package nl.ru.ai.projects.parrot.ea2; 

 

import java.util.Map; 

 

import nl.ru.ai.projects.parrot.behaviors.FlyTowardsPole; 

import nl.ru.ai.projects.parrot.behaviors.Hover; 

import nl.ru.ai.projects.parrot.behaviors.InitializeDrone; 

import nl.ru.ai.projects.parrot.behaviors.PassLeft; 

import nl.ru.ai.projects.parrot.behaviors.PassRight; 

import nl.ru.ai.projects.parrot.behaviors.SearchPole; 

import nl.ru.ai.projects.parrot.behaviors.TurnLeft; 

import nl.ru.ai.projects.parrot.behaviors.TurnRight; 

import nl.ru.ai.projects.parrot.behaviors.TwitterBehavior; 

import nl.ru.ai.projects.parrot.dronecontrol.ParrotDroneInterface; 

import nl.ru.ai.projects.parrot.dronecontrol.PolePositionPollInterface; 

import nl.ru.ai.projects.parrot.fsm.Behavior; 

import nl.ru.ai.projects.parrot.fsm.FSMController; 

import nl.ru.ai.projects.parrot.fsm.State; 

import nl.ru.ai.projects.parrot.fsm.Transition; 

import nl.ru.ai.projects.parrot.transitions.CloseToPole; 

import nl.ru.ai.projects.parrot.transitions.OutOfSight; 

import nl.ru.ai.projects.parrot.transitions.PoleFound; 

 

import org.jgap.Chromosome; 

import org.jgap.Configuration; 

import org.jgap.Gene; 

import org.jgap.IChromosome; 

import org.jgap.InvalidConfigurationException; 

import org.jgap.impl.IntegerGene; 

 

public class LaurieEA implements DroneGAFactory { 

 

 public Behavior initializeDroneBehavior; 

 public Behavior hoverBehavior; 

 public Behavior searchPoleBehavior; 

 public Behavior passLeftBehavior; 

 public Behavior passRightBehavior; 

 public Behavior turnLeftBehavior; 

 public Behavior turnRightBehavior; 

 public Behavior flyToPoleLeftBehavior; 

 public Behavior flyToPoleRightBehavior; 

 public Transition poleFound; 

 public Transition poleFoundRight; 

 public Transition outOfSightRight; 

 //public Transition turnCompleteRight; 

 public Transition outOfSightLeft;  

 //public Transition turnCompleteLeft; 

 public Transition poleLostLeft; 

 public Transition poleLostRight; 

 public Transition closeToPoleLeft; 

 public Transition closeToPoleRight; 

 @Override 

 public FSMController createFSM(ParrotDroneInterface pdi, 

   PolePositionPollInterface pppi, 

   Map<String, String> configurationData) { 

  FSMController fsm = new FSMController(); 

   

  System.out.println("Laurie's shizzle"); 

  // Define states 

     State searchPole = new State("Search pole"); 

     State searchPoleRight = new State("Search pole right"); 

     State leftPass = new State("Pass left"); 

     State turnRight = new State("Turn right"); 

     State rightPass = new State("Pass right"); 

     State turnLeft = new State("Turn left"); 

     State flyToPoleLeft = new State("Fly to pole left"); 

     State flyToPoleRight = new State("Fly to pole right"); 

      

  // Add behaviors to states 

        initializeDroneBehavior = new InitializeDrone(pdi, pppi); 

        initializeDroneBehavior.setDuration(2500); 

        hoverBehavior = new Hover(pdi, pppi); 

        hoverBehavior.setDuration(200); 

        Behavior twitterBehavior = new TwitterBehavior(pdi, pppi); 

        searchPoleBehavior = new SearchPole(pdi, pppi); 

        searchPoleBehavior.setDuration(200); 

        passLeftBehavior = new PassLeft(pdi, pppi); 

        searchPoleBehavior.setDuration(250); 

        passRightBehavior = new PassRight(pdi, pppi); 

        passRightBehavior.setDuration(250); 

        turnLeftBehavior = new TurnLeft(pdi, pppi); 

        turnLeftBehavior.setDuration(250); 

        turnRightBehavior = new TurnRight(pdi, pppi); 

        turnRightBehavior.setDuration(250); 

        flyToPoleLeftBehavior = new FlyTowardsPole(pdi, pppi); 

        flyToPoleLeftBehavior.setDuration(250); 

        flyToPoleRightBehavior = new FlyTowardsPole(pdi, pppi); 

        flyToPoleRightBehavior.setDuration(250); 

  

        searchPole.setEntryBehavior(initializeDroneBehavior);  // Put the drone in the air         

        searchPole.addBehavior(searchPoleBehavior);   // Initial state 

        searchPole.setExitBehavior(hoverBehavior); 

        searchPoleRight.addBehavior(searchPoleBehavior); // State 0.5 

        searchPoleRight.setExitBehavior(hoverBehavior);         

        leftPass.addBehavior(passLeftBehavior);    // State 1 

        leftPass.addBehavior(twitterBehavior); 

        leftPass.setExitBehavior(hoverBehavior);         

        turnRight.addBehavior(turnRightBehavior);    // State 2 

        turnRight.addBehavior(twitterBehavior);   

        turnRight.setExitBehavior(hoverBehavior); 

        rightPass.addBehavior(passRightBehavior);    // State 3 

        rightPass.addBehavior(twitterBehavior);  

        rightPass.setExitBehavior(hoverBehavior); 

        turnLeft.addBehavior(turnLeftBehavior);    // State 4 

        turnLeft.addBehavior(twitterBehavior); 

        turnLeft.setExitBehavior(hoverBehavior); 

        flyToPoleLeft.addBehavior(flyToPoleLeftBehavior);  // State 5 

        flyToPoleLeft.addBehavior(twitterBehavior); 

        flyToPoleLeft.setExitBehavior(hoverBehavior); 

        flyToPoleLeft.addBehavior(flyToPoleRightBehavior);  // State 6 

        flyToPoleLeft.addBehavior(twitterBehavior); 

        flyToPoleLeft.setExitBehavior(hoverBehavior); 

         

        // Add transitions between states 

        poleFound = new PoleFound(flyToPoleLeft, pdi, pppi); 

        poleFound.setDuration(15); 

        searchPole.addTransition(poleFound); 

        turnLeft.addTransition(poleFound);                 

        poleFoundRight = new PoleFound(flyToPoleRight, pdi, pppi); 

        poleFoundRight.setDuration(15); 

        turnRight.addTransition(poleFoundRight);  

        searchPoleRight.addTransition(poleFoundRight); 

        outOfSightRight = new OutOfSight(turnRight, pdi, pppi); 

        outOfSightRight.setDuration(8); 

        leftPass.addTransition(outOfSightRight); 

        //turnCompleteRight = new TurnComplete(rightPass, pdi, pppi); 

        //turnCompleteRight.setDuration(195); 

        //turnRight.addTransition(turnCompleteRight); 

        outOfSightLeft = new OutOfSight(turnLeft, pdi, pppi); 

        outOfSightLeft.setDuration(8); 

        rightPass.addTransition(outOfSightLeft); 

        //turnCompleteLeft = new TurnComplete(leftPass, pdi, pppi); 

        //turnCompleteLeft.setDuration(195); 

        //turnLeft.addTransition(turnCompleteLeft); 

        poleLostLeft = new OutOfSight(searchPole, pdi, pppi); 

        poleLostLeft.setDuration(2000); 

        flyToPoleLeft.addTransition(poleLostLeft); 

        poleLostRight = new OutOfSight(searchPoleRight, pdi, pppi); 

        poleLostRight.setDuration(2000); 

        flyToPoleRight.addTransition(poleLostRight); 

         

         

        closeToPoleLeft = new CloseToPole(leftPass, pdi, pppi); 

        closeToPoleLeft.setDuration(195); 

        flyToPoleLeft.addTransition(closeToPoleLeft); 

        closeToPoleRight = new CloseToPole(rightPass, pdi, pppi); 

        closeToPoleRight.setDuration(195); 

        flyToPoleRight.addTransition(closeToPoleRight); 

 

        fsm.setInitialState(searchPole); 

         

        initializeDroneBehavior.setDuration(2500); 

  hoverBehavior.setDuration(2000);   

  closeToPoleLeft.setDuration(Integer.parseInt(configurationData.get("0"))); 

  closeToPoleRight.setDuration(Integer.parseInt(configurationData.get("0"))); 

  outOfSightRight.setDuration(Integer.parseInt(configurationData.get("1")) * 10); 

  outOfSightLeft.setDuration(Integer.parseInt(configurationData.get("1")) * 10); 

  poleLostLeft.setDuration(Integer.parseInt(configurationData.get("1"))); 

  poleLostRight.setDuration(Integer.parseInt(configurationData.get("1")) * -1); 

  poleFound.setDuration(Integer.parseInt(configurationData.get("2"))); 

  poleFoundRight.setDuration(Integer.parseInt(configurationData.get("2")));  

  flyToPoleLeftBehavior.setDuration(Integer.parseInt(configurationData.get("3"))); 

  flyToPoleRightBehavior.setDuration(Integer.parseInt(configurationData.get("3"))); 

  flyToPoleLeftBehavior.setSpinSpeed(Integer.parseInt(configurationData.get("4"))); 

  flyToPoleRightBehavior.setSpinSpeed(Integer.parseInt(configurationData.get("4"))); 

  passLeftBehavior.setDuration(Integer.parseInt(configurationData.get("5"))); 

  passRightBehavior.setDuration(Integer.parseInt(configurationData.get("5"))); 

  passLeftBehavior.setSpinSpeed(Integer.parseInt(configurationData.get("6"))); 

  passRightBehavior.setSpinSpeed(Integer.parseInt(configurationData.get("6"))); 

  searchPoleBehavior.setSpinSpeed(Integer.parseInt(configurationData.get("7"))); 

  turnLeftBehavior.setDuration(Integer.parseInt(configurationData.get("8"))); 

  turnRightBehavior.setDuration(Integer.parseInt(configurationData.get("8"))); 

  turnLeftBehavior.setSpinSpeed(Integer.parseInt(configurationData.get("9"))); 

  turnRightBehavior.setSpinSpeed(Integer.parseInt(configurationData.get("9"))); 

  return fsm; 

 } 

 

 @Override 

 public IChromosome createGenome(Configuration config) 

   throws InvalidConfigurationException { 

  Gene[] sampleGenes = new Gene[10]; 

  ///* 

  sampleGenes[0] = new IntegerGene(config, 0, 300);   // CloseToPole 

  sampleGenes[1] = new IntegerGene(config, 0, 200);   // Out of Sight 

  sampleGenes[2] = new IntegerGene(config, 5, 90);    // Pole Found 

  sampleGenes[3] = new IntegerGene(config, 0, 100);   //FlyToWardsPoleForwardSpeed 

  sampleGenes[4] = new IntegerGene(config, 0, 20);   // FlyToWardsPoleSpinSpeed 

  sampleGenes[5] = new IntegerGene(config, 0, 100);    // PassForwardSpeed 

  sampleGenes[6] = new IntegerGene(config, 0, 20);    // PassSpinSpeed 

  sampleGenes[7] = new IntegerGene(config, 0, 20);   // SearchPoleSpinSpeed 

  sampleGenes[8] = new IntegerGene(config, 0, 100);    // TurnForwardSpeed 

  sampleGenes[9] = new IntegerGene(config, 0, 20);    // TurnSpinSpeed 

   

  //*/ 

  /*

  sampleGenes[0] = new IntegerGene(config, 100, 101);   // CloseToPole 

  sampleGenes[1] = new IntegerGene(config, 501, 502);   // Out of Sight 

  sampleGenes[2] = new IntegerGene(config, 15, 16);    // Pole Found 

  sampleGenes[3] = new IntegerGene(config, 10, 11);   //FlyTowardsPoleForwardSpeed 

  sampleGenes[4] = new IntegerGene(config, 4, 5);   // FlyToWardsPoleSpinSpeed 

  sampleGenes[5] = new IntegerGene(config, 20, 21);    // PassForwardSpeed 

  sampleGenes[6] = new IntegerGene(config, 7, 8);    // PassSpinSpeed 

  sampleGenes[7] = new IntegerGene(config, 10, 11);   // SearchPoleSpinSpeed 

  sampleGenes[8] = new IntegerGene(config, 9, 10);    // TurnForwardSpeed 

  sampleGenes[9] = new IntegerGene(config, 8, 9);    // TurnSpinSpeed 

  // */ 

 

     Chromosome result = new Chromosome(config, sampleGenes); 

      

     return result; 

 }