Merge pull request #113 from 2AA4-W24/salma

Tried to get it to find a creek

src/main/java/ca/mcmaster/se2aa4/island/team101/AirDecision.java

@@ -9,15 +9,17 @@ public class AirDecision extends Decision {
     private Command command;
     private GenericResponse response;
     private Compass compass;
-    private int counter = 0, distanceToEdge = 0, eta = 0, stage = 0;
+    private int counter = 0, distanceToEdge = 0, eta = 0, stage = 0, counter2=0;;
     private int edge=0;
     private int distanceToLand;
     Boolean facingLand=false, atLand=false, scanComplete=false;
     String newDirection;
+    AreaMap map;
 
     public AirDecision(Drone drone) {
         super(drone);
         this.compass = drone.getCompass();
+        this.map = drone.getMap();
         //this.response = response;
     }
 
@@ -68,11 +70,6 @@ else if (eta == distanceToLand){ // if we are at the island, scan
         }
 
         if (distanceToEdge < edge){
-            // just for the mvp, it checks for land and returns home immediately
-            // ideally, this is put into a method, but since its just temporary, it'll just be done in the if statement
-            // need to implement a drone.goHomeCost() or something to figure out when to return, its being simulated by a simple counter for now
-            // decision.put("action", "stop");
-
             if (facingLand && eta < distanceToLand){ // if facing the land and not yet at land, then fly forward
                 command.fly();
                 eta++;
@@ -86,8 +83,9 @@ else if (eta == distanceToLand){ // if we are at the island, scan
                 return command.toString();
             }
             if (scanComplete){ // STOP IF SCANNED
-                command.stop();
-                return command.toString();
+                // command.stop();
+                //return command.toString();
+                return creekSearch();
             }
 
             // FOUR STAGES WHEN SEARCHING
@@ -145,6 +143,89 @@ else if (stage % 4 == 2){
         return command.toString();
     }
 
+    private String creekSearch(){
+        logger.info("************************IN CREEKSEARCH");
+        command = new Command();
+
+        // if the current tile is not null then stop
+        if(!(map.getTile(compass.getPosition()).isEmpty())){
+            logger.info("***CURRENT TILE IS NOT EMPTY SO STOPPING***");
+            logger.info("**CURRENT TILE CREEK ID: " + map.getTile(compass.getPosition()).getCreekID());
+            logger.info("**CURRENT TILE SITE ID: " + map.getTile(compass.getPosition()).getSiteID());
+            command.stop();
+            return command.toString();
+        }
+
+        logger.info("***CURRENT TILE IS EMPTY CONTINUE***");
+
+        // logger.info(compass.getDirection());
+        // logger.info(counter);
+
+        // SATE 0: 
+        // ECHO TO SEE IF YOU CAN FLY FORWARDS
+        if (counter2==0){
+            logger.info("************************* STATE 0");
+            logger.info("**COUNTER2 = " + counter2);
+            // should add something to scan if ur current tile is over land idk
+            // so you dont miss the first tile after land finding phase bc rn itll just immediately echo then
+            // go fwd if it wont be sending itself into the ocean
+
+            // echo forwards
+            command.echo(compass.getDirection());
+            counter2=1;
+            return command.toString();
+        }
+        // STATE 1:
+        // FLY FORWARDS, IF YOU CAN
+        // OTHERWISE ECHO LEFT
+        else if (counter2==1){
+            logger.info("************************* STATE 1");
+            logger.info("**COUNTER2 = " + counter2);
+            if (((EchoResponse)response).getFound().equals("GROUND")){
+                // if u see ground fly forwards
+                command.fly();
+                counter2=3; // straight to scanning state
+            }else if (((EchoResponse)response).getFound().equals("OCEAN")){
+                // otherwise check left
+                command.echo(compass.getLeft());
+                counter2=2;
+            }
+
+            return command.toString();
+        }
+        // STATE 2:
+        // YOU JUST ECHOED LEFT
+        else if (counter2==2){
+            logger.info("************************* STATE 2");
+            logger.info("**COUNTER2 = " + counter2);
+            if (((EchoResponse)response).getFound().equals("GROUND")){
+                // If you saw ground turn left
+                command.heading(compass.getLeft());
+                // bc of the weird turns idk if this will send it off land or not but it should be minimal error not a big issue rn
+            }else if (((EchoResponse)response).getFound().equals("OCEAN")){
+                // if you didn't see land you need to go right it's the only other option
+                command.heading(compass.getRight());
+            }
+            counter2=3;
+            return command.toString();
+        }
+        // STATE 3:
+        // SCANNING
+        else if (counter2==3){
+            logger.info("************************* STATE 3");
+            logger.info("**COUNTER2 = " + counter2);
+            command.scan();
+            // map should auto update bc of the code in drone update for whenever it recieves a scan response
+            counter2=0; // back to the state of looking in front of you
+            return command.toString();
+        }
+
+        // need a way to stop it maybe a state 4 once all the tiles are scanned but idk how to tell if they are all scanned
+
+        // it just yells at me if i don't have this ugh idk
+        return command.toString();
+    }
+
     public String decideLand() {
         command.scan();
         return command.toString();

src/main/java/ca/mcmaster/se2aa4/island/team101/AreaMap.java

@@ -7,7 +7,7 @@
 public class AreaMap {
     List<String> rows = new ArrayList<String>();
     HashMap<Point, Tile> map;
-
+    
     public AreaMap(){
         map = new HashMap<>();
     }

src/main/java/ca/mcmaster/se2aa4/island/team101/Drone.java

@@ -8,7 +8,7 @@ public class Drone extends Traveler {
     private final Logger logger = LogManager.getLogger(Drone.class);
     private Integer charge;
     private Decision nextMove; 
-    private Compass compass;
+    private Compass compass; // this has the position
     private AreaMap map;
     private String lastCommand;
     private Response<?> lastResponse;
@@ -23,7 +23,7 @@ public Drone(JSONInitialization initializer) {
     }
 
     @Override
-    public void setNextMove(String command) {
+    public void setPrevMove(String command) {
         lastCommand = command;
     }
 
@@ -34,18 +34,24 @@ public String getLastMove() {
 
     @Override
     public void update(Response<?> response) {
+
+        logger.info("IN DRONE UPDATE");
         lastResponse = response;
 
         // Handle the response based on the command type
         GenericResponse typedResponse = response.handleResponse();
+        setPrevMove(typedResponse.getType());
         nextMove.updateResponse(typedResponse);
 
         // Set the charge based on the response cost
         setCharge(typedResponse.getCost());
         logger.info("COST OF ACTION: " + typedResponse.getCost());
+
+        logger.info("LAST COMMAND WAS: " + lastCommand);
 
         // Update the map only if it was a scan response
         if (lastCommand.equals("scan")) {
+            logger.info("*******************LAST COMMAND WAS A SCAN**************************");
             ScanResponse scanResponse = (ScanResponse) typedResponse;
             map.updateMap(compass.getPosition(), scanResponse);
         }
@@ -73,6 +79,10 @@ public Compass getCompass(){
         return compass;
     }
 
+    public AreaMap getMap(){
+        return map;
+    }
+
     private void setCharge(Integer cost) {
         logger.info("BATTERY WAS: " + charge);
         charge -= cost;

src/main/java/ca/mcmaster/se2aa4/island/team101/EchoResponse.java

@@ -3,11 +3,13 @@
 public class EchoResponse extends GenericResponse {
     private final int range;
     private final String found;
+    private String type;
 
     public EchoResponse(int cost, String status, int range, String found) {
         super(cost, status);
         this.range = range;
         this.found = found;
+        this.type = "echo";
     }
 
     public int getRange() {
@@ -17,4 +19,8 @@ public int getRange() {
     public String getFound() {
         return found;
     }
+
+    public String getType(){
+        return type;
+    }
 }

src/main/java/ca/mcmaster/se2aa4/island/team101/GenericResponse.java

@@ -3,10 +3,12 @@
 public class GenericResponse {
     protected final int cost;
     protected final String status;
+    private String type;
 
     public GenericResponse(int cost, String status) {
         this.cost = cost;
         this.status = status;
+        this.type = "fly";// THIS NEEDS TO CHANGE BC GENERIC ISNT ALWAYS FLY JUST HARD CODING FOR NOW
     }
 
     public int getCost() {
@@ -16,4 +18,8 @@ public int getCost() {
     public String getStatus() {
         return status;
     }
+
+    public String getType(){
+        return type;
+    }
 }

src/main/java/ca/mcmaster/se2aa4/island/team101/ScanResponse.java

@@ -6,12 +6,14 @@ public class ScanResponse extends GenericResponse {
     private final JSONArray biomes;
     private final JSONArray creeks;
     private final JSONArray sites;
+    private final String type;
 
     public ScanResponse(int cost, String status, JSONArray biomes, JSONArray creeks, JSONArray sites) {
         super(cost, status);
         this.biomes = biomes;
         this.creeks = creeks;
         this.sites = sites;
+        this.type = "scan";
     }
 
     public JSONArray getBiomes() {
@@ -25,4 +27,8 @@ public JSONArray getCreeks() {
     public JSONArray getSites() {
         return sites;
     }
+
+    public String getType(){
+        return type;
+    }
 }

src/main/java/ca/mcmaster/se2aa4/island/team101/Tile.java

@@ -7,8 +7,8 @@ public class Tile {
     private String siteID;
 
     public Tile(){
-        this.creekID = "";
-        this.siteID = "";
+        this.creekID = null;
+        this.siteID = null;
     }
 
     public String getCreekID(){
@@ -47,4 +47,8 @@ public void fillTile(ScanResponse scanResponse) {
             this.siteID = sites.getString(0); 
         }
     }
-}
+
+    public boolean isEmpty(){
+        return siteID == null && creekID == null;
+    }
+}

src/main/java/ca/mcmaster/se2aa4/island/team101/Traveler.java

@@ -12,7 +12,7 @@ public String getLastMove(){
         return nextMoveStr; 
     }
 
-    public abstract void setNextMove(String command);
+    public abstract void setPrevMove(String command);
 
     public abstract void update(Response<?> response);