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knowledge_generated.pl
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knowledge_generated.pl
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%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% a_star.pl
%%%%%%%%%%%%%%%%%%%%%%%%%%%
astarNoClear(GoalXr,GoalYr,Path, Actions) :-
empty_heap(Frontier),
getAttachments(Attachments),
energy(Level),
expandFrontierNoClear(0, 0, 0, 0, Level, [], [], Attachments, [], GoalXr, GoalYr, Frontier, [], ExpandedFrontier),
astarRecursiveNoClear(GoalXr, GoalYr, ExpandedFrontier, [state((0,0), Attachments, [])], [(FinalX, FinalY)|RevPath], RevActions),!,
distanceBetweenPoints_Euclidian(0, 0, GoalXr, GoalYr, StartDist),
distanceBetweenPoints_Euclidian(FinalX, FinalY, GoalXr, GoalYr, ResultDist),
ResultDist < StartDist,
reverse([(FinalX, FinalY)|RevPath], Path_relative),
maplist(relativeToAbsolutePositionOfPoints, Path_relative, Path),
reverse(RevActions, Actions).
astarClear(GoalXr, GoalYr, Path, Actions) :-
empty_heap(Frontier),
getAttachments(Attachments),
energy(Level),
expandFrontierClear(0, 0, 0, 0, Level, [], [], Attachments, [], GoalXr, GoalYr, Frontier, [], ExpandedFrontier),
astarRecursiveClear(GoalXr, GoalYr, ExpandedFrontier, [state((0,0), Attachments, [])], [(FinalX, FinalY)|RevPath], RevActions),!,
distanceBetweenPoints_Euclidian(0, 0, GoalXr, GoalYr, StartDist),
distanceBetweenPoints_Euclidian(FinalX, FinalY, GoalXr, GoalYr, ResultDist),
ResultDist < StartDist,
reverse([(FinalX, FinalY)|RevPath], Path_relative),
maplist(relativeToAbsolutePositionOfPoints, Path_relative, Path),
reverse(RevActions, Actions).
astarRecursiveNoClear(GoalX,GoalY,Frontier, _, [(X,Y)| Path], CompleteActions) :-
get_from_heap(Frontier,_,state((X,Y), _, _, _, Path, CompleteActions, _, _), _),
(
(X = GoalX, Y = GoalY)
;
distMan(0, 0, X, Y, 5)
),
!.
astarRecursiveClear(GoalX,GoalY,Frontier, _, [(X,Y)| Path], CompleteActions) :-
get_from_heap(Frontier,_,state((X,Y), _, _, _, Path, CompleteActions, _, _), _),
(
(X = GoalX, Y = GoalY)
;
distMan(0, 0, X, Y, 5)
),
!.
astarRecursiveNoClear(GoalX,GoalY,Frontier, ExpandedStates, CompletePath, CompleteActions) :-
get_from_heap(Frontier,_,state((X,Y), ParentStepCost, ParentRotationLimit, ParentEnergy, ParentPath, ParentActions, ParentAttachments, ParentClearedCells), Frontier1),
expandFrontierNoClear(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, ParentPath, ParentActions,ParentAttachments, ParentClearedCells, GoalX,GoalY,Frontier1, ExpandedStates, ExpandedFrontier),
astarRecursiveNoClear(GoalX,GoalY,ExpandedFrontier, [state((X,Y), ParentAttachments, ParentClearedCells)|ExpandedStates], CompletePath, CompleteActions).
astarRecursiveClear(GoalX,GoalY,Frontier, ExpandedStates, CompletePath, CompleteActions) :-
get_from_heap(Frontier,_,state((X,Y), ParentStepCost, ParentRotationLimit, ParentEnergy, ParentPath, ParentActions, ParentAttachments, ParentClearedCells), Frontier1),
expandFrontierClear(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, ParentPath, ParentActions,ParentAttachments, ParentClearedCells, GoalX,GoalY,Frontier1, ExpandedStates, ExpandedFrontier),
astarRecursiveClear(GoalX,GoalY,ExpandedFrontier, [state((X,Y), ParentAttachments, ParentClearedCells)|ExpandedStates], CompletePath, CompleteActions).
expandFrontierNoClear(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, ParentPath, ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, Frontier, ExpandedStates, ExpandedFrontier):-
validMoveActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, [(X,Y)|ParentPath], ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, Frontier, MoveFrontier),!,
validRotateActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, [(X,Y)|ParentPath], ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, MoveFrontier, ExpandedFrontier),!.
expandFrontierClear(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, ParentPath, ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, Frontier, ExpandedStates, ExpandedFrontier):-
validMoveActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, [(X,Y)|ParentPath], ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, Frontier, MoveFrontier),!,
validRotateActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, [(X,Y)|ParentPath], ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, MoveFrontier, RotateFrontier),!,
validClearActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, [(X,Y)|ParentPath], ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, RotateFrontier, ExpandedFrontier),!.
validMoveActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, Path, ParentActions, Attachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, Frontier, ExpandedFrontier):-
StepCost is ParentStepCost +1,
updateEnergy(ParentEnergy, UpdatedEnergy),
findall(Heuristic-state((AdjX,AdjY), StepCost, ParentRotationLimit, UpdatedEnergy, Path, [move(D)|ParentActions], Attachments, ParentClearedCells),
(
translate(D, X, Y, AdjX, AdjY),
not(astarBlocked(D, X, Y, Attachments, ParentClearedCells)),
not(member(state((AdjX,AdjY), Attachments, ParentClearedCells),ExpandedStates)), %%% Find less exhaustive solution.
heuristic(AdjX, AdjY, GoalX, GoalY, StepCost, Heuristic)
),
PassableStates),
insertListInHeap(PassableStates, Frontier, ExpandedFrontier).
validRotateActions(_,_,_, _, _, _, _, [], _, _, _, _,Frontier,Frontier).
validRotateActions(X,Y,_, 1, _, _, _, _, _, _, _, _,Frontier,Frontier):-
not(obstacleClose(X,Y)).
validRotateActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, Path, ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, Frontier, ExpandedFrontier):-
(ParentRotationLimit = 1 -> RotationLimit = 0; RotationLimit is ParentRotationLimit+1),
StepCost is ParentStepCost + 2,
heuristic(X, Y, GoalX, GoalY, StepCost, Heuristic),
updateEnergy(ParentEnergy, UpdatedEnergy),
findall(Heuristic-state((X,Y), StepCost, RotationLimit, UpdatedEnergy, Path, [rotate(R)|ParentActions], Attachments, ParentClearedCells),
(member(R,[cw,ccw]),
not(astarBlockedRotation(X, Y, R, ParentAttachments,ParentClearedCells)),
rotateAttachments(R,ParentAttachments, Attachments),
not(member(state((X,Y), Attachments, ParentClearedCells),ExpandedStates))),
PassableStates),
insertListInHeap(PassableStates, Frontier, ExpandedFrontier).
validClearActions(_,_, _, _, ParentEnergy, _, _, _, _, _, _, _, Frontier, Frontier):-
not(checkEnergy(ParentEnergy, _)).
validClearActions(X,Y, ParentStepCost, ParentRotationLimit, ParentEnergy, Path, ParentActions, ParentAttachments, ParentClearedCells, GoalX, GoalY, ExpandedStates, Frontier, ExpandedFrontier):-
team(Team),
checkEnergy(ParentEnergy, EnergyAfterClear),
updateEnergy(EnergyAfterClear, UpdatedEnergy),
StepCost is ParentStepCost + 5,
heuristic(X, Y, GoalX, GoalY, StepCost, Heuristic),
findall(Heuristic-state((X,Y), StepCost, ParentRotationLimit, UpdatedEnergy, Path, [clear(CellX, CellY)|ParentActions], ParentAttachments, AllClearedCells),
(anyDirection(D), translate(D, X, Y, CellX, CellY), astarBlocked(D, X, Y, ParentAttachments, ParentClearedCells),
(obstacle(CellX, CellY) ; thing(CellX, CellY, block, _)),
not(member((CellX, CellY), ParentClearedCells)), ClearedCells = [(CellX, CellY)],
not(((attached(CellX, CellY) ; thing(CellX, CellY, entity, Team)) )),
append(ClearedCells, ParentClearedCells, AllClearedCells),
not(member(state((X,Y), ParentAttachments, AllClearedCells),ExpandedStates))
),
PassableStates),
insertListInHeap(PassableStates, Frontier, ExpandedFrontier).
heuristic(Xr, Yr, GoalXr, GoalYr, StepCost, Heuristic) :-
distMan(Xr, Yr, GoalXr, GoalYr, Dist),
Heuristic is Dist + StepCost.
insertListInHeap(List, Heap, ExpandedHeap):-
list_to_heap(List, ListHeap),
merge_heaps(Heap, ListHeap, ExpandedHeap).
clearedCells(CellX, CellY, ClearedCells):-
ClearedCells = [(CellX, CellY)].
checkEnergy(CurrentEnergy, UpdatedEnergy) :-
clearEnergyCost(ClearCost),
CurrentEnergy >= ClearCost,
UpdatedEnergy is CurrentEnergy - ClearCost.
updateEnergy(CurrentEnergy, UpdatedEnergy):-
((maxEnergy(MaxLevel), CurrentEnergy < MaxLevel) -> UpdatedEnergy is CurrentEnergy +1; UpdatedEnergy is CurrentEnergy).
obstacleClose(X,Y):-
surroundingCells(X,Y, SurroundingCells),
member((RelativeAdjacentX,RelativeAdjacentY), SurroundingCells),
obstacle(RelativeAdjacentX,RelativeAdjacentY).
surroundingCells(X,Y,Cells):-
findall((RelativeAdjacentX,RelativeAdjacentY),
(between(-1,1,LocalAdjacentX),
between(-1,1,LocalAdjacentY),
not((LocalAdjacentX = 0, LocalAdjacentY = 0)),
RelativeAdjacentX is X+LocalAdjacentX,
RelativeAdjacentY is Y+LocalAdjacentY),
Cells).
astarBlockedRotation(MyX, MyY, R, Attachments, ClearedCells) :-
member(attachedToMe(X_att, Y_att, _, _),Attachments),
rotation90(R, X_att, Y_att, Xr, Yr),
X is MyX + Xr,
Y is MyY + Yr,
astarImpassable(X, Y, MyX, MyY),
not(member((X, Y), ClearedCells)).
astarBlocked(D, X, Y, _, ClearedCells) :-
translate(D, X, Y, X1, Y1),
astarImpassable(X1, Y1,X,Y),
not(member((X1,Y1),ClearedCells)),
!.
astarBlocked(D, X, Y, Attachments, ClearedCells) :-
member(attachedToMe(AttachmentXLocal, AttachmentYLocal, _, _), Attachments),
AttachmentXRelative is X + AttachmentXLocal,
AttachmentYRelative is Y + AttachmentYLocal,
translate(D, AttachmentXRelative, AttachmentYRelative, X1,Y1),
astarImpassable(X1,Y1, X,Y),
not(member((X1,Y1),ClearedCells)),
!.
astarImpassable(X, Y,_,_) :- obstacle(X, Y).
astarImpassable(X, Y,_,_) :- thing(X, Y, entity, _).
astarImpassable(X, Y, MyX, MyY) :- thing(X, Y, block, BlockType), AttahcmentX is X-MyX, AttahcmentY is Y-MyY, not(attachedToMe(AttahcmentX, AttahcmentY, block, BlockType)).
cellsInRange(X,Y, Range, Cells) :-
NegRange is 0 - Range,
findall((CellX,CellY),
(
between(NegRange,Range,X1),
between(NegRange,Range, Y1),
CellX is X1 + X,
CellY is Y1 + Y,
distMan(X, Y,CellX,CellY,D),
D =< Range
),
Cells).
cellsInRange(X,Y, MinRange, MaxRange, Cells) :-
NegMaxRange is 0 - MaxRange,
findall((CellX,CellY),
(
between(NegMaxRange,MaxRange,X1),
between(NegMaxRange,MaxRange, Y1),
CellX is X1 + X,
CellY is Y1 + Y,
distMan(X, Y,CellX,CellY,D),
D =< MaxRange,
D >= MinRange
),
Cells).
%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% communication.pl
%%%%%%%%%%%%%%%%%%%%%%%%%%%
findAdjacentAgents(Agents) :-
findall((Dist, Xr, Yr),
(
thing(Xr, Yr, entity, Team),
team(Team),
distEuc(0, 0, Xr, Yr, Dist)
),
AgentsInSight),
sort(AgentsInSight, AgentsInSightSorted),
findAdjacentAgents(AgentsInSightSorted, [], [], Agents).
findAdjacentAgents([], _, Agents, Agents).
findAdjacentAgents([(Dist1, X1, Y1)|T], NotConnected, Connected, AdjacentAgents) :-
((member((X2, Y2), Connected), distEuc(X1, Y1, X2, Y2, Dist2), Dist2 < Dist1);
(member((X3, Y3), NotConnected), distEuc(X1, Y1, X3, Y3, Dist3), Dist3 < Dist1)
) ->
findAdjacentAgents(T, [(X1, Y1)|NotConnected], Connected, AdjacentAgents);
findAdjacentAgents(T, NotConnected,[(X1, Y1)|Connected], AdjacentAgents).
identifyCommonEnvironmentPercepts(Xr, Yr, Cep) :-
visionForRole(default, VisionRange),
findall([Xe, Ye, Type],
(
(
thing(Xe, Ye, Type, _);
(obstacle(Xe, Ye), Type = obstacle);
(goalZone(Xe, Ye), Type = goalZone);
(roleZone(Xe, Ye), Type = roleZone)
),
(Xe, Ye) \= (Xr, Yr),
distMan(Xr, Yr, Xe, Ye, D1), D1 =< VisionRange,
distMan(0, 0, Xe, Ye, D2), D2 =< VisionRange
),
Cep
).
getAllConnectionRequestsFromStep(Step, ConnectionRequests, Len) :-
findall([AgentName, AgentCoordinates, CEPs, Step],
connectionRequest(AgentName, AgentCoordinates, CEPs, Step),
ConnectionRequests),
length(ConnectionRequests, Len).
uniqueConnectionRequests(Requests, UniqueRequests) :-
findall((Agent, AgentX, AgentY, Xr, Yr, CEP),
(
member([Agent, [AgentX, AgentY], [Xr, Yr, CEP], _], Requests),
CEP \= []
),
NonEmptyRequests),
findall((Agent, AgentX, AgentY, Xr, Yr, CEP),
(
member((Agent, AgentX, AgentY, Xr, Yr, CEP), NonEmptyRequests),
not((
member((OtherAgent, _, _, Xr, Yr, OtherCEP), NonEmptyRequests),
OtherAgent \= Agent,
sort(CEP, CEPsorted),
sort(OtherCEP, CEPsorted)
))
),
UniqueRequests).
matchingEnvironmentPercepts(Xr, Yr, CEP, Step, MyX, MyY) :-
X is -Xr, Y is -Yr,
savedCommonEnvironmentPercepts([MyX, MyY], [X, Y, MyCEP], Step),
matchEnvironmentPercepts(CEP, MyCEP, X, Y).
matchEnvironmentPercepts(CEP1, CEP2, X, Y) :-
findall([X2, Y2, Type],
(
member([X1, Y1, Type], CEP1),
X2 is X1+X, Y2 is Y1+Y
),
CEP_translated),
sort(CEP2, CEP2_sorted),
sort(CEP_translated, CEP2_sorted).
connectedAgentsOrdered(ConnectedAgents_ord) :-
findall(Agent, agentOffset(Agent, _, _), Agents),
list_to_ord_set(Agents, Agents_ord),
name(MyName),
ord_add_element(Agents_ord, MyName, ConnectedAgents_ord).
savedConnectionUpdates(SavedUpdates) :-
findall(Update, connectionUpdate(Update), SavedUpdates).
findNewConnections(ConnectionUpdateList, NewConnections, MapDimensions) :-
name(MyName),
foldl(findNC_folder(ConnectionUpdateList), [(MyName, 0, 0)], ([], []), (AllConnections, FoundMapDimensions)),
findall((AgentName, OffsetX, OffsetY),
agentOffset(AgentName, OffsetX, OffsetY),
OldConnections),
ord_del_element(AllConnections, (MyName, 0, 0), AllConnectionsWithoutMe),
ord_subtract(AllConnectionsWithoutMe, OldConnections, NewConnections),
findBestMapDimensions(xx, MapDimensions).
findNC_folder(_, Agent, Input, Output) :-
Agent = (AgentName, OffsetX, OffsetY),
Input = (CheckedConnections, FoundWidhtsAndHeights),
member((AgentName, OffsetX, OffsetY), CheckedConnections),
!,
Output = (CheckedConnections, FoundWidhtsAndHeights).
findNC_folder(_, Agent, Input, Output) :-
Agent = (AgentName, OffsetX, OffsetY),
Input = (CheckedConnections, FoundWidhtsAndHeights),
member((AgentName, OtherOffsetX, OtherOffsetY), CheckedConnections),
(OtherOffsetX \= OffsetX ; OtherOffsetY \= OffsetY),
findCircumferencesFromOffsets(OffsetX, OffsetY, OtherOffsetX, OtherOffsetY, L),
!,
append(L, FoundWidhtsAndHeights, NewFoundWidhtsAndHeights),
sort(NewFoundWidhtsAndHeights, NewFoundWidhtsAndHeights_Sorted),
Output = (CheckedConnections, NewFoundWidhtsAndHeights_Sorted).
findNC_folder(ConnectionUpdateList, Agent, Input, Output) :-
Agent = (AgentName, OffsetX, OffsetY),
Input = (CheckedConnections, FoundWidhtsAndHeights),
member((AgentName, AgentNewConnections, AgentOldConnections, _, _), ConnectionUpdateList),
ord_union(AgentNewConnections, AgentOldConnections, AgentConnections),
maplist(translateToMyOrigin_Agent(OffsetX, OffsetY), AgentConnections, AgentConnections_offset),
translateCoordinatesToMyOrigin(OffsetX, OffsetY, OffsetXFromMyOrigin, OffsetYFromMyOrigin),
ord_add_element(CheckedConnections, (AgentName, OffsetXFromMyOrigin, OffsetYFromMyOrigin), CheckedConnectionsWithMe),
ord_subtract(AgentConnections_offset, CheckedConnectionsWithMe, NotCheckedConnections),
foldl(
findNC_folder(ConnectionUpdateList),
NotCheckedConnections,
(CheckedConnectionsWithMe, FoundWidhtsAndHeights),
(AllConnections, MapDimensions)
),
Output = (AllConnections, MapDimensions).
findCircumferencesFromOffsets(OffsetX, OffsetY, OtherOffsetX, OtherOffsetY, Circumferences) :-
TC is abs(OtherOffsetX - OffsetX),
PC is abs(OtherOffsetY - OffsetY),
(
(TC > 10, PC > 10, Circumferences = [toroidalCircumference(TC), poloidalCircumference(PC)])
;
(TC =< 10, PC > 10, Circumferences = [poloidalCircumference(PC)])
;
(TC > 10, PC =< 10, Circumferences = [toroidalCircumference(TC)])
).
findBestMapDimensions([], []) :- !.
findBestMapDimensions(FoundMapDimensions, MapDimensions) :-
findall(PC,
member(poloidalCircumference(PC), FoundMapDimensions),
PCs),
((PCs = [], BestPC = []) ; (PCs = [PC_Head|PC_Tail], foldl(gcd_helper, PC_Tail, PC_Head, PC_GCD), BestPC = [poloidalCircumference(PC_GCD)])),
findall(TC,
member(toroidalCircumference(TC), FoundMapDimensions),
TCs),
((TCs = [], BestTC = []) ; (TCs = [TC_Head|TC_Tail], foldl(gcd_helper, TC_Tail, TC_Head, TC_GCD), BestTC = [toroidalCircumference(TC_GCD)])),
append(BestPC, BestTC, MapDimensions).
shareCommonKnowledge(AllUpdates, NewConnections, NewKnowledge) :-
shareableKnowledge((MyDispensers, MyGoalCells, MyRoleCells)),
findall((NewDispensers, NewGoalCells, NewRoleCells),
(
member((Agent, Xoffset, Yoffset), NewConnections),
member((Agent, _, _, AgentKnowledge, AgentTaskMaster), AllUpdates),
(
AgentTaskMaster = [] ;
(AgentTaskMaster = [TM], not(taskMaster(TM)))
),
AgentKnowledge = (AgentDispensers, AgentGoalCells, AgentRoleCells),
addOffset_list(Xoffset, Yoffset, AgentDispensers, Dispensers),
addOffset_list(Xoffset, Yoffset, AgentGoalCells, GoalCells),
addOffset_list(Xoffset, Yoffset, AgentRoleCells, RoleCells),
ord_subtract(Dispensers, MyDispensers, NewDispensers),
ord_subtract(GoalCells, MyGoalCells, NewGoalCells),
ord_subtract(RoleCells, MyRoleCells, NewRoleCells)
),
Knowledge),
foldl(collectListsToSets, Knowledge, ([], [], []), NewKnowledge).
shareableKnowledge(Knowledge) :-
findall(dispenser(Xd, Yd, Details),
dispenser(Xd, Yd, Details),
Dispensers),
list_to_ord_set(Dispensers, Ord_Dispensers),
findall(goalCell(Xgc, Ygc),
goalCell(Xgc, Ygc),
GoalCells),
list_to_ord_set(GoalCells, Ord_GoalCells),
findall(roleCell(Xrc, Yrc),
roleCell(Xrc, Yrc),
RoleCells),
list_to_ord_set(RoleCells, Ord_RoleCells),
Knowledge = (Ord_Dispensers, Ord_GoalCells, Ord_RoleCells).
newConnectionsOrdered(NewConnectionsOrdered) :-
findall((Agent, OffsetX, OffsetY),
(
newConnection(Agent, OffsetX, OffsetY),
not(agentOffset(Agent, OffsetX, OffsetY))
),
NewConnections),
list_to_ord_set(NewConnections, NewConnectionsOrdered).
oldConnectionsOrdered(OldConnectionsOrdered) :-
findall((Agent, OffsetX, OffsetY),
(
agentOffset(Agent, OffsetX, OffsetY),
not(newConnection(Agent, OffsetX, OffsetY))
),
OldConnections),
list_to_ord_set(OldConnections, OldConnectionsOrdered).
%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% dynamic.pl
%%%%%%%%%%%%%%%%%%%%%%%%%%%
:- dynamic
attachedToMe/2, % Things attached to the agent
enumDirList/2, % Pseudo-random list of enumerated directions
clearEnergyCost/1, % Cost of clearing
maxEnergy/1, % Maximum energy
myRole/1, % Current role
name/1, team/1, teamSize/1, steps/1, role/6,
accepted/1, attached/2, deactivated/1, energy/1, goalZone/2, hit/2,
lastAction/1, lastActionResult/1, lastActionParams/1,
norm/5, roleZone/2, surveyed/4, surveyed/2, score/1,
step/1, task/4, thing/4, violation/1,
dispenser/3, goalCell/2, roleCell/2,
myPosition/2,
visited/3,
savedCommonEnvironmentPercepts/3,
agentOffset/3,
newConnection/3,
connectionRequest/4,
connectionUpdate/1,
connectionToInfo/2,
newConnections/3,
actionPlan/1, explore/0, fullyEquipped/0, fullyConnected/0, findMapDimensions/0, goTo/2, restart/0,
taskMaster/1, submitAgent/1, submitted/1,
taskPlan/1, taskPlan/7, taskPlanToDo/1,
taskSubmitted/1, dropTask/1, deleteTask/1,
share/1,
resourceRequest/2, resourceRequestSent/3, resourceReply/1, savedResourceReply/1,
connectionFromTo/3, connectionFromTo/5,
occupied/2, blockDelivered/1, waypointsToGoal/2,
translateToMyOrigin_Agent/2, findNC_folder/1, collectListsToSets/0, gcd_helper/0,
connectedBlocks_folder/0, rankTask/0, buildAgentPlanFromAssignments/1, relativeToAbsolutePositionOfPoints/0.
%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% heap.pl
%%%%%%%%%%%%%%%%%%%%%%%%%%%
/* Part of SWI-Prolog
Author: Lars Buitinck
E-mail: larsmans@gmail.com
WWW: http://www.swi-prolog.org
Copyright (c) 2006-2015, Lars Buitinck
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
/** <module> heaps/priority queues
*
* Heaps are data structures that return the entries inserted into them in an
* ordered fashion, based on a priority. This makes them the data structure of
* choice for implementing priority queues, a central element of algorithms
* such as best-first/A* search and Kruskal's minimum-spanning-tree algorithm.
*
* This module implements min-heaps, meaning that items are retrieved in
* ascending order of key/priority. It was designed to be compatible with
* the SICStus Prolog library module of the same name. merge_heaps/3 and
* singleton_heap/3 are SWI-specific extension. The portray_heap/1 predicate
* is not implemented.
*
* Although the data items can be arbitrary Prolog data, keys/priorities must
* be ordered by @=</2. Be careful when using variables as keys, since binding
* them in between heap operations may change the ordering.
*
* The current version implements pairing heaps. These support insertion and
* merging both in constant time, deletion of the minimum in logarithmic
* amortized time (though delete-min, i.e., get_from_heap/3, takes linear time
* in the worst case).
*
* @author Lars Buitinck
*/
/*
* Heaps are represented as heap(H,Size) terms, where H is a pairing heap and
* Size is an integer. A pairing heap is either nil or a term
* t(X,PrioX,Sub) where Sub is a list of pairing heaps t(Y,PrioY,Sub) s.t.
* PrioX @< PrioY. See predicate is_heap/2, below.
*/
add_to_heap(heap(Q0,M),P,X,heap(Q1,N)) :-
meld(Q0,t(X,P,[]),Q1),
N is M+1.
delete_from_heap(Q0,P,X,Q) :-
get_from_heap(Q0,P,X,Q),
!.
delete_from_heap(Q0,Px,X,Q) :-
get_from_heap(Q0,Py,Y,Q1),
delete_from_heap(Q1,Px,X,Q2),
add_to_heap(Q2,Py,Y,Q).
empty_heap(heap(nil,0)).
singleton_heap(heap(t(X,P,[]), 1), P, X).
get_from_heap(heap(t(X,P,Sub),M), P, X, heap(Q,N)) :-
pairing(Sub,Q),
N is M-1.
heap_size(heap(_,N),N).
heap_to_list(Q,L) :-
to_list(Q,L).
to_list(heap(nil,0),[]) :- !.
to_list(Q0,[P-X|Xs]) :-
get_from_heap(Q0,P,X,Q),
heap_to_list(Q,Xs).
is_heap(V) :-
var(V), !, fail.
is_heap(heap(Q,N)) :-
integer(N),
nonvar(Q),
( Q == nil
-> N == 0
; N > 0,
Q = t(_,MinP,Sub),
are_pairing_heaps(Sub, MinP)
).
is_pairing_heap(V, _) :-
var(V),
!,
fail.
is_pairing_heap(nil, _).
is_pairing_heap(t(_,P,Sub), MinP) :-
MinP @=< P,
are_pairing_heaps(Sub, P).
are_pairing_heaps(V, _) :-
var(V),
!,
fail.
are_pairing_heaps([], _).
are_pairing_heaps([Q|Qs], MinP) :-
is_pairing_heap(Q, MinP),
are_pairing_heaps(Qs, MinP).
list_to_heap(Xs,Q) :-
empty_heap(Empty),
list_to_heap(Xs,Empty,Q).
list_to_heap([],Q,Q).
list_to_heap([P-X|Xs],Q0,Q) :-
add_to_heap(Q0,P,X,Q1),
list_to_heap(Xs,Q1,Q).
min_of_heap(heap(t(X,P,_),_), P, X).
min_of_heap(Q,Px,X,Py,Y) :-
get_from_heap(Q,Px,X,Q0),
min_of_heap(Q0,Py,Y).
merge_heaps(heap(L,K),heap(R,M),heap(Q,N)) :-
meld(L,R,Q),
N is K+M.
meld(nil,Q,Q) :- !.
meld(Q,nil,Q) :- !.
meld(L,R,Q) :-
L = t(X,Px,SubL),
R = t(Y,Py,SubR),
( Px @< Py
-> Q = t(X,Px,[R|SubL])
; Q = t(Y,Py,[L|SubR])
).
pairing([], nil).
pairing([Q], Q) :- !.
pairing([Q0,Q1|Qs], Q) :-
meld(Q0, Q1, Q2),
pairing(Qs, Q3),
meld(Q2, Q3, Q).
%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% navigation.pl
%%%%%%%%%%%%%%%%%%%%%%%%%%%
translate(n, X1, Y1, X2, Y2) :- X2 = X1, Y2 is Y1 - 1.
translate(s, X1, Y1, X2, Y2) :- X2 = X1, Y2 is Y1 + 1.
translate(e, X1, Y1, X2, Y2) :- Y2 = Y1, X2 is X1 + 1.
translate(w, X1, Y1, X2, Y2) :- Y2 = Y1, X2 is X1 - 1.
rotation90(ccw, 1, 0, 0, -1).
rotation90(ccw, 0, -1, -1, 0).
rotation90(ccw, -1, 0, 0, 1).
rotation90(ccw, 0, 1, 1, 0).
rotation90(cw, 0, -1, 1, 0).
rotation90(cw, -1, 0, 0, -1).
rotation90(cw, 0, 1, -1, 0).
rotation90(cw, 1, 0, 0, 1).
rotation180(ccw, 1, 0, -1, 0).
rotation180(ccw, 0, -1, 0, 1).
rotation180(ccw, -1, 0, 1, 0).
rotation180(ccw, 0, 1, 0, -1).
rotation180(cw, 1, 0, -1, 0).
rotation180(cw, 0, -1, 0, 1).
rotation180(cw, -1, 0, 1, 0).
rotation180(cw, 0, 1, 0, -1).
direction(Xr, Yr, D) :-
translate(D, 0, 0, Xr, Yr).
adjacent(X, Y, Xa, Ya) :-
translate(_, X, Y, Xa, Ya).
rotation(R, Xr, Yr, Xt, Yt, Angle) :- rotation90(R, Xr, Yr, Xt, Yt), Angle = 90.
rotation(R, Xr, Yr, Xt, Yt, Angle) :- rotation180(R, Xr, Yr, Xt, Yt), Angle = 180.
attachedToMe(Xr, Yr, Type, Details) :-
translate(_, 0, 0, Xr, Yr),
attachedToMe(Xr, Yr),
thing(Xr, Yr, Type, Details),
(Type = block; Type = entity).
furthestConnectionFromTo(X1, Y1, X2, Y2) :-
findall((Dist, X3, Y3, X4, Y4),
connectionFromTo(X3, Y3, X4, Y4, _),
Connections),
Connections \= [],
reverseSort(Connections, ConnectionsSorted),
ConnectionsSorted = [(_, X1, Y1, X2, Y2)|_].
impassable(X, Y) :- obstacle(X, Y).
impassable(X, Y) :- thing(X, Y, entity, _).
impassable(X, Y) :- thing(X, Y, block, BlockType), not(attachedToMe(X, Y, block, BlockType)).
blocked(D) :-
blockedForMe(D) ; blockedForMyAttachments(D).
blocked(Xr, Yr) :-
impassable(X, Y).
blockedForMe(D) :-
translate(D, 0, 0, X, Y),
impassable(X, Y).
blockedForMyAttachments(D) :-
attachedToMe(X, Y, _, _),
translate(D, X, Y, X2, Y2),
impassable(X2, Y2).
blockedRotation(R, Angle) :-
attachedToMe(X, Y, _, _),
(
Angle = 90 ->
rotation90(R, X, Y, Xr, Yr);
rotation180(R, X, Y, Xr, Yr)
),
impassable(Xr, Yr).
blockedAfterRotation(R, D) :-
findall(attachedToMe(Xr, Yr, Type, Details), attachedToMe(Xr, Yr, Type, Details), Attachments),
rotateAttachments(R, Attachments, AttachmentsRotated),
member(attachedToMe(Xr, Yr, _, _), AttachmentsRotated),
translate(D, Xr, Yr, X, Y),
impassable(X, Y).
rotateAttachments(R, Attachments, AttachmentsRotated) :-
findall(attachedToMe(Xr, Yr, block, BlockType),
(
member(attachedToMe(X, Y, block, BlockType), Attachments),
rotation90(R, X, Y, Xr, Yr)
),
AttachmentsRotated).
availableAttachmentSpot(Xr, Yr) :-
getAttachments(Attachments),
(
Attachments = [] ->
member((Xr, Yr), [(1, 0), (0, 1), (-1, 0), (0, -1)])
;
false
).
getAttachments(Attachments) :-
findall(attachedToMe(X, Y, block, BlockType), attachedToMe(X, Y, block, BlockType), Attachments).
rotationRequiredToAttach(Xr, Yr) :-
not(availableAttachmentSpot(Xr, Yr)), availableAttachmentSpot(_, _).
possibleRotationToAttach(Xr, Yr, R) :-
availableAttachmentSpot(Xa, Ya),
rotation(R, Xa, Ya, Xr, Yr, Angle),
(
Angle = 90 ->
not(blockedRotation(R, 90));
(not(blockedRotation(R, 90)), not(blockedRotation(R, 180)))
).
randomDirection(D) :-
step(N), name(MyName), nameToNumber(MyName, Num),
Seed is (N + Num) mod(24), enumDirList(DL, Seed),
member(D, DL),
not(blocked(D)).
exploreScore(D, VSum) :-
Nv = 30,
step(StepC),
myPosition(MyX, MyY),
translate(D, MyX, MyY, X, Y),
findall(V,
(visited(Xv, Yv, StepV), distanceBetweenPoints_Manhattan(X, Y, Xv, Yv, Vd), Vd =< Nv,
StepDelta is StepC-StepV, StepDelta > 0, V is Vd/(StepDelta*StepDelta)),
VScoreList),
listSum(VScoreList, VSum, _).
disruptScore(D, VSum) :-
team(Team),
translate(D, 0, 0, Xr, Yr),
findall(Vd,
( (thing(X, Y, entity, Team) ; goalZone(X, Y)), distMan(Xr, Yr, X, Y, Vd)),
VScoreList),
listSum(VScoreList, VSum, _).
distanceScore(D, Xr, Yr, Score) :-
distanceBetweenPoints_Manhattan(0, 0, Xr, Yr, CurrentDistance),
translate(D, 0, 0, X_new, Y_new),
distanceBetweenPoints_Manhattan(X_new, Y_new, Xr, Yr, NewDistance),
Score is CurrentDistance - NewDistance.
safeScore(D, Score) :-
epicenter(Xe, Ye) ->
( translate(D, 0, 0, Xr, Yr), distMan(Xr, Yr, Xe, Ye, Dist), Score is 10*Dist ) ;
( Score = 0 ).
epicenter(X, Y) :-
findall((Xc, Yc),
(thing(Xc, Yc, marker, clear) ; thing(Xc, Yc, marker, ci) ; thing(Xc, Yc, marker, cp)),
StrikeZone),
StrikeZone \= [],
outerPoints(StrikeZone, [(WestX, _), (_, NorthY), (EastX, _), (_, SouthY)]),
X is (WestX + EastX)/2,
Y is (NorthY + SouthY)/2.
outerPoints([Point|Points], OuterPointsList) :-
outerPoints_iterator(Points, Point, Point, Point, Point, OuterPointsList).
outerPoints_iterator([], West, North, East, South, [West, North, East, South]).
outerPoints_iterator([(X, Y)|Points], (WestX, WestY), (NorthX, NorthY), (EastX, EastY), (SouthX, SouthY), OuterPoints) :-
(X < WestX -> West2 = (X, Y); West2 = (WestX, WestY)),
(Y < NorthY -> North2 = (X, Y); North2 = (NorthX, NorthY)),
(X > EastX -> East2 = (X, Y); East2 = (EastX, EastY)),
(Y > SouthY -> South2 = (X, Y); South2 = (SouthX, SouthY)),
outerPoints_iterator(Points, West2, North2, East2, South2, OuterPoints).
anyDirection(D) :-
member(D, [n, s, e, w]).
validDirection(D) :-
anyDirection(D),
not(blocked(D)).
validDirectionAfterRotation(D, R) :-
anyDirection(D),
member(R, [cw, ccw]),
blockedForMyAttachments(D),
not(blockedRotation(R, 90)),
not(blockedAfterRotation(R, D)).
validClearingDirection(D, X, Y) :-
anyDirection(D), blocked(D), translate(D, 0, 0, X, Y), thing(X, Y, obstacle, _).
moveDirection(D, Penalty, Action, Params) :-
(validDirection(D), Penalty = 0, Action = move, Params = [D]) ;
(validDirectionAfterRotation(D, R), Penalty = 0.1, Action = rotate, Params = [R]) ;
((energy(E), clearEnergyCost(C), E > C) -> (validClearingDirection(D, X, Y), Penalty = 0.5, Action = clear, Params = [X, Y])).
extractAction(DirectionList, Action, Params) :-
reverseSort(DirectionList, DirectionListSorted),
DirectionListSorted = [(MaxScore, _, _, _)|_],
step(N), Seed is N mod(24), enumDirList(DL, Seed),
member(Direction, DL), member((S, Direction, Action, Params), DirectionListSorted), S = MaxScore.
exploreAction(Action, Params) :-
findall((Score, D, Action, Params),
(moveDirection(D, Penalty, Action, Params),
exploreScore(D, EScore), disruptScore(D, DScore), safeScore(D, SScore),
Score is EScore + DScore + SScore - Penalty),
DirectionValueList),
extractAction(DirectionValueList, Action, Params).
approachingTeamMate(Xr, Yr, Direction) :-
false.
approachingEnemy(Xr, Yr, Direction) :-
false.
goalZoneActionScore(Action, Params, GScore) :-
goalZoneDirection(D),
(
false
).
goalZoneDirection(D) :-
nearestGoalZone(Xgc, Ygc),
generalDirection(Xgc, Ygc, D).
nearestGoalZone(X, Y) :-
goalZone(Xr, Yr) ->
(findall((Dist, Xr, Yr),
(goalZone(Xr, Yr), distMan(0, 0, Xr, Yr, Dist)),
GoalZones),
sort(GoalZones, GoalZonesSorted),
GoalZonesSorted = [(_, X, Y) |_]) ;
(findall((Dist, Xa, Ya),
(goalCell(Xa, Ya), distanceBetweenPoints_Manhattan(0, 0, Xa, Ya, Dist)),
GoalCells),
sort(GoalCells, GoalCellsSorted),
GoalCellsSorted = [(_, Xa2, Ya2) |_],
relativePositionOfCoordinatesFromMe(Xa2, Ya2, X, Y)).
generalDirection(Xr, Yr, D) :-
translate(Direction, 0, 0, Xr, Yr) ->
D = Direction ;
(abs(Xr, Xabs), abs(Yr, Yabs), Xabs > Yabs ->
(Xr > 0 -> D = e ; D = w);
(Yr > 0 -> D = n ; D = s)).
exploreGoalZonesAction(Action, Params) :-
nearestGoalZone(Xr, Yr),
findall((Score, D, Action, Params),
(moveDirection(D, Penalty, Action, Params),
exploreScore(D, EScore), disruptScore(D, DisruptScore), safeScore(D, SScore),
distanceScore(D, Xr, Yr, DistScore),
Score is EScore + 2 * DisruptScore + DistScore + SScore - Penalty),
DirectionValueList),
extractAction(DirectionValueList, Action, Params).
goToAction(Xr, Yr, Action, Params) :-
findall((Score, D, Action, Params),
(moveDirection(D, Penalty, Action, Params),
exploreScore(D, EScore), distanceScore(D, Xr, Yr, DScore), safeScore(D, SScore),
DScore >= 0, Score is (2 * DScore + EScore + SScore)
),
DirectionValueList),
extractAction(DirectionValueList, Action, Params).