private void InjectBelief()
{
var halfC = _terrain.GetLength(1) / 2;
var halfR = _terrain.GetLength(0) / 2;
var firstSector = _perceivedCells.Where(k => k.Key.Item1 < halfR && k.Key.Item2 < halfC).ToList();
var secondSector = _perceivedCells.Where(k => k.Key.Item1 < halfR && k.Key.Item2 >= halfC).ToList();
var thirdSector = _perceivedCells.Where(k => k.Key.Item1 >= halfR && k.Key.Item2 < halfC).ToList();
var fourthSector = _perceivedCells.Where(k => k.Key.Item1 >= halfR && k.Key.Item2 >= halfC).ToList();
var freq1stSector = SetRelativeFreq(firstSector);
var freq2ndSector = SetRelativeFreq(secondSector);
var freq3rdSector = SetRelativeFreq(thirdSector);
var freq4thSector = SetRelativeFreq(fourthSector);
var min = Math.Min(freq1stSector, Math.Min(freq2ndSector, Math.Min(freq3rdSector, freq4thSector)));
if (min == freq1stSector)
{
Beliefs.Add(new Belief(TypesBelief.PotentialWaterSpots, new List <Tuple <int, int> > {
new Tuple <int, int>(0, 0)
}));
}
else if (min == freq2ndSector)
{
Beliefs.Add(new Belief(TypesBelief.PotentialWaterSpots, new List <Tuple <int, int> > {
new Tuple <int, int>(0, _terrain.GetLength(1) - 1)
}));
}
else if (min == freq3rdSector)
{
Beliefs.Add(new Belief(TypesBelief.PotentialWaterSpots, new List <Tuple <int, int> > {
new Tuple <int, int>(_terrain.GetLength(0) - 1, 0)
}));
}
else
{
Beliefs.Add(new Belief(TypesBelief.PotentialWaterSpots, new List <Tuple <int, int> > {
new Tuple <int, int>(_terrain.GetLength(0) - 1, _terrain.GetLength(1) - 1)
}));
}
}
public TypesAction Action(List <Percept> percepts)
{
// Reactive Layer
if (Mars.WaterAt(X, Y) && !WaterFound.Contains(new Tuple <int, int>(X, Y)))
{
return(TypesAction.Dig);
}
var waterPercepts = percepts.FindAll(p => p.Type == TypePercept.WaterSpot);
if (waterPercepts.Count > 0)
{
foreach (var waterPercept in waterPercepts)
{
var belief = Beliefs.FirstOrDefault(b => b.Name == TypesBelief.PotentialWaterSpots);
List <Tuple <int, int> > pred;
if (belief != null)
{
pred = belief.Predicate as List <Tuple <int, int> >;
}
else
{
pred = new List <Tuple <int, int> > {
waterPercept.Position
};
Beliefs.Add(new Belief(TypesBelief.PotentialWaterSpots, pred));
}
if (!WaterFound.Contains(waterPercept.Position))
{
pred.Add(waterPercept.Position);
}
else
{
pred.RemoveAll(
t => t.Item1 == waterPercept.Position.Item1 && t.Item2 == waterPercept.Position.Item2);
if (pred.Count == 0)
{
Beliefs.RemoveAll(b => (b.Predicate as List <Tuple <int, int> >).Count == 0);
}
}
}
if (waterPercepts.Any(p => !WaterFound.Contains(p.Position)))
{
CurrentPlan = null;
}
}
if (Beliefs.Count == 0)
{
if (_wanderTimes == WanderThreshold)
{
_wanderTimes = 0;
InjectBelief();
}
_wanderTimes++;
return(RandomMove(percepts));
}
if (CurrentPlan == null || CurrentPlan.FulFill())
{
// Deliberative Layer
Brf(percepts);
Options();
Filter();
}
return(CurrentPlan.NextAction());
}