cyphesis/rulesets/mind/AwareMind.cpp

/*
 Copyright (C) 2015 erik

 This program is free software; you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation; either version 2 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program; if not, write to the Free Software
 Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <rulesets/mind/AwareMind.h>
#include <rulesets/mind/AwarenessStore.h>
#include <rulesets/mind/AwarenessStoreProvider.h>
#include <rulesets/mind/SharedTerrain.h>
#include <rulesets/TerrainProperty.h>

#include "navigation/Awareness.h"
#include "navigation/Steering.h"

#include "common/log.h"
#include "common/SystemTime.h"
#include "common/Tick.h"
#include "common/debug.h"

#include <Atlas/Objects/RootEntity.h>
#include <Atlas/Objects/Operation.h>
#include <Atlas/Objects/Entity.h>

#include <wfmath/atlasconv.h>

#include <Mercator/Terrain.h>

#include <iostream>

static const bool debug_flag = true;

AwareMind::AwareMind(const std::string &id, long intId, SharedTerrain& sharedTerrain, AwarenessStoreProvider& awarenessStoreProvider) :
        BaseMind(id, intId), mSharedTerrain(sharedTerrain), mAwarenessStoreProvider(awarenessStoreProvider), mAwarenessStore(nullptr), mSteering(new Steering(*this)), mServerTimeDiff(
                0)
{
    m_map.setListener(this);
}

AwareMind::~AwareMind()
{
    if (mAwareness) {
        auto& entities = m_map.getEntities();
        //Remove all our still known entities from the awareness
        for (auto entry : entities) {
            if (entry.second->m_location.m_loc == m_location.m_loc) {
                mAwareness->removeEntity(*this, *entry.second);
            }
        }
        mAwareness->removeAwarenessArea(getId());
        mAwareness->removeObserver();
    }
    delete mSteering;
}

void AwareMind::operation(const Operation & op, OpVector & res)
{

    //If it's a "move" tick we'll process it here and won't send it on to the mind.
    if (op->getClassNo() == Atlas::Objects::Operation::TICK_NO) {
        if (!op->getArgs().empty()) {
            auto arg = op->getArgs().front();
            if (arg->getName() == "move") {
                processMoveTick(op, res);
                return;
            }
        }
    }

    if (mServerTimeDiff == 0 && op->getClassNo() == Atlas::Objects::Operation::SIGHT_NO) {
        if (op->hasAttrFlag(Atlas::Objects::Operation::SECONDS_FLAG)) {
            double stamp = op->getSeconds();
            mServerTimeDiff = getCurrentLocalTime() - stamp;
        }
    }

    BaseMind::operation(op, res);
}

double AwareMind::getCurrentLocalTime() const
{
    SystemTime time;
    time.update();
    return (time.seconds() + (time.microseconds() * 0.000001));
}

double AwareMind::getCurrentServerTime() const
{
    return getCurrentLocalTime() - mServerTimeDiff;
}

void AwareMind::processMoveTick(const Operation & op, OpVector & res)
{
    //Default to checking movement every 0.2 seconds, unless steering tells us otherwise
    double futureTick = 0.2;

    if (mAwareness) {
        auto remainingDirtyTiles = mAwareness->rebuildDirtyTile();
        if (remainingDirtyTiles > 0) {
            futureTick = 0;
        } else {
            if (mAwareness->needsPruning()) {
                mAwareness->pruneTiles();
            }
            if (mAwareness->needsPruning()) {
                futureTick = 0;
            }
        }
    }

    if (mSteering) {
        SteeringResult result = mSteering->update(getCurrentServerTime());
        if (result.direction.isValid()) {
            Atlas::Objects::Operation::Move move;
            Atlas::Objects::Entity::Anonymous what;
//            what->setLoc(m_entity->getLocation()->getId());
            what->setId(getId());
            what->setAttr("velocity", result.direction.toAtlas());
            if (result.destination.isValid()) {
                what->setAttr("pos", result.destination.toAtlas());
            }

            move->setFrom(getId());
            move->setArgs1(what);

//            if (debug_flag) {
//                std::cout << "Move arg {" << std::endl;
//                debug_dump(what, std::cout);
//                std::cout << "}" << std::endl << std::flush;
//            }

            res.push_back(move);
        }
        if (result.timeToNextWaypoint) {
            futureTick = std::min(*result.timeToNextWaypoint, futureTick);
        }
    }

    Atlas::Objects::Operation::Tick tick;
    Atlas::Objects::Entity::Anonymous arg;
    arg->setName("move");
    tick->setArgs1(arg);
    tick->setFutureSeconds(futureTick);

    res.push_back(tick);
}

int AwareMind::updatePath()
{
    return mSteering->updatePath(getCurrentServerTime());
}

Steering& AwareMind::getSteering()
{
    return *mSteering;
}

void AwareMind::setType(const TypeNode * t)
{
    BaseMind::setType(t);
    //log(INFO, "Creating store.");
    mAwarenessStore = &mAwarenessStoreProvider.getStore(getType());
}

void AwareMind::entityAdded(const MemEntity& entity)
{
    if (mAwareness) {
//        log(INFO, String::compose("Adding entity %1", entity.getId()));
        //TODO: check if the entity is dynamic
        if (entity.m_location.m_loc == m_location.m_loc) {
            mAwareness->addEntity(*this, entity, false);
        }
    } else {
        //Check if we've received the current domain entity.
        if (this->m_location.m_loc && entity.getIntId() == this->m_location.m_loc->getIntId()) {
            //log(INFO, "Creating awareness.");
            requestAwareness(entity);

            Atlas::Message::Element terrainElem;
            if (entity.getAttr("terrain", terrainElem) == 0) {
                parseTerrain(terrainElem);
            }
        }
    }
}

void AwareMind::requestAwareness(const MemEntity& entity)
{
    mAwareness = mAwarenessStore->requestAwareness(entity);
    mAwareness->addObserver();
    mAwareness->addEntity(*this, *this, true);
    auto& entities = m_map.getEntities();
    //Add all existing known entities that have the same parent entity as ourselves.
    for (auto entry : entities) {
        if (entry.first != getIntId()) {
            if (entry.second->m_location.m_loc == m_location.m_loc) {
                mAwareness->addEntity(*this, *entry.second, false);
            }
        }
    }
    mSteering->setAwareness(mAwareness.get());
}

void AwareMind::entityUpdated(const MemEntity& entity, const Atlas::Objects::Entity::RootEntity & ent, LocatedEntity* oldLocation)
{
    if (mAwareness) {
        //Update the awareness if location, position, velocity, orientation or bbox has changed
        if (ent->hasAttrFlag(Atlas::Objects::Entity::LOC_FLAG) || ent->hasAttrFlag(Atlas::Objects::Entity::POS_FLAG) || ent->hasAttrFlag(Atlas::Objects::Entity::VELOCITY_FLAG)
                || ent->hasAttr("orientation") || ent->hasAttr("bbox")) {
            if (oldLocation == entity.m_location.m_loc) {
                //Location wasn't changed
                if (entity.m_location.m_loc == this->m_location.m_loc) {
                    //log(INFO, "Updated entity.");
                    mAwareness->updateEntityMovement(*this, entity);
                }
            } else {
                //Check if new location is the domain, and then add the entity
                if (entity.m_location.m_loc == this->m_location.m_loc) {
                    //log(INFO, "Adding entity.");
                    mAwareness->addEntity(*this, entity, false);
                } else if (oldLocation == this->m_location.m_loc) {
                    //log(INFO, "Removing entity.");
                    mAwareness->removeEntity(*this, entity);
                }
            }

            //If it was ourselves that moved we should notify steering that it shouldn't wait any more for a movement op.
            if (entity.getIntId() == getIntId()) {
                mSteering->setIsExpectingServerMovement(false);
            }
        }
    } else {
        if (this->m_location.m_loc && entity.getIntId() == this->m_location.m_loc->getIntId()) {
            if (ent->hasAttr("terrain")) {

                Atlas::Message::Element terrainElement;
                if (ent->copyAttr("terrain", terrainElement) == 0) {
                    parseTerrain(terrainElement);
                }
            }
            if (!mAwareness) {
                requestAwareness(entity);

            }
        }
    }
}

void AwareMind::parseTerrain(const Atlas::Message::Element& terrainElement)
{
    if (terrainElement.isMap()) {
        const Atlas::Message::MapType& terrainMap = terrainElement.Map();
        auto pointsI = terrainMap.find("points");
        if (pointsI != terrainMap.end() && pointsI->second.isMap()) {

            std::vector<SharedTerrain::BasePointDefinition> pointDefs;

            auto& pointsMap = pointsI->second.Map();
            for (auto& pointEntry : pointsMap) {
                if (pointEntry.second.isList()) {
                    auto& pointsList = pointEntry.second.List();
                    if (pointsList.size() == 3) {
                        if (!pointsList[0].isNum()) {
                            continue;
                        }
                        if (!pointsList[1].isNum()) {
                            continue;
                        }
                        if (!pointsList[2].isNum()) {
                            continue;
                        }

                        pointDefs.emplace_back(
                                SharedTerrain::BasePointDefinition { (int)pointsList[0].asNum(), (int)pointsList[1].asNum(), Mercator::BasePoint(pointsList[2].asNum()) });
                    }
                }
            }
            std::vector<SharedTerrain::BasePointDefinition> changedPoints = mSharedTerrain.setBasePoints(pointDefs);
            if (mAwareness) {
                int res = mSharedTerrain.getTerrain().getResolution();
                for (auto& entry : changedPoints) {
                    WFMath::AxisBox<2> area(WFMath::Point<2>(entry.x - res, entry.y - res), WFMath::Point<2>(entry.x + res, entry.y + res));
                    mAwareness->markTilesAsDirty(std::move(area));
                }
            }
        }
    }

}

void AwareMind::entityDeleted(const MemEntity& entity)
{
    if (mAwareness) {
        //log(INFO, "Removed entity.");
        mAwareness->removeEntity(*this, entity);
    }
}

void AwareMind::onContainered(const LocatedEntity * new_loc)
{
}

double AwareMind::getServerTimeDiff() const
{
    return mServerTimeDiff;
}