Time made part of Universe

TestScenario now works.

Author: bures

src/main/scala/example/TestScenario.scala

@@ -1,7 +1,8 @@
 package example
 
+import org.apache.commons.math3.distribution.BinomialDistribution
 import tcof._
-import tcof.traits.map2d.{Map2DTrait, Node}
+import tcof.traits.map2d.{Map2DTrait, Node, Position}
 import tcof.traits.statespace.{StateSpaceTrait, interpolate}
 import tcof.traits.statistics.StatisticsTrait
 
@@ -18,14 +19,13 @@ class TestScenario extends Universe with Map2DTrait[MapNodeStatus] with StateSpa
 
   type MapNode = Node[MapNodeStatus]
 
-  var noOfStatusMsgReceived = 0
-  var noOfStatusMsgToBeReceived = 1
-  var time = 0
+  var noOfStatusMsgReceived: Int = _
+  var noOfStatusMsgToBeReceived: Int = _
 
   def burnModel(node: MapNode) = interpolate.linear(
     0.0 -> 0.0,
     0.5 -> 0.1,
-    1.0 -> 1.0
+    1.0 -> 0.0
   )
 
   abstract class MobileUnit extends Component {
@@ -51,20 +51,30 @@ class TestScenario extends Universe with Map2DTrait[MapNodeStatus] with StateSpa
     val routesToBuilding = map.shortestPath.to(building)
     val firePredictor = statespace(burnModel(building), 0, building.status.burnoutLevel)
 
+    /*
+    println(s"FireFightingTeam for building $building")
+    for (c <- components.collect{ case m: MobileUnit => m}) {
+      val d = routesToBuilding.costFrom(c.mapPosition).get
+      val f = firePredictor.valueAt(d)
+      val s = msgDelivery(time - 3600, time).probability > 0.9 withConfidence 0.95
+      println(s"  ${c} - ${d} - ${f} - ${s}")
+    }
+    */
+
     membership(
       (msgDelivery(time - 3600, time).probability > 0.9 withConfidence 0.95) &&
 
-      allMembers.all(unit => routesToBuilding.costFrom(unit.mapPosition) match {
+      fireBrigades.all(unit => routesToBuilding.costFrom(unit.mapPosition) match {
         case None => false
         case Some(travelTime) => firePredictor.valueAt(travelTime) < 0.9
       }) &&
 
-      fireBrigades.cardinality >= 1 && fireBrigades.cardinality <= 3 && ambulances.cardinality === 1
+      fireBrigades.cardinality >= 1 && fireBrigades.cardinality <= 3 // && ambulances.cardinality === 1
     )
 
     def travelTimeToUtility(routeTime: Option[Double]) = routeTime match {
       case None => 0
-      case Some(time) => 100 - (time / 10000).round.toInt
+      case Some(time) => 100 - time.toInt
     }
 
     utility(
@@ -91,14 +101,62 @@ object TestScenario {
     val scenario = new TestScenario
     scenario.init()
 
-    scenario.components = List(
+    val components = List(
       new scenario.FireBrigade(1),
       new scenario.FireBrigade(2),
       new scenario.FireBrigade(3),
       new scenario.AmbulanceTeam(1),
       new scenario.AmbulanceTeam(2)
     )
 
+    scenario.components = components
+
+    val mapNodes = new Array[Array[Node[MapNodeStatus]]](10)
+
+    for (x <- 0 until 10) {
+      mapNodes(x) = new Array[Node[MapNodeStatus]](10)
+      for (y <- 0 until 10) {
+        val node = scenario.map.addNode(Position(x, y))
+        node.status = new MapNodeStatus(MapNodeKind.Road, false, 0)
+        mapNodes(x)(y) = node
+      }
+    }
+
+    for (x <- 1 until 10) {
+      for (y <- 1 until 10) {
+        scenario.map.addDirectedEdge(mapNodes(x)(y), mapNodes(x-1)(y), 1)
+        scenario.map.addDirectedEdge(mapNodes(x)(y), mapNodes(x)(y-1), 1)
+        scenario.map.addDirectedEdge(mapNodes(x-1)(y), mapNodes(x)(y), 1)
+        scenario.map.addDirectedEdge(mapNodes(x)(y-1), mapNodes(x)(y), 1)
+      }
+    }
+
+    val componentMapPositions = List(
+      mapNodes(2)(3),
+      mapNodes(0)(8),
+      mapNodes(1)(4),
+      mapNodes(7)(6),
+      mapNodes(9)(2)
+    )
+
+    components.zip(componentMapPositions).foreach{
+      case (component, position) => component.mapPosition = position
+    }
+
+    mapNodes(7)(2).status = new MapNodeStatus(MapNodeKind.Building, true, 0.1)
+    mapNodes(3)(4).status = new MapNodeStatus(MapNodeKind.Building, true, 0.7)
+
+
+    val trials = 3
+    val dist = new BinomialDistribution(trials, 0.91)
+
+    scenario.noOfStatusMsgToBeReceived = trials
+    for (t <- 0 until 5000) {
+      scenario.noOfStatusMsgReceived = dist.sample()
+      scenario.step(t)
+    }
+
+
     scenario.rootEnsemble.init()
     println("System initialized")
 

src/main/scala/rcrs/FireBrigadeAgent.scala

@@ -9,7 +9,7 @@ import rescuecore2.standard.entities.{StandardEntityURN, FireBrigade => FireBrig
 import rescuecore2.worldmodel.ChangeSet
 
 
-class FireBrigadeAgent extends ScalaAgent with Map2DTrait[RCRSNodeStatus] with RCRSMapAdapterTrait {
+class FireBrigadeAgent extends ScalaAgent {
   override type AgentEntityType = FireBrigadeEntity
 
   val scenario = new RescueScenario
@@ -50,7 +50,7 @@ class FireBrigadeAgent extends ScalaAgent with Map2DTrait[RCRSNodeStatus] with R
     if (time >= ignoreAgentCommandsUntil) {
       // Logger.info("Heard: " + heard)
 
-      scenario.rcrsTraitStep(time: Int, changes: ChangeSet, heard: List[Command])
+      scenario.rcrsStep(time: Int, changes: ChangeSet, heard: List[Command])
       scenario.components = List(component)
 
       component.init()

src/main/scala/rcrs/ScalaAgent.scala

@@ -14,20 +14,15 @@ import scala.collection.mutable.ListBuffer
 
 
 
-abstract class ScalaAgent extends RCRSTrait {
+abstract class ScalaAgent {
   sagent =>
 
   type AgentEntityType <: StandardEntity
 
-  /* This is for making it possible to mix Traits with agents */
-  val agent = this
-
   protected def postConnect(): Unit = {
-    init()
   }
 
   protected def think(time: Int, changes: ChangeSet, heard: List[Command]): Unit = {
-    rcrsTraitStep(time, changes, heard)
   }
 
 

src/main/scala/rcrs/scenario/AreaExplorationSupport.scala

@@ -3,11 +3,11 @@ package rcrs.scenario
 import tcof.traits.map2d.{Map2D, Map2DTrait, Node, Position}
 import rcrs.traits.RCRSConnectorTrait
 import rcrs.traits.map2d.RCRSNodeStatus
-import rcrs.traits.time.CurrentTimeTrait
 import rescuecore2.standard.entities.Human
+import tcof.Universe
 
 trait AreaExplorationSupport {
-  this: RCRSConnectorTrait with Map2DTrait[RCRSNodeStatus] with CurrentTimeTrait =>
+  this: Universe with RCRSConnectorTrait with Map2DTrait[RCRSNodeStatus] =>
 
   case class MapZone(xIdx: Int, yIdx: Int, maxLastVisitTime: Int) {
     override def toString: String = s"MapZone($xIdx, $yIdx)"

src/main/scala/rcrs/scenario/ObservationSupport.scala

@@ -4,14 +4,14 @@ import tcof.traits.map2d.{Map2DTrait, Node}
 import rcrs.comm.{Constants, ExplorationStatus, Message}
 import rcrs.traits.RCRSConnectorTrait
 import rcrs.traits.map2d.{BuildingStatus, RCRSNodeStatus, RoadStatus}
-import rcrs.traits.time.CurrentTimeTrait
 import rescuecore2.standard.entities.{Area, Building, Road}
+import tcof.Universe
 
 import scala.collection.JavaConverters._
 import scala.collection.mutable
 
 trait ObservationSupport {
-  this: RCRSConnectorTrait with Map2DTrait[RCRSNodeStatus] with CurrentTimeTrait =>
+  this: Universe with RCRSConnectorTrait with Map2DTrait[RCRSNodeStatus] =>
 
   /**
     * Observes and records changes in its close vicinity. It checks the "changes" variable, which contains what the agent has seen. Based on this, it upddates the map and sends the changes to the central station.

src/main/scala/rcrs/scenario/RegistrationSupport.scala

@@ -2,11 +2,11 @@ package rcrs.scenario
 
 import rcrs.comm.{Constants, Message, RegRequest, RegResponse}
 import rcrs.traits.RCRSConnectorTrait
-import rcrs.traits.time.CurrentTimeTrait
 import rescuecore2.log.Logger
+import tcof.Universe
 
 trait RegistrationSupport {
-  this: RCRSConnectorTrait with CurrentTimeTrait =>
+  this: Universe with RCRSConnectorTrait =>
 
   /**
     * Obtains a shortId from the central server.

src/main/scala/rcrs/scenario/RescueScenario.scala

@@ -4,10 +4,9 @@ import tcof._
 import tcof.traits.map2d.{Map2DTrait, Position}
 import rcrs.traits.RCRSConnectorTrait
 import rcrs.traits.map2d.RCRSNodeStatus
-import rcrs.traits.time.CurrentTimeTrait
 
 
-class RescueScenario extends Universe with RCRSConnectorTrait with Map2DTrait[RCRSNodeStatus] with CurrentTimeTrait
+class RescueScenario extends Universe with RCRSConnectorTrait with Map2DTrait[RCRSNodeStatus]
   with MobileUnitComponent with RegistrationSupport with AreaExplorationSupport with ObservationSupport {
 
   class PoliceForce(no: Int, _position: Position) extends MobileUnit(_position) {

src/main/scala/rcrs/traits/RCRSConnectorTrait.scala

@@ -8,9 +8,10 @@ import rescuecore2.messages.Command
 import rescuecore2.standard.entities.StandardEntity
 import rescuecore2.standard.messages.AKSpeak
 import rescuecore2.worldmodel.ChangeSet
+import tcof.Universe
 
 trait RCRSConnectorTrait extends RCRSTrait with RCRSMapAdapterTrait {
-  this: Map2DTrait[RCRSNodeStatus] =>
+  this: Universe with Map2DTrait[RCRSNodeStatus] =>
 
   var agent: ScalaAgent = _
 
@@ -23,11 +24,11 @@ trait RCRSConnectorTrait extends RCRSTrait with RCRSMapAdapterTrait {
     def messages = heard.collect{ case speak : AKSpeak => Message.decode(speak.getContent) }
   }
 
-  override def rcrsTraitStep(time: Int, changes: ChangeSet, heard: List[Command]): Unit = {
+  def rcrsStep(time: Int, changes: ChangeSet, heard: List[Command]): Unit = {
     sensing.changes = changes
     sensing.heard = heard
 
-    super.rcrsTraitStep(time, changes, heard)
+    step(time)
   }
 
 }

src/main/scala/rcrs/traits/RCRSTrait.scala

@@ -7,8 +7,4 @@ import rescuecore2.worldmodel.ChangeSet
 
 trait RCRSTrait extends Trait {
   def agent: ScalaAgent
-
-  def rcrsTraitStep(time: Int, changes: ChangeSet, heard: List[Command]): Unit = {
-  }
-
 }

src/main/scala/rcrs/traits/time/CurrentTimeTrait.scala

@@ -4,7 +4,11 @@ trait CommonImplicits {
   this: WithConfig =>
 
   implicit class WithMembersIterable[MemberType](memberGroups: Iterable[WithMembers[MemberType]]) {
-    def allDisjoint: Logical = LogicalBoolVar(_solverModel.allDisjoint(memberGroups.map(_.allMembersVar).toArray : _*).reify())
+    def allDisjoint: Logical =
+      if (memberGroups.isEmpty)
+        LogicalBoolean(true)
+      else
+      LogicalBoolVar(_solverModel.allDisjoint(memberGroups.map(_.allMembersVar).toArray : _*).reify())
   }
 
   implicit def booleanToLogical(x: Boolean): LogicalBoolean = LogicalBoolean(x)

src/main/scala/tcof/CommonImplicits.scala

@@ -111,7 +111,7 @@ class SolverModel extends Model {
     }
   }
 
-  def sumBasedOnMembership(membersVar: SetVar, values: Iterable[Integer]): IntegerIntVar = {
+  def sumBasedOnMembership(membersVar: SetVar, values: Iterable[Integer]): Integer = {
     IntegerIntVar(
       if (values.forall(_.isInstanceOf[IntegerInt]))
         sumIntsBasedOnMembership(membersVar, values)

src/main/scala/tcof/SolverModel.scala

@@ -1,8 +1,18 @@
 package tcof
 
+import rescuecore2.messages.Command
+import rescuecore2.worldmodel.ChangeSet
 import tcof.traits.Trait
 
 abstract class Universe extends Trait {
+  private var _time = 0
+  def time = _time
+
+  def step(time: Int): Unit = {
+    _time = time
+    traitStep()
+  }
+
   private var _universe = Seq.empty[Component]
   def components_= (univ: Seq[Component]): Unit = _universe = univ
   def components: Seq[Component] = _universe

src/main/scala/tcof/Universe.scala

@@ -13,8 +13,7 @@ trait WithMembers[+MemberType] extends WithConfig with Initializable {
     super._init(stage, config)
 
     stage match {
-      case InitStages.VarsCreation =>
-        allMembersVar = _solverModel.setVar(Array.empty[Int], 0 until allMembers.size toArray)
+      case InitStages.VarsCreation => allMembersVar = _solverModel.setVar(Array.empty[Int], 0 until allMembers.size toArray)
       case _ =>
     }
   }

src/main/scala/tcof/WithMembers.scala

@@ -1,6 +1,13 @@
 package tcof.traits
 
+import rescuecore2.messages.Command
+import rescuecore2.worldmodel.ChangeSet
+
 trait Trait {
   def init(): Unit = {
   }
+
+  protected def traitStep(): Unit = {
+  }
+
 }

src/main/scala/tcof/traits/Trait.scala

@@ -11,5 +11,5 @@ class Node[NodeStatusType] private[map2d](val map: Map2D[NodeStatusType], val ce
 
   var status: NodeStatusType = _
 
-  override def toString() = s"Node(${lastVisitTime})"
+  override def toString() = s"Node(${center.x}, ${center.y})"
 }