package nl.ru.ai.projects.parrot.ea2;
import java.util.Map;
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.OutOfSight;
import nl.ru.ai.projects.parrot.transitions.PoleFound;
import nl.ru.ai.projects.parrot.transitions.TurnComplete;
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 SjoerdEA implements DroneGAFactory {
@Override
public FSMController
createFSM(ParrotDroneInterface pdi, PolePositionPollInterface pppi, Map<String, String> configurationData) {
FSMController fsm = new FSMController();
State searchPole = new State("Search pole");
State leftPass = new State("Pass left");
State turnRight = new State("Turn right");
State rightPass = new State("Pass right");
State turnLeft = new State("Turn left");
Behavior initializeDroneBehavior = new InitializeDrone(pdi, pppi);
initializeDroneBehavior.setDuration(2500);
Behavior hoverBehavior = new Hover(pdi, pppi);
hoverBehavior.setDuration(2000);
Behavior twitterBehavior = new TwitterBehavior(pdi, pppi);
Behavior searchPoleBehavior = new SearchPole(pdi, pppi);
searchPoleBehavior.setDuration(200);
Behavior passLeftBehavior = new PassLeft(pdi, pppi);
searchPoleBehavior.setDuration(250);
Behavior passRightBehavior = new PassRight(pdi, pppi);
passRightBehavior.setDuration(250);
Behavior turnLeftBehavior = new TurnLeft(pdi, pppi);
turnLeftBehavior.setDuration(250);
Behavior turnRightBehavior = new TurnRight(pdi, pppi);
turnRightBehavior.setDuration(250);
searchPole.setEntryBehavior(initializeDroneBehavior);
searchPole.addBehavior(searchPoleBehavior);
searchPole.setExitBehavior(hoverBehavior);
leftPass.addBehavior(passLeftBehavior);
leftPass.addBehavior(twitterBehavior);
leftPass.setExitBehavior(hoverBehavior);
turnRight.addBehavior(turnRightBehavior);
turnRight.addBehavior(twitterBehavior);
turnRight.setExitBehavior(hoverBehavior);
rightPass.addBehavior(passRightBehavior);
rightPass.addBehavior(twitterBehavior);
rightPass.setExitBehavior(hoverBehavior);
turnLeft.addBehavior(turnLeftBehavior);
turnLeft.setExitBehavior(hoverBehavior);
Transition poleFound = new PoleFound(leftPass, pdi, pppi);
poleFound.setDuration(15);
searchPole.addTransition(poleFound);
Transition outOfSightRight = new OutOfSight(turnRight, pdi, pppi);
outOfSightRight.setDuration(8);
leftPass.addTransition(outOfSightRight);
Transition turnCompleteRight = new TurnComplete(rightPass, pdi, pppi);
turnCompleteRight.setDuration(195);
turnRight.addTransition(turnCompleteRight);
Transition outOfSightLeft = new OutOfSight(turnLeft, pdi, pppi);
outOfSightLeft.setDuration(8);
rightPass.addTransition(outOfSightLeft);
Transition turnCompleteLeft = new TurnComplete(leftPass, pdi, pppi);
turnCompleteLeft.setDuration(195);
turnLeft.addTransition(turnCompleteLeft);
fsm.setInitialState(searchPole);
initializeDroneBehavior.setDuration(Integer.parseInt(configurationData.get("0")));
hoverBehavior.setDuration(Integer.parseInt(configurationData.get("1")));
poleFound.setDuration(Integer.parseInt(configurationData.get("2")));
outOfSightRight.setDuration(Integer.parseInt(configurationData.get("3")));
turnCompleteRight.setDuration(Integer.parseInt(configurationData.get("4")));
outOfSightLeft.setDuration(Integer.parseInt(configurationData.get("5")));
turnCompleteLeft.setDuration(Integer.parseInt(configurationData.get("6")));
return fsm;
}
@Override
public IChromosome
createGenome(Configuration config)
throws InvalidConfigurationException {
Gene[] sampleGenes = new Gene[7];
sampleGenes[0] = new IntegerGene(config, 1000, 5000);
sampleGenes[1] = new IntegerGene(config, 0, 5000);
sampleGenes[2] = new IntegerGene(config, 5, 90);
sampleGenes[3] = new IntegerGene(config, 0, 50);
sampleGenes[4] = new IntegerGene(config, 100, 300);
sampleGenes[5] = new IntegerGene(config, 0, 50);
sampleGenes[6] = new IntegerGene(config, 100, 300);
Chromosome result = new Chromosome(config, sampleGenes);
return result;
}
}