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main.go
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package main
import (
"fmt"
"image/color"
"math/rand"
"os/exec"
"regexp"
"strconv"
"strings"
"time"
"github.com/faiface/pixel"
"github.com/faiface/pixel/imdraw"
"github.com/faiface/pixel/pixelgl"
wr "github.com/mroth/weightedrand"
"golang.org/x/image/colornames"
)
const MapSize = 14
const AgentMapSize = MapSize*2 + 1
const TileSize = 40
const SelfTileSize = TileSize / 4
var Margin = 0.99
var DelayInMs = 0
//define constants
var U = 0
var E = 1
var F = 2
var EXIT = 3
var R = 4 //restrictred, means this area inside a loop and no need to visit
//define directions
var North = 0
var South = 1
var East = 2
var West = 3
//define movements
var MoveForward = 0
var MoveBackward = 1
var MoveRight = 2
var MoveLeft = 3
/*var tileMap = [MapSize][MapSize]int{
{F, F, F, F, EXIT, F, F, F, F, F, F, F, F, F},
{F, E, F, E, E, E, E, F, E, E, E, E, E, F},
{F, E, F, E, E, E, E, F, E, E, E, F, E, F},
{F, E, F, F, E, E, E, F, E, E, E, F, F, F},
{F, E, E, E, E, E, E, E, E, E, E, E, E, F},
{F, E, E, E, E, E, E, E, E, E, E, E, E, F},
{F, E, E, E, E, E, E, E, E, E, F, F, F, F},
{F, E, E, E, E, E, E, E, E, E, F, E, E, F},
{F, F, F, E, E, E, E, E, E, E, F, E, E, F},
{F, E, E, E, F, E, E, E, E, E, E, E, E, F},
{F, E, E, E, F, E, F, E, E, F, F, F, E, F},
{F, E, E, E, F, F, F, E, E, E, E, F, E, F},
{F, E, E, E, E, E, F, E, E, E, E, F, E, F},
{F, F, F, F, F, F, F, F, F, EXIT, F, F, F, F},
}*/
var tileMap = [MapSize][MapSize]int{
{F, F, F, F, EXIT, F, F, F, F, F, F, F, F, F},
{F, E, F, E, E, E, E, E, E, E, E, E, E, F},
{F, E, F, E, E, E, E, E, E, E, E, F, E, F},
{F, E, F, F, E, E, E, E, E, E, E, F, F, F},
{F, E, E, E, E, E, E, E, E, E, E, E, E, F},
{F, E, E, E, E, E, E, E, E, E, E, E, E, F},
{F, E, E, E, E, E, E, E, E, E, F, F, F, F},
{F, E, E, E, E, E, E, E, E, E, F, E, E, F},
{F, F, F, E, E, E, E, E, E, E, F, E, E, F},
{F, E, E, E, F, E, E, E, E, E, E, E, E, F},
{F, E, E, E, F, E, F, E, E, F, F, F, E, F},
{F, E, E, E, F, F, F, E, E, E, E, F, E, F},
{F, E, E, E, E, E, F, E, E, E, E, F, E, F},
{F, F, F, F, F, F, F, F, F, EXIT, F, F, F, F},
}
var tileColour = map[int]color.RGBA{
E: colornames.White,
F: colornames.Brown,
U: colornames.Black,
EXIT: colornames.Yellow,
R: colornames.Gray,
}
type Agent struct {
currentCol int
currentRow int
frontSensor int
rearSensor int
rightSensor int
leftSensor int
color color.RGBA
currentDirection int
nextDirection int
//self vars
selfMap [AgentMapSize][AgentMapSize]int
selfCurrentCol int
selfCurrentRow int
selfCurrentDirection int
selfNextDirection int
selfOtherAgentRow int
selfOtherAgentCol int
selfPath [][]int
name string
selfFrontSensor int
selfRearSensor int
selfRightSensor int
selfLeftSensor int
}
func NewAgent(currentRow int, currentCol int, currentDirection int, color color.RGBA, name string) *Agent {
return &Agent{
name: name,
currentCol: currentCol,
currentRow: currentRow,
currentDirection: currentDirection,
color: color,
selfCurrentCol: MapSize,
selfCurrentRow: MapSize,
selfCurrentDirection: North, //initially, agent just assumes he is rotated to north
//selfOtherAgentRow: -1,
//selfOtherAgentCol: -1,
selfPath: [][]int{{MapSize, MapSize}},
}
}
//define agents
var agents = []*Agent{
//NewAgent(12, 7, North, colornames.Orange, "orange"),
NewAgent(9, 11, South, colornames.Orange, "orange"),
//NewAgent(10, 10, South, colornames.Blue, "blue"),
NewAgent(8, 11, East, colornames.Green, "green"),
NewAgent(7, 12, West, colornames.Pink, "pink"),
NewAgent(7, 8, West, colornames.Blue, "blue"),
NewAgent(7, 7, West, colornames.Red, "red"),
NewAgent(7, 6, West, colornames.Brown, "brown"),
NewAgent(7, 5, West, colornames.Azure, "azure"),
NewAgent(7, 4, West, colornames.Darkgrey, "dark_Grey"),
}
func run() {
cfg := pixelgl.WindowConfig{
Title: "Pixel Rocks!",
Bounds: pixel.R(0, 0, MapSize*TileSize, MapSize*TileSize),
VSync: false,
Resizable: true,
}
agentMapCfg := pixelgl.WindowConfig{
Title: "Pixel Rocks!",
Bounds: pixel.R(0, 0, MapSize*TileSize/2, MapSize*TileSize/2),
VSync: false,
Resizable: true,
}
win, err := pixelgl.NewWindow(cfg)
var agentWindows []*pixelgl.Window
for i := 0; i < len(agents); i++ {
agentWindow, _ := pixelgl.NewWindow(agentMapCfg)
agentWindows = append(agentWindows, agentWindow)
}
if err != nil {
panic(err)
}
for !win.Closed() {
win.Clear(colornames.Skyblue)
drawMap(win)
drawAgents(win)
win.Update()
for i := 0; i < len(agents); i++ {
agentWindows[i].Clear(colornames.Skyblue)
drawAgentSelfMap(agentWindows[i], agents[i])
agentWindows[i].Update()
drawAgentToSelfMap(agentWindows[i], agents[i])
agentWindows[i].Update()
}
//sense:
sense()
//plan:
plan()
time.Sleep(time.Duration(DelayInMs) * time.Millisecond)
//act:
rotate()
win.Clear(colornames.Skyblue)
drawMap(win)
drawAgents(win)
win.Update()
for i := 0; i < len(agents); i++ {
selfRotate(agents[i])
agentWindows[i].Clear(colornames.Skyblue)
drawAgentSelfMap(agentWindows[i], agents[i])
agentWindows[i].Update()
drawAgentToSelfMap(agentWindows[i], agents[i])
agentWindows[i].Update()
}
time.Sleep(time.Duration(DelayInMs) * time.Millisecond)
move()
for i := 0; i < len(agents); i++ {
selfMove(agents[i])
}
}
}
//real life'da yanımızda bir engel mi var yoksa agent mı var bunu tespit edebiliriz
// ama buradaki simülasyonda bu bilgiyi diğer agentların pozisyonlarını kontrol edereek elde edebiliriz.
func sense() {
for i := 0; i < len(agents); i++ {
if agents[i].currentDirection == North {
agents[i].frontSensor = tileMap[agents[i].currentRow-1][agents[i].currentCol]
agents[i].rearSensor = tileMap[agents[i].currentRow+1][agents[i].currentCol]
agents[i].rightSensor = tileMap[agents[i].currentRow][agents[i].currentCol+1]
agents[i].leftSensor = tileMap[agents[i].currentRow][agents[i].currentCol-1]
//real map'te agentin etrafında başka agent varsa, o agentin koordinatlarını selfOtherAgentRow ve Col'a aktar
for j := 0; j < len(agents); j++ {
if agents[i].currentRow-1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("above", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol+1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
//kendi haritasında diğer agentı işaretleme
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("right", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol-1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("left", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentRow+1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("below", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
}
} else if agents[i].currentDirection == East {
agents[i].frontSensor = tileMap[agents[i].currentRow][agents[i].currentCol+1]
agents[i].rearSensor = tileMap[agents[i].currentRow][agents[i].currentCol-1]
agents[i].rightSensor = tileMap[agents[i].currentRow+1][agents[i].currentCol]
agents[i].leftSensor = tileMap[agents[i].currentRow-1][agents[i].currentCol]
for j := 0; j < len(agents); j++ {
if agents[i].currentRow-1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("above", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol+1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("right", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol-1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("left", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentRow+1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("below", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
}
} else if agents[i].currentDirection == South {
agents[i].frontSensor = tileMap[agents[i].currentRow+1][agents[i].currentCol]
agents[i].rearSensor = tileMap[agents[i].currentRow-1][agents[i].currentCol]
agents[i].rightSensor = tileMap[agents[i].currentRow][agents[i].currentCol-1]
agents[i].leftSensor = tileMap[agents[i].currentRow][agents[i].currentCol+1]
for j := 0; j < len(agents); j++ {
if agents[i].currentRow-1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("above", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol+1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("right", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol-1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("left", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentRow+1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("below", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
}
} else {
agents[i].frontSensor = tileMap[agents[i].currentRow][agents[i].currentCol-1]
agents[i].rearSensor = tileMap[agents[i].currentRow][agents[i].currentCol+1]
agents[i].rightSensor = tileMap[agents[i].currentRow-1][agents[i].currentCol]
agents[i].leftSensor = tileMap[agents[i].currentRow+1][agents[i].currentCol]
for j := 0; j < len(agents); j++ {
if agents[i].currentRow-1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("above", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol+1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("right", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentCol-1 == agents[j].currentCol && agents[i].currentRow == agents[j].currentRow {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case East:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case West:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case South:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
}
updatePair("left", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
if agents[i].currentRow+1 == agents[j].currentRow && agents[i].currentCol == agents[j].currentCol {
switch agents[i].selfCurrentDirection {
case North:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol - 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
case East:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow - 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case West:
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow + 1
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol
case South:
agents[i].selfOtherAgentCol = agents[i].selfCurrentCol + 1
agents[i].selfOtherAgentRow = agents[i].selfCurrentRow
}
updatePair("below", agents[j])
exchangeMapInfo(agents[i], agents[j])
}
}
}
//agentların kendi haritasında etrafındaki tileleri sensöre aktar (plan'daki hareket için gerekli)
if agents[i].selfCurrentDirection == North {
agents[i].selfFrontSensor = agents[i].selfMap[agents[i].selfCurrentRow-1][agents[i].selfCurrentCol]
agents[i].selfRearSensor = agents[i].selfMap[agents[i].selfCurrentRow+1][agents[i].selfCurrentCol]
agents[i].selfRightSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol+1]
agents[i].selfLeftSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol-1]
} else if agents[i].selfCurrentDirection == East {
agents[i].selfFrontSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol+1]
agents[i].selfRearSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol-1]
agents[i].selfRightSensor = agents[i].selfMap[agents[i].selfCurrentRow+1][agents[i].selfCurrentCol]
agents[i].selfLeftSensor = agents[i].selfMap[agents[i].selfCurrentRow-1][agents[i].selfCurrentCol]
} else if agents[i].selfCurrentDirection == West {
agents[i].selfFrontSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol-1]
agents[i].selfRearSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol+1]
agents[i].selfRightSensor = agents[i].selfMap[agents[i].selfCurrentRow-1][agents[i].selfCurrentCol]
agents[i].selfLeftSensor = agents[i].selfMap[agents[i].selfCurrentRow+1][agents[i].selfCurrentCol]
} else {
agents[i].selfFrontSensor = agents[i].selfMap[agents[i].selfCurrentRow+1][agents[i].selfCurrentCol]
agents[i].selfRearSensor = agents[i].selfMap[agents[i].selfCurrentRow-1][agents[i].selfCurrentCol]
agents[i].selfRightSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol-1]
agents[i].selfLeftSensor = agents[i].selfMap[agents[i].selfCurrentRow][agents[i].selfCurrentCol+1]
}
}
updateSelfMap()
}
//pos=self pos according to other agent's pos in real map
func updatePair(pos string, agent *Agent) {
switch pos {
case "above":
switch agent.currentDirection {
case North:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
agent.selfOtherAgentCol = agent.selfCurrentCol
}
case East:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
}
case West:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
}
case South:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
}
}
case "right":
switch agent.currentDirection {
case North:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
}
case East:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
agent.selfOtherAgentCol = agent.selfCurrentCol
}
case West:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
}
case South:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
}
}
case "left":
switch agent.currentDirection {
case North:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
}
case East:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
}
case West:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
agent.selfOtherAgentCol = agent.selfCurrentCol
}
case South:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
}
}
case "below":
switch agent.currentDirection {
case North:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
}
case East:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
}
case West:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol
agent.selfOtherAgentRow = agent.selfCurrentRow - 1
case South:
agent.selfOtherAgentRow = agent.selfCurrentRow
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
}
case South:
switch agent.selfCurrentDirection {
case North:
agent.selfOtherAgentRow = agent.selfCurrentRow + 1
agent.selfOtherAgentCol = agent.selfCurrentCol
case East:
agent.selfOtherAgentCol = agent.selfCurrentCol - 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case West:
agent.selfOtherAgentCol = agent.selfCurrentCol + 1
agent.selfOtherAgentRow = agent.selfCurrentRow
case South: