package park2;
import java.io.IOException;
import java.util.ArrayList;
import java.util.logging.Level;
import java.util.logging.Logger;
import jade.core.AID;
import jade.core.Agent;
import jade.core.behaviours.CyclicBehaviour;
import jade.core.behaviours.OneShotBehaviour;
import jade.core.behaviours.SimpleBehaviour;
import jade.core.behaviours.TickerBehaviour;
import jade.domain.DFService;
import jade.domain.FIPAException;
import jade.domain.FIPAAgentManagement.DFAgentDescription;
import jade.domain.FIPAAgentManagement.ServiceDescription;
import jade.lang.acl.ACLMessage;
import jade.lang.acl.MessageTemplate;
import jade.lang.acl.UnreadableException;
import trasmapi.genAPI.Vehicle;
import trasmapi.genAPI.temp;
import trasmapi.genAPI.exceptions.UnimplementedMethod;
import trasmapi.sumo.SumoCom;
import trasmapi.sumo.SumoLane;
//import trasmapi.sumo.SumoLane;
import trasmapi.sumo.SumoVehicle;
import trasmapi.sumo.vartypes.Position2D;
/**
*
* @author 17525014
*/
public class DriverAgent extends Agent{
private static final long serialVersionUID = 6095960260125307076L;
int DIM=50;
int DIM2=30;
int pointeR=0;
Destination privat;
private int id;
public long delay,end,begin;
public static int numDrivers;
int m;
String Sid;
boolean GETC,PK,SSecond,CK1,CK2,ELG;
sortDestination mylist;
Destination[] FlistD;
Destination[] listD;
Destination[] FlistD2;
Destination[] listD2;
qparm []qprocess;
qparm myque;
// utility mynew;
public Destination myDes;
String origin;
SumoLane enter;
Vehicle vehicle;
double partpointer,Globalspeed;
public int pointer,allocator;
long du1,du2,dut,parktime;
int map=0;
int TKK=0;
int poi=0;
int letgo=1;
int mn,myorder=0;
double arrivalrate;
String MyGroupID;
int GM, Dsize;
public Destination [] drop,drop2;
ArrayList<EQueue>HeadQ2;
ArrayList<EQueue>HeadF2;
public DriverAgent(int idDriver, Destination[] listDD,Destination[] listDD2) {
super();
ELG=GETC=SSecond=CK1=false;
CK2=false;
MyGroupID=new String();
MyGroupID="NO";
GM=100;
//Dsize=25;
Dsize=10;
Globalspeed=28;
myDes=new Destination();
drop=new Destination[Dsize];
drop2=new Destination[Dsize];
PK= false;
delay=0;
arrivalrate=0; ;
// drop2=new String[10];
FlistD= new Destination[DIM];
FlistD2= new Destination[DIM2];
listD=new Destination[DIM];
listD2= new Destination[DIM2];
qprocess=new qparm[Dsize];
myque=new qparm();
HeadQ2=new ArrayList<EQueue>();
HeadF2=new ArrayList<EQueue>();
for(int o=0;o<DIM;o++)
listD[o]=listDD[o];
for(int o=0;o<DIM2;o++)
listD2[o]=listDD2[o];
myDes=new Destination();
du1=du2=dut=parktime=0;
// myDes.destination="DA1";
partpointer=1;
pointer= allocator=0;
try {
this.id= idDriver;
origin="source1";
System.out.println("the start point is"+origin);
String vehicleType = SumoCom.vehicleTypesIDs.get(0);
String routeId = SumoCom.getRouteId(origin, null);
int departureTime;
departureTime =100;
double departPosition =5.0;
double departSpeed = 0.0;
byte departLane = 0;
vehicle = new SumoVehicle(id, vehicleType, routeId, departureTime, departPosition, departSpeed, departLane);
SumoCom.addVehicle((SumoVehicle)vehicle);
SumoCom.addVehicleToSimulation((SumoVehicle)vehicle);
vehicle.changeTarget(listD[0].destination);
} catch (UnimplementedMethod e) {
}
}
/* (non-Javadoc)
* @see jade.core.Agent#setup()
*/
@Override
protected void setup() {
DFAgentDescription ad = new DFAgentDescription();
ad.setName(getAID()); //agentID
System.out.println("AID: "+ad.getName());
ServiceDescription sd = new ServiceDescription();
sd.setName(getName()); //nome do agente
System.out.println("Nome: "+sd.getName());
sd.setType("Driver");
System.out.println("Tipo: "+sd.getType()+"\n\n\n");
ad.addServices(sd);
Sid=id+"";
SumoCom.subscribeVehicle(Sid);
try {
DFService.register(this, ad);
} catch(FIPAException e) {
}
addBehaviour(new OneShotBehaviour() {
/**
*
*/
private static final long serialVersionUID = 1301400729516438184L;
// Position2D pos7;
//SumoVehicle ve7;
boolean F=true;
int hk=0;
@Override
public void action(){
// ve7=SumoCom.vehicles.get(id);
while(F){
try {
if(vehicle.getSpeed()>0.0){
// begin=System.currentTimeMillis();
begin=SumoCom.currentSimStep;
for(int j=0;j<Dsize;j++){
Destination DD=new Destination();
Destination DD2=new Destination();
hk=j+1;
String elment=new String();
elment="DA"+hk;
DD.destination=elment;
DD.x=0;
DD.y=410-j*20;
DD2=DD;
drop[j]=DD;
drop2[j]=DD2;
}
F=false;
mylist= new sortDestination(listD,0,250,pointer,allocator);
FlistD= mylist.MinSpanningTree();
// myDes=FlistD[pointer];
//FlistD=listD;
FlistD2=listD2;
myDes=drop[0];
// System.out.println(" iam "+getLocalName()+"my destination is "+myDes.getDestination());
try {
vehicle.changeTarget(myDes.destination);
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
}
);
addBehaviour(new PeriodicSending(this,2000));
addBehaviour(new REC(this,3000));
addBehaviour(new ANC(this,2200));
addBehaviour(new receivingMessage());
addBehaviour(new receivingMessage2());
addBehaviour(new QINFO());
addBehaviour(new GroupRequest());
addBehaviour(new Correction());
addBehaviour(new check());
addBehaviour(new VERFY());
addBehaviour(new ChangeHeader());
addBehaviour(new ELECT());
}
@Override
protected void takeDown() {
try {
DFService.deregister(this);
}
catch (FIPAException fe) {
}
System.out.println("terminating.");
}
public class PeriodicSending extends TickerBehaviour{
private static final long serialVersionUID = -2919540587709502841L;
MessageTemplate tmp;
Position2D pos1;
int or,time1;
long time2;
Vehicle ve1;
Position2D posi;
Destination sendingDes;
sendQ sendingDes2;
teDes sendingDes3;
double desi,myx,myy;
boolean sendOk;
ArrayList<Integer> cov;
public PeriodicSending(Agent a,long t){
super(a,t);
}
@Override
public void onTick() {
ve1=SumoCom.vehicles.get(id);
String firstchar=new String();
firstchar=String.valueOf(myDes.destination.charAt(0));
//" FIRST char is "+firstchar+
// System.out.println(" FIRST char is "+firstchar+" full destination is "+FlistD[pointer].destination);
//&&myDes.destination.charAt(0)=='m'
try {
if(!ve1.getEdgeId().equals(myDes.destination)){
pos1=ve1.position;
myx=pos1.x;
myy=pos1.y;
sendOk=true;
if(myDes.destination.charAt(0)=='D'&&myy<305)
sendOk=false;
if(sendOk){
cov=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi=SumoCom.vehicles.get(ij).position;
desi=CalDis(myx,posi.x,myy,posi.y);
if(desi<=500.0){
cov.add(ij);
// System.out.println("this is inside my range "+ij+" i am "+getLocalName()+" with distance is "+desi);
}
}
}
if(!cov.isEmpty()){
time1=SumoCom.getCurrentSimStep();
if(myDes.destination.charAt(0)!='D'){
sendingDes=new Destination(myDes.getDestination(),myx,myy,time1);
//sendingDes.flag=myflag;
}
else{
sendingDes=new Destination(drop[0].destination,myx,myy,time1);
// sendingDes.flag=myflag;
}
ACLMessage msg = new ACLMessage( ACLMessage.INFORM );
try {
msg.setContentObject(sendingDes);
} catch (IOException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
msg.setConversationId("park searching message");
addReceivers(msg,cov);
// System.out.println("the time for sending this message is "+System.currentTimeMillis()+" and this is number "+i+" iam "+getLocalName());
myAgent.send(msg);
}
}
}
else{ try {
if(ve1.getEdgeId().equals(myDes.destination)&&firstchar.equals("D")){
pos1=ve1.position;
myx=pos1.x;
myy=pos1.y;
cov=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi=SumoCom.vehicles.get(ij).position;
desi=CalDis(myx,posi.x,myy,posi.y);
if(desi<=500.0){
cov.add(ij);
// System.out.println("this is inside my range "+ij+" i am "+getLocalName()+" with distance is "+desi);
}
}
}
if(!cov.isEmpty()){
int x,y;
if(myDes.getDestination().length()==3){
x=Character.getNumericValue(myDes.getDestination().charAt(2));
}
else{
x=Character.getNumericValue(myDes.getDestination().charAt(2));
y=Character.getNumericValue(myDes.getDestination().charAt(3));
x=x*10+y;
}
//System.out.println("the time for sending this message is "+du2+" iam "+getLocalName()+" x "+x);
if(qprocess[x-1]==null){
qparm new1=new qparm();
new1.idp=id;
new1.ttp=(int)du2;
qprocess[x-1]=new1;
}
int rightsend=0;
for(int j=0;j<Dsize;j++)
if(qprocess[j]!=null)
rightsend++;
// System.out.println("the time for sending this message is with length "+rightsend+" iam "+getLocalName()+" x ");
sendingDes2=new sendQ(qprocess,rightsend);
ACLMessage msg = new ACLMessage( ACLMessage.INFORM );
try {
msg.setContentObject(sendingDes2);
} catch (IOException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
msg.setConversationId("time to leave");
addReceivers(msg,cov);
myAgent.send(msg);
}
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
public class receivingMessage2 extends CyclicBehaviour {
/**
*
*/
private static final long serialVersionUID = -7078137609028646000L;
MessageTemplate mx2;
int poi;
boolean myflag6=false;
SumoVehicle ve5;
public void action() {
ve5=SumoCom.vehicles.get(id);
//ve5.speed>0.0
if(!ve5.getEdgeId().equals(myDes.destination)){
mx2 = MessageTemplate.MatchConversationId("NO");
ACLMessage msgg2 = myAgent.receive(mx2);
if(msgg2 != null)
{
Destination privat2 = null;
try {
privat2 = (Destination) msgg2.getContentObject();
} catch (UnreadableException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
if(privat2.destination.charAt(0)=='D'){
poi=-1;
for(int i=0;i<Dsize;i++){
if(drop[i].destination.equals(privat2.destination)){
poi=i;
}
}
// System.out.println("@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@*******"+myAgent.getLocalName());
if(myDes.destination.equals(privat2.destination)&&poi<Dsize-2){
//myDes=drop[poi+1];
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
if(privat2.destination.charAt(0)!='D'){
if(privat2.getDestination().equals(myDes.getDestination())){
// System.out.println(" receiving new type message iam "+getLocalName()+" from "+msgg2.getSender().getLocalName());
pointer++;
if(FlistD.length-allocator>pointer){
mylist= new sortDestination(FlistD,ve5.position.x,ve5.position.y,pointer,allocator);
FlistD= mylist.MinSpanningTree();
myDes=FlistD[pointer];
// System.out.println(" I am "+myAgent.getLocalName()+" change the address to "+FlistD[pointer].destination.charAt(0)+" "+myDes.destination);
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
else{ if(!SSecond){
SSecond=true;
FlistD=FlistD2;
pointer=0;
allocator=0;
myDes=FlistD[pointer];
try {
vehicle.changeTarget(myDes.getDestination());
// myAgent.doDelete();
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
}
else{
int bn=-1;
int anz=pointer;
while(bn==-1&&anz<(FlistD.length-allocator))
{
if(privat2.destination.equals(FlistD[anz].destination)){
bn=anz;
allocator++;
}
anz++;
}
for(int n=anz-1;n<FlistD.length-allocator-1;n++){
FlistD[n]=FlistD[n+1];
}
}
}
}
else
block();
}
}
}
public class receivingMessage extends CyclicBehaviour {
/**
*
*/
private static final long serialVersionUID = -1167565660520566700L;
MessageTemplate mx;
Position2D pos;
int ti=0,time2;
long TT1=0,TT2=0;
int number=0;
double myx1,myy1;
double dis11,dis22;
Integer Head,Head2;
//boolean change,change1;
temp T1;
Vehicle ve2;
@Override
public void action() {
ve2=SumoCom.vehicles.get(id);
try {
if(!ve2.getEdgeId().equals(myDes.destination)){
mx = MessageTemplate.MatchConversationId("park searching message");
ACLMessage msgg = myAgent.receive(mx);
if(msgg != null)
{
// if("park searching message".equals(msgg.getConversationId())){
Destination privat = null;
try {
privat = (Destination) msgg.getContentObject();
} catch (UnreadableException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
time2=privat.time;
T1=ve2.cache.get(time2);
pos=T1.Position;
if(ve2.position.x==pos.x&&ve2.position.y==pos.y)
pos=ve2.position;
myx1=pos.x;
myy1=pos.y;
if(privat.getDestination().charAt(0)!='D'){
if (privat.getDestination().equals(myDes.getDestination())){
dis11=CalDis(myx1,myDes.getX(),myy1,myDes.getY());
dis22=CalDis(privat.getX(),myDes.getX(),privat.getY(),myDes.getY());
if(dis11>=dis22)
{
pointer++;
if(FlistD.length-allocator>pointer){
//NeW= Arrays.copyOfRange(FlistD, pointer, FlistD.length);
mylist= new sortDestination(FlistD,ve2.position.x,ve2.position.y,pointer,allocator);
FlistD= mylist.MinSpanningTree();
myDes=FlistD[pointer];
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
else {
FlistD=FlistD2;
pointer=0;
allocator=0;
myDes=FlistD[pointer];
try {
vehicle.changeTarget(myDes.getDestination());
// myAgent.doDelete();
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
}
}
else{
dis11=CalDis(myx1,drop[0].x,myy1,drop[0].y);
dis22=CalDis(privat.getX(),drop[0].x,privat.getY(),drop[0].y);
if(msgg.getSender().getLocalName().length()==8){
Head=Character.getNumericValue(msgg.getSender().getLocalName().charAt(7));
}
else{
Head=Character.getNumericValue(msgg.getSender().getLocalName().charAt(7));
Head2=Character.getNumericValue(msgg.getSender().getLocalName().charAt(8));
Head=Head*10+Head2;
}
if(myy1>405){
ti=0;
while(ti<HeadQ2.size()&&HeadQ2.get(ti).ID!=Head){
ti++;
}
if(ti==HeadQ2.size()){
EQueue QW=new EQueue();
QW.ID=Head;
// if(dis11<=dis22)
QW.FAR=dis11-dis22;
// else
// QW.FAR=dis22;
HeadQ2.add(QW);
int mv;
EQueue MUSS=new EQueue();
EQueue MUSS2=new EQueue();
for(int i=0;i<HeadQ2.size();i++) {
MUSS=HeadQ2.get(i);
for(mv=i-1;mv>=0 && MUSS.FAR<HeadQ2.get(mv).FAR;mv--){
MUSS2=HeadQ2.get(mv);
HeadQ2.set(mv+1,MUSS2);
}
HeadQ2.set(mv+1,MUSS);
}
//System.out.println(" meeeeeeeeeeeee "+myAgent.getLocalName()+" list is "+HeadQ2.get(0).ID+" and the last one is "+HeadQ2.get(ti).ID);
}
}
}
}
else{
block();
}
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
public class QINFO extends CyclicBehaviour {
/**
*
*/
private static final long serialVersionUID = -1167565660520566700L;
MessageTemplate mx3;
Position2D pos3,pp;
Position2D posi2;
int resp2,Headt,Head2t,time3,check1=0;
double myx3,myy3,myspeed;
double dis113,dis223;
qparm tempq;
double estimate,current,prevte,current2;
qparm MUS=new qparm();
qparm insertel;
ArrayList<Integer> cov2;
double desi2,xvalue,yvalue;
//boolean change,change1;
temp T13;
Vehicle ve23;
@Override
public void action() {
ve23=SumoCom.vehicles.get(id);
try {
if(letgo==1){
//&&MyGroupID.equals("NO")
if(myDes.destination.charAt(0)=='D'){
mx3 = MessageTemplate.MatchConversationId("time to leave");
ACLMessage msgg = myAgent.receive(mx3);
if(msgg != null)
{
sendQ privat = null;
try {
privat = (sendQ) msgg.getContentObject();
} catch (UnreadableException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
int all=privat.SZ;
arrivalrate=0;
for(int i=0;i<Dsize;i++){
if(privat.send[i]!=null){
// all++;
if(qprocess[i]==null){
insertel=new qparm();
insertel=privat.send[i];
qprocess[i]=insertel;
}
else if(qprocess[i].ttp<privat.send[i].ttp){
qprocess[i]=privat.send[i];
}
}
}
if(ve23.position.y>410&&check1!=1&&!GETC&&MyGroupID.equals("NO")){
if(msgg.getSender().getLocalName().length()==8){
Headt=Character.getNumericValue(msgg.getSender().getLocalName().charAt(7));
}
else{
Headt=Character.getNumericValue(msgg.getSender().getLocalName().charAt(7));
Head2t=Character.getNumericValue(msgg.getSender().getLocalName().charAt(8));
Headt=Headt*10+Head2t;
}
boolean myflag3=false;
int resp=resp2=100;
for(int i=0;i<HeadQ2.size();i++){
if(HeadQ2.get(i).ID==Headt){
resp2=i;
}
if(HeadQ2.get(i).FAR<0)
resp=i;
}
if(resp2<100&&HeadQ2.get(resp2).FAR>0){
int resp3=resp2-resp;
resp2=all+resp2-resp-1;
if(resp2>=0&&resp2<Dsize){
check1=1;
myflag3=true;
MyGroupID=msgg.getSender().getLocalName();
GM=resp2;
myDes=drop[resp2];
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
System.out.println(" ^^^^^^^^"+all+"^^^^^^^^^^^^^^^^^^"+msgg.getSender().getLocalName()+"^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ my des is "+resp2+" iam "+myAgent.getLocalName());
}else{ if(resp2==Dsize){
MyGroupID=msgg.getSender().getLocalName();
//myAgent.getLocalName();
GM=resp3;
check1=1;
myspeed=ve23.getSpeed();
pos3=ve23.position;
myDes=drop[0];
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
//67=(1000/15)*distance= the travelling time to the first slot 67
current= (SumoCom.currentSimStep+(arrivingDis(pos3,1))*(1000/myspeed));
current2= arrivingDis(pos3,1);
letgo=1;
myflag3=true;
//myDes=drop[qprocess[0].idp];
double Rtime=(qprocess[0].ttp-SumoCom.currentSimStep);
double ss=((double)current2/Rtime)*1000-1;
ve23.setSpeed(ss);
System.out.println(" ***XXXXXxxXXXXX***"+all+"****BBBBBBB***"+current+"****"+ss+"*** my des is "+resp2+" iam "+myAgent.getLocalName());
CK1=true;
}
if(GM==100){
System.out.println(" ***XXXXXxxXXXXX***"+all+"****AAAAAAAAA***"+current+"****"+GM+"*** my des is "+resp2+" iam "+myAgent.getLocalName());
GM=0;
while(GM<HeadQ2.size()&&HeadQ2.get(GM).FAR<0)
GM++;
GM=(HeadQ2.size()-GM-1)%Dsize;
myDes=drop[GM];
// System.out.println(" I am "+myAgent.getLocalName()+" change the address to "+FlistD[pointer].destination.charAt(0)+" "+myDes.destination);
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
}
if(myflag3){
pp=vehicle.position;
xvalue=pp.x;
yvalue=pp.y;
cov2=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi2=SumoCom.vehicles.get(ij).position;
desi2=CalDis(xvalue,posi2.x,yvalue,posi2.y);
if(desi2<=700.0){
cov2.add(ij); }
}
}
//!cov2.isEmpty()
String CON=new String();
// GM=resp2;
CON=MyGroupID+"-"+GM;
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("GROUP");
for(int x=0; x< cov2.size();x++){
MM.addReceiver(new AID("DRIVER#"+cov2.get(x),AID.ISLOCALNAME));
}
myAgent.send(MM);
}
}
}
}
else{
block();
}
}
}
else{
myAgent.removeBehaviour(this);
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
private class ANC extends TickerBehaviour {
/**
*
*/
private static final long serialVersionUID = 1855878952337101620L;
SumoVehicle ve3;
Position2D posi2;
ArrayList<Integer> cov2;
double desi2,xvalue,yvalue;
Position2D pp;
public ANC(Agent a,long t){
super(a,t);
}
protected void onTick() {
ve3=SumoCom.vehicles.get(id);
if(CK1&&ve3.position.y>400){
pp=vehicle.position;
xvalue=pp.x;
yvalue=pp.y;
cov2=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi2=SumoCom.vehicles.get(ij).position;
desi2=CalDis(xvalue,posi2.x,yvalue,posi2.y);
if(desi2<=500.0){
cov2.add(ij); }
}
}
//!cov2.isEmpty()
String CON=new String();
double Rtime=(qprocess[0].ttp);
Rtime=Rtime+50000;
int sss=(int) ve3.getSpeed();
CON=Rtime+"- "+sss+"-"+letgo;
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("Vpark");
for(int x=0; x< cov2.size();x++){
MM.addReceiver(new AID("DRIVER#"+cov2.get(x),AID.ISLOCALNAME));
}
myAgent.send(MM);
}
}
}
/////////////////////////////////////////////////////////
private void addReceivers(ACLMessage msg, ArrayList<Integer> cov)
{
for(int x=0; x< cov.size();x++){
msg.addReceiver(new AID("DRIVER#"+cov.get(x),AID.ISLOCALNAME));
}
}
public double CalDis(double x1,double x2,double y1,double y2)
{
double xDiffloc,yDiffloc,xSqrloc,ySqrloc,outputloc;
xDiffloc =x1-x2;
xSqrloc = Math.pow(xDiffloc, 2);
yDiffloc = y1-y2;
ySqrloc = Math.pow(yDiffloc, 2);
outputloc= Math.sqrt(xSqrloc + ySqrloc);
return outputloc;
}
public double arrivingDis(Position2D PS, int ch)
{
double mytime,time;
double x1,y1,x2,y2;
if(ch==1){
y1=490;
x1=450;
x2=0;
y2=405;
if(PS.y>=y1){
time=(int) ((PS.x-x2+y1-y2));
}
else{
time=(int) ((PS.y-y2));
}
mytime=time;
}
else{
mytime=180+Math.abs(PS.x-460);
}
return mytime;
}
private class check extends SimpleBehaviour {
/**
*
*/
private static final long serialVersionUID = -2639002170028439905L;
result output,output2;
// boolean A=false,C=false;
Position2D pos3;
int counter=0;
int counter2=0;
//Random ran;
Vehicle ve4;
// SumoVehicle ve44;
@Override
public void action(){
// ve44=SumoCom.vehicles.get(id);
ve4=vehicle;
try {
if(ve4.getEdgeId().equals(myDes.getDestination())){
//C=true;
// EN=false;
// if(!myDes.getDestination().equals("ma2,5")){
try {
vehicle.setSpeed(0.0);
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
// }
if(myDes.destination.charAt(0)!='D')
{
counter++;
if(counter==1){
end=SumoCom.currentSimStep;
delay=end-begin;
try {
output=new result();
} catch (IOException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
output.INSERT(getLocalName(),myDes.destination,delay/100,end);
}
}
else{
counter2++;
if(counter2==1){
GETC=true;
end=SumoCom.currentSimStep;
delay=end-begin;
try {
output2=new result();
} catch (IOException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
output2.INSERT(getLocalName(),myDes.destination,delay/100,end);
/// du1=System.currentTimeMillis();
du1=SumoCom.currentSimStep;
// ran=new Random();
// du2=du1+((ran.nextInt(100))*300+2000);
du2=du1+50000;
}
}
dut=SumoCom.currentSimStep;
if(dut>du2&&myDes.destination.charAt(0)=='D'&&!SSecond){
pos3=ve4.position;
xvalue=pos3.x;
yvalue=pos3.y;
myDes=FlistD[0];
// C=true;
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
//myAgent.doDelete();
vehicle.setSpeed(10.0);
}
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
@Override
public boolean done(){
return false;
}
}
private class REC extends TickerBehaviour {
/**
*
*/
private static final long serialVersionUID = 1855878952337101620L;
SumoVehicle ve3;
Position2D posi2;
ArrayList<Integer> cov2;
double desi2,xvalue,yvalue;
Position2D pp;
Destination sendingDes2;
public REC(Agent a,long t){
super(a,t);
}
protected void onTick() {
ve3=SumoCom.vehicles.get(id);
//&&myDes.destination.charAt(0)!='D'
if(ve3.getEdgeId().equals(myDes.getDestination())){
pp=vehicle.position;
xvalue=pp.x;
yvalue=pp.y;
cov2=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi2=SumoCom.vehicles.get(ij).position;
desi2=CalDis(xvalue,posi2.x,yvalue,posi2.y);
if(desi2<=100.0){
cov2.add(ij); }
}
}
//!cov2.isEmpty()
if(true){
sendingDes2=new Destination(myDes.getDestination(),xvalue,yvalue);
ACLMessage msg2 = new ACLMessage( ACLMessage.INFORM );
try {
msg2.setContentObject(sendingDes2);
} catch (IOException ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
msg2.setConversationId("NO");
for(int x=0; x< cov2.size();x++){
msg2.addReceiver(new AID("DRIVER#"+cov2.get(x),AID.ISLOCALNAME));
}
myAgent.send(msg2);
}
}
}
}
////////////////////////////
private class Correction extends CyclicBehaviour {
/**
*
*/
private static final long serialVersionUID = 2965006172552026401L;
Vehicle ve11;
Position2D pp,posi2;
double xvalue,yvalue,desi2;
boolean myflag1;
ArrayList<Integer> cov2;
ArrayList<String> repeat2=new ArrayList<String>();
String [] mody= new String[4];
int HH,NID,NCK=0,PGM;
public void action() {
ve11=SumoCom.vehicles.get(id);
try {
if(letgo==1){
if(myDes.destination.charAt(0)=='D'&&!GETC){
MessageTemplate mt =MessageTemplate.and(MessageTemplate.MatchConversationId("CHG"),
MessageTemplate.MatchPerformative(ACLMessage.INFORM));
ACLMessage msg = myAgent.receive(mt);
if (msg != null) {
String title2 = msg.getContent();
mody=title2.trim().split("-");
String SG=mody[0].trim();
String SM=mody[1].trim();
int prop=Integer.parseInt(SM);
String SM2=mody[2].trim();
int ptime1=Integer.parseInt(SM2);
//HH=Character.getNumericValue(privat2.destination.charAt(2));
myflag1=false;
if(SG.equals(MyGroupID)&&prop!=GM){
if(NCK==0){
NCK++;
NID=prop;
repeat2.add(msg.getSender().getLocalName());
}
else{
if(NCK<2&&NID==prop&&!repeat2.contains(msg.getSender().getLocalName())){
NCK++;
repeat2.add(msg.getSender().getLocalName());
}
if(NCK>=2){
ELG=true;
System.out.println("@@@@@@@ "+repeat2+" @@@@@ "+"##### i will change from "+GM+" to "+NID+" iam "+myAgent.getLocalName());
//repeat2.clear();
if(qprocess[0]==null||qprocess[0].ttp==0){
qparm ter=new qparm();
ter.ttp=ptime1;
qprocess[0]=ter;
}
NCK=0;
PGM=GM;
GM=prop;
if(NID<Dsize){
HH=NID;
myflag1=true;
}else{
if(NID==Dsize){
myflag1=true;
CK1=true;
HH=0;
double current2= arrivingDis(ve11.position,1);
double ss=((current2*1000)/(ptime1-SumoCom.currentSimStep));
ve11.setSpeed(ss);
}
else if(NID>Dsize){
myflag1=true;
HH=NID%Dsize;
GM=NID;
}
}
myDes=drop[HH];
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
if(myflag1){
pp=vehicle.position;
xvalue=pp.x;
yvalue=pp.y;
cov2=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi2=SumoCom.vehicles.get(ij).position;
desi2=CalDis(xvalue,posi2.x,yvalue,posi2.y);
if(desi2<=700.0){
cov2.add(ij); }
}
}
//!cov2.isEmpty()
String CON=new String();
GM=prop;
CON=MyGroupID+"-"+NID;
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("GROUP");
for(int x=0; x< cov2.size();x++){
MM.addReceiver(new AID("DRIVER#"+cov2.get(x),AID.ISLOCALNAME));
}
myAgent.send(MM);
}
if(GM==Dsize)
System.out.println(" ++++++++++ FROM "+PGM+" ### Change from cluster head to "+GM+" iam "+myAgent.getLocalName()+" new Group is "+MyGroupID);
if(PGM==Dsize){
//if(GM>10)
// MyGroupID=mody[3].trim();
CK1=false;
ve11.setSpeed(28);
System.out.println(" ++++++++++ FROM "+PGM+" ### Change from cluster head to "+GM+" iam "+myAgent.getLocalName()+" new Group is "+MyGroupID);
pp=vehicle.position;
xvalue=pp.x;
yvalue=pp.y;
cov2=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi2=SumoCom.vehicles.get(ij).position;
desi2=CalDis(xvalue,posi2.x,yvalue,posi2.y);
if(desi2<=700.0){
cov2.add(ij); }
}
}
//!cov2.isEmpty()
String CON=new String();
int dif=GM-PGM;
if(dif>0)
CON="A "+"-"+dif+"-";
else{
dif=PGM-GM;
CON="B "+"-"+dif+"-";
}
System.out.println(" ++++++++++ FROM "+PGM+" ### Change from cluster head to "+GM+" iam "+myAgent.getLocalName()+" new Group is "+CON);
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("HeaderG");
for(int x=0; x< cov2.size();x++){
MM.addReceiver(new AID("DRIVER#"+cov2.get(x),AID.ISLOCALNAME));
}
myAgent.send(MM);
}
}
}
}
}
else
block();
}
}
else{
myAgent.removeBehaviour(this);
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
//else
// myAgent.removeBehaviour(this);
}
}
private class GroupRequest extends CyclicBehaviour {
private static final long serialVersionUID = 2965006172552026401L;
Vehicle ve11;
ArrayList<Integer> cov2;
int Headt,Head2t,Headt3,Head2t4;
double xvalue,yvalue,desi2;
Position2D pp,posi2;
Position2D pos3;
boolean myflag2=false;
boolean justO=false,right1=false;
String[] mody=new String[3];
public void action() {
ve11=SumoCom.vehicles.get(id);
pos3=ve11.position;
try {
if(letgo==1){
MessageTemplate mt =MessageTemplate.and(MessageTemplate.MatchConversationId("Vpark"),
MessageTemplate.MatchPerformative(ACLMessage.INFORM));
ACLMessage msg = myAgent.receive(mt);
if (msg != null) {
right1=false;
String title2 = msg.getContent();
mody=title2.trim().split("-");
String ptime=mody[0].trim();
//ptime2= the speed of sender
String ptime2=mody[1].trim();
//ptime1= the leaving time of sender
int ptime1=(int) Double.parseDouble(ptime);
//double Hspeed=Double.parseDouble(ptime2);
int lego= Integer.parseInt(mody[2].trim());
if(msg.getSender().getLocalName().length()==8){
Headt=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
}
else{
Headt=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
Head2t=Character.getNumericValue(msg.getSender().getLocalName().charAt(8));
Headt=Headt*10+Head2t;
}
if(!GETC&&pos3.y>400&&MyGroupID.equals("NO")&&pos3.x<1500){
int Hindex=-100;
int myin=0;
for(int i=0;i<HeadQ2.size();i++){
if(HeadQ2.get(i).ID==Headt){
Hindex=i;
if(HeadQ2.get(i).FAR<0)
right1=true;
}
if(HeadQ2.get(i).FAR<0)
myin=i;
}
Hindex-=myin;
if(qprocess[0]==null||qprocess[0].ttp<ptime1){
qparm ent=new qparm();
ent.idp=Headt;
ent.ttp=ptime1;
qprocess[0]=ent;
}
//if(MyGroupID.equals("NO")){
myflag2=false;
if(Hindex==Dsize){
if(letgo==1){
MyGroupID=msg.getSender().getLocalName();
GM=Hindex;
myflag2=CK1=true;
double current2= arrivingDis(pos3,1);
double parkarrival=arrivingDis(pos3,0);
double parktime=((parkarrival/ve11.speed))*1000+115000;
parktime+=SumoCom.currentSimStep;
double ss;
ss=((current2*1000)/(ptime1-SumoCom.currentSimStep));
if(ss>5&&ve11.speed>5){
// ss=((current2*1000)/(ptime1-SumoCom.currentSimStep));
letgo=1;
Globalspeed=ss;
ve11.setSpeed(ss);
myDes=drop[0];
}
else{
letgo=0;
myDes=FlistD[0];
ss=15;
}
System.out.println("@@@@@ "+ss+" @@@@@@@@@@@@@@@@ "+"##### my speed now "+(parktime-ptime1)+" iam "+myAgent.getLocalName());
}
}
else{if(Hindex>0&&Hindex<=Dsize-1){
if(lego==1){
double Hspeed=Double.parseDouble(ptime2);
myflag2=true;
MyGroupID=msg.getSender().getLocalName();
//////////////////////////////////////////////////////////////////////////////////////
Globalspeed=Hspeed;
// ve11.setSpeed(Hspeed+2);
GM=Hindex;
myDes=drop[Hindex];
System.out.println("+++++++++ "+msg.getSender().getLocalName()+" +### my destyination "+myDes.destination+" iam "+myAgent.getLocalName());
}
else{
letgo=0;
myDes=FlistD[pointer];
MyGroupID=msg.getSender().getLocalName();
}
}
else if(Hindex>Dsize){
myDes=drop[Hindex%Dsize];
double Hspeed=Double.parseDouble(ptime2);
//ve11.setSpeed(Hspeed);
Globalspeed=ve11.speed;
int propH=Hindex+myin-Dsize;
// System.out.println("+++++ "+Hindex+" +++++++ "+propH+" +++++"+"##### my Header is "+HeadQ2.get(propH).ID+" iam "+myAgent.getLocalName());
String CON=new String();
String SG1=new String();
SG1=msg.getSender().getLocalName();
CON=SG1+"-"+propH+"-"+qprocess[0].ttp;
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("elect");
//for(int x=0; x< cov2.size();x++){
//MM.addReceiver(msg.getSender());
MM.addReceiver(new AID("DRIVER#"+HeadQ2.get(propH).ID,AID.ISLOCALNAME));
// }
myAgent.send(MM);
}
}
////////////////////////////////////////////////////////////////////////////////////
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
if(myflag2){
pp=vehicle.position;
xvalue=pp.x;
yvalue=pp.y;
cov2=new ArrayList<>();
for(int ij=0;ij<numDrivers;ij++){
if(ij!=id){
posi2=SumoCom.vehicles.get(ij).position;
desi2=CalDis(xvalue,posi2.x,yvalue,posi2.y);
if(desi2<=700.0){
cov2.add(ij); }
}
}
//!cov2.isEmpty()
String CON=new String();
CON=MyGroupID+"-"+GM;
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("GROUP");
for(int x=0; x< cov2.size();x++){
MM.addReceiver(new AID("DRIVER#"+cov2.get(x),AID.ISLOCALNAME));
}
myAgent.send(MM);
}
//}
///////////////////////////////////////////////////////////////////////////////////
}
}
else
block();
}
else{
myAgent.removeBehaviour(this);
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
private class VERFY extends CyclicBehaviour {
private static final long serialVersionUID = 2965006172552026401L;
Vehicle ve11;
String [] mody=new String[3];
int Headt,Head2t,Headt3,Head2t4;
int x,y;
public void action() {
ve11=SumoCom.vehicles.get(id);
try {
if(letgo==1){
if(!ve11.getEdgeId().equals(myDes.destination)&&myDes.destination.charAt(0)=='D'&&!GETC&&!ELG){
MessageTemplate mt =MessageTemplate.and(MessageTemplate.MatchConversationId("GROUP"),
MessageTemplate.MatchPerformative(ACLMessage.INFORM));
ACLMessage msg = myAgent.receive(mt);
if (msg != null) {
String title2 = msg.getContent();
mody=title2.trim().split("-");
String SG=mody[0].trim();
String SM=mody[1].trim();
int ptime1=(int) Double.parseDouble(SM);
if(!MyGroupID.equals("NO")&&!SG.equals("NO")){
if(SG.length()==8){
//(MyGroupID
Headt=Character.getNumericValue(SG.charAt(7));
}
else{
Headt=Character.getNumericValue(SG.charAt(7));
Head2t=Character.getNumericValue(SG.charAt(8));
Headt=Headt*10+Head2t;
}
if(msg.getSender().getLocalName().length()==8){
Headt3=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
}
else{
Headt3=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
Head2t4=Character.getNumericValue(msg.getSender().getLocalName().charAt(8));
Headt3=Headt3*10+Head2t4;
}
x=-1000;
y=100;
int n=-1,z=-1;
int vi=-1;
// boolean behind=true;
for(int i=0;i<HeadQ2.size();i++){
if(HeadQ2.get(i).ID==Headt){
x=i;
n=i;
}
if(HeadQ2.get(i).FAR<0)
z=i;
if(HeadQ2.get(i).ID==Headt3){
if(HeadQ2.get(i).FAR<=0) {
vi=i;
y=i-1;
}else{
vi=y=i;
}
}
}
if(MyGroupID.equals(SG)&&GM==ptime1){
}
else{
if(x>0&&HeadQ2.get(x).FAR<0)
x=x-y-1;
else if(x>0)
x=x-y;
if(x>0&&x!=ptime1&&ptime1<HeadQ2.size()){
if(GM==100&&z!=-1&&myDes.destination.equals(drop[0].destination)){
myDes=drop[(n-z)%Dsize];
// GM=-1;
// System.out.println("(((((((( NO MEMBER "+(n-z)+" &&& Destination is "+drop[(n-z)%10].destination+" iam "+myAgent.getLocalName()+" and i is "+GM);
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
}
//!cov2.isEmpty()
System.out.println(HeadQ2.get(ptime1).ID+" ((("+ptime1+"((((( should bee "+HeadQ2.get(vi).ID+" "+x+"iam "+myAgent.getLocalName()+" he is "+msg.getSender().getLocalName());
String CON=new String();
if(qprocess[0]==null){
System.out.println("UUUUUUU "+myAgent.getLocalName()+" and i is "+GM);
// double current2= (arrivingDis(ve11.position)/ve11.speed)*1000;
qparm ter=new qparm();
//ter.idp=GM;
// ter.ttp=(int)current2;
qprocess[0]=ter;
}
CON=SG+"-"+x+"-"+qprocess[0].ttp+"-"+MyGroupID;
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("CHG");
MM.addReceiver(msg.getSender());
myAgent.send(MM);
}
}
}
else if(!MyGroupID.equals("NO")&&SG.equals("NO")){
if(msg.getSender().getLocalName().length()==8){
Headt3=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
}
else{
Headt3=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
Head2t4=Character.getNumericValue(msg.getSender().getLocalName().charAt(8));
Headt3=Headt3*10+Head2t4;
}
if(MyGroupID.length()==8){
//(MyGroupID
Headt=Character.getNumericValue(MyGroupID.charAt(7));
}
else{
Headt=Character.getNumericValue(MyGroupID.charAt(7));
Head2t=Character.getNumericValue(MyGroupID.charAt(8));
Headt=Headt*10+Head2t;
}
x=y=-1;
int z=-1;
// boolean behind=true;
for(int i=0;i<HeadQ2.size();i++){
if(HeadQ2.get(i).ID==Headt){
x=i;
}
if(HeadQ2.get(i).FAR<0)
z=i;
if(HeadQ2.get(i).ID==Headt3){
y=i;
}
}
if(y>-1&&HeadQ2.get(y).FAR<0)
y--;
y=x-y;
z=x-z;
int tD=y-z;
if(y>0){
String CON=new String();
if(qprocess[0]==null){
System.out.println("UUUUUUU "+myAgent.getLocalName()+" and i is "+GM);
qparm ter=new qparm();
qprocess[0]=ter;
}
if(!CK1){
CON=SG+"-"+y+"-"+qprocess[0].ttp+"-";
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("CHG");
MM.addReceiver(msg.getSender());
myAgent.send(MM);
// System.out.println(tD+" !!!!!! "+CON+" !!! "+CK1+" !!!!!! received no group i am"+myAgent.getLocalName()+" from "+msg.getSender().getLocalName());
}
else if(CK1&&tD>0&&tD<=Dsize-1){
CON=SG+"-"+tD+"-"+qprocess[0].ttp+"-";
ACLMessage MM=new ACLMessage(ACLMessage.INFORM);
MM.setContent(CON);
MM.setConversationId("CHG");
MM.addReceiver(msg.getSender());
myAgent.send(MM);
// System.out.println(tD+" !!!!!! "+CON+" !!! "+CK1+" !!!!!! received no group i am"+myAgent.getLocalName()+" from "+msg.getSender().getLocalName());
}
}
}
}
else
block();
}
}
else{
myAgent.removeBehaviour(this);
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
private class ChangeHeader extends CyclicBehaviour {
private static final long serialVersionUID = 2965006172552026401L;
Vehicle ve11;
//double localdistance7,localdistance8;
int Headt,NS;
Position2D pos3;
String[] mody=new String[4];
public void action() {
ve11=SumoCom.vehicles.get(id);
pos3=ve11.position;
if(letgo==1){
if(pos3.y>300&&!GETC){
MessageTemplate mt =MessageTemplate.and(MessageTemplate.MatchConversationId("HeaderG"),
MessageTemplate.MatchPerformative(ACLMessage.INFORM));
ACLMessage msg = myAgent.receive(mt);
if (msg != null) {
String title2 =new String();
title2=msg.getContent();
mody=title2.trim().split("-");
String Sign=mody[0].trim();
String ptime=new String();
ptime=mody[1].trim();
//System.out.println(msg.getSender().getLocalName()+" to "+ptime+" iam "+myAgent.getLocalName());
int ptime1=Integer.parseInt(ptime);
if(MyGroupID.equals(msg.getSender().getLocalName())){
ELG=true;
NS=GM;
if(Sign.equals("A"))
NS+=ptime1;
else
NS-=ptime1;
Headt=Math.abs(NS%Dsize);
try {
ve11.setSpeed(25);
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
myDes=drop[Headt];
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
System.out.println(msg.getSender().getLocalName()+" to "+GM+" iam "+myAgent.getLocalName()+" "+NS);
GM=100;
MyGroupID="NO";
}
}
else
block();
}
}
else{
myAgent.removeBehaviour(this);
}
}
}
private class ELECT extends CyclicBehaviour {
private static final long serialVersionUID = 2965006172552026401L;
Vehicle ve11;
String [] mody=new String[3];
int Headt,Head2t,Headt3,Head2t4;
int conter=0;
ArrayList<Integer> repeat3=new ArrayList<>();
public void action() {
ve11=SumoCom.vehicles.get(id);
try {
if(letgo==1){
if(!GETC&&!CK1){
MessageTemplate mt =MessageTemplate.and(MessageTemplate.MatchConversationId("elect"),
MessageTemplate.MatchPerformative(ACLMessage.INFORM));
ACLMessage msg = myAgent.receive(mt);
if (msg != null) {
String title2 = msg.getContent();
mody=title2.trim().split("-");
String SG=mody[0].trim();
String SM=mody[1].trim();
int ptime1=(int) Double.parseDouble(SM);
if(SG.length()==8){
//(MyGroupID
Headt=Character.getNumericValue(SG.charAt(7));
}
else{
Headt=Character.getNumericValue(SG.charAt(7));
Head2t=Character.getNumericValue(SG.charAt(8));
Headt=Headt*10+Head2t;
}
if(qprocess[0]==null||qprocess[0].ttp<ptime1){
qparm ent=new qparm();
ent.idp=Headt;
ent.ttp=ptime1;
qprocess[0]=ent;
}
if(msg.getSender().getLocalName().length()==8){
Headt3=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
}
else{
Headt3=Character.getNumericValue(msg.getSender().getLocalName().charAt(7));
Head2t4=Character.getNumericValue(msg.getSender().getLocalName().charAt(8));
Headt3=Headt3*10+Head2t4;
}
if((MyGroupID.equals("NO")||MyGroupID.equals(SG))&&!CK1&&conter>=1){
ELG=true;
conter=0;
MyGroupID=SG;
GM=Dsize;
myDes=drop[0];
try {
vehicle.changeTarget(myDes.getDestination());
} catch (UnimplementedMethod ex) {
Logger.getLogger(DriverAgent.class.getName()).log(Level.SEVERE, null, ex);
}
System.out.println(" Elected to Header "+MyGroupID+" iam "+myAgent.getLocalName()+" and i is "+GM);
CK1=true;
double current2= arrivingDis(ve11.position,1);
double Rtime=(ptime1-SumoCom.currentSimStep);
double ss=((double)current2/Rtime)*1000;
ve11.setSpeed(ss-1);
}
else if ((MyGroupID.equals("NO")||MyGroupID.equals(SG))&&!repeat3.contains(Headt3)){
conter++;
repeat3.add(Headt3);
}
}
else
block();
}
}
else{
myAgent.removeBehaviour(this);
}
} catch (UnimplementedMethod e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
}