operator/WorldEnvironment.java       |  38 ++--
 src/java/searchDrone/get_direction.java       |  20 +-
 src/java/victim/get_direction.java            |   9 +-
 victim.asl                                    |  12 +-
 11 files changed, 58 insertions(+), 213 deletions(-)
 create mode 100644 src/java/common/Constants.java

diff --git a/.gradle/7.4/executionHistory/executionHistory.lock b/.gradle/7.4/executionHistory/executionHistory.lock
index 1083b4841d0f192fb8bf2e45a9905f94da73d561..cd2ee3afc8db12c902f33a42298d65da10ccf6a1 100644
GIT binary patch
literal 17
UcmZP$b6n1St7Sqb0|Yb!04@9kM*si-

literal 17
UcmZP$b6n1St7Sqb0|Zn904?+cKL7v#

diff --git a/.gradle/7.4/fileHashes/fileHashes.lock b/.gradle/7.4/fileHashes/fileHashes.lock
index 58760a565c2edbf71bdb976351b1d07647c9e90f..276e1c8b0cf2a23cde945ad312fd00b150941266 100644
GIT binary patch
literal 17
VcmZSH^Jdus|6C?j1~6be1pqai1fT!_

literal 17
VcmZSH^Jdus|6C?j1~6b;2>>;F1b+Yk

diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock
index e229a4709f471ac84cb9a44fc6cdff6a5ca4639e..a3097c452ea493e8bc2a4d1d6507dcd37ea0487e 100644
GIT binary patch
literal 17
TcmZQBDm<LXCRL@w00EBxCNcxF

literal 17
TcmZQBDm<LXCRL@w00HL#CLaT!

diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe
index a041905e1517a62bf595a50b216850e34532e028..e24a98727c387e95ea707354966a56d7f556d21a 100644
GIT binary patch
literal 8
PcmZQzU~IU%L7W2s2uK1h

literal 8
PcmZQzU~IT!({l*`2%G}=

diff --git a/airSeaRescue.mas2j b/airSeaRescue.mas2j
index 474727e..adf2065 100644
--- a/airSeaRescue.mas2j
+++ b/airSeaRescue.mas2j
@@ -17,8 +17,10 @@ MAS airSeaRescue {
     agents: 
 		victim#4;
         searchDrone#2;
-
+		rescueDrone#3;
         operator;
 
 
+        
+
 }
diff --git a/searchDrone.asl b/searchDrone.asl
index f4be3d4..445aaa1 100644
--- a/searchDrone.asl
+++ b/searchDrone.asl
@@ -99,178 +99,8 @@ calc_new_y(AgY,_,Y) :- Y = AgY+2.
       !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.
+/* Finding victims */
++cell(X,Y,victim,V): true
+	<- .print("Found vimctim",V);
+	   .send(V,tell,stayHere(X,Y)).
+	
diff --git a/src/java/common/Constants.java b/src/java/common/Constants.java
new file mode 100644
index 0000000..354db88
--- /dev/null
+++ b/src/java/common/Constants.java
@@ -0,0 +1,8 @@
+package common;
+
+public class Constants {
+    public static int victimCount = 4;
+    public static int searchDroneCount = 2;
+
+    private Constants(){}
+}
diff --git a/src/java/operator/WorldEnvironment.java b/src/java/operator/WorldEnvironment.java
index b51c8ca..246a9d0 100644
--- a/src/java/operator/WorldEnvironment.java
+++ b/src/java/operator/WorldEnvironment.java
@@ -1,5 +1,6 @@
 package operator;
 
+import common.Constants;
 import jason.asSyntax.*;
 import jason.environment.Environment;
 import jason.environment.grid.Location;
@@ -52,20 +53,12 @@ public class WorldEnvironment extends Environment {
     }
 
     private void updateAgetPos(int i) {
-        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));
+        String agentName = getNameFromId(i);
+        System.out.println(agentName);
+        clearPercepts(agentName);
 
         Location l = model.getAgPos(i);
-        addPercept(prefix + (i + 1 - offset), Literal.parseLiteral("pos(" + l.x + "," + l.y + ")"));
+        addPercept(agentName, Literal.parseLiteral("pos(" + l.x + "," + l.y + ")"));
     }
 
     private void updateAgPercept(int ag) {
@@ -76,12 +69,13 @@ public class WorldEnvironment extends Environment {
         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);
         updateAgPercept(agName, l.x, l.y + 1);
         updateAgPercept(agName, l.x + 1, l.y - 1);
         updateAgPercept(agName, l.x + 1, l.y);
@@ -100,7 +94,15 @@ public class WorldEnvironment extends Environment {
                 addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",enemy)"));
             }
             if (model.hasObject(WorldModel.AGENT, x, y)) {
-                addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",ally)"));
+                if(agName.startsWith("searchDrone")) {
+                    for (int i = 0; i < Constants.victimCount; i++) {
+                        Location victimLocation = model.getAgPos(i);
+                        if(victimLocation.x == x && victimLocation.y == y){
+                            addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",victim,victim"+(i+1)+")"));
+                        }
+                    }
+                    addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",ally)"));
+                }
             }
         }
     }
@@ -159,16 +161,16 @@ public class WorldEnvironment extends Environment {
             return i;
         }
         if (agName.startsWith("searchDrone")) {
-            return i + 4;
+            return i + Constants.victimCount;
         }
         return -1;
     }
 
     public String getNameFromId(int i) {
-        if(i < 4) {
+        if(i < Constants.victimCount) {
             return "victim"+(i+1);
-        } else if (i < 6) {
-            return "searchDrone"+(i+5);
+        } else if (i < Constants.victimCount+Constants.searchDroneCount) {
+            return "searchDrone"+(i-(Constants.victimCount-1));
         }
         return "";
     }
diff --git a/src/java/searchDrone/get_direction.java b/src/java/searchDrone/get_direction.java
index 12eae8e..511b912 100644
--- a/src/java/searchDrone/get_direction.java
+++ b/src/java/searchDrone/get_direction.java
@@ -27,25 +27,23 @@ public class get_direction extends DefaultInternalAction {
 
             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++;
+                while (!model.isFree(to_x,to_y) && to_x > 0) to_x--;
+                while (!model.isFree(to_x,to_y) && to_x < model.getWidth()) to_x++;
+                while (!model.isFree(to_x,to_y) && to_y > 0) to_y--;
+                while (!model.isFree(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)){
+                if(to_x < agent_x && model.isFree(agent_x-1,agent_y)){
                     sAction = "left";
-                }else if (to_x > agent_x && model.isFreeOfObstacle(agent_x+1,agent_y)){
+                }else if (to_x > agent_x && model.isFree(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)) {
+                if (to_y > agent_y && model.isFree(agent_x,agent_y+1)) {
                     sAction = "down";
+                } else if (to_y < agent_y && model.isFree(agent_x,agent_y-1)){
+                    sAction = "up";
                 }
             }
-            System.out.println(sAction);
             return un.unifies(terms[4], new Atom(sAction));
         } catch (Throwable e) {
             e.printStackTrace();
diff --git a/src/java/victim/get_direction.java b/src/java/victim/get_direction.java
index 0342d10..1dfc1f1 100644
--- a/src/java/victim/get_direction.java
+++ b/src/java/victim/get_direction.java
@@ -16,23 +16,24 @@ import java.util.Random;
 public class get_direction extends DefaultInternalAction {
 
     Random r = new Random();
-
+    static int skip = 0;
     @Override
     public Object execute(TransitionSystem ts, Unifier un, Term[] terms) throws Exception {
         try {
             String sAction = "skip";
-
+            if (skip++ % 5 == 0)
+                return un.unifies(terms[2], new Atom(sAction));
             WorldModel model = WorldModel.get();
             int AgX = (int)((NumberTerm)terms[0]).solve();
             int AgY = (int)((NumberTerm)terms[1]).solve();
 
 
             List<String> actions = new ArrayList<>();
-            if(AgX < 34)
+            if(AgX < model.getWidth()-1)
                 actions.add("right");
             if(AgX > 0)
                 actions.add("left");
-            if(AgY < 34)
+            if(AgY < model.getHeight()-1)
                 actions.add("down");
             if(AgY >= 0)
                 actions.add("up");
diff --git a/victim.asl b/victim.asl
index 8c9bae8..efbd3b8 100644
--- a/victim.asl
+++ b/victim.asl
@@ -2,7 +2,7 @@
 
 /* Initial beliefs and rules */
 free.
-life(500).
+life(10).
 
 /* Initial goals */
 +gsize(_,_) : true
@@ -13,10 +13,14 @@ life(500).
   <- .wait("+pos(X,Y)", 500);     // wait for it and try again
      !!send_init_pos(S).
 
-+free : pos(AgX,AgY) & life(L) > 0
++free : pos(AgX,AgY) & life(L) > 0 & not saved
 	<- 
 	victim.get_direction(AgX, AgY, D);
 	do(D);
-	-+life(L-1);
-	.wait("",500);
+	//-+life(L-1);
 	-+free.
+	
++stayHere(X,Y): free
+	<- .print("I will be saved!");
+	   +saved;
+	   -free.