Rescue drones

miner.asl

@@ -265,6 +265,10 @@ calc_new_y(AgY,_,Y) :- Y = AgY+2.
 // 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) : pos(X-1,Y) | pos(X,Y-1) | pos(X+1,Y) | pos(X,Y+1)
+	<- .print("I've kinda reached ",X,"x",Y).
++!pos(X,Y) : last_dir(skip)
+	<- .print("I think I've kinda reached ",X,"x",Y).
 +!pos(X,Y) : not pos(X,Y)
   <- !next_step(X,Y);
      !pos(X,Y).

operator.asl

@@ -47,23 +47,23 @@
 
 /* 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).
++bid(Victim,D,Ag)
+  :  .count(bid(Victim,_,_),3)  // three bids were received
+  <- .print("bid from ",Ag," for ",Victim," is ",D);
+     !allocate_miner(Victim);
+     .abolish(bid(Victim,_,_)).
++bid(Victim,D,Ag)
+  <- .print("bid from ",Ag," for ",Victim," is ",D).
 
-+!allocate_miner(Gold)
-  <- .findall(op(Dist,A),bid(Gold,Dist,A),LD);
++!allocate_miner(Victim)
+  <- .findall(op(Dist,A),bid(Victim,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)).
+     .print("Victim ",Victim," was allocated to ",Closer, " options were ",LD);
+     .broadcast(tell,allocated(Victim,Closer)).
      //-Gold[source(_)].
--!allocate_miner(Gold)
-  <- .print("could not allocate gold ",Gold).
+-!allocate_miner(Victim)
+  <- .print("could not allocate victim ",Victim).
 
 
 /* end of simulation plans */

rescueDrone.asl

@@ -0,0 +1,181 @@
+// Agent rescueDrone in project airSeaRescue.mas2j
+
+/* Initial beliefs and rules */
+
+/* Initial goals */
+
+free.
+
+/* Initial goals */
++gsize(_,_) : true
+  <- !send_init_pos.
++!send_init_pos : pos(X,Y)
+  <- .print("Position initialised").
++!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).
++victim(X1,Y1)[source(A)] : free &
+	.my_name(Me) &
+	pos(X2,Y2)
+   <- .print("Got victim from ",A," at ",X1,"x",Y1);
+   	  operator.dist(X1,Y1,X2,Y2,D);       // bid
+      .send(operator,tell,bid(victim(X1,Y1),D,Me)).
++victim(X1,Y1)[source(A)]
+  :  A \== self & .my_name(Me)
+  <- .send(operator,tell,bid(victim(X1,Y1),10000,Me)).
+	  
+// victim allocated to me
+@palloc1[atomic]
++allocated(Victim,Ag)[source(operator)]
+  :  .my_name(Ag) & free // I am still free
+  <- -free;
+     .print("Victim ",Victim," allocated to ",Ag);
+     !init_handle(Victim).
+
+// some victim was allocated to me, but I can not
+// handle it anymore, re-announce
+@palloc2[atomic]
++allocated(Victim,Ag)[source(operator)]
+  :  .my_name(Ag) & not free // I am no longer free
+  <- .print("I can not handle ",Victim," anymore!");
+     .print("(Re)announcing ",Victim," to others");
+     .broadcast(tell,Victim).
+
+@pih1[atomic]
++!init_handle(Victim)
+  :  .desire(around(_,_))
+  <- .print("Dropping around(_,_) desires and intentions to handle ",Victim);
+     .drop_desire(around(_,_));
+     !init_handle(Victim).
+@pih2[atomic]
++!init_handle(Victim)
+  :  pos(X,Y)
+  <- .print("Going for ",Victim);
+     -+last_checked(X,Y);
+     !!handle(Victim). // must use !! to perform "handle" as not atomic
+
++!handle(victim(X,Y))
+  :  not free
+  <- .print("Handling ",victim(X,Y)," now.");
+     .broadcast(tell, committed_to(victim(X,Y)));
+     !pos(X,Y);
+	 .print("Itt vagyok");
+     !ensure(pick,victim(X,Y));
+     // broadcast that I got the victim(X,Y), to avoid someone
+     // else to pursue this victim
+     .broadcast(tell,picked(victim(X,Y)));
+	 .print("Ez is jó!");
+     ?depot(DX,DY);
+	 .print("Még ez is jó!!!");
+     !pos(DX,DY);
+	 .print("Sőt, Még ez is jó!!!");
+     !ensure(drop);
+	 .print("Mindjárt megvaaan!");
+     -victim(X,Y)[source(_)];
+     .print("Finish handling ",victim(X,Y));
+	 !pos(X,Y);
+     !!choose_victim.
+
+// if ensure(pick/drop) failed, pursue another victim
+-!handle(G) : G
+  <- .print("failed to catch victim ",G);
+     .abolish(G); // ignore source
+     !!choose_victim.
+-!handle(G) : true
+  <- .print("failed to handle ",G,", it isn't in the BB anyway");
+     !!choose_victim.
+
+// no known victim to choose from
+// become free again to search for victim
++!choose_victim
+  :  not victim(_,_)
+  <- -+free.
+
+// Finished one victim, but others left
+// find the closest victim among the known options,
+// that nobody else committed to
++!choose_victim
+  :  victim(_,_)
+  <- .findall(victim(X,Y),victim(X,Y),LG);
+     !calc_victim_distance(LG,LD);
+     .length(LD,LLD); LLD > 0;
+     .print("Uncommitted victim distances: ",LD,LLD);
+     .min(LD,d(_,NewG));
+     .print("Next victim is ",NewG);
+     !!handle(NewG).
+-!choose_victim <- -+free.
+
++!calc_victim_distance([],[]).
++!calc_victim_distance([victim(GX,GY)|R],[d(D,victim(GX,GY))|RD])
+  :  pos(IX,IY) & not committed_to(victim(GX,GY))
+  <- operator.dist(IX,IY,GX,GY,D);
+     !calc_victim_distance(R,RD).
++!calc_victim_distance([_|R],RD)
+  <- !calc_victim_distance(R,RD).
+	 
++!pos(X,Y) : pos(X,Y) <- .print("I've reached ",X,"x",Y).
++!pos(X,Y) : pos(X-1,Y) & not carrying_victim | pos(X,Y-1)  & not carrying_victim  | pos(X+1,Y)  & not carrying_victim  | pos(X,Y+1)  & not carrying_victim 
+	<- .print("I've kinda reached ",X,"x",Y).
++!pos(X,Y) : not pos(X,Y)
+  <- !next_step(X,Y);
+     !pos(X,Y).
+
+
++!ensure(pick,_) : cell(X,Y,victim,V)
+  <- .print("Picking up victim"); 
+  	 do(pick); ?carrying_victim.
+// fail if no victim there or not carrying_victim after pick!
+// handle(G) will "catch" this failure.
+
++!ensure(drop) : pos(X,Y) & depot(X,Y)
+  <- do(drop). //TODO: not ?carrying_victim.
+  
+  
++!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).
+// someone else picked up the victim I am going to go,
+// so drops the intention and chose another victim
+@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_victim.
+
+// someone else picked up a victim I know about,
+// remove from my belief base
++picked(victim(X,Y))
+  <- -victim(X,Y)[source(_)].
+  
+// I perceived unknown victim and I am free, handle it
+@pcell[atomic]           // atomic: so as not to handle another
+                         // event until handle victim is initialised
++cell(X,Y,victim,V)
+  :  not carrying_victim & free
+  <- -free;
+     +victim(X,Y);
+     .print("Victim perceived: ",victim(X,Y));
+     !init_handle(victim(X,Y)).
+	 
++cell(X,Y,victim,V)
+  :  not victim(X,Y)
+  <- +victim(X,Y);
+     .print("Announcing ",victim(X,Y)," to others");
+     .broadcast(tell,victim(X,Y));
+	 .send(V,tell,stayHere(X,Y)).
++free : pos(AgX,AgY)
+	<- 
+	victim.get_direction(AgX, AgY, D);
+	do(D).
+

searchDrone.asl

@@ -102,5 +102,7 @@ calc_new_y(AgY,_,Y) :- Y = AgY+2.
 /* Finding victims */
 +cell(X,Y,victim,V): true
 	<-  .print("Found vimctim",V);
+		.print("Announcing ",victim(X,Y)," to others");
+		.broadcast(tell,victim(X,Y));
 	    .send(V,tell,stayHere(X,Y)).
 	

src/java/common/Constants.java

@@ -3,6 +3,8 @@ package common;
 public class Constants {
     public static int victimCount = 4;
     public static int searchDroneCount = 2;
+    public static int rescueDroneCount = 3;
 
-    private Constants(){}
+    private Constants() {
+    }
 }

src/java/operator/WorldEnvironment.java

@@ -42,6 +42,7 @@ public class WorldEnvironment extends Environment {
         model = WorldModel.senario1();
         clearPercepts();
         addPercept(Literal.parseLiteral("gsize(" + model.getWidth() + "," + model.getHeight() + ")"));
+        addPercept(Literal.parseLiteral("depot(" + (model.getWidth()-1) + "," + (model.getHeight()-1) + ")"));
         updateAgents();
         informAgsEnvironmentChanged();
     }
@@ -69,7 +70,9 @@ public class WorldEnvironment extends Environment {
         clearPercepts(agName);
         // its location
         Location l = model.getAgPos(ag);
-
+        if (model.agWithVictim.contains(ag)) {
+            addPercept(agName, Literal.parseLiteral("carrying_victim"));
+        }
         addPercept(agName, Literal.parseLiteral("pos(" + l.x + "," + l.y + ")"));
         updateAgPercept(agName, l.x - 1, l.y - 1);
         updateAgPercept(agName, l.x - 1, l.y);
@@ -94,7 +97,7 @@ public class WorldEnvironment extends Environment {
                 addPercept(agName, Literal.parseLiteral("cell(" + x + "," + y + ",enemy)"));
             }
             if (model.hasObject(WorldModel.AGENT, x, y)) {
-                if(agName.startsWith("searchDrone")) {
+                if(agName.startsWith("searchDrone") || agName.startsWith("rescueDrone")) {
                     for (int i = 0; i < Constants.victimCount; i++) {
                         Location victimLocation = model.getAgPos(i);
                         if(victimLocation.x == x && victimLocation.y == y){
@@ -122,9 +125,10 @@ public class WorldEnvironment extends Environment {
             try {
                 if (sleep > 0) {
                     Thread.sleep(sleep);
+                }else {
+                    Thread.sleep(10);
                 }
                 int agId = getAgIdBasedOnName(ag);
-
                 if (action.equals(up)) {
                     result = model.move(Move.UP, agId);
                 } else if (action.equals(down)) {
@@ -135,7 +139,11 @@ public class WorldEnvironment extends Environment {
                     result = model.move(Move.LEFT, agId);
                 } else if (action.equals(skip)) {
                     result = true;
-                } else if (action.getFunctor().equals("decLife")) {
+                }else if (action.equals(pick)) {
+                    result = model.pick(agId);
+                } else if (action.equals(drop)) {
+                    result = model.drop(agId);
+                }else if (action.getFunctor().equals("decLife")) {
                     int life = (int) ((NumberTerm) action.getTerm(0)).solve();
                     System.out.println(life);
                     result = true;
@@ -146,6 +154,7 @@ public class WorldEnvironment extends Environment {
                 }
                 if (result) {
                     updateAgPercept(agId);
+                    view.updateRescuedVictims();
                     return true;
                 }
             } catch (Exception e) {
@@ -163,6 +172,9 @@ public class WorldEnvironment extends Environment {
         if (agName.startsWith("searchDrone")) {
             return i + Constants.victimCount;
         }
+        if (agName.startsWith("rescueDrone")) {
+            return i + Constants.victimCount+Constants.searchDroneCount;
+        }
         return -1;
     }
 
@@ -171,6 +183,8 @@ public class WorldEnvironment extends Environment {
             return "victim"+(i+1);
         } else if (i < Constants.victimCount+Constants.searchDroneCount) {
             return "searchDrone"+(i-(Constants.victimCount-1));
+        } else if (i < Constants.victimCount+Constants.searchDroneCount+Constants.rescueDroneCount) {
+            return "rescueDrone"+(i-(Constants.victimCount+Constants.searchDroneCount-1));
         }
         return "";
     }

src/java/operator/WorldModel.java

@@ -1,9 +1,12 @@
 package operator;
 
+import common.Constants;
 import jason.environment.grid.GridWorldModel;
 import jason.environment.grid.Location;
 
+import java.util.HashSet;
 import java.util.Random;
+import java.util.Set;
 
 public class WorldModel extends GridWorldModel {
 
@@ -11,8 +14,9 @@ public class WorldModel extends GridWorldModel {
     public static final int VICTIM = 16;
     public static final int DEPOT = 32;
     public static final int ENEMY = 64;
-
+    public int rescuedVictims = 0;
     protected static WorldModel model = null;
+    Set<Integer> agWithVictim = new HashSet<Integer>();
 
     public WorldModel(int w, int h, int nbAgs) {
         super(w, h, nbAgs);
@@ -20,19 +24,24 @@ public class WorldModel extends GridWorldModel {
 
 
     static WorldModel senario1() {
-        WorldModel result = new WorldModel(35, 35, 6);
+        WorldModel result = new WorldModel(35, 35, Constants.victimCount + Constants.searchDroneCount + Constants.rescueDroneCount);
         Random random1 = new Random();
         for (int i = 0; i <= 4; i++) {
-            result.add(WorldModel.OBSTACLE, random1.nextInt(34), random1.nextInt(34));
+            //result.add(WorldModel.OBSTACLE, random1.nextInt(34), random1.nextInt(34));
         }
+        // Victim agents
         result.setAgPos(0, 1, 0);
         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);
+        // Search Drone agents
+        result.setAgPos(4, 33, 34);
+        result.setAgPos(5, 0, 34);
+        // Rescue Drone agents
+        result.setAgPos(6, 18, 33);
+        result.setAgPos(7, 19, 33);
+        result.setAgPos(8, 17, 33);
+        result.add(DEPOT, 34, 34);
         model = result;
         return result;
     }
@@ -64,6 +73,62 @@ public class WorldModel extends GridWorldModel {
         return true;
     }
 
+    private int getAgentIdByLocation(Location l) {
+        for (int i = 0; i < getNbOfAgs(); i++) {
+            if (agPos[i].x == l.x && agPos[i].y == l.y) return i;
+        }
+        return -1;
+    }
+
+    public boolean pick(int ag) {
+
+        boolean result = false;
+        Location l = getAgPos(ag);
+        result = pickLocation(ag, new Location(l.x - 1, l.y - 1));
+        if (!result)
+            result = pickLocation(ag, new Location(l.x - 1, l.y));
+        if (!result)
+            result = pickLocation(ag, new Location(l.x - 1, l.y + 1));
+        if (!result)
+            result = pickLocation(ag, new Location(l.x, l.y - 1));
+        if (!result)
+            result = pickLocation(ag, new Location(l.x, l.y + 1));
+        if (!result)
+            result = pickLocation(ag, new Location(l.x + 1, l.y - 1));
+        if (!result)
+            result = pickLocation(ag, new Location(l.x + 1, l.y));
+        if (!result)
+            result = pickLocation(ag, new Location(l.x + 1, l.y + 1));
+        if(!result)
+            System.out.println("Na itt baj van....");
+        return result;
+    }
+
+    public boolean pickLocation(int ag, Location l) {
+        if (hasObject(WorldModel.AGENT, l.x, l.y)) {
+            if (!agWithVictim.contains(ag) && getAgentIdByLocation(l) < Constants.victimCount) {
+                remove(WorldModel.AGENT, l.x, l.y);
+                agWithVictim.add(ag);
+                return true;
+            }
+        }
+        return false;
+    }
+
+    public boolean drop(int ag) {
+        Location l = getAgPos(ag);
+        if (hasObject(WorldModel.DEPOT, l.x, l.y)
+                || hasObject(WorldModel.DEPOT, l.x - 1, l.y)
+                || hasObject(WorldModel.DEPOT, l.x, l.y - 1)
+                || hasObject(WorldModel.DEPOT, l.x + 1, l.y)
+                || hasObject(WorldModel.DEPOT, l.x, l.y + 1)) {
+            agWithVictim.remove(ag);
+            rescuedVictims++;
+            return true;
+        }
+        return false;
+    }
+
     @Override
     public Location getAgPos(int ag) {
         return super.getAgPos(ag);
@@ -86,4 +151,8 @@ public class WorldModel extends GridWorldModel {
     public static void destroy() {
         model = null;
     }
+
+    public int getRescuedVictims() {
+        return rescuedVictims;
+    }
 }

src/java/operator/WorldView.java

@@ -1,5 +1,6 @@
 package operator;
 
+import common.Constants;
 import jason.environment.grid.GridWorldModel;
 import jason.environment.grid.GridWorldView;
 
@@ -125,11 +126,12 @@ public class WorldView extends GridWorldView {
                 }
             }
         });
+
     }
 
-    public void udpateCollectedGolds() {
+    public void updateRescuedVictims() {
         WorldModel wm = (WorldModel) model;
-        //jGoldsC.setText(wm.getGoldsInDepot() + "/" + wm.getInitialNbGolds());
+        jGoldsC.setText(String.valueOf(wm.getRescuedVictims()));
     }
 
     @Override
@@ -144,22 +146,29 @@ public class WorldView extends GridWorldView {
             case WorldModel.ENEMY:
                 drawEnemy(g, x, y);
                 break;
+            default:
+                drawEmpty(g,x,y);
         }
     }
 
     @Override
     public void drawAgent(Graphics g, int x, int y, Color c, int id) {
         Color idColor = Color.black;
-        if(id <4){
+        int idOffset = 0;
+        if(id < Constants.victimCount){
             idColor = Color.RED;
-        } else if (id < 6) {
+        } else if (id < Constants.victimCount+Constants.searchDroneCount) {
             idColor = Color.MAGENTA;
+            idOffset = Constants.victimCount;
+        } else if (id < Constants.victimCount+Constants.searchDroneCount+Constants.rescueDroneCount){
+            idColor = Color.ORANGE;
+            idOffset = Constants.victimCount+Constants.searchDroneCount;
         }
         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-idOffset));
     }
 
     public void drawDepot(Graphics g, int x, int y) {