org.asoem.greyfish.core.actions.GenericMovement.java Source code

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Here is the source code for org.asoem.greyfish.core.actions.GenericMovement.java

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/*
 * Copyright (C) 2015 The greyfish authors
 *
 * 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 3 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, see <http://www.gnu.org/licenses/>.
 */

package org.asoem.greyfish.core.actions;

import org.apache.commons.math3.util.FastMath;
import org.asoem.greyfish.core.actions.utils.ActionState;
import org.asoem.greyfish.core.agent.SpatialAgent;
import org.asoem.greyfish.utils.base.Callback;
import org.asoem.greyfish.utils.base.Callbacks;
import org.asoem.greyfish.utils.base.Tagged;
import org.asoem.greyfish.utils.math.RandomGenerators;
import org.asoem.greyfish.utils.space.ImmutableMotion2D;
import org.asoem.greyfish.utils.space.Motion2D;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

import java.io.InvalidObjectException;
import java.io.ObjectInputStream;
import java.io.ObjectStreamException;
import java.io.Serializable;
import java.util.Map;

import static com.google.common.base.Preconditions.checkNotNull;

@Tagged("actions")
public class GenericMovement<A extends SpatialAgent<A, ?, ?, ?>> extends BaseAgentAction<A, AgentContext<A>> {

    private static final Logger logger = LoggerFactory.getLogger(GenericMovement.class);

    private Callback<? super GenericMovement<A>, Double> stepSize;
    private Callback<? super GenericMovement<A>, Double> turningAngle;

    @SuppressWarnings("UnusedDeclaration") // Needed for construction by reflection / deserialization
    public GenericMovement() {
        this(new Builder<A>());
    }

    protected GenericMovement(
            final AbstractBuilder<A, ? extends GenericMovement<A>, ? extends AbstractBuilder<A, ?, ?>> builder) {
        super(builder);
        this.stepSize = builder.stepSize;
        this.turningAngle = builder.turningAngle;
    }

    @Override
    protected ActionState proceed(final AgentContext<A> context) {
        final double evaluatedTurningAngle = Callbacks.call(turningAngle, this);
        final double evaluatedStepSize = Callbacks.call(stepSize, this);

        final Motion2D motion = ImmutableMotion2D.of(evaluatedTurningAngle, evaluatedStepSize);
        context.agent().setMotion(motion);

        logger.info("{}: Changing movement to {}", context.agent(), motion);
        return ActionState.COMPLETED;
    }

    public static <A extends SpatialAgent<A, ?, ?, ?>> Builder<A> builder() {
        return new Builder<A>();
    }

    public Callback<? super GenericMovement<A>, Double> getStepSize() {
        return stepSize;
    }

    public Callback<? super GenericMovement<A>, Double> getTurningAngle() {
        return turningAngle;
    }

    private Object writeReplace() {
        return new Builder<A>(this);
    }

    private void readObject(final ObjectInputStream stream) throws InvalidObjectException {
        throw new InvalidObjectException("Builder required");
    }

    public static final class Builder<A extends SpatialAgent<A, ?, ?, ?>>
            extends AbstractBuilder<A, GenericMovement<A>, Builder<A>> implements Serializable {
        private Builder() {
        }

        private Builder(final GenericMovement<A> genericMovement) {
            super(genericMovement);
        }

        @Override
        protected Builder<A> self() {
            return this;
        }

        @Override
        protected GenericMovement<A> checkedBuild() {
            return new GenericMovement<A>(this);
        }

        private Object readResolve() throws ObjectStreamException {
            try {
                return build();
            } catch (IllegalStateException e) {
                throw new InvalidObjectException("Build failed with: " + e.getMessage());
            }
        }

        private static final long serialVersionUID = 0;
    }

    @SuppressWarnings({ "UnusedDeclaration" })
    protected static abstract class AbstractBuilder<A extends SpatialAgent<A, ?, ?, ?>, C extends GenericMovement<A>, B extends AbstractBuilder<A, C, B>>
            extends BaseAgentAction.AbstractBuilder<A, C, B, AgentContext<A>> implements Serializable {
        private Callback<? super GenericMovement<A>, Double> stepSize = Callbacks.constant(0.1);
        private Callback<? super GenericMovement<A>, Double> turningAngle = new Callback<GenericMovement<A>, Double>() {
            @Override
            public Double apply(final GenericMovement<A> caller, final Map<String, ?> args) {
                return RandomGenerators.rnorm(RandomGenerators.rng(), 0.0, FastMath.PI / 2);
            }
        };

        protected AbstractBuilder(final GenericMovement<A> genericMovement) {
            super(genericMovement);
            this.stepSize = genericMovement.stepSize;
            this.turningAngle = genericMovement.turningAngle;
        }

        protected AbstractBuilder() {
        }

        public B turningAngle(final Callback<? super GenericMovement<A>, Double> rotation) {
            this.turningAngle = checkNotNull(rotation);
            return self();
        }

        public B stepSize(final Callback<? super GenericMovement<A>, Double> speedFunction) {
            this.stepSize = checkNotNull(speedFunction);
            return self();
        }
    }
}