AirSeaRescueJason/rescueDrone.asl

// 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);
     !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)));
     ?depot(DX,DY);
     !pos(DX,DY);
     !ensure(drop);
     -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).