public IEnumerable <Percept> GetCurrentTerrain()
{
var R = SenseRadius;
CurrentTerrain.Clear();
var result = new List <Percept>();
for (var i = X - R > 0 ? X - R : 0; i <= X + R; i++)
{
for (var j = Y; Math.Pow((j - Y), 2) + Math.Pow((i - X), 2) <= Math.Pow(R, 2); j--)
{
if (j < 0 || i >= _terrain.GetLength(0))
{
break;
}
// In the circle
result.AddRange(CheckTerrain(Mars.TerrainAt(i, j), new Tuple <int, int>(i, j)));
CurrentTerrain.Add(new Tuple <int, int>(i, j));
UpdatePerceivedCellsDicc(new Tuple <int, int>(i, j));
}
for (var j = Y + 1; (j - Y) * (j - Y) + (i - X) * (i - X) <= R * R; j++)
{
if (j >= _terrain.GetLength(1) || i >= _terrain.GetLength(0))
{
break;
}
// In the circle
result.AddRange(CheckTerrain(Mars.TerrainAt(i, j), new Tuple <int, int>(i, j)));
CurrentTerrain.Add(new Tuple <int, int>(i, j));
UpdatePerceivedCellsDicc(new Tuple <int, int>(i, j));
}
}
return(result);
}
public MarsRover(Mars mars, double [,] terrain, int x, int y, IEnumerable <Belief> initialBeliefs, double runningOver, int senseRadious)
{
Mars = mars;
X = x;
Y = y;
_terrain = new double[terrain.GetLength(0), terrain.GetLength(1)];
Array.Copy(terrain, _terrain, terrain.GetLength(0) * terrain.GetLength(1));
Beliefs = new List <Belief>(initialBeliefs);
Desires = new Queue <Desire>();
Intentions = new Stack <Intention>();
PlanLibrary = new List <Plan>
{
new Plan(TypesPlan.PathFinding, this),
};
WaterFound = new List <Tuple <int, int> >();
RunningOverThreshold = runningOver;
SenseRadius = senseRadious;
CurrentTerrain = new List <Tuple <int, int> >();
_random = new Random();
_perceivedCells = new Dictionary <Tuple <int, int>, int>();
}
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());
}
