From c4cd348dfb0682555840343a7e430fd3baae45c7 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 10 Aug 2024 12:04:00 +0900 Subject: [PATCH 001/249] chore: Update .gitignore to ignore .vscode folder --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 5268a8b..4939007 100644 --- a/.gitignore +++ b/.gitignore @@ -163,3 +163,6 @@ cython_debug/ # ruff .ruff_cache/ + +# vscode +.vscode/ From 16772f53c954e4b25b7f9e04db860f9f5686237d Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 15:39:16 +0900 Subject: [PATCH 002/249] chore: Update pyproject.toml with new dependencies --- poetry.lock | 123 ++++++++++++++++++++++++++++++++++++++++++++++++- pyproject.toml | 2 + 2 files changed, 123 insertions(+), 2 deletions(-) diff --git a/poetry.lock b/poetry.lock index c0cd004..6564d1f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -11,6 +11,17 @@ files = [ {file = "colorama-0.4.6.tar.gz", hash = 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= "git" url = "https://github.com/adf-python/rcrs-core-python" reference = "HEAD" -resolved_reference = "db980d7e3487be063545fd95b3495fd4acbc0b11" +resolved_reference = "4fb11912097abccd68fc2ee7440eaa16adbcdc23" [[package]] name = "rtree" @@ -255,4 +374,4 @@ files = [ [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "694c9005401e153d18e3d6699b5f77a2789d41cbbbc8d06445640ba26b4f5e7e" +content-hash = "10cdddfced36790cc4e140d9707f7cee2ea68368dbc1b56aa8c33bec0848e7cf" diff --git a/pyproject.toml b/pyproject.toml index 87ca343..cdc7976 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,6 +12,8 @@ package-mode = true [tool.poetry.dependencies] python = "^3.12" rcrs_core = {git = "https://github.com/adf-python/rcrs-core-python"} +pyyaml = "^6.0.2" +pytest = "^8.3.2" [tool.poetry.group.dev.dependencies] From 7a04fbb9c1544b245475e24718d792eb41a9edc0 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 15:39:44 +0900 Subject: [PATCH 003/249] refactor: Add ModuleConfig class for reading configuration from YAML file --- adf_core_python/core/config/module_config.py | 92 ++++++++++++++ tests/core/config/module.yaml | 123 +++++++++++++++++++ tests/core/config/test_module_config.py | 48 ++++++++ 3 files changed, 263 insertions(+) create mode 100644 adf_core_python/core/config/module_config.py create mode 100644 tests/core/config/module.yaml create mode 100644 tests/core/config/test_module_config.py diff --git a/adf_core_python/core/config/module_config.py b/adf_core_python/core/config/module_config.py new file mode 100644 index 0000000..258c6f0 --- /dev/null +++ b/adf_core_python/core/config/module_config.py @@ -0,0 +1,92 @@ +from typing import Any, Dict, Final + +from rcrs_core.config.config import Config +from yaml import safe_load + + +class ModuleConfig(Config): + DEFAULT_CONFIG_FILE_NAME: Final[str] = "config/module.yaml" + + def __init__(self, config_file_name: str = DEFAULT_CONFIG_FILE_NAME): + """ + Constructor + + Parameters + ---------- + config_file_name : str, optional + Configuration file name, by default DEFAULT_CONFIG_FILE_NAME + + Raises + ------ + FileNotFoundError + If config file not found + Exception + If error reading config file + + Examples + -------- + >>> config = ModuleConfig("config/module.yaml") + >>> config.get_value("DefaultTacticsPoliceOffice.TargetAllocator") + "sample_team.module.complex.SamplePoliceTargetAllocator" + """ + super().__init__() + data = self._read_from_yaml(config_file_name) + flatten_data = self._flatten(data) + for key, value in flatten_data.items(): + self.set_value(key, value) + + for key, value in flatten_data.items(): + print(f"{key}: {self.get_value(key)}") + + def _read_from_yaml(self, file_name: str) -> Dict[str, Any]: + """ + Read configuration from yaml file + + Parameters + ---------- + file_name : str + Configuration file name + + Returns + ------- + Dict[str, Any] + Configuration data + """ + try: + with open(file_name, mode="r", encoding="utf-8") as file: + data = safe_load(file) + except FileNotFoundError: + raise FileNotFoundError(f"Config file not found: {file_name}") + except Exception as e: + raise Exception(f"Error reading config file: {file_name}, {e}") + + return data + + def _flatten( + self, data: Dict[str, Any], parent_key: str = "", sep: str = "." + ) -> Dict[str, Any]: + """ + Flatten nested dictionary to a single level dictionary + + Parameters + ---------- + data : Dict[str, Any] + Nested dictionary + parent_key : str, optional + Parent key, by default "" + sep : str, optional + Separator, by default "." + + Returns + ------- + Dict[str, Any] + Flattened dictionary + """ + flatten_data = {} + for key, value in data.items(): + new_key = f"{parent_key}{sep}{key}" if parent_key else key + if isinstance(value, dict): + flatten_data.update(self._flatten(value, new_key, sep=sep)) + else: + flatten_data[new_key] = value + return flatten_data diff --git a/tests/core/config/module.yaml b/tests/core/config/module.yaml new file mode 100644 index 0000000..6e27f99 --- /dev/null +++ b/tests/core/config/module.yaml @@ -0,0 +1,123 @@ +## DefaultTacticsAmbulanceTeam +DefaultTacticsAmbulanceTeam: + HumanDetector: sample_team.module.complex.SampleHumanDetector + Search: sample_team.module.complex.SampleSearch + ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + CommandExecutorAmbulance: adf.impl.centralized.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + +## DefaultTacticsFireBrigade +DefaultTacticsFireBrigade: + HumanDetector: sample_team.module.complex.SampleHumanDetector + Search: sample_team.module.complex.SampleSearch + ExtActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + CommandExecutorFire: adf.impl.centralized.DefaultCommandExecutorFire + CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + +## DefaultTacticsPoliceForce +DefaultTacticsPoliceForce: + RoadDetector: sample_team.module.complex.SampleRoadDetector + Search: sample_team.module.complex.SampleSearch + ExtActionClear: adf.impl.extaction.DefaultExtActionClear + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + CommandExecutorPolice: adf.impl.centralized.DefaultCommandExecutorPolice + CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScoutPolice + +## DefaultTacticsAmbulanceCentre +DefaultTacticsAmbulanceCentre: + TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator + CommandPicker: adf.impl.centralized.DefaultCommandPickerAmbulance + +## DefaultTacticsFireStation +DefaultTacticsFireStation: + TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator + CommandPicker: adf.impl.centralized.DefaultCommandPickerFire + +## DefaultTacticsPoliceOffice +DefaultTacticsPoliceOffice: + TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator + CommandPicker: adf.impl.centralized.DefaultCommandPickerPolice + +## SampleSearch +SampleSearch: + PathPlanning: + Ambulance: adf.impl.module.algorithm.DijkstraPathPlanning + Fire: adf.impl.module.algorithm.DijkstraPathPlanning + Police: adf.impl.module.algorithm.DijkstraPathPlanning + Clustering: + Ambulance: adf.impl.module.algorithm.KMeansClustering + Fire: adf.impl.module.algorithm.KMeansClustering + Police: adf.impl.module.algorithm.KMeansClustering + +## SampleBuildDetector +SampleBuildingDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + +## SampleRoadDetector +SampleRoadDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## SampleHumanDetector +SampleHumanDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + +## DefaultExtActionClear +DefaultExtActionClear: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionFireFighting +DefaultExtActionFireFighting: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionFireRescue +DefaultExtActionFireRescue: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionMove +DefaultExtActionMove: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionTransport +DefaultExtActionTransport: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultCommandExecutorAmbulance +DefaultCommandExecutorAmbulance: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +## DefaultCommandExecutorFire +DefaultCommandExecutorFire: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + EtxActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue + EtxActionFireFighting: adf.impl.extaction.DefaultExtActionFireFighting + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +## DefaultCommandExecutorPolice +DefaultCommandExecutorPolice: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + ExtActionClear: adf.impl.extaction.DefaultExtActionClear + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +## DefaultCommandExecutorScout +DefaultCommandExecutorScout: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultCommandExecutorScoutPolice +DefaultCommandExecutorScoutPolice: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + ExtActionClear: adf.impl.extaction.DefaultExtActionClear + +## MessageManager +MessageManager: + PlatoonChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber + CenterChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber + PlatoonMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator + CenterMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator + +## VisualDebug +VisualDebug: true diff --git a/tests/core/config/test_module_config.py b/tests/core/config/test_module_config.py new file mode 100644 index 0000000..f9665e7 --- /dev/null +++ b/tests/core/config/test_module_config.py @@ -0,0 +1,48 @@ +import os + +import pytest + +from adf_core_python.core.config.module_config import ModuleConfig + + +class TestModuleConfig: + def test_can_read_from_yaml(self): + script_dir = os.path.dirname(os.path.abspath(__file__)) + config_file_path = os.path.join(script_dir, "module.yaml") + config = ModuleConfig(config_file_path) + assert ( + config.get_value("DefaultTacticsPoliceOffice.TargetAllocator") + == "sample_team.module.complex.SamplePoliceTargetAllocator" + ) + assert ( + config.get_value("DefaultTacticsPoliceOffice.CommandPicker") + == "adf.impl.centralized.DefaultCommandPickerPolice" + ) + assert ( + config.get_value("SampleSearch.PathPlanning.Ambulance") + == "adf.impl.module.algorithm.DijkstraPathPlanning" + ) + assert ( + config.get_value("SampleSearch.PathPlanning.Fire") + == "adf.impl.module.algorithm.DijkstraPathPlanning" + ) + assert ( + config.get_value("SampleSearch.PathPlanning.Police") + == "adf.impl.module.algorithm.DijkstraPathPlanning" + ) + assert ( + config.get_value("SampleSearch.Clustering.Ambulance") + == "adf.impl.module.algorithm.KMeansClustering" + ) + assert ( + config.get_value("SampleSearch.Clustering.Fire") + == "adf.impl.module.algorithm.KMeansClustering" + ) + assert ( + config.get_value("SampleSearch.Clustering.Police") + == "adf.impl.module.algorithm.KMeansClustering" + ) + + def test_if_file_not_found(self): + with pytest.raises(FileNotFoundError): + ModuleConfig("not_found.yaml") From 50c8267a84391d83c2a0e899adf191e8fed1c9a9 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 15:47:43 +0900 Subject: [PATCH 004/249] chore: Update pyproject.toml and poetry.lock with types-pyyaml package version 6.0.12.20240808 --- poetry.lock | 13 ++++++++++++- pyproject.toml | 1 + 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index 6564d1f..da47b83 100644 --- a/poetry.lock +++ b/poetry.lock @@ -360,6 +360,17 @@ files = [ {file = "types_protobuf-4.25.0.20240417-py3-none-any.whl", hash = "sha256:e9b613227c2127e3d4881d75d93c93b4d6fd97b5f6a099a0b654a05351c8685d"}, ] +[[package]] +name = "types-pyyaml" +version = "6.0.12.20240808" +description = "Typing stubs for PyYAML" +optional = false +python-versions = ">=3.8" +files = [ + {file = "types-PyYAML-6.0.12.20240808.tar.gz", hash = "sha256:b8f76ddbd7f65440a8bda5526a9607e4c7a322dc2f8e1a8c405644f9a6f4b9af"}, + {file = "types_PyYAML-6.0.12.20240808-py3-none-any.whl", hash = "sha256:deda34c5c655265fc517b546c902aa6eed2ef8d3e921e4765fe606fe2afe8d35"}, +] + [[package]] name = "typing-extensions" version = "4.12.2" @@ -374,4 +385,4 @@ files = [ [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "10cdddfced36790cc4e140d9707f7cee2ea68368dbc1b56aa8c33bec0848e7cf" +content-hash = "eaa45b01747d5585b46d2a0043f81002b7c88f0f7b6fc9920c3bda4c52506d6d" diff --git a/pyproject.toml b/pyproject.toml index cdc7976..1f891df 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -14,6 +14,7 @@ python = "^3.12" rcrs_core = {git = "https://github.com/adf-python/rcrs-core-python"} pyyaml = "^6.0.2" pytest = "^8.3.2" +types-pyyaml = "^6.0.12.20240808" [tool.poetry.group.dev.dependencies] From acc6f5a1a670242f98822a433c17087c345d1f59 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 15:54:47 +0900 Subject: [PATCH 005/249] fix: add __init__.py --- adf_core_python/__init__.py | 0 adf_core_python/core/__init__.py | 0 adf_core_python/core/config/__init__.py | 0 3 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 adf_core_python/__init__.py create mode 100644 adf_core_python/core/__init__.py create mode 100644 adf_core_python/core/config/__init__.py diff --git a/adf_core_python/__init__.py b/adf_core_python/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/__init__.py b/adf_core_python/core/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/config/__init__.py b/adf_core_python/core/config/__init__.py new file mode 100644 index 0000000..e69de29 From 935d34dd2caa649d0beccc6cbd3ff4b1f5267430 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 15:54:53 +0900 Subject: [PATCH 006/249] refactor: Update test_module_config.py to include type annotations --- tests/core/config/test_module_config.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tests/core/config/test_module_config.py b/tests/core/config/test_module_config.py index f9665e7..c400e1e 100644 --- a/tests/core/config/test_module_config.py +++ b/tests/core/config/test_module_config.py @@ -6,7 +6,7 @@ class TestModuleConfig: - def test_can_read_from_yaml(self): + def test_can_read_from_yaml(self) -> None: script_dir = os.path.dirname(os.path.abspath(__file__)) config_file_path = os.path.join(script_dir, "module.yaml") config = ModuleConfig(config_file_path) @@ -43,6 +43,6 @@ def test_can_read_from_yaml(self): == "adf.impl.module.algorithm.KMeansClustering" ) - def test_if_file_not_found(self): + def test_if_file_not_found(self) -> None: with pytest.raises(FileNotFoundError): ModuleConfig("not_found.yaml") From a644cbde9b6aa16cb2fc780352818171a798b0b8 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 17:11:38 +0900 Subject: [PATCH 007/249] feat: Add pytest workflow for running tests --- .github/workflows/ci.yaml | 20 ++++++++++++++++++++ pyproject.toml | 3 ++- 2 files changed, 22 insertions(+), 1 deletion(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 5f70644..c67fc75 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -123,3 +123,23 @@ jobs: run: | source .venv/bin/activate poetry run mypy . + + pytest: + needs: setup + runs-on: ubuntu-latest + steps: + - name: Checkout code + uses: actions/checkout@v4 + + - name: Restore virtual environment cache + uses: actions/cache@v4 + with: + path: .venv + key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + restore-keys: | + ${{ runner.os }}-venv- + + - name: Run pytest + run: | + source .venv/bin/activate + poetry run pytest tests/ diff --git a/pyproject.toml b/pyproject.toml index 1f891df..014b2f8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -31,7 +31,8 @@ build-backend = "poetry.core.masonry.api" format = "ruff format ." lint = "ruff check ." typecheck = "mypy ." -precommit = "task format && task lint && task typecheck" +test = "pytest" +precommit = "task format && task lint && task typecheck && task test" [tool.ruff] # Exclude a variety of commonly ignored directories. From ceb369a2f60ab4152fa2bed14819ef37eaa5c567 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 22:57:42 +0900 Subject: [PATCH 008/249] feature: Add DevelopData class for managing development mode and data --- adf_core_python/core/develop/__init__.py | 0 adf_core_python/core/develop/develop_data.py | 70 ++++++++++++++++++++ tests/core/develop/develop.json | 12 ++++ tests/core/develop/test_develop.py | 23 +++++++ 4 files changed, 105 insertions(+) create mode 100644 adf_core_python/core/develop/__init__.py create mode 100644 adf_core_python/core/develop/develop_data.py create mode 100644 tests/core/develop/develop.json create mode 100644 tests/core/develop/test_develop.py diff --git a/adf_core_python/core/develop/__init__.py b/adf_core_python/core/develop/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/develop/develop_data.py b/adf_core_python/core/develop/develop_data.py new file mode 100644 index 0000000..f66bc3b --- /dev/null +++ b/adf_core_python/core/develop/develop_data.py @@ -0,0 +1,70 @@ +import json +from typing import Any, Dict, Final + + +class DevelopData: + DEFAULT_FILE_NAME: Final[str] = "config/develop.json" + + def __init__( + self, is_develop_mode: bool = False, file_name: str = DEFAULT_FILE_NAME + ) -> None: + """ + Constructor + """ + self._develop_data: Dict[str, Any] = self._set_data_from_json(file_name) + self._is_develop_mode: bool = is_develop_mode + + self._set_data_from_json(file_name) + + def _set_data_from_json(self, file_name: str) -> Dict[str, Any]: + """ + Set data from json + + Parameters + ---------- + file_name : str, optional + Develop file name, by default DEFAULT_FILE_NAME + + Returns + ------- + Dict[str, Any] + Develop data + """ + try: + with open(file_name, mode="r", encoding="utf-8") as file: + return json.load(file) + except FileNotFoundError: + raise FileNotFoundError(f"Develop file not found: {file_name}") + except Exception as e: + raise Exception(f"Error reading develop file: {file_name}, {e}") + + def is_develop_mode(self) -> bool: + """ + Check if develop mode is enabled + + Returns + ------- + bool + True if develop mode is enabled + """ + return self._is_develop_mode + + def get_value(self, key: str, default_value: Any = None) -> Any: + """ + Get value from develop data + If develop mode is disabled, return default value + + Parameters + ---------- + key : str + Key + + Returns + ------- + Any + Value + """ + if not self._is_develop_mode: + return default_value + + return self._develop_data.get(key, default_value) diff --git a/tests/core/develop/develop.json b/tests/core/develop/develop.json new file mode 100644 index 0000000..21ca75b --- /dev/null +++ b/tests/core/develop/develop.json @@ -0,0 +1,12 @@ +{ + "string" : "test", + "number" : 1, + "boolean" : true, + "dict" : { + "test" : "test" + }, + "array" : [ + "test", + "test" + ] +} \ No newline at end of file diff --git a/tests/core/develop/test_develop.py b/tests/core/develop/test_develop.py new file mode 100644 index 0000000..03cbb18 --- /dev/null +++ b/tests/core/develop/test_develop.py @@ -0,0 +1,23 @@ +import os + +import pytest + +from adf_core_python.core.develop.develop_data import DevelopData + + +class TestDevelopData: + def test_can_read_from_yaml(self) -> None: + script_dir = os.path.dirname(os.path.abspath(__file__)) + develop_file_path = os.path.join(script_dir, "develop.json") + develop_data = DevelopData(True, develop_file_path) + print(develop_data._develop_data) + + assert develop_data.get_value("string") == "test" + assert develop_data.get_value("number") == 1 + assert develop_data.get_value("boolean") is True + assert develop_data.get_value("dict") == {"test": "test"} + assert develop_data.get_value("array") == ["test", "test"] + + def test_if_file_not_found(self) -> None: + with pytest.raises(FileNotFoundError): + DevelopData(True, "not_found.json") From 4694c90a8329d88e1e6046fb83d6072ad498ee4f Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 23:05:49 +0900 Subject: [PATCH 009/249] refactor: add newline at end of file --- tests/core/develop/develop.json | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/core/develop/develop.json b/tests/core/develop/develop.json index 21ca75b..3e2918f 100644 --- a/tests/core/develop/develop.json +++ b/tests/core/develop/develop.json @@ -9,4 +9,4 @@ "test", "test" ] -} \ No newline at end of file +} From 7f480159efb128f0d38b2138cd17ee2458bf650e Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 12 Aug 2024 23:20:32 +0900 Subject: [PATCH 010/249] fix: Move module_config and develop_data to agent package --- adf_core_python/core/{ => agent}/config/__init__.py | 0 adf_core_python/core/{ => agent}/config/module_config.py | 0 adf_core_python/core/{ => agent}/develop/__init__.py | 0 adf_core_python/core/{ => agent}/develop/develop_data.py | 0 tests/core/{ => agent}/config/module.yaml | 0 tests/core/{ => agent}/config/test_module_config.py | 2 +- tests/core/{ => agent}/develop/develop.json | 0 tests/core/{ => agent}/develop/test_develop.py | 2 +- 8 files changed, 2 insertions(+), 2 deletions(-) rename adf_core_python/core/{ => agent}/config/__init__.py (100%) rename adf_core_python/core/{ => agent}/config/module_config.py (100%) rename adf_core_python/core/{ => agent}/develop/__init__.py (100%) rename adf_core_python/core/{ => agent}/develop/develop_data.py (100%) rename tests/core/{ => agent}/config/module.yaml (100%) rename tests/core/{ => agent}/config/test_module_config.py (95%) rename tests/core/{ => agent}/develop/develop.json (100%) rename tests/core/{ => agent}/develop/test_develop.py (91%) diff --git a/adf_core_python/core/config/__init__.py b/adf_core_python/core/agent/config/__init__.py similarity index 100% rename from adf_core_python/core/config/__init__.py rename to adf_core_python/core/agent/config/__init__.py diff --git a/adf_core_python/core/config/module_config.py b/adf_core_python/core/agent/config/module_config.py similarity index 100% rename from adf_core_python/core/config/module_config.py rename to adf_core_python/core/agent/config/module_config.py diff --git a/adf_core_python/core/develop/__init__.py b/adf_core_python/core/agent/develop/__init__.py similarity index 100% rename from adf_core_python/core/develop/__init__.py rename to adf_core_python/core/agent/develop/__init__.py diff --git a/adf_core_python/core/develop/develop_data.py b/adf_core_python/core/agent/develop/develop_data.py similarity index 100% rename from adf_core_python/core/develop/develop_data.py rename to adf_core_python/core/agent/develop/develop_data.py diff --git a/tests/core/config/module.yaml b/tests/core/agent/config/module.yaml similarity index 100% rename from tests/core/config/module.yaml rename to tests/core/agent/config/module.yaml diff --git a/tests/core/config/test_module_config.py b/tests/core/agent/config/test_module_config.py similarity index 95% rename from tests/core/config/test_module_config.py rename to tests/core/agent/config/test_module_config.py index c400e1e..fcdd099 100644 --- a/tests/core/config/test_module_config.py +++ b/tests/core/agent/config/test_module_config.py @@ -2,7 +2,7 @@ import pytest -from adf_core_python.core.config.module_config import ModuleConfig +from adf_core_python.core.agent.config.module_config import ModuleConfig class TestModuleConfig: diff --git a/tests/core/develop/develop.json b/tests/core/agent/develop/develop.json similarity index 100% rename from tests/core/develop/develop.json rename to tests/core/agent/develop/develop.json diff --git a/tests/core/develop/test_develop.py b/tests/core/agent/develop/test_develop.py similarity index 91% rename from tests/core/develop/test_develop.py rename to tests/core/agent/develop/test_develop.py index 03cbb18..90d8026 100644 --- a/tests/core/develop/test_develop.py +++ b/tests/core/agent/develop/test_develop.py @@ -2,7 +2,7 @@ import pytest -from adf_core_python.core.develop.develop_data import DevelopData +from adf_core_python.core.agent.develop.develop_data import DevelopData class TestDevelopData: From 3c36c48f8abc6eff065850158afdad3626b64d6c Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 13 Aug 2024 20:18:42 +0900 Subject: [PATCH 011/249] feat: add ConfigKey --- adf_core_python/core/launcher/config_key.py | 24 +++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100644 adf_core_python/core/launcher/config_key.py diff --git a/adf_core_python/core/launcher/config_key.py b/adf_core_python/core/launcher/config_key.py new file mode 100644 index 0000000..bcb2577 --- /dev/null +++ b/adf_core_python/core/launcher/config_key.py @@ -0,0 +1,24 @@ +from typing import Final + + +class ConfigKey: + # General + KEY_LOADER_CLASS: Final[str] = "adf.launcher.loader" + KEY_KERNEL_HOST: Final[str] = "kernel.host" + KEY_KERNEL_PORT: Final[str] = "kernel.port" + KEY_TEAM_NAME: Final[str] = "team.name" + KEY_DEBUG_FLAG: Final[str] = "adf.debug.flag" + KEY_DEVELOP_FLAG: Final[str] = "adf.develop.flag" + KEY_DEVELOP_DATA_FILE_NAME: Final[str] = "adf.develop.filename" + KEY_DEVELOP_DATA: Final[str] = "adf.develop.data" + KEY_MODULE_CONFIG_FILE_NAME: Final[str] = "adf.agent.moduleconfig.filename" + KEY_MODULE_DATA: Final[str] = "adf.agent.moduleconfig.data" + KEY_PRECOMPUTE: Final[str] = "adf.launcher.precompute" + # Platoon + KEY_AMBULANCE_TEAM_COUNT: Final[str] = "adf.team.platoon.ambulance.count" + KEY_FIRE_BRIGADE_COUNT: Final[str] = "adf.team.platoon.fire.count" + KEY_POLICE_FORCE_COUNT: Final[str] = "adf.team.platoon.police.count" + # Office + KEY_AMBULANCE_CENTRE_COUNT: Final[str] = "adf.team.office.ambulance.count" + KEY_FIRE_STATION_COUNT: Final[str] = "adf.team.office.fire.count" + KEY_POLICE_OFFICE_COUNT: Final[str] = "adf.team.office.police.count" From abe7547687351371b4587243b85ffc304596616d Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 13 Aug 2024 22:00:14 +0900 Subject: [PATCH 012/249] feat: Update package --- poetry.lock | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index da47b83..733bc53 100644 --- a/poetry.lock +++ b/poetry.lock @@ -274,7 +274,7 @@ rtree = "*" type = "git" url = "https://github.com/adf-python/rcrs-core-python" reference = "HEAD" -resolved_reference = "4fb11912097abccd68fc2ee7440eaa16adbcdc23" +resolved_reference = "6771354084ce60b3dd96a77f509ad1e0314ac886" [[package]] name = "rtree" From 5e0f690e0e3275d9d71f5325fc2c695deb264da2 Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 13 Aug 2024 22:00:24 +0900 Subject: [PATCH 013/249] feat: Add abstract loader and connector classes --- adf_core_python/core/component/__init__.py | 0 .../core/component/abstract_loader.py | 36 ++++++++++ .../core/launcher/connect/connector.py | 18 +++++ .../connect/connector_ambulance_centre.py | 65 +++++++++++++++++++ 4 files changed, 119 insertions(+) create mode 100644 adf_core_python/core/component/__init__.py create mode 100644 adf_core_python/core/component/abstract_loader.py create mode 100644 adf_core_python/core/launcher/connect/connector.py create mode 100644 adf_core_python/core/launcher/connect/connector_ambulance_centre.py diff --git a/adf_core_python/core/component/__init__.py b/adf_core_python/core/component/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/abstract_loader.py b/adf_core_python/core/component/abstract_loader.py new file mode 100644 index 0000000..364117b --- /dev/null +++ b/adf_core_python/core/component/abstract_loader.py @@ -0,0 +1,36 @@ +from abc import ABC, abstractmethod + +class AbstractLoader(ABC): + def __init__(self) -> None: + self._team_name: str = "" + + def get_team_name(self) -> str: + return self._team_name + + def set_team_name(self, team_name: str) -> None: + self._team_name = team_name + + # TODO: Add more abstract methods here + @abstractmethod + def get_tactics_ambulance_team(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_fire_brigade(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_police_force(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_ambulance_centre(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_fire_station(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_police_office(self) -> None: + raise NotImplementedError diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py new file mode 100644 index 0000000..d95f2fe --- /dev/null +++ b/adf_core_python/core/launcher/connect/connector.py @@ -0,0 +1,18 @@ +from abc import ABC, abstractmethod + +from rcrs_core.connection.componentLauncher import ComponentLauncher +from rcrs_core.config.config import Config + +from adf_core_python.core.component.abstract_loader import AbstractLoader + + +class Connector(ABC): + def __init__(self) -> None: + self.connected_agent_count = 0 + + @abstractmethod + def connect(self, component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader) -> None: + raise NotImplementedError + + def get_connected_agent_count(self) -> int: + return self.connected_agent_count diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py new file mode 100644 index 0000000..d946531 --- /dev/null +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -0,0 +1,65 @@ +from logging import Logger, getLogger + +from rcrs_core.agents.ambulanceCenterAgent import AmbulanceCenterAgent +from rcrs_core.config.config import Config +from rcrs_core.connection.componentLauncher import ComponentLauncher + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.connector import Connector + + +class ConnectorAmbulanceCentre(Connector): + def __init__(self): + super().__init__() + self.logger: Logger = getLogger(__name__) + + def connect( + self, + component_launcher: ComponentLauncher, + config: Config, + loader: AbstractLoader, + ) -> None: + count: int = config.get_int_value_or_default( + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 + ) + if count == 0: + return + + for i in range(count): + # tactics_ambulance_centre: TacticsAmbulanceCentre + if loader.get_tactics_ambulance_centre() is not None: + self.logger.error("Cannot load ambulance centre tactics") + # tactics_ambulance_centre = loader.get_tactics_ambulance_centre() + else: + # tactics_ambulance_centre = DummyTacticsAmbulanceCentre() + pass + + module_config: ModuleConfig = ModuleConfig( + config.get_value_or_default( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) + + develop_data: DevelopData = DevelopData( + config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value_or_default( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) + + # TODO: component_launcher.generate_request_ID can cause race condition + component_launcher.connect( + # TODO: AmbulanceCenterAgent is not implemented precompute method and other methods + AmbulanceCenterAgent( + config.get_boolean_value_or_default( + ConfigKey.KEY_PRECOMPUTE, False + ), + ), # type: ignore + component_launcher.generate_request_ID(), + ) + + self.logger.info("Connected ambulance centre (count: %d)" % count) From b597488c262409074a597aa8553bb3adcdd19cd4 Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 13 Aug 2024 22:03:07 +0900 Subject: [PATCH 014/249] refactor: Improve code formatting and style in abstract_loader and connector classes --- .../core/component/abstract_loader.py | 67 ++++++++++--------- .../core/launcher/connect/connector.py | 19 ++++-- .../connect/connector_ambulance_centre.py | 6 +- 3 files changed, 49 insertions(+), 43 deletions(-) diff --git a/adf_core_python/core/component/abstract_loader.py b/adf_core_python/core/component/abstract_loader.py index 364117b..1a8c210 100644 --- a/adf_core_python/core/component/abstract_loader.py +++ b/adf_core_python/core/component/abstract_loader.py @@ -1,36 +1,37 @@ from abc import ABC, abstractmethod + class AbstractLoader(ABC): - def __init__(self) -> None: - self._team_name: str = "" - - def get_team_name(self) -> str: - return self._team_name - - def set_team_name(self, team_name: str) -> None: - self._team_name = team_name - - # TODO: Add more abstract methods here - @abstractmethod - def get_tactics_ambulance_team(self) -> None: - raise NotImplementedError - - @abstractmethod - def get_tactics_fire_brigade(self) -> None: - raise NotImplementedError - - @abstractmethod - def get_tactics_police_force(self) -> None: - raise NotImplementedError - - @abstractmethod - def get_tactics_ambulance_centre(self) -> None: - raise NotImplementedError - - @abstractmethod - def get_tactics_fire_station(self) -> None: - raise NotImplementedError - - @abstractmethod - def get_tactics_police_office(self) -> None: - raise NotImplementedError + def __init__(self) -> None: + self._team_name: str = "" + + def get_team_name(self) -> str: + return self._team_name + + def set_team_name(self, team_name: str) -> None: + self._team_name = team_name + + # TODO: Add more abstract methods here + @abstractmethod + def get_tactics_ambulance_team(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_fire_brigade(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_police_force(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_ambulance_centre(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_fire_station(self) -> None: + raise NotImplementedError + + @abstractmethod + def get_tactics_police_office(self) -> None: + raise NotImplementedError diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py index d95f2fe..b8ea5c4 100644 --- a/adf_core_python/core/launcher/connect/connector.py +++ b/adf_core_python/core/launcher/connect/connector.py @@ -7,12 +7,17 @@ class Connector(ABC): - def __init__(self) -> None: - self.connected_agent_count = 0 + def __init__(self) -> None: + self.connected_agent_count = 0 - @abstractmethod - def connect(self, component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader) -> None: - raise NotImplementedError + @abstractmethod + def connect( + self, + component_launcher: ComponentLauncher, + config: Config, + loader: AbstractLoader, + ) -> None: + raise NotImplementedError - def get_connected_agent_count(self) -> int: - return self.connected_agent_count + def get_connected_agent_count(self) -> int: + return self.connected_agent_count diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py index d946531..0ed2b33 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -12,7 +12,7 @@ class ConnectorAmbulanceCentre(Connector): - def __init__(self): + def __init__(self) -> None: super().__init__() self.logger: Logger = getLogger(__name__) @@ -37,14 +37,14 @@ def connect( # tactics_ambulance_centre = DummyTacticsAmbulanceCentre() pass - module_config: ModuleConfig = ModuleConfig( + module_config: ModuleConfig = ModuleConfig( # noqa: F841 config.get_value_or_default( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) - develop_data: DevelopData = DevelopData( + develop_data: DevelopData = DevelopData( # noqa: F841 config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), config.get_value_or_default( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME From 08ee7c46292b3a6eb5927a055eb8305ac1644c21 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 17 Aug 2024 20:59:51 +0900 Subject: [PATCH 015/249] feat: implements connect classes --- .../connect/connector_ambulance_centre.py | 2 +- .../connect/connector_ambulance_team.py | 64 +++++++++++++++++++ .../connect/connector_fire_brigade.py | 64 +++++++++++++++++++ .../connect/connector_fire_station.py | 64 +++++++++++++++++++ .../connect/connector_police_force.py | 64 +++++++++++++++++++ .../connect/connector_police_office.py | 64 +++++++++++++++++++ 6 files changed, 321 insertions(+), 1 deletion(-) create mode 100644 adf_core_python/core/launcher/connect/connector_ambulance_team.py create mode 100644 adf_core_python/core/launcher/connect/connector_fire_brigade.py create mode 100644 adf_core_python/core/launcher/connect/connector_fire_station.py create mode 100644 adf_core_python/core/launcher/connect/connector_police_force.py create mode 100644 adf_core_python/core/launcher/connect/connector_police_office.py diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py index 0ed2b33..702056b 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -28,7 +28,7 @@ def connect( if count == 0: return - for i in range(count): + for _ in range(count): # tactics_ambulance_centre: TacticsAmbulanceCentre if loader.get_tactics_ambulance_centre() is not None: self.logger.error("Cannot load ambulance centre tactics") diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py new file mode 100644 index 0000000..d29a15d --- /dev/null +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -0,0 +1,64 @@ +from logging import Logger, getLogger + +from rcrs_core.agents.ambulanceTeamAgent import AmbulanceTeamAgent +from rcrs_core.config.config import Config +from rcrs_core.connection.componentLauncher import ComponentLauncher + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.connector import Connector + + +class ConnectorAmbulanceTeam(Connector): + def __init__(self) -> None: + super().__init__() + self.logger: Logger = getLogger(__name__) + + def connect( + self, + component_launcher: ComponentLauncher, + config: Config, + loader: AbstractLoader, + ) -> None: + count: int = config.get_int_value_or_default( + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 + ) + if count == 0: + return + + for _ in range(count): + # tactics_ambulance_team: TacticsAmbulanceTeam + if loader.get_tactics_ambulance_team() is not None: + self.logger.error("Cannot load ambulance team tactics") + # tactics_ambulance_team = loader.get_tactics_ambulance_team() + else: + # tactics_ambulance_team = DummyTacticsAmbulanceTeam() + pass + + module_config: ModuleConfig = ModuleConfig( # noqa: F841 + config.get_value_or_default( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) + + develop_data: DevelopData = DevelopData( # noqa: F841 + config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value_or_default( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) + + # TODO: component_launcher.generate_request_ID can cause race condition + component_launcher.connect( + AmbulanceTeamAgent( + config.get_boolean_value_or_default( + ConfigKey.KEY_PRECOMPUTE, False + ), + ), + component_launcher.generate_request_ID(), + ) + + self.logger.info("Connected ambulance team (count: %d)" % count) diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py new file mode 100644 index 0000000..8c2784c --- /dev/null +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -0,0 +1,64 @@ +from logging import Logger, getLogger + +from rcrs_core.agents.fireBrigadeAgent import FireBrigadeAgent +from rcrs_core.config.config import Config +from rcrs_core.connection.componentLauncher import ComponentLauncher + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.connector import Connector + + +class ConnectorFIreBrigade(Connector): + def __init__(self) -> None: + super().__init__() + self.logger: Logger = getLogger(__name__) + + def connect( + self, + component_launcher: ComponentLauncher, + config: Config, + loader: AbstractLoader, + ) -> None: + count: int = config.get_int_value_or_default( + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 + ) + if count == 0: + return + + for _ in range(count): + # tactics_fire_brigade: TacticsFireBrigade + if loader.get_tactics_fire_brigade() is not None: + self.logger.error("Cannot load fire brigade tactics") + # tactics_fire_brigade = loader.get_tactics_fire_brigade() + else: + # tactics_fire_brigade = DummyTacticsFireBrigade() + pass + + module_config: ModuleConfig = ModuleConfig( # noqa: F841 + config.get_value_or_default( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) + + develop_data: DevelopData = DevelopData( # noqa: F841 + config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value_or_default( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) + + # TODO: component_launcher.generate_request_ID can cause race condition + component_launcher.connect( + FireBrigadeAgent( + config.get_boolean_value_or_default( + ConfigKey.KEY_PRECOMPUTE, False + ), + ), + component_launcher.generate_request_ID(), + ) + + self.logger.info("Connected fire brigade (count: %d)" % count) diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py new file mode 100644 index 0000000..f3c197a --- /dev/null +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -0,0 +1,64 @@ +from logging import Logger, getLogger + +from rcrs_core.agents.fireStationAgent import FireStationAgent +from rcrs_core.config.config import Config +from rcrs_core.connection.componentLauncher import ComponentLauncher + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.connector import Connector + + +class ConnectorFireStation(Connector): + def __init__(self) -> None: + super().__init__() + self.logger: Logger = getLogger(__name__) + + def connect( + self, + component_launcher: ComponentLauncher, + config: Config, + loader: AbstractLoader, + ) -> None: + count: int = config.get_int_value_or_default( + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 + ) + if count == 0: + return + + for _ in range(count): + # tactics_fire_station: TacticsFireStation + if loader.get_tactics_fire_station() is not None: + self.logger.error("Cannot load fire station tactics") + # tactics_fire_station = loader.get_tactics_fire_station() + else: + # tactics_fire_station = DummyTacticsFireStation() + pass + + module_config: ModuleConfig = ModuleConfig( # noqa: F841 + config.get_value_or_default( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) + + develop_data: DevelopData = DevelopData( # noqa: F841 + config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value_or_default( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) + + # TODO: component_launcher.generate_request_ID can cause race condition + component_launcher.connect( + FireStationAgent( + config.get_boolean_value_or_default( + ConfigKey.KEY_PRECOMPUTE, False + ), + ), # type: ignore + component_launcher.generate_request_ID(), + ) + + self.logger.info("Connected fire station (count: %d)" % count) diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py new file mode 100644 index 0000000..429c15c --- /dev/null +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -0,0 +1,64 @@ +from logging import Logger, getLogger + +from rcrs_core.agents.policeForceAgent import PoliceForceAgent +from rcrs_core.config.config import Config +from rcrs_core.connection.componentLauncher import ComponentLauncher + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.connector import Connector + + +class ConnectorPoliceForce(Connector): + def __init__(self) -> None: + super().__init__() + self.logger: Logger = getLogger(__name__) + + def connect( + self, + component_launcher: ComponentLauncher, + config: Config, + loader: AbstractLoader, + ) -> None: + count: int = config.get_int_value_or_default( + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 + ) + if count == 0: + return + + for _ in range(count): + # tactics_police_force: TacticsPoliceForce + if loader.get_tactics_police_force() is not None: + self.logger.error("Cannot load police force tactics") + # tactics_police_force = loader.get_tactics_police_force() + else: + # tactics_police_force = DummyTacticsPoliceForce() + pass + + module_config: ModuleConfig = ModuleConfig( # noqa: F841 + config.get_value_or_default( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) + + develop_data: DevelopData = DevelopData( # noqa: F841 + config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value_or_default( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) + + # TODO: component_launcher.generate_request_ID can cause race condition + component_launcher.connect( + PoliceForceAgent( + config.get_boolean_value_or_default( + ConfigKey.KEY_PRECOMPUTE, False + ), + ), + component_launcher.generate_request_ID(), + ) + + self.logger.info("Connected ambulance centre (count: %d)" % count) diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py new file mode 100644 index 0000000..dd43031 --- /dev/null +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -0,0 +1,64 @@ +from logging import Logger, getLogger + +from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent +from rcrs_core.config.config import Config +from rcrs_core.connection.componentLauncher import ComponentLauncher + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.connector import Connector + + +class ConnectorPoliceOffice(Connector): + def __init__(self) -> None: + super().__init__() + self.logger: Logger = getLogger(__name__) + + def connect( + self, + component_launcher: ComponentLauncher, + config: Config, + loader: AbstractLoader, + ) -> None: + count: int = config.get_int_value_or_default( + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 + ) + if count == 0: + return + + for _ in range(count): + # tactics_police_office: TacticsPoliceOffice + if loader.get_tactics_police_office() is not None: + self.logger.error("Cannot load police office tactics") + # tactics_police_office = loader.get_tactics_police_office() + else: + # tactics_police_office = DummyTacticsPoliceOffice() + pass + + module_config: ModuleConfig = ModuleConfig( # noqa: F841 + config.get_value_or_default( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) + + develop_data: DevelopData = DevelopData( # noqa: F841 + config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value_or_default( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) + + # TODO: component_launcher.generate_request_ID can cause race condition + component_launcher.connect( + PoliceOfficeAgent( + config.get_boolean_value_or_default( + ConfigKey.KEY_PRECOMPUTE, False + ), + ), + component_launcher.generate_request_ID(), + ) + + self.logger.info("Connected ambulance centre (count: %d)" % count) From 8863a7e3b59274540d7467303c954664f830b86e Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 28 Aug 2024 17:12:06 +0900 Subject: [PATCH 016/249] feat: Add Action, AgentInfo, ScenarioInfo, and WorldInfo classes --- adf_core_python/core/agent/action/action.py | 10 + adf_core_python/core/agent/info/agent_info.py | 180 ++++++++++++++++++ .../core/agent/info/scenario_info.py | 74 +++++++ adf_core_python/core/agent/info/world_info.py | 30 +++ 4 files changed, 294 insertions(+) create mode 100644 adf_core_python/core/agent/action/action.py create mode 100644 adf_core_python/core/agent/info/agent_info.py create mode 100644 adf_core_python/core/agent/info/scenario_info.py create mode 100644 adf_core_python/core/agent/info/world_info.py diff --git a/adf_core_python/core/agent/action/action.py b/adf_core_python/core/agent/action/action.py new file mode 100644 index 0000000..84cef3a --- /dev/null +++ b/adf_core_python/core/agent/action/action.py @@ -0,0 +1,10 @@ +from abc import ABC, abstractmethod + +from rcrs_core.messages.message import Message +from rcrs_core.worldmodel.entityID import EntityID + + +class Action(ABC): + @abstractmethod + def get_command(self, agent_id: EntityID, time: int) -> Message: + raise NotImplementedError diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py new file mode 100644 index 0000000..96f49f0 --- /dev/null +++ b/adf_core_python/core/agent/info/agent_info.py @@ -0,0 +1,180 @@ +from time import time +from typing import Any, Dict, List + +from rcrs_core.agents.agent import Agent +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.worldmodel import ChangeSet, Entity, EntityID, WorldModel + +from adf_core_python.core.agent.action.action import Action + + +class AgentInfo: + # TODO: Replace Any with the actual type + def __init__(self, agent: Agent, world_model: WorldModel): + self._agent: Agent = agent + self._world_model: WorldModel = world_model + self._time: int = 0 + self._action_history: Dict[int, Action] = {} + self._heard_commands: List[Any] = [] + self._change_set: ChangeSet = ChangeSet() + self._start_think_time: float = 0.0 + + def set_time(self, time: int) -> None: + """ + Set the current time of the agent + + Parameters + ---------- + time : int + Current time + """ + self._time = time + + def get_time(self) -> int: + """ + Get the current time of the agent + + Returns + ------- + int + Current time + """ + return self._time + + def set_heard_commands(self, heard_commands: List[Any]) -> None: + """ + Set the heard commands + + Parameters + ---------- + heard_commands : List[Any] + Heard commands + """ + self._heard_commands = heard_commands + + def get_heard_commands(self) -> List[Any]: + """ + Get the heard commands + + Returns + ------- + List[Any] + Heard commands + """ + return self._heard_commands + + def get_entity_id(self) -> EntityID: + """ + Get the entity ID of the agent + + Returns + ------- + EntityID + Entity ID of the agent + """ + return self._agent.get_id() # type: ignore TODO: Agent class should return EntityID instead of EntityID | None + + def get_myself(self) -> Entity: + """ + Get the entity of the agent + + Returns + ------- + Entity + Entity of the agent + """ + return self._world_model.get_entity(self.get_entity_id()) + + def get_position_entity_id(self) -> EntityID: + """ + Get the position entity ID of the agent + + Returns + ------- + EntityID + Position entity ID of the agent + """ + entity = self._world_model.get_entity(self.get_entity_id()) + if isinstance(entity, Human): + return entity.get_position_property() + else: + return entity.get_id() + + def set_change_set(self, change_set: ChangeSet) -> None: + """ + Set the change set + + Parameters + ---------- + change_set : ChangeSet + Change set + """ + self._change_set = change_set + + def get_change_set(self) -> ChangeSet: + """ + Get the change set + + Returns + ------- + ChangeSet + Change set + """ + return self._change_set + + def some_one_on_board(self) -> Human | None: + """ + Get the human if someone is on board + + Returns + ------- + Human | None + Human if someone is on board, None otherwise + """ + entity_id: EntityID = self.get_entity_id() + for entity in self._world_model.get_entities(): + if isinstance(entity, Human): + if entity.get_position_property() == entity_id: + return entity + return None + + def get_executed_action(self, time: int) -> Action | None: + """ + Get the executed action at the given time + + Parameters + ---------- + time : int + Time + """ + return self._action_history.get(time) + + def set_executed_action(self, time: int, action: Action) -> None: + """ + Set the executed action at the given time + + Parameters + ---------- + time : int + Time + action : Action + Executed action + """ + self._action_history[time] = action + + def record_think_start_time(self) -> None: + """ + Record the start time of thinking + """ + self._start_think_time = time() + + def get_think_time(self) -> float: + """ + Get the time taken for thinking + + Returns + ------- + float + Time taken for thinking + """ + return time() - self._start_think_time diff --git a/adf_core_python/core/agent/info/scenario_info.py b/adf_core_python/core/agent/info/scenario_info.py new file mode 100644 index 0000000..6a2d699 --- /dev/null +++ b/adf_core_python/core/agent/info/scenario_info.py @@ -0,0 +1,74 @@ +from enum import Enum + +from rcrs_core.config.config import Config + + +class Mode(Enum): + NON_PRECOMPUTE = 0 + PRECOMPUTED = 1 + PRECOMPUTATION = 2 + + +class ScenarioInfo: + def __init__(self, config: Config, mode: Mode): + """ + Constructor + + Parameters + ---------- + config : Config + Configuration + mode : Mode + Mode of the scenario + """ + self._config: Config = config + self._mode: Mode = mode + + def set_config(self, config: Config) -> None: + """ + Set the configuration + + Parameters + ---------- + config : Config + Configuration + """ + self._config = config + + def get_config(self) -> Config: + """ + Get the configuration + + Returns + ------- + Config + Configuration + """ + return self._config + + def get_mode(self) -> Mode: + """ + Get the mode of the scenario + + Returns + ------- + Mode + Mode of the scenario + """ + return self._mode + + def get_config_value(self, key: str, default: str) -> str: + """ + Get the value of the configuration + + Parameters + ---------- + key : str + Key of the configuration + + Returns + ------- + str + Value of the configuration + """ + return self._config.get_value_or_default(key, default) diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py new file mode 100644 index 0000000..28a1612 --- /dev/null +++ b/adf_core_python/core/agent/info/world_info.py @@ -0,0 +1,30 @@ +from typing import Any, Dict + +from rcrs_core.worldmodel.entityID import EntityID +from rcrs_core.worldmodel.worldmodel import WorldModel + + +class WorldInfo: + def __init__(self, world_model: WorldModel): + self._world_model: WorldModel = world_model + self._time: int = 0 + self._is_run_rollback: bool = False + self._rollback: Dict[EntityID, Dict[int, Dict[int, Any]]] = {} + + def index_class(self): + """ + Index class + """ + self._world_model.index + + # TODO: Implement the worldmodel access methods + def get_world_model(self) -> WorldModel: + """ + Get the world model + + Returns + ------- + WorldModel + World model + """ + return self._world_model From c4c4556fccd1bdcca36f1d77c59e154e44b6ac58 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 28 Aug 2024 17:29:38 +0900 Subject: [PATCH 017/249] refactor: Update AgentInfo and WorldInfo classes --- adf_core_python/core/agent/info/agent_info.py | 3 ++- adf_core_python/core/agent/info/world_info.py | 6 ------ 2 files changed, 2 insertions(+), 7 deletions(-) diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py index 96f49f0..8d64006 100644 --- a/adf_core_python/core/agent/info/agent_info.py +++ b/adf_core_python/core/agent/info/agent_info.py @@ -72,7 +72,8 @@ def get_entity_id(self) -> EntityID: EntityID Entity ID of the agent """ - return self._agent.get_id() # type: ignore TODO: Agent class should return EntityID instead of EntityID | None + # TODO: Agent class should return EntityID instead of EntityID | None + return self._agent.get_id() # type: ignore def get_myself(self) -> Entity: """ diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 28a1612..87c5a62 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -11,12 +11,6 @@ def __init__(self, world_model: WorldModel): self._is_run_rollback: bool = False self._rollback: Dict[EntityID, Dict[int, Dict[int, Any]]] = {} - def index_class(self): - """ - Index class - """ - self._world_model.index - # TODO: Implement the worldmodel access methods def get_world_model(self) -> WorldModel: """ From 81fe1319755999347f8d818f154420a71f8baf15 Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 3 Sep 2024 18:12:17 +0900 Subject: [PATCH 018/249] feat: Add TacticsAgent, TacticsCenter, and related classes --- .../core/component/tactics/tactics_agent.py | 140 ++++++++++++++++++ .../tactics/tactics_ambulance_center.py | 11 ++ .../tactics/tactics_ambulance_team.py | 11 ++ .../core/component/tactics/tactics_center.py | 111 ++++++++++++++ .../component/tactics/tactics_fire_brigade.py | 11 ++ .../component/tactics/tactics_fire_station.py | 11 ++ .../component/tactics/tactics_police_force.py | 11 ++ .../tactics/tactics_police_office.py | 11 ++ 8 files changed, 317 insertions(+) create mode 100644 adf_core_python/core/component/tactics/tactics_agent.py create mode 100644 adf_core_python/core/component/tactics/tactics_ambulance_center.py create mode 100644 adf_core_python/core/component/tactics/tactics_ambulance_team.py create mode 100644 adf_core_python/core/component/tactics/tactics_center.py create mode 100644 adf_core_python/core/component/tactics/tactics_fire_brigade.py create mode 100644 adf_core_python/core/component/tactics/tactics_fire_station.py create mode 100644 adf_core_python/core/component/tactics/tactics_police_force.py create mode 100644 adf_core_python/core/component/tactics/tactics_police_office.py diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py new file mode 100644 index 0000000..d1c74bf --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -0,0 +1,140 @@ +from __future__ import annotations + +from abc import ABC, abstractmethod +from typing import TYPE_CHECKING, Any, List, Optional + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.extaction.ext_action import ExtAction + from adf_core_python.core.component.module.abstract_module import AbstractModule + + +class TacticsAgent(ABC): + def __init__(self, parent: Optional[TacticsAgent] = None) -> None: + self._parent = parent + self._modules: List[AbstractModule] = [] + self._actions: List[ExtAction] = [] + self._command_executor: Any = None + + @abstractmethod + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def update_info( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def get_parent_tactics(self) -> Optional[TacticsAgent]: + return self._parent + + def register_module(self, module: AbstractModule) -> None: + self._modules.append(module) + + def unregister_module(self, module: AbstractModule) -> None: + self._modules.remove(module) + + def register_action(self, action: ExtAction) -> None: + self._actions.append(action) + + def unregister_action(self, action: ExtAction) -> None: + self._actions.remove(action) + + def register_command_executor(self, command_executor: Any) -> None: + self._command_executor = command_executor + + def unregister_command_executor(self) -> None: + self._command_executor = None + + def module_precompute(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.precompute(precompute_data) + for action in self._actions: + action.precompute(precompute_data) + for executor in self._command_executor: + executor.precompute(precompute_data) + + def module_resume(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.resume(precompute_data) + for action in self._actions: + action.resume(precompute_data) + for executor in self._command_executor: + executor.resume(precompute_data) + + def module_prepare(self) -> None: + for module in self._modules: + module.prepare() + for action in self._actions: + action.prepare() + for executor in self._command_executor: + executor.prepare() + + def module_update_info(self, message_manager: MessageManager) -> None: + for module in self._modules: + module.update_info(message_manager) + for action in self._actions: + action.update_info(message_manager) + for executor in self._command_executor: + executor.update_info(message_manager) diff --git a/adf_core_python/core/component/tactics/tactics_ambulance_center.py b/adf_core_python/core/component/tactics/tactics_ambulance_center.py new file mode 100644 index 0000000..371c2e7 --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_ambulance_center.py @@ -0,0 +1,11 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_center import TacticsCenter + + +class TacticsAmbulanceCenter(TacticsCenter): + def __init__(self, parent: Optional[TacticsAmbulanceCenter] = None) -> None: + super().__init__(parent) diff --git a/adf_core_python/core/component/tactics/tactics_ambulance_team.py b/adf_core_python/core/component/tactics/tactics_ambulance_team.py new file mode 100644 index 0000000..f596dc0 --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_ambulance_team.py @@ -0,0 +1,11 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent + + +class TacticsAmbulanceTeam(TacticsAgent): + def __init__(self, parent: Optional[TacticsAmbulanceTeam] = None) -> None: + super().__init__(parent) diff --git a/adf_core_python/core/component/tactics/tactics_center.py b/adf_core_python/core/component/tactics/tactics_center.py new file mode 100644 index 0000000..cd6de03 --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_center.py @@ -0,0 +1,111 @@ +from __future__ import annotations + +from abc import ABC, abstractmethod +from typing import TYPE_CHECKING, Any, List, Optional + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.module.abstract_module import AbstractModule + + +class TacticsCenter(ABC): + def __init__(self, parent: Optional[TacticsCenter] = None) -> None: + self._parent = parent + self._modules: List[AbstractModule] = [] + self._command_pickers: List[Any] = [] + + @abstractmethod + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def get_parent_tactics(self) -> Optional[TacticsCenter]: + return self._parent + + def register_module(self, module: AbstractModule) -> None: + self._modules.append(module) + + def unregister_module(self, module: AbstractModule) -> None: + self._modules.remove(module) + + def register_command_picker(self, command_picker: Any) -> None: + self._command_pickers.append(command_picker) + + def unregister_command_picker(self, command_picker: Any) -> None: + self._command_pickers.remove(command_picker) + + def module_precompute(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.precompute(precompute_data) + for command_picker in self._command_pickers: + command_picker.precompute(precompute_data) + + def module_resume(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.resume(precompute_data) + for command_picker in self._command_pickers: + command_picker.resume(precompute_data) + + def module_prepare(self) -> None: + for module in self._modules: + module.prepare() + for command_picker in self._command_pickers: + command_picker.prepare() + + def module_update_info(self, message_manager: MessageManager) -> None: + for module in self._modules: + module.update_info(message_manager) + for command_picker in self._command_pickers: + command_picker.update_info(message_manager) diff --git a/adf_core_python/core/component/tactics/tactics_fire_brigade.py b/adf_core_python/core/component/tactics/tactics_fire_brigade.py new file mode 100644 index 0000000..ce2fc7a --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_fire_brigade.py @@ -0,0 +1,11 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent + + +class TacticsFireBrigade(TacticsAgent): + def __init__(self, parent: Optional[TacticsFireBrigade] = None) -> None: + super().__init__(parent) diff --git a/adf_core_python/core/component/tactics/tactics_fire_station.py b/adf_core_python/core/component/tactics/tactics_fire_station.py new file mode 100644 index 0000000..8723289 --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_fire_station.py @@ -0,0 +1,11 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_center import TacticsCenter + + +class TacticsFireStation(TacticsCenter): + def __init__(self, parent: Optional[TacticsFireStation] = None) -> None: + super().__init__(parent) diff --git a/adf_core_python/core/component/tactics/tactics_police_force.py b/adf_core_python/core/component/tactics/tactics_police_force.py new file mode 100644 index 0000000..e64950b --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_police_force.py @@ -0,0 +1,11 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent + + +class TacticsPoliceForce(TacticsAgent): + def __init__(self, parent: Optional[TacticsPoliceForce] = None) -> None: + super().__init__(parent) diff --git a/adf_core_python/core/component/tactics/tactics_police_office.py b/adf_core_python/core/component/tactics/tactics_police_office.py new file mode 100644 index 0000000..dc41629 --- /dev/null +++ b/adf_core_python/core/component/tactics/tactics_police_office.py @@ -0,0 +1,11 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_center import TacticsCenter + + +class TacticsPoliceOffice(TacticsCenter): + def __init__(self, parent: Optional[TacticsPoliceOffice] = None) -> None: + super().__init__(parent) From f8b123b37b2f5a7abacc390fcf4a07b21119519f Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 3 Sep 2024 18:40:16 +0900 Subject: [PATCH 019/249] feat: Add CommunicationMessage class for handling communication messages --- .../core/agent/communication/__init__.py | 0 .../communication/communication_message.py | 19 +++++++++++++++++++ 2 files changed, 19 insertions(+) create mode 100644 adf_core_python/core/agent/communication/__init__.py create mode 100644 adf_core_python/core/component/communication/communication_message.py diff --git a/adf_core_python/core/agent/communication/__init__.py b/adf_core_python/core/agent/communication/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/communication/communication_message.py b/adf_core_python/core/component/communication/communication_message.py new file mode 100644 index 0000000..2909fcf --- /dev/null +++ b/adf_core_python/core/component/communication/communication_message.py @@ -0,0 +1,19 @@ +from abc import ABC, abstractmethod + + +class CommunicationMessage(ABC): + def __init__(self, is_wireless_message: bool) -> None: + self._is_wireless_message = is_wireless_message + + def is_wireless_message(self) -> bool: + return self._is_wireless_message + + @abstractmethod + def get_byte_size(self) -> int: + raise NotImplementedError + + @abstractmethod + def to_bytes(self) -> bytes: + raise NotImplementedError + + # TODO: Implement the toBitOutputStream and getCheckKey methods From aed647a1736cb97f723e5a617ff5dcc2a3917fbc Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 3 Sep 2024 18:41:31 +0900 Subject: [PATCH 020/249] feat: Provisional MessageManager and PrecomputeData classes --- adf_core_python/core/agent/communication/message_manager.py | 4 ++++ adf_core_python/core/agent/precompute/precompute_data.py | 4 ++++ 2 files changed, 8 insertions(+) create mode 100644 adf_core_python/core/agent/communication/message_manager.py create mode 100644 adf_core_python/core/agent/precompute/precompute_data.py diff --git a/adf_core_python/core/agent/communication/message_manager.py b/adf_core_python/core/agent/communication/message_manager.py new file mode 100644 index 0000000..7883136 --- /dev/null +++ b/adf_core_python/core/agent/communication/message_manager.py @@ -0,0 +1,4 @@ +# TODO: Implement MessageManager class +class MessageManager: + def __init__(self) -> None: + pass diff --git a/adf_core_python/core/agent/precompute/precompute_data.py b/adf_core_python/core/agent/precompute/precompute_data.py new file mode 100644 index 0000000..ba5840f --- /dev/null +++ b/adf_core_python/core/agent/precompute/precompute_data.py @@ -0,0 +1,4 @@ +# TODO: Implement the PrecomputeData class +class PrecomputeData: + def __init__(self, file_path: str) -> None: + self._file_path = file_path From b2e571ed70d44413aae891e6e1ab4904a4798b39 Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 3 Sep 2024 18:42:19 +0900 Subject: [PATCH 021/249] feat: Add ModuleManager, ExtAction, and AbstractModule classes --- adf_core_python/core/agent/module/__init__.py | 0 .../core/agent/module/module_manager.py | 98 +++++++++++++++++++ .../core/component/extaction/ext_action.py | 89 +++++++++++++++++ .../core/component/module/abstract_module.py | 94 ++++++++++++++++++ 4 files changed, 281 insertions(+) create mode 100644 adf_core_python/core/agent/module/__init__.py create mode 100644 adf_core_python/core/agent/module/module_manager.py create mode 100644 adf_core_python/core/component/extaction/ext_action.py create mode 100644 adf_core_python/core/component/module/abstract_module.py diff --git a/adf_core_python/core/agent/module/__init__.py b/adf_core_python/core/agent/module/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py new file mode 100644 index 0000000..e98c911 --- /dev/null +++ b/adf_core_python/core/agent/module/module_manager.py @@ -0,0 +1,98 @@ +from __future__ import annotations + +import importlib +from typing import TYPE_CHECKING, Any, Dict, Type, TypeVar + +from adf_core_python.core.component.module.abstract_module import AbstractModule + +if TYPE_CHECKING: + from adf_core_python.core.agent.config.module_config import ModuleConfig + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.component.extaction.ext_action import ExtAction + +T = TypeVar("T") + + +class ModuleManager: + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_config: ModuleConfig, + develop_data: DevelopData, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_config = module_config + self._develop_data = develop_data + self._modules: Dict[str, AbstractModule] = {} + self._actions: Dict[str, ExtAction] = {} + + self._executors: Dict[str, Any] = {} + self._pickers: Dict[str, Any] = {} + self._channel_subscribers: Dict[str, Any] = {} + self._message_coordinators: Dict[str, Any] = {} + + def get_module(self, module_name: str, default_module_name: str) -> AbstractModule: + class_name = self._module_config.get_value_or_default( + module_name, default_module_name + ) + + try: + module_class: Type[AbstractModule] = self._load_module(class_name) + except (ImportError, AttributeError) as e: + raise RuntimeError(f"Failed to load module {class_name}") from e + + instance = self._modules.get(module_name) + if instance is not None: + return instance + + if issubclass(module_class, AbstractModule): + instance = module_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._modules[module_name] = instance + return instance + + raise RuntimeError(f"Module {class_name} is not a subclass of AbstractModule") + + def get_ext_action(self, action_name: str, default_action_name: str) -> ExtAction: + class_name = self._module_config.get_value_or_default( + action_name, default_action_name + ) + + try: + action_class: Type[ExtAction] = self._load_module(class_name) + except (ImportError, AttributeError) as e: + raise RuntimeError(f"Failed to load action {class_name}") from e + + instance = self._actions.get(action_name) + if instance is not None: + return instance + + if issubclass(action_class, ExtAction): + instance = action_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._actions[action_name] = instance + return instance + + raise RuntimeError(f"Action {class_name} is not a subclass of ExtAction") + + def _load_module(self, class_name: str) -> Type[T]: + module_name, module_class_name = class_name.rsplit(".", 1) + module = importlib.import_module(module_name) + return getattr(module, module_class_name) diff --git a/adf_core_python/core/component/extaction/ext_action.py b/adf_core_python/core/component/extaction/ext_action.py new file mode 100644 index 0000000..e474a8f --- /dev/null +++ b/adf_core_python/core/component/extaction/ext_action.py @@ -0,0 +1,89 @@ +from __future__ import annotations + +from abc import ABC, abstractmethod +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.action.action import Action + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + + +class ExtAction(ABC): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ): + self.world_info = world_info + self.agent_info = agent_info + self.scenario_info = scenario_info + self.module_manager = module_manager + self.develop_data = develop_data + self.result: Optional[Action] = None + self.count_precompute: int = 0 + self.count_resume: int = 0 + self.count_prepare: int = 0 + self.count_update_info: int = 0 + self.count_update_info_current_time: int = 0 + + @abstractmethod + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: + raise NotImplementedError + + @abstractmethod + def calc(self) -> ExtAction: + raise NotImplementedError + + def get_action(self) -> Optional[Action]: + return self.result + + def precompute(self, precompute_data: PrecomputeData) -> ExtAction: + self.count_precompute += 1 + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtAction: + self.count_resume += 1 + return self + + def prepare(self) -> ExtAction: + self.count_prepare += 1 + return self + + def update_info(self, message_manager: MessageManager) -> ExtAction: + self.count_update_info += 1 + return self + + def get_count_precompute(self) -> int: + return self.count_precompute + + def get_count_resume(self) -> int: + return self.count_resume + + def get_count_prepare(self) -> int: + return self.count_prepare + + def get_count_update_info(self) -> int: + return self.count_update_info + + def reset_count_precompute(self) -> None: + self.count_precompute = 0 + + def reset_count_resume(self) -> None: + self.count_resume = 0 + + def reset_count_prepare(self) -> None: + self.count_prepare = 0 + + def reset_count_update_info(self) -> None: + self.count_update_info = 0 diff --git a/adf_core_python/core/component/module/abstract_module.py b/adf_core_python/core/component/module/abstract_module.py new file mode 100644 index 0000000..b04f271 --- /dev/null +++ b/adf_core_python/core/component/module/abstract_module.py @@ -0,0 +1,94 @@ +from __future__ import annotations + +from abc import ABC, abstractmethod +from typing import TYPE_CHECKING, List + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + + +class AbstractModule(ABC): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_manager = module_manager + self._develop_data = develop_data + self._count_precompute: int = 0 + self._count_resume: int = 0 + self._count_prepare: int = 0 + self._count_update_info: int = 0 + self._count_update_info_current_time: int = 0 + + self._sub_modules: List[AbstractModule] = [] + + def register_sub_module(self, sub_module: AbstractModule) -> None: + self._sub_modules.append(sub_module) + + def unregister_sub_module(self, sub_module: AbstractModule) -> None: + self._sub_modules.remove(sub_module) + + def precompute(self, precompute_data: PrecomputeData) -> AbstractModule: + self._count_precompute += 1 + for sub_module in self._sub_modules: + sub_module.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> AbstractModule: + self._count_resume += 1 + for sub_module in self._sub_modules: + sub_module.resume(precompute_data) + return self + + def prepare(self) -> AbstractModule: + self._count_prepare += 1 + for sub_module in self._sub_modules: + sub_module.prepare() + return self + + def update_info(self, message_manager: MessageManager) -> AbstractModule: + self._count_update_info += 1 + for sub_module in self._sub_modules: + sub_module.update_info(message_manager) + return self + + @abstractmethod + def calculate(self) -> AbstractModule: + raise NotImplementedError + + def get_count_precompute(self) -> int: + return self._count_precompute + + def get_count_resume(self) -> int: + return self._count_resume + + def get_count_prepare(self) -> int: + return self._count_prepare + + def get_count_update_info(self) -> int: + return self._count_update_info + + def reset_count_precompute(self) -> None: + self._count_precompute = 0 + + def reset_count_resume(self) -> None: + self._count_resume = 0 + + def reset_count_prepare(self) -> None: + self._count_prepare = 0 + + def reset_count_update_info(self) -> None: + self._count_update_info = 0 From 92ef7a76748e24c8421b3746c2dedf9ba4c7f0de Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 3 Sep 2024 18:42:27 +0900 Subject: [PATCH 022/249] feat: Add AStarPathPlanning module for path planning --- .../module/algorithm/path_planning.py | 61 +++++++++++++++++++ .../implement/module/astar_path_planning.py | 23 +++++++ 2 files changed, 84 insertions(+) create mode 100644 adf_core_python/core/component/module/algorithm/path_planning.py create mode 100644 adf_core_python/implement/module/astar_path_planning.py diff --git a/adf_core_python/core/component/module/algorithm/path_planning.py b/adf_core_python/core/component/module/algorithm/path_planning.py new file mode 100644 index 0000000..fcd0b8a --- /dev/null +++ b/adf_core_python/core/component/module/algorithm/path_planning.py @@ -0,0 +1,61 @@ +from __future__ import annotations + +from abc import abstractmethod +from typing import TYPE_CHECKING, List + +from adf_core_python.core.component.module.abstract_module import AbstractModule + +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + + +class PathPlanning(AbstractModule): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> List[EntityID]: + pass + + @abstractmethod + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + pass + + def precompute(self, precompute_data: PrecomputeData) -> PathPlanning: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> PathPlanning: + super().resume(precompute_data) + return self + + def prepare(self) -> PathPlanning: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> PathPlanning: + super().update_info(message_manager) + return self + + @abstractmethod + def calculate(self) -> PathPlanning: + pass diff --git a/adf_core_python/implement/module/astar_path_planning.py b/adf_core_python/implement/module/astar_path_planning.py new file mode 100644 index 0000000..025ddd6 --- /dev/null +++ b/adf_core_python/implement/module/astar_path_planning.py @@ -0,0 +1,23 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, List + +from adf_core_python.core.component.module.algorithm.path_planning import ( + PathPlanning, +) + +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + +class AStarPathPlanning(PathPlanning): + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> List[EntityID]: + return [] + + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + return 0.0 + + def calculate(self) -> AStarPathPlanning: + return self From 258e7a4fb47901cf4092a66b9bf1b4129a03b768 Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 3 Sep 2024 18:42:52 +0900 Subject: [PATCH 023/249] feat: module_manager test --- tests/core/agent/module/module.yaml | 123 ++++++++++++++++++ .../core/agent/module/test_module_manager.py | 29 +++++ 2 files changed, 152 insertions(+) create mode 100644 tests/core/agent/module/module.yaml create mode 100644 tests/core/agent/module/test_module_manager.py diff --git a/tests/core/agent/module/module.yaml b/tests/core/agent/module/module.yaml new file mode 100644 index 0000000..6e27f99 --- /dev/null +++ b/tests/core/agent/module/module.yaml @@ -0,0 +1,123 @@ +## DefaultTacticsAmbulanceTeam +DefaultTacticsAmbulanceTeam: + HumanDetector: sample_team.module.complex.SampleHumanDetector + Search: sample_team.module.complex.SampleSearch + ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + CommandExecutorAmbulance: adf.impl.centralized.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + +## DefaultTacticsFireBrigade +DefaultTacticsFireBrigade: + HumanDetector: sample_team.module.complex.SampleHumanDetector + Search: sample_team.module.complex.SampleSearch + ExtActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + CommandExecutorFire: adf.impl.centralized.DefaultCommandExecutorFire + CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + +## DefaultTacticsPoliceForce +DefaultTacticsPoliceForce: + RoadDetector: sample_team.module.complex.SampleRoadDetector + Search: sample_team.module.complex.SampleSearch + ExtActionClear: adf.impl.extaction.DefaultExtActionClear + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + CommandExecutorPolice: adf.impl.centralized.DefaultCommandExecutorPolice + CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScoutPolice + +## DefaultTacticsAmbulanceCentre +DefaultTacticsAmbulanceCentre: + TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator + CommandPicker: adf.impl.centralized.DefaultCommandPickerAmbulance + +## DefaultTacticsFireStation +DefaultTacticsFireStation: + TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator + CommandPicker: adf.impl.centralized.DefaultCommandPickerFire + +## DefaultTacticsPoliceOffice +DefaultTacticsPoliceOffice: + TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator + CommandPicker: adf.impl.centralized.DefaultCommandPickerPolice + +## SampleSearch +SampleSearch: + PathPlanning: + Ambulance: adf.impl.module.algorithm.DijkstraPathPlanning + Fire: adf.impl.module.algorithm.DijkstraPathPlanning + Police: adf.impl.module.algorithm.DijkstraPathPlanning + Clustering: + Ambulance: adf.impl.module.algorithm.KMeansClustering + Fire: adf.impl.module.algorithm.KMeansClustering + Police: adf.impl.module.algorithm.KMeansClustering + +## SampleBuildDetector +SampleBuildingDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + +## SampleRoadDetector +SampleRoadDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## SampleHumanDetector +SampleHumanDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + +## DefaultExtActionClear +DefaultExtActionClear: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionFireFighting +DefaultExtActionFireFighting: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionFireRescue +DefaultExtActionFireRescue: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionMove +DefaultExtActionMove: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionTransport +DefaultExtActionTransport: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultCommandExecutorAmbulance +DefaultCommandExecutorAmbulance: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +## DefaultCommandExecutorFire +DefaultCommandExecutorFire: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + EtxActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue + EtxActionFireFighting: adf.impl.extaction.DefaultExtActionFireFighting + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +## DefaultCommandExecutorPolice +DefaultCommandExecutorPolice: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + ExtActionClear: adf.impl.extaction.DefaultExtActionClear + ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +## DefaultCommandExecutorScout +DefaultCommandExecutorScout: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultCommandExecutorScoutPolice +DefaultCommandExecutorScoutPolice: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + ExtActionClear: adf.impl.extaction.DefaultExtActionClear + +## MessageManager +MessageManager: + PlatoonChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber + CenterChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber + PlatoonMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator + CenterMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator + +## VisualDebug +VisualDebug: true diff --git a/tests/core/agent/module/test_module_manager.py b/tests/core/agent/module/test_module_manager.py new file mode 100644 index 0000000..458791e --- /dev/null +++ b/tests/core/agent/module/test_module_manager.py @@ -0,0 +1,29 @@ +import os + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.abstract_module import AbstractModule + + +class TestModuleManager: + def test_can_get_module(self) -> None: + script_dir = os.path.dirname(os.path.abspath(__file__)) + config_file_path = os.path.join(script_dir, "module.yaml") + config = ModuleConfig(config_file_path) + config.set_value( + "test_module", + "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + ) + module_manager = self.create_module_manager(config) + module = module_manager.get_module("test_module", "test_module") + assert isinstance(module, AbstractModule) + assert module.__class__.__name__ == "AStarPathPlanning" + + def create_module_manager(self, config: ModuleConfig) -> ModuleManager: + return ModuleManager( + None, # type: ignore + None, # type: ignore + None, # type: ignore + config, + None, # type: ignore + ) From 72f42e4055485c3a68a3145673867dc31bf941f3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 9 Sep 2024 21:01:46 +0900 Subject: [PATCH 024/249] refactor: replace deprecated type alias --- adf_core_python/core/agent/config/module_config.py | 14 +++++++------- adf_core_python/core/agent/develop/develop_data.py | 8 ++++---- adf_core_python/core/agent/info/agent_info.py | 14 +++++++------- adf_core_python/core/agent/info/world_info.py | 4 ++-- .../core/agent/module/module_manager.py | 14 +++++++------- .../core/component/module/abstract_module.py | 4 ++-- .../component/module/algorithm/path_planning.py | 4 ++-- .../core/component/tactics/tactics_agent.py | 6 +++--- .../core/component/tactics/tactics_center.py | 6 +++--- .../implement/module/astar_path_planning.py | 4 ++-- 10 files changed, 39 insertions(+), 39 deletions(-) diff --git a/adf_core_python/core/agent/config/module_config.py b/adf_core_python/core/agent/config/module_config.py index 258c6f0..a97ef30 100644 --- a/adf_core_python/core/agent/config/module_config.py +++ b/adf_core_python/core/agent/config/module_config.py @@ -1,4 +1,4 @@ -from typing import Any, Dict, Final +from typing import Any, Final from rcrs_core.config.config import Config from yaml import safe_load @@ -38,7 +38,7 @@ def __init__(self, config_file_name: str = DEFAULT_CONFIG_FILE_NAME): for key, value in flatten_data.items(): print(f"{key}: {self.get_value(key)}") - def _read_from_yaml(self, file_name: str) -> Dict[str, Any]: + def _read_from_yaml(self, file_name: str) -> dict[str, Any]: """ Read configuration from yaml file @@ -49,7 +49,7 @@ def _read_from_yaml(self, file_name: str) -> Dict[str, Any]: Returns ------- - Dict[str, Any] + dict[str, Any] Configuration data """ try: @@ -63,14 +63,14 @@ def _read_from_yaml(self, file_name: str) -> Dict[str, Any]: return data def _flatten( - self, data: Dict[str, Any], parent_key: str = "", sep: str = "." - ) -> Dict[str, Any]: + self, data: dict[str, Any], parent_key: str = "", sep: str = "." + ) -> dict[str, Any]: """ Flatten nested dictionary to a single level dictionary Parameters ---------- - data : Dict[str, Any] + data : dict[str, Any] Nested dictionary parent_key : str, optional Parent key, by default "" @@ -79,7 +79,7 @@ def _flatten( Returns ------- - Dict[str, Any] + dict[str, Any] Flattened dictionary """ flatten_data = {} diff --git a/adf_core_python/core/agent/develop/develop_data.py b/adf_core_python/core/agent/develop/develop_data.py index f66bc3b..7d7c551 100644 --- a/adf_core_python/core/agent/develop/develop_data.py +++ b/adf_core_python/core/agent/develop/develop_data.py @@ -1,5 +1,5 @@ import json -from typing import Any, Dict, Final +from typing import Any, Final class DevelopData: @@ -11,12 +11,12 @@ def __init__( """ Constructor """ - self._develop_data: Dict[str, Any] = self._set_data_from_json(file_name) + self._develop_data: dict[str, Any] = self._set_data_from_json(file_name) self._is_develop_mode: bool = is_develop_mode self._set_data_from_json(file_name) - def _set_data_from_json(self, file_name: str) -> Dict[str, Any]: + def _set_data_from_json(self, file_name: str) -> dict[str, Any]: """ Set data from json @@ -27,7 +27,7 @@ def _set_data_from_json(self, file_name: str) -> Dict[str, Any]: Returns ------- - Dict[str, Any] + dict[str, Any] Develop data """ try: diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py index 8d64006..d65070c 100644 --- a/adf_core_python/core/agent/info/agent_info.py +++ b/adf_core_python/core/agent/info/agent_info.py @@ -1,5 +1,5 @@ from time import time -from typing import Any, Dict, List +from typing import Any from rcrs_core.agents.agent import Agent from rcrs_core.entities.human import Human @@ -14,8 +14,8 @@ def __init__(self, agent: Agent, world_model: WorldModel): self._agent: Agent = agent self._world_model: WorldModel = world_model self._time: int = 0 - self._action_history: Dict[int, Action] = {} - self._heard_commands: List[Any] = [] + self._action_history: dict[int, Action] = {} + self._heard_commands: list[Any] = [] self._change_set: ChangeSet = ChangeSet() self._start_think_time: float = 0.0 @@ -41,24 +41,24 @@ def get_time(self) -> int: """ return self._time - def set_heard_commands(self, heard_commands: List[Any]) -> None: + def set_heard_commands(self, heard_commands: list[Any]) -> None: """ Set the heard commands Parameters ---------- - heard_commands : List[Any] + heard_commands : list[Any] Heard commands """ self._heard_commands = heard_commands - def get_heard_commands(self) -> List[Any]: + def get_heard_commands(self) -> list[Any]: """ Get the heard commands Returns ------- - List[Any] + list[Any] Heard commands """ return self._heard_commands diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 87c5a62..c765a82 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -1,4 +1,4 @@ -from typing import Any, Dict +from typing import Any from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel @@ -9,7 +9,7 @@ def __init__(self, world_model: WorldModel): self._world_model: WorldModel = world_model self._time: int = 0 self._is_run_rollback: bool = False - self._rollback: Dict[EntityID, Dict[int, Dict[int, Any]]] = {} + self._rollback: dict[EntityID, dict[int, dict[int, Any]]] = {} # TODO: Implement the worldmodel access methods def get_world_model(self) -> WorldModel: diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index e98c911..dfccd67 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -1,7 +1,7 @@ from __future__ import annotations import importlib -from typing import TYPE_CHECKING, Any, Dict, Type, TypeVar +from typing import TYPE_CHECKING, Any, Type, TypeVar from adf_core_python.core.component.module.abstract_module import AbstractModule @@ -30,13 +30,13 @@ def __init__( self._scenario_info = scenario_info self._module_config = module_config self._develop_data = develop_data - self._modules: Dict[str, AbstractModule] = {} - self._actions: Dict[str, ExtAction] = {} + self._modules: dict[str, AbstractModule] = {} + self._actions: dict[str, ExtAction] = {} - self._executors: Dict[str, Any] = {} - self._pickers: Dict[str, Any] = {} - self._channel_subscribers: Dict[str, Any] = {} - self._message_coordinators: Dict[str, Any] = {} + self._executors: dict[str, Any] = {} + self._pickers: dict[str, Any] = {} + self._channel_subscribers: dict[str, Any] = {} + self._message_coordinators: dict[str, Any] = {} def get_module(self, module_name: str, default_module_name: str) -> AbstractModule: class_name = self._module_config.get_value_or_default( diff --git a/adf_core_python/core/component/module/abstract_module.py b/adf_core_python/core/component/module/abstract_module.py index b04f271..7660519 100644 --- a/adf_core_python/core/component/module/abstract_module.py +++ b/adf_core_python/core/component/module/abstract_module.py @@ -1,7 +1,7 @@ from __future__ import annotations from abc import ABC, abstractmethod -from typing import TYPE_CHECKING, List +from typing import TYPE_CHECKING if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -33,7 +33,7 @@ def __init__( self._count_update_info: int = 0 self._count_update_info_current_time: int = 0 - self._sub_modules: List[AbstractModule] = [] + self._sub_modules: list[AbstractModule] = [] def register_sub_module(self, sub_module: AbstractModule) -> None: self._sub_modules.append(sub_module) diff --git a/adf_core_python/core/component/module/algorithm/path_planning.py b/adf_core_python/core/component/module/algorithm/path_planning.py index fcd0b8a..b741862 100644 --- a/adf_core_python/core/component/module/algorithm/path_planning.py +++ b/adf_core_python/core/component/module/algorithm/path_planning.py @@ -1,7 +1,7 @@ from __future__ import annotations from abc import abstractmethod -from typing import TYPE_CHECKING, List +from typing import TYPE_CHECKING from adf_core_python.core.component.module.abstract_module import AbstractModule @@ -33,7 +33,7 @@ def __init__( @abstractmethod def get_path( self, from_entity_id: EntityID, to_entity_id: EntityID - ) -> List[EntityID]: + ) -> list[EntityID]: pass @abstractmethod diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index d1c74bf..5a92fa7 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -1,7 +1,7 @@ from __future__ import annotations from abc import ABC, abstractmethod -from typing import TYPE_CHECKING, Any, List, Optional +from typing import TYPE_CHECKING, Any, Optional if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -18,8 +18,8 @@ class TacticsAgent(ABC): def __init__(self, parent: Optional[TacticsAgent] = None) -> None: self._parent = parent - self._modules: List[AbstractModule] = [] - self._actions: List[ExtAction] = [] + self._modules: list[AbstractModule] = [] + self._actions: list[ExtAction] = [] self._command_executor: Any = None @abstractmethod diff --git a/adf_core_python/core/component/tactics/tactics_center.py b/adf_core_python/core/component/tactics/tactics_center.py index cd6de03..ea95edf 100644 --- a/adf_core_python/core/component/tactics/tactics_center.py +++ b/adf_core_python/core/component/tactics/tactics_center.py @@ -1,7 +1,7 @@ from __future__ import annotations from abc import ABC, abstractmethod -from typing import TYPE_CHECKING, Any, List, Optional +from typing import TYPE_CHECKING, Any, Optional if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -17,8 +17,8 @@ class TacticsCenter(ABC): def __init__(self, parent: Optional[TacticsCenter] = None) -> None: self._parent = parent - self._modules: List[AbstractModule] = [] - self._command_pickers: List[Any] = [] + self._modules: list[AbstractModule] = [] + self._command_pickers: list[Any] = [] @abstractmethod def initialize( diff --git a/adf_core_python/implement/module/astar_path_planning.py b/adf_core_python/implement/module/astar_path_planning.py index 025ddd6..24c7afb 100644 --- a/adf_core_python/implement/module/astar_path_planning.py +++ b/adf_core_python/implement/module/astar_path_planning.py @@ -1,6 +1,6 @@ from __future__ import annotations -from typing import TYPE_CHECKING, List +from typing import TYPE_CHECKING from adf_core_python.core.component.module.algorithm.path_planning import ( PathPlanning, @@ -13,7 +13,7 @@ class AStarPathPlanning(PathPlanning): def get_path( self, from_entity_id: EntityID, to_entity_id: EntityID - ) -> List[EntityID]: + ) -> list[EntityID]: return [] def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: From 9b6c23fa8ce41da4249a57fce95dfaae0277b189 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 9 Sep 2024 22:13:55 +0900 Subject: [PATCH 025/249] refactor: Replace deprecated type alias in ModuleManager --- adf_core_python/core/agent/module/module_manager.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index dfccd67..b6f325b 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -1,7 +1,7 @@ from __future__ import annotations import importlib -from typing import TYPE_CHECKING, Any, Type, TypeVar +from typing import TYPE_CHECKING, Any from adf_core_python.core.component.module.abstract_module import AbstractModule @@ -13,8 +13,6 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.component.extaction.ext_action import ExtAction -T = TypeVar("T") - class ModuleManager: def __init__( @@ -44,7 +42,7 @@ def get_module(self, module_name: str, default_module_name: str) -> AbstractModu ) try: - module_class: Type[AbstractModule] = self._load_module(class_name) + module_class: type = self._load_module(class_name) except (ImportError, AttributeError) as e: raise RuntimeError(f"Failed to load module {class_name}") from e @@ -71,7 +69,7 @@ def get_ext_action(self, action_name: str, default_action_name: str) -> ExtActio ) try: - action_class: Type[ExtAction] = self._load_module(class_name) + action_class: type = self._load_module(class_name) except (ImportError, AttributeError) as e: raise RuntimeError(f"Failed to load action {class_name}") from e @@ -92,7 +90,7 @@ def get_ext_action(self, action_name: str, default_action_name: str) -> ExtActio raise RuntimeError(f"Action {class_name} is not a subclass of ExtAction") - def _load_module(self, class_name: str) -> Type[T]: + def _load_module(self, class_name: str) -> type: module_name, module_class_name = class_name.rsplit(".", 1) module = importlib.import_module(module_name) return getattr(module, module_class_name) From beb36103e537c848fea7c0feaae7e9a3a6d96b7b Mon Sep 17 00:00:00 2001 From: shima004 Date: Sun, 15 Sep 2024 01:33:02 +0900 Subject: [PATCH 026/249] feat: Introduce new action classes for ambulance, fire, and police operations --- adf_core_python/core/agent/action/action.py | 11 +++++-- .../agent/action/ambulance/action_load.py | 22 +++++++++++++ .../agent/action/ambulance/action_rescue.py | 22 +++++++++++++ .../agent/action/ambulance/action_unload.py | 19 +++++++++++ .../core/agent/action/common/action_move.py | 33 +++++++++++++++++++ .../core/agent/action/common/action_rest.py | 19 +++++++++++ .../agent/action/fire/action_extinguish.py | 26 +++++++++++++++ .../core/agent/action/fire/action_refill.py | 19 +++++++++++ .../core/agent/action/fire/action_rescue.py | 22 +++++++++++++ .../core/agent/action/police/action_clear.py | 21 ++++++++++++ .../agent/action/police/action_clear_area.py | 21 ++++++++++++ 11 files changed, 232 insertions(+), 3 deletions(-) create mode 100644 adf_core_python/core/agent/action/ambulance/action_load.py create mode 100644 adf_core_python/core/agent/action/ambulance/action_rescue.py create mode 100644 adf_core_python/core/agent/action/ambulance/action_unload.py create mode 100644 adf_core_python/core/agent/action/common/action_move.py create mode 100644 adf_core_python/core/agent/action/common/action_rest.py create mode 100644 adf_core_python/core/agent/action/fire/action_extinguish.py create mode 100644 adf_core_python/core/agent/action/fire/action_refill.py create mode 100644 adf_core_python/core/agent/action/fire/action_rescue.py create mode 100644 adf_core_python/core/agent/action/police/action_clear.py create mode 100644 adf_core_python/core/agent/action/police/action_clear_area.py diff --git a/adf_core_python/core/agent/action/action.py b/adf_core_python/core/agent/action/action.py index 84cef3a..eb4a04c 100644 --- a/adf_core_python/core/agent/action/action.py +++ b/adf_core_python/core/agent/action/action.py @@ -1,10 +1,15 @@ from abc import ABC, abstractmethod +from typing import TYPE_CHECKING -from rcrs_core.messages.message import Message -from rcrs_core.worldmodel.entityID import EntityID +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID class Action(ABC): + def __init__(self) -> None: + pass + @abstractmethod - def get_command(self, agent_id: EntityID, time: int) -> Message: + def get_command(self, agent_id: EntityID, time: int) -> Command: raise NotImplementedError diff --git a/adf_core_python/core/agent/action/ambulance/action_load.py b/adf_core_python/core/agent/action/ambulance/action_load.py new file mode 100644 index 0000000..c7ee299 --- /dev/null +++ b/adf_core_python/core/agent/action/ambulance/action_load.py @@ -0,0 +1,22 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKLoad import AKLoad +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionLoad(Action): + def __init__(self, target_id: EntityID) -> None: + self.target_id = target_id + + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKLoad(agent_id, time, self.target_id) + + def __str__(self) -> str: + return f"ActionLoad(target_id={self.target_id})" diff --git a/adf_core_python/core/agent/action/ambulance/action_rescue.py b/adf_core_python/core/agent/action/ambulance/action_rescue.py new file mode 100644 index 0000000..e4bfb1d --- /dev/null +++ b/adf_core_python/core/agent/action/ambulance/action_rescue.py @@ -0,0 +1,22 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKRescue import AKRescue +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionRescue(Action): + def __init__(self, target_id: EntityID) -> None: + self.target_id = target_id + + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRescue(agent_id, time, self.target_id) + + def __str__(self) -> str: + return f"ActionRescue(target_id={self.target_id})" diff --git a/adf_core_python/core/agent/action/ambulance/action_unload.py b/adf_core_python/core/agent/action/ambulance/action_unload.py new file mode 100644 index 0000000..afe3f1a --- /dev/null +++ b/adf_core_python/core/agent/action/ambulance/action_unload.py @@ -0,0 +1,19 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKUnload import AKUnload +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionUnload(Action): + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKUnload(agent_id, time) + + def __str__(self) -> str: + return "ActionUnload()" diff --git a/adf_core_python/core/agent/action/common/action_move.py b/adf_core_python/core/agent/action/common/action_move.py new file mode 100644 index 0000000..06dc150 --- /dev/null +++ b/adf_core_python/core/agent/action/common/action_move.py @@ -0,0 +1,33 @@ +from typing import TYPE_CHECKING, Optional + +from rcrs_core.commands.AKMove import AKMove +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionMove(Action): + def __init__( + self, + path: list[EntityID], + destinationX: Optional[int] = None, + destinationY: Optional[int] = None, + ) -> None: + self.path = path + self.destinationX = destinationX + self.destinationY = destinationY + + def get_command(self, agent_id: EntityID, time: int) -> Command: + path: list[int] = [p.get_value() for p in self.path] + if self.destinationX is not None and self.destinationY is not None: + return AKMove(agent_id, time, path, self.destinationX, self.destinationY) + else: + return AKMove(agent_id, time, path) + + def __str__(self) -> str: + return f"ActionMove(path={self.path}, destinationX={self.destinationX}, destinationY={self.destinationY})" diff --git a/adf_core_python/core/agent/action/common/action_rest.py b/adf_core_python/core/agent/action/common/action_rest.py new file mode 100644 index 0000000..ab86c82 --- /dev/null +++ b/adf_core_python/core/agent/action/common/action_rest.py @@ -0,0 +1,19 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKRest import AKRest +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionRest(Action): + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRest(agent_id, time) + + def __str__(self) -> str: + return "ActionRest()" diff --git a/adf_core_python/core/agent/action/fire/action_extinguish.py b/adf_core_python/core/agent/action/fire/action_extinguish.py new file mode 100644 index 0000000..296bef6 --- /dev/null +++ b/adf_core_python/core/agent/action/fire/action_extinguish.py @@ -0,0 +1,26 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKExtinguish import AKExtinguish +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionExtinguish(Action): + def __init__(self, target_id: EntityID, max_power: int) -> None: + self.target_id = target_id + self.max_power = max_power + + def get_command(self, agent_id: EntityID, time: int) -> Command: + # TODO: Implement AKEExtinguish + return AKExtinguish() + + def __str__(self) -> str: + return ( + f"ActionExtinguish(target_id={self.target_id}, max_power={self.max_power})" + ) diff --git a/adf_core_python/core/agent/action/fire/action_refill.py b/adf_core_python/core/agent/action/fire/action_refill.py new file mode 100644 index 0000000..bae2cc8 --- /dev/null +++ b/adf_core_python/core/agent/action/fire/action_refill.py @@ -0,0 +1,19 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKRest import AKRest +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionRefill(Action): + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRest(agent_id, time) + + def __str__(self) -> str: + return "ActionRefill()" diff --git a/adf_core_python/core/agent/action/fire/action_rescue.py b/adf_core_python/core/agent/action/fire/action_rescue.py new file mode 100644 index 0000000..e4bfb1d --- /dev/null +++ b/adf_core_python/core/agent/action/fire/action_rescue.py @@ -0,0 +1,22 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKRescue import AKRescue +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionRescue(Action): + def __init__(self, target_id: EntityID) -> None: + self.target_id = target_id + + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRescue(agent_id, time, self.target_id) + + def __str__(self) -> str: + return f"ActionRescue(target_id={self.target_id})" diff --git a/adf_core_python/core/agent/action/police/action_clear.py b/adf_core_python/core/agent/action/police/action_clear.py new file mode 100644 index 0000000..dcee14a --- /dev/null +++ b/adf_core_python/core/agent/action/police/action_clear.py @@ -0,0 +1,21 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKClear import AKClear + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.entities.blockade import Blockade + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionClear(Action): + def __init__(self, blockade: Blockade) -> None: + self.blockade = blockade + + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKClear(agent_id, time, self.blockade.get_id()) + + def __str__(self) -> str: + return f"ActionClear(blockade={self.blockade})" diff --git a/adf_core_python/core/agent/action/police/action_clear_area.py b/adf_core_python/core/agent/action/police/action_clear_area.py new file mode 100644 index 0000000..f87726f --- /dev/null +++ b/adf_core_python/core/agent/action/police/action_clear_area.py @@ -0,0 +1,21 @@ +from typing import TYPE_CHECKING + +from rcrs_core.commands.AKClearArea import AKClearArea + +from adf_core_python.core.agent.action.action import Action + +if TYPE_CHECKING: + from rcrs_core.commands.Command import Command + from rcrs_core.worldmodel.entityID import EntityID + + +class ActionClearArea(Action): + def __init__(self, position_x: int, position_y: int) -> None: + self.position_x = position_x + self.position_y = position_y + + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKClearArea(agent_id, time, self.position_x, self.position_y) + + def __str__(self) -> str: + return f"ActionClearArea(position_x={self.position_x}, position_y={self.position_y})" From 90686329bae11f94a05773b3b9bda11809ee807c Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 07:01:18 +0900 Subject: [PATCH 027/249] feat: Add Config class for managing configuration settings from YAML files --- adf_core_python/core/config/config.py | 37 +++++++++++++++++++++++++++ 1 file changed, 37 insertions(+) create mode 100644 adf_core_python/core/config/config.py diff --git a/adf_core_python/core/config/config.py b/adf_core_python/core/config/config.py new file mode 100644 index 0000000..38c414e --- /dev/null +++ b/adf_core_python/core/config/config.py @@ -0,0 +1,37 @@ +from typing import Any + +from yaml import safe_load + + +class Config: + def __init__(self): + self.config: dict[str, Any] = {} + + def set_value(self, key: str, value: Any): + self.config[key] = value + + def get_value(self, key: str, default: Any = None) -> Any: + return self.config.get(key, default) + + def read_from_yaml(self, file_name: str) -> dict[str, Any]: + try: + with open(file_name, mode="r", encoding="utf-8") as file: + data = safe_load(file) + except FileNotFoundError: + raise FileNotFoundError(f"Config file not found: {file_name}") + except Exception as e: + raise Exception(f"Error reading config file: {file_name}, {e}") + + return data + + def flatten( + self, data: dict[str, Any], parent_key: str = "", sep: str = "." + ) -> dict[str, Any]: + flatten_data = {} + for key, value in data.items(): + new_key = f"{parent_key}{sep}{key}" if parent_key else key + if isinstance(value, dict): + flatten_data.update(self.flatten(value, new_key, sep=sep)) + else: + flatten_data[new_key] = value + return flatten_data From 92648e6b4594b1d75ebb40dc4d47905142fbbe3e Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 07:01:40 +0900 Subject: [PATCH 028/249] feat: Implement DefaultTacticsAmbulanceTeam for ambulance team operations --- .../default_tactics_ambulance_center.py | 0 .../tactics/default_tactics_ambulance_team.py | 130 ++++++++++++++++++ .../tactics/default_tactics_fire_brigade.py | 0 .../tactics/default_tactics_fire_station.py | 0 .../tactics/default_tactics_police_force.py | 0 .../tactics/default_tactics_police_office.py | 0 6 files changed, 130 insertions(+) create mode 100644 adf_core_python/implement/tactics/default_tactics_ambulance_center.py create mode 100644 adf_core_python/implement/tactics/default_tactics_ambulance_team.py create mode 100644 adf_core_python/implement/tactics/default_tactics_fire_brigade.py create mode 100644 adf_core_python/implement/tactics/default_tactics_fire_station.py create mode 100644 adf_core_python/implement/tactics/default_tactics_police_force.py create mode 100644 adf_core_python/implement/tactics/default_tactics_police_office.py diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py new file mode 100644 index 0000000..fb98aa1 --- /dev/null +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -0,0 +1,130 @@ +from typing import cast + +from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity + +from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.action.common.action_rest import ActionRest +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.human_detector import HumanDetector +from adf_core_python.core.component.module.complex.search import Search +from adf_core_python.core.component.tactics.tactics_ambulance_team import ( + TacticsAmbulanceTeam, +) + + +class DefaultTacticsAmbulanceTeam(TacticsAmbulanceTeam): + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + # world_info.index_class() + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsAmbulanceTeam.Search", + "adf.impl.module.complex.DefaultSearch", + ), + ) + self._human_detector: HumanDetector = cast( + HumanDetector, + module_manager.get_module( + "DefaultTacticsAmbulanceTeam.HumanDetector", + "adf.impl.module.complex.DefaultHumanDetector", + ), + ) + self._actionTransport = module_manager.get_ext_action( + "DefaultTacticsAmbulanceTeam.ExtActionMove", + "adf.impl.extaction.DefaultExtActionMove", + ) + self._actionExtMove = module_manager.get_ext_action( + "DefaultTacticsAmbulanceTeam.ExtActionMove", + "adf.impl.extaction.DefaultExtActionMove", + ) + self.register_module(self._search) + self.register_module(self._human_detector) + self.register_action(self._actionTransport) + self.register_action(self._actionExtMove) + + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_resume(precompute_data) + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + self.module_prepare() + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> Action: + self.module_update_info(message_manager) + + agent: AmbulanceTeamEntity = cast(AmbulanceTeamEntity, agent_info.get_myself()) + entity_id = agent_info.get_entity_id() + + target_entity_id = self._human_detector.calculate().get_target_entity_id() + action = ( + self._actionTransport.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action + + target_entity_id = self._search.calculate().get_target_entity_id() + action = ( + self._actionExtMove.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action + + return ActionRest() diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py new file mode 100644 index 0000000..e69de29 From cd47c7bedf537889ce1e82672844b195ed0da9be Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 07:01:49 +0900 Subject: [PATCH 029/249] feat: Add HumanDetector and Search classes for target detection functionality --- .../module/complex/human_detector.py | 38 ++++++++++++ .../core/component/module/complex/search.py | 38 ++++++++++++ .../module/complex/target_detector.py | 59 +++++++++++++++++++ 3 files changed, 135 insertions(+) create mode 100644 adf_core_python/core/component/module/complex/human_detector.py create mode 100644 adf_core_python/core/component/module/complex/search.py create mode 100644 adf_core_python/core/component/module/complex/target_detector.py diff --git a/adf_core_python/core/component/module/complex/human_detector.py b/adf_core_python/core/component/module/complex/human_detector.py new file mode 100644 index 0000000..f69dd51 --- /dev/null +++ b/adf_core_python/core/component/module/complex/human_detector.py @@ -0,0 +1,38 @@ +from __future__ import annotations + +from abc import abstractmethod + +from rcrs_core.entities.human import Human + +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_detector import TargetDetector + + +class HumanDetector(TargetDetector[Human]): + def __init__( + self, + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + ): + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + def precompute(self, precompute_data: PrecomputeData) -> HumanDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> HumanDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> HumanDetector: + super().prepare() + return self + + @abstractmethod + def calculate(self) -> HumanDetector: + return self diff --git a/adf_core_python/core/component/module/complex/search.py b/adf_core_python/core/component/module/complex/search.py new file mode 100644 index 0000000..9049d8b --- /dev/null +++ b/adf_core_python/core/component/module/complex/search.py @@ -0,0 +1,38 @@ +from __future__ import annotations + +from abc import abstractmethod + +from rcrs_core.entities.area import Area + +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_detector import TargetDetector + + +class Search(TargetDetector[Area]): + def __init__( + self, + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + ): + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + def precompute(self, precompute_data: PrecomputeData) -> Search: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> Search: + super().resume(precompute_data) + return self + + def prepare(self) -> Search: + super().prepare() + return self + + @abstractmethod + def calculate(self) -> Search: + return self diff --git a/adf_core_python/core/component/module/complex/target_detector.py b/adf_core_python/core/component/module/complex/target_detector.py new file mode 100644 index 0000000..2a405af --- /dev/null +++ b/adf_core_python/core/component/module/complex/target_detector.py @@ -0,0 +1,59 @@ +from __future__ import annotations + +from abc import abstractmethod +from typing import TYPE_CHECKING, Generic, TypeVar + +from rcrs_core.entities.entity import Entity + +from adf_core_python.core.component.module.abstract_module import AbstractModule + +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + +T = TypeVar("T", bound=Entity) + + +class TargetDetector(AbstractModule, Generic[T]): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_target_entity_id(self) -> EntityID: + pass + + @abstractmethod + def calculate(self) -> TargetDetector[T]: + pass + + def precompute(self, precompute_data: PrecomputeData) -> TargetDetector[T]: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> TargetDetector[T]: + super().resume(precompute_data) + return self + + def prepare(self) -> TargetDetector[T]: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> TargetDetector[T]: + super().update_info(message_manager) + return self From d697edf797f8c004dbae49f3abbde7ced70fed0c Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 07:01:55 +0900 Subject: [PATCH 030/249] feat: Rename update_info to think and change return type to Action --- adf_core_python/core/component/tactics/tactics_agent.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index 5a92fa7..2bcf5c5 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -4,6 +4,7 @@ from typing import TYPE_CHECKING, Any, Optional if TYPE_CHECKING: + from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -74,7 +75,7 @@ def prepare( raise NotImplementedError @abstractmethod - def update_info( + def think( self, agent_info: AgentInfo, world_info: WorldInfo, @@ -83,7 +84,7 @@ def update_info( precompute_data: PrecomputeData, message_manager: MessageManager, develop_data: DevelopData, - ) -> None: + ) -> Action: raise NotImplementedError def get_parent_tactics(self) -> Optional[TacticsAgent]: From 9339b98a46f1569ef8356a42466b0e62df8af3cc Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 07:02:01 +0900 Subject: [PATCH 031/249] fix: Correct typo in ConnectorFireBrigade class name --- adf_core_python/core/launcher/connect/connector_fire_brigade.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 8c2784c..fd46fac 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -11,7 +11,7 @@ from adf_core_python.core.launcher.connect.connector import Connector -class ConnectorFIreBrigade(Connector): +class ConnectorFireBrigade(Connector): def __init__(self) -> None: super().__init__() self.logger: Logger = getLogger(__name__) From 48084266ccefde66117419ebbb9c34650f7f8398 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 07:02:12 +0900 Subject: [PATCH 032/249] feat: Enhance AbstractLoader with optional team name and type hints; add DefaultLoader implementation --- .../core/component/abstract_loader.py | 41 ++++++++++++----- adf_core_python/implement/default_loader.py | 46 +++++++++++++++++++ 2 files changed, 75 insertions(+), 12 deletions(-) create mode 100644 adf_core_python/implement/default_loader.py diff --git a/adf_core_python/core/component/abstract_loader.py b/adf_core_python/core/component/abstract_loader.py index 1a8c210..006db23 100644 --- a/adf_core_python/core/component/abstract_loader.py +++ b/adf_core_python/core/component/abstract_loader.py @@ -1,37 +1,54 @@ from abc import ABC, abstractmethod +from typing import TYPE_CHECKING, Optional + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_ambulance_center import ( + TacticsAmbulanceCenter, + ) + from adf_core_python.core.component.tactics.tactics_ambulance_team import ( + TacticsAmbulanceTeam, + ) + from adf_core_python.core.component.tactics.tactics_fire_brigade import ( + TacticsFireBrigade, + ) + from adf_core_python.core.component.tactics.tactics_fire_station import ( + TacticsFireStation, + ) + from adf_core_python.core.component.tactics.tactics_police_force import ( + TacticsPoliceForce, + ) + from adf_core_python.core.component.tactics.tactics_police_office import ( + TacticsPoliceOffice, + ) class AbstractLoader(ABC): - def __init__(self) -> None: - self._team_name: str = "" + def __init__(self, team_name: Optional[str] = None): + self._team_name: str = "" if team_name is None else team_name def get_team_name(self) -> str: return self._team_name - def set_team_name(self, team_name: str) -> None: - self._team_name = team_name - - # TODO: Add more abstract methods here @abstractmethod - def get_tactics_ambulance_team(self) -> None: + def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: raise NotImplementedError @abstractmethod - def get_tactics_fire_brigade(self) -> None: + def get_tactics_fire_brigade(self) -> TacticsFireBrigade: raise NotImplementedError @abstractmethod - def get_tactics_police_force(self) -> None: + def get_tactics_police_force(self) -> TacticsPoliceForce: raise NotImplementedError @abstractmethod - def get_tactics_ambulance_centre(self) -> None: + def get_tactics_ambulance_center(self) -> TacticsAmbulanceCenter: raise NotImplementedError @abstractmethod - def get_tactics_fire_station(self) -> None: + def get_tactics_fire_station(self) -> TacticsFireStation: raise NotImplementedError @abstractmethod - def get_tactics_police_office(self) -> None: + def get_tactics_police_office(self) -> TacticsPoliceOffice: raise NotImplementedError diff --git a/adf_core_python/implement/default_loader.py b/adf_core_python/implement/default_loader.py new file mode 100644 index 0000000..1f5df5d --- /dev/null +++ b/adf_core_python/implement/default_loader.py @@ -0,0 +1,46 @@ +from typing import TYPE_CHECKING + +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.implement.tactics.default_tactics_ambulance_team import ( + DefaultTacticsAmbulanceTeam, +) + +if TYPE_CHECKING: + from adf_core_python.core.component.tactics.tactics_ambulance_center import ( + TacticsAmbulanceCenter, + ) + from adf_core_python.core.component.tactics.tactics_ambulance_team import ( + TacticsAmbulanceTeam, + ) + from adf_core_python.core.component.tactics.tactics_fire_brigade import ( + TacticsFireBrigade, + ) + from adf_core_python.core.component.tactics.tactics_fire_station import ( + TacticsFireStation, + ) + from adf_core_python.core.component.tactics.tactics_police_force import ( + TacticsPoliceForce, + ) + from adf_core_python.core.component.tactics.tactics_police_office import ( + TacticsPoliceOffice, + ) + + +class DefaultLoader(AbstractLoader): + def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: + return DefaultTacticsAmbulanceTeam() + + # def get_tactics_fire_brigade(self) -> TacticsFireBrigade: + # pass + + # def get_tactics_police_force(self) -> TacticsPoliceForce: + # pass + + # def get_tactics_ambulance_centre(self) -> TacticsAmbulanceCenter: + # pass + + # def get_tactics_fire_station(self) -> TacticsFireStation: + # pass + + # def get_tactics_police_office(self) -> TacticsPoliceOffice: + # pass From 8d338a16de9f6274857d21476a3c119820b82511 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 07:02:30 +0900 Subject: [PATCH 033/249] feat: Implement AgentLauncher for managing connectors and launching agents; add command-line arguments and configuration file --- .../core/launcher/agent_launcher.py | 71 +++++++++++++++++++ adf_core_python/main.py | 62 +++++++++++++++- config/launcher.yaml | 36 ++++++++++ 3 files changed, 168 insertions(+), 1 deletion(-) create mode 100644 adf_core_python/core/launcher/agent_launcher.py create mode 100644 config/launcher.yaml diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py new file mode 100644 index 0000000..f56b9a3 --- /dev/null +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -0,0 +1,71 @@ +import importlib +import threading + +from rcrs_core.connection.componentLauncher import ComponentLauncher + +from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.config.config import Config +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.connector import Connector +from adf_core_python.core.launcher.connect.connector_ambulance_centre import ( + ConnectorAmbulanceCentre, +) +from adf_core_python.core.launcher.connect.connector_ambulance_team import ( + ConnectorAmbulanceTeam, +) +from adf_core_python.core.launcher.connect.connector_fire_brigade import ( + ConnectorFireBrigade, +) +from adf_core_python.core.launcher.connect.connector_fire_station import ( + ConnectorFireStation, +) +from adf_core_python.core.launcher.connect.connector_police_force import ( + ConnectorPoliceForce, +) +from adf_core_python.core.launcher.connect.connector_police_office import ( + ConnectorPoliceOffice, +) + + +class AgentLauncher: + def __init__(self, config: Config): + self.config = config + self.connectors: list[Connector] = [] + + def initConnector(self): + loader_name, loader_class_name = self.config.get_value( + ConfigKey.KEY_LOADER_CLASS + ).split(".") + self.loader: AbstractLoader = importlib.import_module( + loader_name, + ).__getattr__( + loader_class_name, + )( + self.config.get_value(ConfigKey.KEY_TEAM_NAME), + ) + + self.connectors.append(ConnectorAmbulanceCentre()) + self.connectors.append(ConnectorAmbulanceTeam()) + self.connectors.append(ConnectorFireBrigade()) + self.connectors.append(ConnectorFireStation()) + self.connectors.append(ConnectorPoliceForce()) + self.connectors.append(ConnectorPoliceOffice()) + + def launch(self): + host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") + port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) + component_launcher: ComponentLauncher = ComponentLauncher(port, host) + + thread_list: list[threading.Thread] = [] + for connector in self.connectors: + thread = threading.Thread( + target=connector.connect, + args=(component_launcher, self.config, self.loader), + ) + thread.start() + thread_list.append(thread) + + for thread in thread_list: + thread.join() + + connected_agent_count = 0 diff --git a/adf_core_python/main.py b/adf_core_python/main.py index 7df869a..9f38f91 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -1 +1,61 @@ -print("Hello, World!") +import argparse + + +class Main: + def __init__(self): + parser = argparse.ArgumentParser(description="Agent Launcher") + + parser.add_argument( + "--host", + type=str, + default="localhost", + help="host name(Default: localhost)", + metavar="", + ) + parser.add_argument( + "--port", + type=int, + default=27931, + help="port number(Default: 27931)", + metavar="", + ) + parser.add_argument( + "-a", + "--ambulance", + type=int, + default=-1, + help="number of ambulance agents(Default: -1 means all ambulance)", + metavar="", + ) + parser.add_argument( + "-f", + "--firebrigade", + type=int, + default=-1, + help="number of firebrigade agents(Default: -1 means all firebrigade)", + metavar="", + ) + parser.add_argument( + "-p", + "--policeforce", + type=int, + default=-1, + help="number of policeforce agents(Default: -1 means all policeforce)", + metavar="", + ) + parser.add_argument( + "--precompute", + type=bool, + default=False, + help="precompute flag", + metavar="", + ) + parser.add_argument( + "--varbose", type=bool, default=False, help="varbose flag", metavar="" + ) + args = parser.parse_args() + print(args) + + +if __name__ == "__main__": + main = Main() diff --git a/config/launcher.yaml b/config/launcher.yaml new file mode 100644 index 0000000..c1d461e --- /dev/null +++ b/config/launcher.yaml @@ -0,0 +1,36 @@ +kernel: + host: localhost + port: 27931 + +team: + name: AIT-Rescue + +adf: + launcher: + precompute: 0 + adf: + debug: + flag: 0 + agent: + moduleconfig: + filename: config/module.yaml + + develop: + flag: 1 + filename: config/develop.json + + team: + platoon: + ambulance: + count: -1 + fire: + count: -1 + police: + count: -1 + office: + ambulance: + count: -1 + fire: + count: -1 + police: + count: -1 From f5fcc285c28637fe0877ab963d80a41c06087181 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 10:33:29 +0900 Subject: [PATCH 034/249] chore: Fix typo in verbose flag name --- adf_core_python/main.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/main.py b/adf_core_python/main.py index 9f38f91..fcbfc23 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -51,7 +51,7 @@ def __init__(self): metavar="", ) parser.add_argument( - "--varbose", type=bool, default=False, help="varbose flag", metavar="" + "--verbose", type=bool, default=False, help="verbose flag", metavar="" ) args = parser.parse_args() print(args) From e879b328f64114b80a8156f2d6770451dc9dd858 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 15:02:55 +0900 Subject: [PATCH 035/249] feat: Refactor TacticsCenter inheritance hierarchy --- .../core/component/tactics/tactics_ambulance_center.py | 5 ++--- .../core/component/tactics/tactics_ambulance_team.py | 5 ++--- .../core/component/tactics/tactics_fire_brigade.py | 5 ++--- .../core/component/tactics/tactics_fire_station.py | 5 ++--- .../core/component/tactics/tactics_police_force.py | 5 ++--- .../core/component/tactics/tactics_police_office.py | 5 ++--- 6 files changed, 12 insertions(+), 18 deletions(-) diff --git a/adf_core_python/core/component/tactics/tactics_ambulance_center.py b/adf_core_python/core/component/tactics/tactics_ambulance_center.py index 371c2e7..da9b2b8 100644 --- a/adf_core_python/core/component/tactics/tactics_ambulance_center.py +++ b/adf_core_python/core/component/tactics/tactics_ambulance_center.py @@ -1,9 +1,8 @@ from __future__ import annotations -from typing import TYPE_CHECKING, Optional +from typing import Optional -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.component.tactics.tactics_center import TacticsCenter class TacticsAmbulanceCenter(TacticsCenter): diff --git a/adf_core_python/core/component/tactics/tactics_ambulance_team.py b/adf_core_python/core/component/tactics/tactics_ambulance_team.py index f596dc0..c5ad2b4 100644 --- a/adf_core_python/core/component/tactics/tactics_ambulance_team.py +++ b/adf_core_python/core/component/tactics/tactics_ambulance_team.py @@ -1,9 +1,8 @@ from __future__ import annotations -from typing import TYPE_CHECKING, Optional +from typing import Optional -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent class TacticsAmbulanceTeam(TacticsAgent): diff --git a/adf_core_python/core/component/tactics/tactics_fire_brigade.py b/adf_core_python/core/component/tactics/tactics_fire_brigade.py index ce2fc7a..1df16b3 100644 --- a/adf_core_python/core/component/tactics/tactics_fire_brigade.py +++ b/adf_core_python/core/component/tactics/tactics_fire_brigade.py @@ -1,9 +1,8 @@ from __future__ import annotations -from typing import TYPE_CHECKING, Optional +from typing import Optional -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent class TacticsFireBrigade(TacticsAgent): diff --git a/adf_core_python/core/component/tactics/tactics_fire_station.py b/adf_core_python/core/component/tactics/tactics_fire_station.py index 8723289..0b6ed40 100644 --- a/adf_core_python/core/component/tactics/tactics_fire_station.py +++ b/adf_core_python/core/component/tactics/tactics_fire_station.py @@ -1,9 +1,8 @@ from __future__ import annotations -from typing import TYPE_CHECKING, Optional +from typing import Optional -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.component.tactics.tactics_center import TacticsCenter class TacticsFireStation(TacticsCenter): diff --git a/adf_core_python/core/component/tactics/tactics_police_force.py b/adf_core_python/core/component/tactics/tactics_police_force.py index e64950b..a098128 100644 --- a/adf_core_python/core/component/tactics/tactics_police_force.py +++ b/adf_core_python/core/component/tactics/tactics_police_force.py @@ -1,9 +1,8 @@ from __future__ import annotations -from typing import TYPE_CHECKING, Optional +from typing import Optional -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent class TacticsPoliceForce(TacticsAgent): diff --git a/adf_core_python/core/component/tactics/tactics_police_office.py b/adf_core_python/core/component/tactics/tactics_police_office.py index dc41629..70950e1 100644 --- a/adf_core_python/core/component/tactics/tactics_police_office.py +++ b/adf_core_python/core/component/tactics/tactics_police_office.py @@ -1,9 +1,8 @@ from __future__ import annotations -from typing import TYPE_CHECKING, Optional +from typing import Optional -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.component.tactics.tactics_center import TacticsCenter class TacticsPoliceOffice(TacticsCenter): From 9f0aa2d081f091875bde5070e4bdb319a26881b8 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 15:03:08 +0900 Subject: [PATCH 036/249] feat: Add YAML configuration support to Config class --- adf_core_python/core/config/config.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/adf_core_python/core/config/config.py b/adf_core_python/core/config/config.py index 38c414e..e85d7d3 100644 --- a/adf_core_python/core/config/config.py +++ b/adf_core_python/core/config/config.py @@ -1,11 +1,14 @@ -from typing import Any +from typing import Any, Optional from yaml import safe_load class Config: - def __init__(self): + def __init__(self, config_file: Optional[str] = None) -> None: self.config: dict[str, Any] = {} + if config_file: + self.config = self.read_from_yaml(config_file) + self.config = self.flatten(self.config) def set_value(self, key: str, value: Any): self.config[key] = value @@ -35,3 +38,6 @@ def flatten( else: flatten_data[new_key] = value return flatten_data + + def __str__(self) -> str: + return str(self.config) From e3f3cd4e78eef961ea2836500bbd23494fee8b09 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 15:03:27 +0900 Subject: [PATCH 037/249] feat: Update connector classes to use Config from adf_core_python.core.config.config --- .../core/launcher/connect/connector.py | 2 +- .../connect/connector_ambulance_centre.py | 18 +++++------ .../connect/connector_ambulance_team.py | 30 +++++++++---------- .../connect/connector_fire_brigade.py | 16 ++++------ .../connect/connector_fire_station.py | 16 ++++------ .../connect/connector_police_force.py | 16 ++++------ .../connect/connector_police_office.py | 16 ++++------ 7 files changed, 46 insertions(+), 68 deletions(-) diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py index b8ea5c4..dbf4f29 100644 --- a/adf_core_python/core/launcher/connect/connector.py +++ b/adf_core_python/core/launcher/connect/connector.py @@ -1,9 +1,9 @@ from abc import ABC, abstractmethod from rcrs_core.connection.componentLauncher import ComponentLauncher -from rcrs_core.config.config import Config from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.config.config import Config class Connector(ABC): diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py index 702056b..3475174 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -1,12 +1,12 @@ from logging import Logger, getLogger from rcrs_core.agents.ambulanceCenterAgent import AmbulanceCenterAgent -from rcrs_core.config.config import Config from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector @@ -22,15 +22,13 @@ def connect( config: Config, loader: AbstractLoader, ) -> None: - count: int = config.get_int_value_or_default( - ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 - ) + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: return for _ in range(count): # tactics_ambulance_centre: TacticsAmbulanceCentre - if loader.get_tactics_ambulance_centre() is not None: + if loader.get_tactics_ambulance_center() is not None: self.logger.error("Cannot load ambulance centre tactics") # tactics_ambulance_centre = loader.get_tactics_ambulance_centre() else: @@ -38,15 +36,15 @@ def connect( pass module_config: ModuleConfig = ModuleConfig( # noqa: F841 - config.get_value_or_default( + config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) develop_data: DevelopData = DevelopData( # noqa: F841 - config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value_or_default( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) @@ -55,9 +53,7 @@ def connect( component_launcher.connect( # TODO: AmbulanceCenterAgent is not implemented precompute method and other methods AmbulanceCenterAgent( - config.get_boolean_value_or_default( - ConfigKey.KEY_PRECOMPUTE, False - ), + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore component_launcher.generate_request_ID(), ) diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index d29a15d..49960d8 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -1,12 +1,15 @@ from logging import Logger, getLogger from rcrs_core.agents.ambulanceTeamAgent import AmbulanceTeamAgent -from rcrs_core.config.config import Config from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.tactics.tactics_ambulance_team import ( + TacticsAmbulanceTeam, +) +from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector @@ -22,31 +25,28 @@ def connect( config: Config, loader: AbstractLoader, ) -> None: - count: int = config.get_int_value_or_default( - ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 - ) + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: return for _ in range(count): - # tactics_ambulance_team: TacticsAmbulanceTeam - if loader.get_tactics_ambulance_team() is not None: + if loader.get_tactics_ambulance_team() is None: self.logger.error("Cannot load ambulance team tactics") - # tactics_ambulance_team = loader.get_tactics_ambulance_team() - else: - # tactics_ambulance_team = DummyTacticsAmbulanceTeam() - pass + + tactics_ambulance_team: TacticsAmbulanceTeam = ( + loader.get_tactics_ambulance_team() + ) module_config: ModuleConfig = ModuleConfig( # noqa: F841 - config.get_value_or_default( + config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) develop_data: DevelopData = DevelopData( # noqa: F841 - config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value_or_default( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) @@ -54,9 +54,7 @@ def connect( # TODO: component_launcher.generate_request_ID can cause race condition component_launcher.connect( AmbulanceTeamAgent( - config.get_boolean_value_or_default( - ConfigKey.KEY_PRECOMPUTE, False - ), + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), component_launcher.generate_request_ID(), ) diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index fd46fac..920a805 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -1,12 +1,12 @@ from logging import Logger, getLogger from rcrs_core.agents.fireBrigadeAgent import FireBrigadeAgent -from rcrs_core.config.config import Config from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector @@ -22,9 +22,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> None: - count: int = config.get_int_value_or_default( - ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 - ) + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: return @@ -38,15 +36,15 @@ def connect( pass module_config: ModuleConfig = ModuleConfig( # noqa: F841 - config.get_value_or_default( + config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) develop_data: DevelopData = DevelopData( # noqa: F841 - config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value_or_default( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) @@ -54,9 +52,7 @@ def connect( # TODO: component_launcher.generate_request_ID can cause race condition component_launcher.connect( FireBrigadeAgent( - config.get_boolean_value_or_default( - ConfigKey.KEY_PRECOMPUTE, False - ), + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), component_launcher.generate_request_ID(), ) diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index f3c197a..a2e5860 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -1,12 +1,12 @@ from logging import Logger, getLogger from rcrs_core.agents.fireStationAgent import FireStationAgent -from rcrs_core.config.config import Config from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector @@ -22,9 +22,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> None: - count: int = config.get_int_value_or_default( - ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 - ) + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: return @@ -38,15 +36,15 @@ def connect( pass module_config: ModuleConfig = ModuleConfig( # noqa: F841 - config.get_value_or_default( + config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) develop_data: DevelopData = DevelopData( # noqa: F841 - config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value_or_default( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) @@ -54,9 +52,7 @@ def connect( # TODO: component_launcher.generate_request_ID can cause race condition component_launcher.connect( FireStationAgent( - config.get_boolean_value_or_default( - ConfigKey.KEY_PRECOMPUTE, False - ), + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore component_launcher.generate_request_ID(), ) diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 429c15c..dda4fb6 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -1,12 +1,12 @@ from logging import Logger, getLogger from rcrs_core.agents.policeForceAgent import PoliceForceAgent -from rcrs_core.config.config import Config from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector @@ -22,9 +22,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> None: - count: int = config.get_int_value_or_default( - ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 - ) + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: return @@ -38,15 +36,15 @@ def connect( pass module_config: ModuleConfig = ModuleConfig( # noqa: F841 - config.get_value_or_default( + config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) develop_data: DevelopData = DevelopData( # noqa: F841 - config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value_or_default( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) @@ -54,9 +52,7 @@ def connect( # TODO: component_launcher.generate_request_ID can cause race condition component_launcher.connect( PoliceForceAgent( - config.get_boolean_value_or_default( - ConfigKey.KEY_PRECOMPUTE, False - ), + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), component_launcher.generate_request_ID(), ) diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index dd43031..8cac435 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -1,12 +1,12 @@ from logging import Logger, getLogger from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent -from rcrs_core.config.config import Config from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector @@ -22,9 +22,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> None: - count: int = config.get_int_value_or_default( - ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0 - ) + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: return @@ -38,15 +36,15 @@ def connect( pass module_config: ModuleConfig = ModuleConfig( # noqa: F841 - config.get_value_or_default( + config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) develop_data: DevelopData = DevelopData( # noqa: F841 - config.get_boolean_value_or_default(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value_or_default( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) @@ -54,9 +52,7 @@ def connect( # TODO: component_launcher.generate_request_ID can cause race condition component_launcher.connect( PoliceOfficeAgent( - config.get_boolean_value_or_default( - ConfigKey.KEY_PRECOMPUTE, False - ), + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), component_launcher.generate_request_ID(), ) From 743d53ceced33f75de4044dd6d2981f3f62b461a Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 15:04:08 +0900 Subject: [PATCH 038/249] feat: Add logger to AgentLauncher for better debugging and monitoring --- .../core/launcher/agent_launcher.py | 25 +++++++++++++------ config/launcher.yaml | 11 ++++---- 2 files changed, 22 insertions(+), 14 deletions(-) diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index f56b9a3..e05d692 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -1,5 +1,6 @@ import importlib import threading +from logging import Logger, getLogger from rcrs_core.connection.componentLauncher import ComponentLauncher @@ -30,15 +31,18 @@ class AgentLauncher: def __init__(self, config: Config): self.config = config + self.logger: Logger = getLogger(__name__) self.connectors: list[Connector] = [] + self.thread_list: list[threading.Thread] = [] def initConnector(self): loader_name, loader_class_name = self.config.get_value( - ConfigKey.KEY_LOADER_CLASS - ).split(".") - self.loader: AbstractLoader = importlib.import_module( - loader_name, - ).__getattr__( + ConfigKey.KEY_LOADER_CLASS, + "adf_core_python.implement.default_loader.DefaultLoader", + ).rsplit(".", 1) + loader_module = importlib.import_module(loader_name) + self.loader: AbstractLoader = getattr( + loader_module, loader_class_name, )( self.config.get_value(ConfigKey.KEY_TEAM_NAME), @@ -54,18 +58,23 @@ def initConnector(self): def launch(self): host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) + self.logger.info(f"Start agent launcher (host: {host}, port: {port})") + component_launcher: ComponentLauncher = ComponentLauncher(port, host) - thread_list: list[threading.Thread] = [] for connector in self.connectors: thread = threading.Thread( target=connector.connect, args=(component_launcher, self.config, self.loader), ) thread.start() - thread_list.append(thread) + self.thread_list.append(thread) - for thread in thread_list: + for thread in self.thread_list: thread.join() connected_agent_count = 0 + for connector in self.connectors: + connected_agent_count += connector.get_connected_agent_count() + + self.logger.info(f"Connected agent count: {connected_agent_count}") diff --git a/config/launcher.yaml b/config/launcher.yaml index c1d461e..532a4cf 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -8,12 +8,11 @@ team: adf: launcher: precompute: 0 - adf: - debug: - flag: 0 - agent: - moduleconfig: - filename: config/module.yaml + debug: + flag: 0 + agent: + moduleconfig: + filename: config/module.yaml develop: flag: 1 From baff75ad066160d2dac34670a328642e88250610 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Sep 2024 15:25:03 +0900 Subject: [PATCH 039/249] Refactor class constructors to include type hints --- .../module/complex/human_detector.py | 25 ++++--- .../core/component/module/complex/search.py | 25 ++++--- adf_core_python/core/config/config.py | 2 +- .../core/launcher/agent_launcher.py | 4 +- .../connect/connector_ambulance_team.py | 2 +- adf_core_python/implement/default_loader.py | 35 ++++++--- .../default_tactics_ambulance_center.py | 59 +++++++++++++++ .../tactics/default_tactics_ambulance_team.py | 4 +- .../tactics/default_tactics_fire_brigade.py | 72 +++++++++++++++++++ .../tactics/default_tactics_fire_station.py | 59 +++++++++++++++ .../tactics/default_tactics_police_force.py | 72 +++++++++++++++++++ .../tactics/default_tactics_police_office.py | 59 +++++++++++++++ adf_core_python/main.py | 2 +- 13 files changed, 387 insertions(+), 33 deletions(-) diff --git a/adf_core_python/core/component/module/complex/human_detector.py b/adf_core_python/core/component/module/complex/human_detector.py index f69dd51..623bd69 100644 --- a/adf_core_python/core/component/module/complex/human_detector.py +++ b/adf_core_python/core/component/module/complex/human_detector.py @@ -1,22 +1,31 @@ from __future__ import annotations from abc import abstractmethod +from typing import TYPE_CHECKING from rcrs_core.entities.human import Human -from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -from adf_core_python.core.component.module.complex.target_detector import TargetDetector +if TYPE_CHECKING: + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.module.complex.target_detector import ( + TargetDetector, + ) class HumanDetector(TargetDetector[Human]): def __init__( self, - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - ): + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) diff --git a/adf_core_python/core/component/module/complex/search.py b/adf_core_python/core/component/module/complex/search.py index 9049d8b..604cd69 100644 --- a/adf_core_python/core/component/module/complex/search.py +++ b/adf_core_python/core/component/module/complex/search.py @@ -1,22 +1,31 @@ from __future__ import annotations from abc import abstractmethod +from typing import TYPE_CHECKING from rcrs_core.entities.area import Area -from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -from adf_core_python.core.component.module.complex.target_detector import TargetDetector +if TYPE_CHECKING: + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.module.complex.target_detector import ( + TargetDetector, + ) class Search(TargetDetector[Area]): def __init__( self, - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - ): + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) diff --git a/adf_core_python/core/config/config.py b/adf_core_python/core/config/config.py index e85d7d3..5f55aea 100644 --- a/adf_core_python/core/config/config.py +++ b/adf_core_python/core/config/config.py @@ -10,7 +10,7 @@ def __init__(self, config_file: Optional[str] = None) -> None: self.config = self.read_from_yaml(config_file) self.config = self.flatten(self.config) - def set_value(self, key: str, value: Any): + def set_value(self, key: str, value: Any) -> None: self.config[key] = value def get_value(self, key: str, default: Any = None) -> Any: diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index e05d692..d73a499 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -35,7 +35,7 @@ def __init__(self, config: Config): self.connectors: list[Connector] = [] self.thread_list: list[threading.Thread] = [] - def initConnector(self): + def initConnector(self) -> None: loader_name, loader_class_name = self.config.get_value( ConfigKey.KEY_LOADER_CLASS, "adf_core_python.implement.default_loader.DefaultLoader", @@ -55,7 +55,7 @@ def initConnector(self): self.connectors.append(ConnectorPoliceForce()) self.connectors.append(ConnectorPoliceOffice()) - def launch(self): + def launch(self) -> None: host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) self.logger.info(f"Start agent launcher (host: {host}, port: {port})") diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 49960d8..5fcb3d5 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -33,7 +33,7 @@ def connect( if loader.get_tactics_ambulance_team() is None: self.logger.error("Cannot load ambulance team tactics") - tactics_ambulance_team: TacticsAmbulanceTeam = ( + tactics_ambulance_team: TacticsAmbulanceTeam = ( # noqa: F841 loader.get_tactics_ambulance_team() ) diff --git a/adf_core_python/implement/default_loader.py b/adf_core_python/implement/default_loader.py index 1f5df5d..2b79b7b 100644 --- a/adf_core_python/implement/default_loader.py +++ b/adf_core_python/implement/default_loader.py @@ -1,9 +1,24 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.implement.tactics.default_tactics_ambulance_center import ( + DefaultTacticsAmbulanceCenter, +) from adf_core_python.implement.tactics.default_tactics_ambulance_team import ( DefaultTacticsAmbulanceTeam, ) +from adf_core_python.implement.tactics.default_tactics_fire_brigade import ( + DefaultTacticsFireBrigade, +) +from adf_core_python.implement.tactics.default_tactics_fire_station import ( + DefaultTacticsFireStation, +) +from adf_core_python.implement.tactics.default_tactics_police_force import ( + DefaultTacticsPoliceForce, +) +from adf_core_python.implement.tactics.default_tactics_police_office import ( + DefaultTacticsPoliceOffice, +) if TYPE_CHECKING: from adf_core_python.core.component.tactics.tactics_ambulance_center import ( @@ -30,17 +45,17 @@ class DefaultLoader(AbstractLoader): def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: return DefaultTacticsAmbulanceTeam() - # def get_tactics_fire_brigade(self) -> TacticsFireBrigade: - # pass + def get_tactics_fire_brigade(self) -> TacticsFireBrigade: + return DefaultTacticsFireBrigade() - # def get_tactics_police_force(self) -> TacticsPoliceForce: - # pass + def get_tactics_police_force(self) -> TacticsPoliceForce: + return DefaultTacticsPoliceForce() - # def get_tactics_ambulance_centre(self) -> TacticsAmbulanceCenter: - # pass + def get_tactics_ambulance_centre(self) -> TacticsAmbulanceCenter: + return DefaultTacticsAmbulanceCenter() - # def get_tactics_fire_station(self) -> TacticsFireStation: - # pass + def get_tactics_fire_station(self) -> TacticsFireStation: + return DefaultTacticsFireStation() - # def get_tactics_police_office(self) -> TacticsPoliceOffice: - # pass + def get_tactics_police_office(self) -> TacticsPoliceOffice: + return DefaultTacticsPoliceOffice() diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index e69de29..0882f7a 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -0,0 +1,59 @@ +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.tactics.tactics_ambulance_center import ( + TacticsAmbulanceCenter, +) + + +class DefaultTacticsAmbulanceCenter(TacticsAmbulanceCenter): + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index fb98aa1..0a69057 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -106,8 +106,8 @@ def think( ) -> Action: self.module_update_info(message_manager) - agent: AmbulanceTeamEntity = cast(AmbulanceTeamEntity, agent_info.get_myself()) - entity_id = agent_info.get_entity_id() + agent: AmbulanceTeamEntity = cast(AmbulanceTeamEntity, agent_info.get_myself()) # noqa: F841 + entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._human_detector.calculate().get_target_entity_id() action = ( diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index e69de29..ca13eeb 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -0,0 +1,72 @@ +from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.tactics.tactics_fire_brigade import ( + TacticsFireBrigade, +) + + +class DefaultTacticsFireBrigade(TacticsFireBrigade): + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> Action: + raise NotImplementedError diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py index e69de29..09d4fd4 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -0,0 +1,59 @@ +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.tactics.tactics_fire_station import ( + TacticsFireStation, +) + + +class DefaultTacticsFireStation(TacticsFireStation): + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index e69de29..3906725 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -0,0 +1,72 @@ +from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.tactics.tactics_police_force import ( + TacticsPoliceForce, +) + + +class DefaultTacticsPoliceForce(TacticsPoliceForce): + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> Action: + raise NotImplementedError diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py index e69de29..0264404 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -0,0 +1,59 @@ +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.tactics.tactics_police_office import ( + TacticsPoliceOffice, +) + + +class DefaultTacticsPoliceOffice(TacticsPoliceOffice): + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError diff --git a/adf_core_python/main.py b/adf_core_python/main.py index fcbfc23..d4f477a 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -2,7 +2,7 @@ class Main: - def __init__(self): + def __init__(self) -> None: parser = argparse.ArgumentParser(description="Agent Launcher") parser.add_argument( From e47e9f3620d8a07e0896cf7ed4286aa58356423a Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 19 Sep 2024 00:10:04 +0900 Subject: [PATCH 040/249] feat: Implement Agent class with initialization parameters and precomputation mode --- adf_core_python/core/agent/agent.py | 30 +++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 adf_core_python/core/agent/agent.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py new file mode 100644 index 0000000..ae19b1e --- /dev/null +++ b/adf_core_python/core/agent/agent.py @@ -0,0 +1,30 @@ +from rcrs_core.entities.entity import Entity + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.scenario_info import Mode +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + + +class Agent(Entity): + def __init__( + self, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + ): + self._tema_name = team_name + self._is_precompute = is_precompute + self._is_debug = is_debug + + if self._is_precompute: + # PrecomputeData.remove_data(data_storage_name) + self._mode = Mode.PRECOMPUTATION + + self._module_config: ModuleConfig = module_config + self._develop_data: DevelopData = develop_data + self._precompute_data: PrecomputeData = PrecomputeData(data_storage_name) + self._message_manager = None From f6a853e00a5ca5dc3c9b036ec120185beba413f5 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 02:09:24 +0900 Subject: [PATCH 041/249] feat: Refactor imports and add Platoon class with initialization and logic for agent management --- .../core/agent/info/scenario_info.py | 4 +- adf_core_python/core/agent/info/world_info.py | 13 +++ adf_core_python/core/agent/platoon/platoon.py | 100 ++++++++++++++++++ 3 files changed, 115 insertions(+), 2 deletions(-) create mode 100644 adf_core_python/core/agent/platoon/platoon.py diff --git a/adf_core_python/core/agent/info/scenario_info.py b/adf_core_python/core/agent/info/scenario_info.py index 6a2d699..099b7f2 100644 --- a/adf_core_python/core/agent/info/scenario_info.py +++ b/adf_core_python/core/agent/info/scenario_info.py @@ -1,6 +1,6 @@ from enum import Enum -from rcrs_core.config.config import Config +from adf_core_python.core.config.config import Config class Mode(Enum): @@ -71,4 +71,4 @@ def get_config_value(self, key: str, default: str) -> str: str Value of the configuration """ - return self._config.get_value_or_default(key, default) + return self._config.get_value(key, default) diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index c765a82..076fe0e 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -1,5 +1,6 @@ from typing import Any +from rcrs_core.worldmodel.changeSet import ChangeSet from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel @@ -10,6 +11,7 @@ def __init__(self, world_model: WorldModel): self._time: int = 0 self._is_run_rollback: bool = False self._rollback: dict[EntityID, dict[int, dict[int, Any]]] = {} + self._change_set: ChangeSet # TODO: Implement the worldmodel access methods def get_world_model(self) -> WorldModel: @@ -22,3 +24,14 @@ def get_world_model(self) -> WorldModel: World model """ return self._world_model + + def set_change_set(self, change_set: ChangeSet) -> None: + """ + Set the change set + + Parameters + ---------- + change_set : ChangeSet + Change set + """ + self._change_set = change_set diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py new file mode 100644 index 0000000..6c6b8e7 --- /dev/null +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -0,0 +1,100 @@ +from logging import Logger, getLogger + +from rcrs_core.agents.agent import Agent + +from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent + + +class Platoon(Agent): + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + ): + super().__init__( + is_precompute, + ) + self._tactics_agent = tactics_agent + self._team_name = team_name + self._is_precompute = is_precompute + self._is_debug = is_debug + self._data_storage_name = data_storage_name + self._module_config = module_config + self._develop_data = develop_data + + def post_connect(self): + self._logger: Logger = getLogger(__name__) + self._agent_info: AgentInfo = AgentInfo(self, self.world_model) + self._world_info: WorldInfo = WorldInfo(self.world_model) + self._precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) + + if self._is_precompute: + self._mode = Mode.PRECOMPUTATION + else: + # if self._precompute_data.is_ready(): + # self._mode = Mode.PRECOMPUTED + # else: + # self._mode = Mode.NON_PRECOMPUTE + self._mode = Mode.NON_PRECOMPUTE + + self._scenario_info: ScenarioInfo = ScenarioInfo(self.config, self._mode) # type: ignore + self._module_manager: ModuleManager = ModuleManager( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_config, + self._develop_data, + ) + + self._tactics_agent.initialize( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + MessageManager(), + self._develop_data, + ) + + match self._mode: + case Mode.PRECOMPUTATION: + pass + case Mode.PRECOMPUTED: + pass + case Mode.NON_PRECOMPUTE: + self._tactics_agent.prepare( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._develop_data, + ) + + def think(self, time, change_set, hear): + action: Action = self._tactics_agent.think( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + MessageManager(), + self._develop_data, + ) + if action is not None and self.agent_id is not None: + self._agent_info.set_executed_action(time, action) + self.send_msg(action.get_command(self.agent_id, time)) From 1ac267542bfe4f5d5b2eba82b5b881afb53a04c3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 10:44:22 +0900 Subject: [PATCH 042/249] feat: add lint N8 check --- .../core/agent/action/common/action_move.py | 14 +++++++------- adf_core_python/core/launcher/agent_launcher.py | 2 +- pyproject.toml | 2 +- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/adf_core_python/core/agent/action/common/action_move.py b/adf_core_python/core/agent/action/common/action_move.py index 06dc150..a693817 100644 --- a/adf_core_python/core/agent/action/common/action_move.py +++ b/adf_core_python/core/agent/action/common/action_move.py @@ -15,19 +15,19 @@ class ActionMove(Action): def __init__( self, path: list[EntityID], - destinationX: Optional[int] = None, - destinationY: Optional[int] = None, + destination_x: Optional[int] = None, + destination_y: Optional[int] = None, ) -> None: self.path = path - self.destinationX = destinationX - self.destinationY = destinationY + self.destination_x = destination_x + self.destination_y = destination_y def get_command(self, agent_id: EntityID, time: int) -> Command: path: list[int] = [p.get_value() for p in self.path] - if self.destinationX is not None and self.destinationY is not None: - return AKMove(agent_id, time, path, self.destinationX, self.destinationY) + if self.destination_x is not None and self.destination_y is not None: + return AKMove(agent_id, time, path, self.destination_x, self.destination_y) else: return AKMove(agent_id, time, path) def __str__(self) -> str: - return f"ActionMove(path={self.path}, destinationX={self.destinationX}, destinationY={self.destinationY})" + return f"ActionMove(path={self.path}, destination_x={self.destination_x}, destination_y{self.destination_y})" diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index d73a499..f5b7fb1 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -35,7 +35,7 @@ def __init__(self, config: Config): self.connectors: list[Connector] = [] self.thread_list: list[threading.Thread] = [] - def initConnector(self) -> None: + def init_connector(self) -> None: loader_name, loader_class_name = self.config.get_value( ConfigKey.KEY_LOADER_CLASS, "adf_core_python.implement.default_loader.DefaultLoader", diff --git a/pyproject.toml b/pyproject.toml index 014b2f8..e9179d8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -77,7 +77,7 @@ target-version = "py312" # Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default. # Unlike Flake8, Ruff doesn't enable pycodestyle warnings (`W`) or # McCabe complexity (`C901`) by default. -select = ["E4", "E7", "E9", "F"] +select = ["E4", "E7", "E9", "F", "N8"] ignore = [] # Allow fix for all enabled rules (when `--fix`) is provided. From 435a9858752b24a5ea52f63754f22ec9db6cd241 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 10:52:37 +0900 Subject: [PATCH 043/249] remove: Cache pip in CI workflow --- .github/workflows/ci.yaml | 8 -------- 1 file changed, 8 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index c67fc75..b0da406 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -22,14 +22,6 @@ jobs: with: python-version: 3.12 - - name: Cache pip - uses: actions/cache@v4 - with: - path: ~/.cache/pip - key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} - restore-keys: | - ${{ runner.os }}-pip- - - name: Cache virtual environment uses: actions/cache@v4 with: From 949d2b01b83ef4878ecb6fca2d6716e9ae3fc480 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 10:44:22 +0900 Subject: [PATCH 044/249] feat: add lint N8 check --- .../core/agent/action/common/action_move.py | 14 +++++++------- adf_core_python/core/launcher/agent_launcher.py | 2 +- pyproject.toml | 2 +- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/adf_core_python/core/agent/action/common/action_move.py b/adf_core_python/core/agent/action/common/action_move.py index 06dc150..a693817 100644 --- a/adf_core_python/core/agent/action/common/action_move.py +++ b/adf_core_python/core/agent/action/common/action_move.py @@ -15,19 +15,19 @@ class ActionMove(Action): def __init__( self, path: list[EntityID], - destinationX: Optional[int] = None, - destinationY: Optional[int] = None, + destination_x: Optional[int] = None, + destination_y: Optional[int] = None, ) -> None: self.path = path - self.destinationX = destinationX - self.destinationY = destinationY + self.destination_x = destination_x + self.destination_y = destination_y def get_command(self, agent_id: EntityID, time: int) -> Command: path: list[int] = [p.get_value() for p in self.path] - if self.destinationX is not None and self.destinationY is not None: - return AKMove(agent_id, time, path, self.destinationX, self.destinationY) + if self.destination_x is not None and self.destination_y is not None: + return AKMove(agent_id, time, path, self.destination_x, self.destination_y) else: return AKMove(agent_id, time, path) def __str__(self) -> str: - return f"ActionMove(path={self.path}, destinationX={self.destinationX}, destinationY={self.destinationY})" + return f"ActionMove(path={self.path}, destination_x={self.destination_x}, destination_y{self.destination_y})" diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index d73a499..f5b7fb1 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -35,7 +35,7 @@ def __init__(self, config: Config): self.connectors: list[Connector] = [] self.thread_list: list[threading.Thread] = [] - def initConnector(self) -> None: + def init_connector(self) -> None: loader_name, loader_class_name = self.config.get_value( ConfigKey.KEY_LOADER_CLASS, "adf_core_python.implement.default_loader.DefaultLoader", diff --git a/pyproject.toml b/pyproject.toml index 014b2f8..e9179d8 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -77,7 +77,7 @@ target-version = "py312" # Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`) codes by default. # Unlike Flake8, Ruff doesn't enable pycodestyle warnings (`W`) or # McCabe complexity (`C901`) by default. -select = ["E4", "E7", "E9", "F"] +select = ["E4", "E7", "E9", "F", "N8"] ignore = [] # Allow fix for all enabled rules (when `--fix`) is provided. From 32734d6e93cdbb366d8bc93012fef9e8924e8b58 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 10:52:37 +0900 Subject: [PATCH 045/249] remove: Cache pip in CI workflow --- .github/workflows/ci.yaml | 8 -------- 1 file changed, 8 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index c67fc75..b0da406 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -22,14 +22,6 @@ jobs: with: python-version: 3.12 - - name: Cache pip - uses: actions/cache@v4 - with: - path: ~/.cache/pip - key: ${{ runner.os }}-pip-${{ hashFiles('**/requirements.txt') }} - restore-keys: | - ${{ runner.os }}-pip- - - name: Cache virtual environment uses: actions/cache@v4 with: From 82e549af42a4f904c099f8e66bcb3ba9e412cc03 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 12:05:52 +0900 Subject: [PATCH 046/249] feat: Add PlatoonAmbulance class --- .../core/agent/platoon/platoon_ambulance.py | 34 +++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 adf_core_python/core/agent/platoon/platoon_ambulance.py diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py new file mode 100644 index 0000000..33c7731 --- /dev/null +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -0,0 +1,34 @@ +from rcrs_core.connection import URN + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.platoon.platoon import Platoon +from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent + + +class PlatoonAmbulance(Platoon): + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + ): + super().__init__( + tactics_agent, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) + + def precompute(self): + pass + + def get_requested_entities(self): + return [URN.Entity.AMBULANCE_TEAM] From da95b860d890d32777288150f2843a34e13ba707 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 12:22:42 +0900 Subject: [PATCH 047/249] feat: Refactor Platoon class and add type hints --- adf_core_python/core/agent/platoon/platoon.py | 8 +++++--- adf_core_python/core/agent/platoon/platoon_ambulance.py | 4 ++-- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 6c6b8e7..4b231e6 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,6 +1,8 @@ from logging import Logger, getLogger from rcrs_core.agents.agent import Agent +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.changeSet import ChangeSet from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -24,7 +26,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, - ): + ) -> None: super().__init__( is_precompute, ) @@ -36,7 +38,7 @@ def __init__( self._module_config = module_config self._develop_data = develop_data - def post_connect(self): + def post_connect(self) -> None: self._logger: Logger = getLogger(__name__) self._agent_info: AgentInfo = AgentInfo(self, self.world_model) self._world_info: WorldInfo = WorldInfo(self.world_model) @@ -85,7 +87,7 @@ def post_connect(self): self._develop_data, ) - def think(self, time, change_set, hear): + def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: action: Action = self._tactics_agent.think( self._agent_info, self._world_info, diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py index 33c7731..e0d7fd7 100644 --- a/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -27,8 +27,8 @@ def __init__( develop_data, ) - def precompute(self): + def precompute(self) -> None: pass - def get_requested_entities(self): + def get_requested_entities(self) -> list[str]: return [URN.Entity.AMBULANCE_TEAM] From e5d91f0342b66b7f7b2df152ffc9635483730499 Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 25 Sep 2024 16:09:19 +0900 Subject: [PATCH 048/249] feat: Add RoadDetector and TargetAllocator --- .../component/module/complex/road_detector.py | 47 +++++++++++++++ .../module/complex/target_allocator.py | 59 +++++++++++++++++++ 2 files changed, 106 insertions(+) create mode 100644 adf_core_python/core/component/module/complex/road_detector.py create mode 100644 adf_core_python/core/component/module/complex/target_allocator.py diff --git a/adf_core_python/core/component/module/complex/road_detector.py b/adf_core_python/core/component/module/complex/road_detector.py new file mode 100644 index 0000000..940fbfb --- /dev/null +++ b/adf_core_python/core/component/module/complex/road_detector.py @@ -0,0 +1,47 @@ +from __future__ import annotations + +from abc import abstractmethod +from typing import TYPE_CHECKING + +from rcrs_core.entities.road import Road + +if TYPE_CHECKING: + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.module.complex.target_detector import ( + TargetDetector, + ) + + +class RoadDetector(TargetDetector[Road]): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> RoadDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> RoadDetector: + super().prepare() + return self + + @abstractmethod + def calculate(self) -> RoadDetector: + return self diff --git a/adf_core_python/core/component/module/complex/target_allocator.py b/adf_core_python/core/component/module/complex/target_allocator.py new file mode 100644 index 0000000..2548a2d --- /dev/null +++ b/adf_core_python/core/component/module/complex/target_allocator.py @@ -0,0 +1,59 @@ +from __future__ import annotations + +from abc import abstractmethod +from typing import TYPE_CHECKING, Generic, TypeVar + +from rcrs_core.entities.entity import Entity + +from adf_core_python.core.component.module.abstract_module import AbstractModule + +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + +T = TypeVar("T", bound=Entity) + + +class TargetAllocator(AbstractModule, Generic[T]): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> TargetAllocator[T]: + pass + + def precompute(self, precompute_data: PrecomputeData) -> TargetAllocator[T]: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> TargetAllocator[T]: + super().resume(precompute_data) + return self + + def prepare(self) -> TargetAllocator[T]: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> TargetAllocator[T]: + super().update_info(message_manager) + return self From 8a49f1b4f3717e05a34ae6e289ed0f20094f3a12 Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 25 Sep 2024 16:10:49 +0900 Subject: [PATCH 049/249] feat: Update DefaultTactics classes --- .../default_tactics_ambulance_center.py | 22 +++++- .../tactics/default_tactics_ambulance_team.py | 26 +++---- .../tactics/default_tactics_fire_brigade.py | 70 ++++++++++++++++-- .../tactics/default_tactics_fire_station.py | 22 +++++- .../tactics/default_tactics_police_force.py | 74 +++++++++++++++++-- .../tactics/default_tactics_police_office.py | 22 +++++- 6 files changed, 199 insertions(+), 37 deletions(-) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index 0882f7a..7fbb294 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -1,10 +1,15 @@ +from typing import cast + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_allocator import ( + TargetAllocator, +) from adf_core_python.core.component.tactics.tactics_ambulance_center import ( TacticsAmbulanceCenter, ) @@ -21,7 +26,16 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsAmbulanceCenter.TargetAllocator", + "adf_core_python.implement.module.complex.DefaultTargetAllocator", + ), + ) + self.register_module(self._allocator) def resume( self, @@ -33,7 +47,7 @@ def resume( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_resume(precompute_data) def prepare( self, @@ -44,7 +58,7 @@ def prepare( precompute_data: PrecomputeData, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_prepare() def think( self, diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 0a69057..4171198 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -36,28 +36,28 @@ def initialize( Search, module_manager.get_module( "DefaultTacticsAmbulanceTeam.Search", - "adf.impl.module.complex.DefaultSearch", + "adf_core_python.implement.module.complex.DefaultSearch", ), ) self._human_detector: HumanDetector = cast( HumanDetector, module_manager.get_module( "DefaultTacticsAmbulanceTeam.HumanDetector", - "adf.impl.module.complex.DefaultHumanDetector", + "adf_core_python.implement.module.complex.DefaultHumanDetector", ), ) - self._actionTransport = module_manager.get_ext_action( - "DefaultTacticsAmbulanceTeam.ExtActionMove", - "adf.impl.extaction.DefaultExtActionMove", + self._action_transport = module_manager.get_ext_action( + "DefaultTacticsAmbulanceTeam.ExtActionTransport", + "adf_core_python.implement.extaction.DefaultExtActionTransport", ) - self._actionExtMove = module_manager.get_ext_action( + self._action_ext_move = module_manager.get_ext_action( "DefaultTacticsAmbulanceTeam.ExtActionMove", - "adf.impl.extaction.DefaultExtActionMove", + "adf_core_python.implement.extaction.DefaultExtActionMove", ) - self.register_module(self._search) - self.register_module(self._human_detector) - self.register_action(self._actionTransport) - self.register_action(self._actionExtMove) + self.register_module(self._search) + self.register_module(self._human_detector) + self.register_action(self._action_transport) + self.register_action(self._action_ext_move) def precompute( self, @@ -111,7 +111,7 @@ def think( target_entity_id = self._human_detector.calculate().get_target_entity_id() action = ( - self._actionTransport.set_target_entity_id(target_entity_id) + self._action_transport.set_target_entity_id(target_entity_id) .calc() .get_action() ) @@ -120,7 +120,7 @@ def think( target_entity_id = self._search.calculate().get_target_entity_id() action = ( - self._actionExtMove.set_target_entity_id(target_entity_id) + self._action_ext_move.set_target_entity_id(target_entity_id) .calc() .get_action() ) diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index ca13eeb..11b38af 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -1,11 +1,18 @@ +from typing import cast + +from rcrs_core.entities.fireBrigade import FireBrigadeEntity + from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.human_detector import HumanDetector +from adf_core_python.core.component.module.complex.search import Search from adf_core_python.core.component.tactics.tactics_fire_brigade import ( TacticsFireBrigade, ) @@ -22,7 +29,35 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + # world_info.index_class() + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsFireBrigade.Search", + "adf_core_python.impl.module.complex.DefaultSearch", + ), + ) + self._human_detector: HumanDetector = cast( + HumanDetector, + module_manager.get_module( + "DefaultTacticsFireBrigade.HumanDetector", + "adf_core_python.impl.module.complex.DefaultHumanDetector", + ), + ) + self._action_fire_rescue = module_manager.get_ext_action( + "DefaultTacticsFireBrigade.ExtActionFireRescue", + "adf_core_python.impl.extaction.DefaultExtActionFireRescue", + ) + self._action_ext_move = module_manager.get_ext_action( + "DefaultTacticsAmbulanceTeam.ExtActionMove", + "adf_core_python.impl.extaction.DefaultExtActionMove", + ) + self.register_module(self._search) + self.register_module(self._human_detector) + self.register_action(self._action_fire_rescue) + self.register_action(self._action_ext_move) def precompute( self, @@ -34,7 +69,7 @@ def precompute( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_precompute(precompute_data) def resume( self, @@ -46,7 +81,7 @@ def resume( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_resume(precompute_data) def prepare( self, @@ -57,7 +92,7 @@ def prepare( precompute_data: PrecomputeData, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_prepare() def think( self, @@ -69,4 +104,27 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> Action: - raise NotImplementedError + self.module_update_info(message_manager) + + agent: FireBrigadeEntity = cast(FireBrigadeEntity, agent_info.get_myself()) # noqa: F841 + entity_id = agent_info.get_entity_id() # noqa: F841 + + target_entity_id = self._human_detector.calculate().get_target_entity_id() + action = ( + self._action_fire_rescue.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action + + target_entity_id = self._search.calculate().get_target_entity_id() + action = ( + self._action_ext_move.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action + + return ActionRest() diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py index 09d4fd4..41f5ccc 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -1,10 +1,15 @@ +from typing import cast + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_allocator import ( + TargetAllocator, +) from adf_core_python.core.component.tactics.tactics_fire_station import ( TacticsFireStation, ) @@ -21,7 +26,16 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsFireStation.TargetAllocator", + "adf_core_python.implement.module.complex.DefaultFireTargetAllocator", + ), + ) + self.register_module(self._allocator) def resume( self, @@ -33,7 +47,7 @@ def resume( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_resume(precompute_data) def prepare( self, @@ -44,7 +58,7 @@ def prepare( precompute_data: PrecomputeData, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_prepare() def think( self, diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 3906725..ecd2134 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -1,11 +1,18 @@ +from typing import cast + +from rcrs_core.entities.policeForce import PoliceForceEntity + from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.road_detector import RoadDetector +from adf_core_python.core.component.module.complex.search import Search from adf_core_python.core.component.tactics.tactics_police_force import ( TacticsPoliceForce, ) @@ -22,7 +29,39 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + # world_info.index_class() + self._clear_distance = int( + scenario_info.get_config_value("clear.repair.distance", "null") + ) + + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsPoliceForce.Search", + "adf_core_python.implement.module.complex.DefaultSearch", + ), + ) + self._road_detector: RoadDetector = cast( + RoadDetector, + module_manager.get_module( + "DefaultTacticsPoliceForce.RoadDetector", + "adf_core_python.implement.module.complex.DefaultRoadDetector", + ), + ) + self._action_ext_clear = module_manager.get_ext_action( + "DefaultTacticsPoliceForce.ExtActionClear", + "adf_core_python.implement.extaction.DefaultExtActionClear", + ) + self._action_ext_move = module_manager.get_ext_action( + "DefaultTacticsPoliceForce.ExtActionMove", + "adf_core_python.implement.extaction.DefaultExtActionMove", + ) + self.register_module(self._search) + self.register_module(self._road_detector) + self.register_action(self._action_ext_clear) + self.register_action(self._action_ext_move) def precompute( self, @@ -34,7 +73,7 @@ def precompute( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_precompute(precompute_data) def resume( self, @@ -46,7 +85,7 @@ def resume( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_resume(precompute_data) def prepare( self, @@ -57,7 +96,7 @@ def prepare( precompute_data: PrecomputeData, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_prepare() def think( self, @@ -69,4 +108,27 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> Action: - raise NotImplementedError + self.module_update_info(message_manager) + + agent: PoliceForceEntity = cast(PoliceForceEntity, agent_info.get_myself()) # noqa: F841 + entity_id = agent_info.get_entity_id() # noqa: F841 + + target_entity_id = self._road_detector.calculate().get_target_entity_id() + action = ( + self._action_ext_clear.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action + + target_entity_id = self._search.calculate().get_target_entity_id() + action = ( + self._action_ext_clear.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action + + return ActionRest() diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py index 0264404..bf06a37 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -1,10 +1,15 @@ +from typing import cast + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_allocator import ( + TargetAllocator, +) from adf_core_python.core.component.tactics.tactics_police_office import ( TacticsPoliceOffice, ) @@ -21,7 +26,16 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsPoliceOffice.TargetAllocator", + "adf_core_python.implement.module.complex.DefaultPoliceTargetAllocator", + ), + ) + self.register_module(self._allocator) def resume( self, @@ -33,7 +47,7 @@ def resume( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_resume(precompute_data) def prepare( self, @@ -44,7 +58,7 @@ def prepare( precompute_data: PrecomputeData, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self.module_prepare() def think( self, From 3182e341fd9fef19c74f5019851d88156af956d9 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 16:25:03 +0900 Subject: [PATCH 050/249] Refactor WorldInfo class to include methods for retrieving entities and entity IDs --- adf_core_python/core/agent/info/world_info.py | 40 ++++++++++- poetry.lock | 70 +++++++++---------- 2 files changed, 74 insertions(+), 36 deletions(-) diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 076fe0e..1ca617d 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -1,5 +1,6 @@ -from typing import Any +from typing import Any, Optional +from rcrs_core.entities.entity import Entity from rcrs_core.worldmodel.changeSet import ChangeSet from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel @@ -35,3 +36,40 @@ def set_change_set(self, change_set: ChangeSet) -> None: Change set """ self._change_set = change_set + + def get_entity(self, entity_id: EntityID) -> Optional[Entity]: + """ + Get the entity + + Parameters + ---------- + entity_id : EntityID + Entity ID + + Returns + ------- + Optional[Entity] + Entity + """ + return self._world_model.get_entity(entity_id) + + def get_entity_ids_of_type(self, entity_type: type[Entity]) -> list[EntityID]: + """ + Get the entity IDs of the specified type + + Parameters + ---------- + entity_type : type[Entity] + Entity type + + Returns + ------- + list[EntityID] + Entity IDs + """ + entity_ids: list[EntityID] = [] + for entity in self._world_model.get_entities(): + if isinstance(entity, entity_type): + entity_ids.append(entity.get_id()) + + return entity_ids diff --git a/poetry.lock b/poetry.lock index 733bc53..b074efb 100644 --- a/poetry.lock +++ b/poetry.lock @@ -35,38 +35,38 @@ files = [ [[package]] name = "mypy" -version = "1.11.1" +version = "1.11.2" description = "Optional static typing for Python" optional = false python-versions = ">=3.8" files = [ - {file = "mypy-1.11.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = 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Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 16:25:07 +0900 Subject: [PATCH 051/249] feat: Implement DefaultExtendActionMove class for extending action move functionality --- .../default_extend_action_move.py | 106 ++++++++ .../default_extend_action_transport.py | 254 ++++++++++++++++++ 2 files changed, 360 insertions(+) create mode 100644 adf_core_python/implement/extend_action/default_extend_action_move.py create mode 100644 adf_core_python/implement/extend_action/default_extend_action_transport.py diff --git a/adf_core_python/implement/extend_action/default_extend_action_move.py b/adf_core_python/implement/extend_action/default_extend_action_move.py new file mode 100644 index 0000000..a8df764 --- /dev/null +++ b/adf_core_python/implement/extend_action/default_extend_action_move.py @@ -0,0 +1,106 @@ +from typing import Optional, cast + +from rcrs_core.entities.area import Area +from rcrs_core.entities.blockade import Blockade +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.extaction.ext_action import ExtAction +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultExtendActionMove(ExtAction): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._target_entity_id: Optional[EntityID] = None + self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) + + match self.scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._path_planning: PathPlanning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionMove.PathPlanning", + "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + ), + ) + case Mode.PRECOMPUTATION: + pass + case Mode.PRECOMPUTED: + pass + + def precompute(self, precompute_data: PrecomputeData) -> ExtAction: + super().precompute(precompute_data) + if self.get_count_precompute() > 1: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtAction: + super().resume(precompute_data) + if self.get_count_resume() > 1: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> ExtAction: + super().prepare() + if self.get_count_prepare() > 1: + return self + self._path_planning.prepare() + return self + + def update_info(self, message_manager: MessageManager) -> ExtAction: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: + entity: Optional[Entity] = self.world_info.get_entity(target_entity_id) + self._target_entity_id = None + + if entity is None: + return self + + if isinstance(entity, Blockade): + entity = self.world_info.get_entity(cast(Blockade, entity).get_position()) + elif isinstance(entity, Human): + entity = entity.get_position() + + if entity is None and isinstance(entity, Area): + self._target_entity_id = None + + return self + + def calc(self) -> ExtAction: + self._result = None + agent: Human = cast(Human, self.agent_info.get_myself()) + + path: list[EntityID] = self._path_planning.get_path( + agent.get_position(), self._target_entity_id + ) + + if path is not None or len(path) != 0: + self.result = ActionMove(path) + + return self diff --git a/adf_core_python/implement/extend_action/default_extend_action_transport.py b/adf_core_python/implement/extend_action/default_extend_action_transport.py new file mode 100644 index 0000000..f770b48 --- /dev/null +++ b/adf_core_python/implement/extend_action/default_extend_action_transport.py @@ -0,0 +1,254 @@ +from typing import Optional, Union, cast + +from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.area import Area +from rcrs_core.entities.civilian import Civilian +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.human import Human +from rcrs_core.entities.refuge import Refuge +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.ambulance.action_load import ActionLoad +from adf_core_python.core.agent.action.ambulance.action_unload import ActionUnload +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.action.common.action_rest import ActionRest +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.extaction.ext_action import ExtAction +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultExtendActionTransport(ExtAction): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._target_entity_id: Optional[EntityID] = None + self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) + + match self.scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._path_planning: PathPlanning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionMove.PathPlanning", + "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + ), + ) + case Mode.PRECOMPUTATION: + pass + case Mode.PRECOMPUTED: + pass + + def precompute(self, precompute_data: PrecomputeData) -> ExtAction: + super().precompute(precompute_data) + if self.get_count_precompute() > 1: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtAction: + super().resume(precompute_data) + if self.get_count_resume() > 1: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> ExtAction: + super().prepare() + if self.get_count_prepare() > 1: + return self + self._path_planning.prepare() + return self + + def update_info(self, message_manager: MessageManager) -> ExtAction: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: + entity: Optional[Entity] = self.world_info.get_world_model().get_entity( + target_entity_id + ) + self._target_entity_id = None + + if entity is None: + return self + + if isinstance(entity, Human) or isinstance(entity, Area): + self._target_entity_id = target_entity_id + + return self + + def calc(self) -> ExtAction: + self._result = None + agent: AmbulanceTeamEntity = cast( + AmbulanceTeamEntity, self.agent_info.get_myself() + ) + transport_human: Human = self.agent_info.some_one_on_board() + if transport_human is not None: + self.result = self.calc_unload( + agent, self._path_planning, transport_human, self._target_entity_id + ) + if self.result is not None: + return self + + if self._target_entity_id is not None: + self.result = self.calc_rescue( + agent, self._path_planning, self._target_entity_id + ) + + return self + + def calc_rescue( + self, + agent: AmbulanceTeamEntity, + path_planning: PathPlanning, + target_id: EntityID, + ) -> Optional[Union[ActionMove, ActionLoad]]: + target_entity = self.world_info.get_entity(target_id) + if target_entity is None: + return None + + agent_position = agent.get_position() + if isinstance(target_entity, Human): + human = target_entity + if human.get_position() is None: + return None + if human.get_hp() is None or human.get_hp() == 0: + return None + + target_position = human.get_position() + if agent_position == target_position: + if isinstance(human, Civilian) and ( + human.get_buriedness() is not None and human.get_buriedness() > 0 + ): + return ActionLoad(human.get_id()) + else: + path = path_planning.get_path(agent_position, target_position) + if path is not None and len(path) > 0: + return ActionMove(path) + return None + + if isinstance(target_entity, Area): + path = path_planning.get_path(agent_position, target_entity.get_id()) + if path is not None and len(path) > 0: + return ActionMove(path) + + return None + + def calc_unload( + self, + agent: AmbulanceTeamEntity, + path_planning: PathPlanning, + transport_human: Optional[Human], + target_id: Optional[EntityID], + ) -> Optional[ActionMove | ActionUnload | ActionRest]: + if transport_human is None: + return None + + if not transport_human.get_hp() or transport_human.get_hp() == 0: + return ActionUnload() + + agent_position = agent.get_position() + if ( + target_id is None + or transport_human.get_id().get_value() == target_id.get_value() + ): + position = self.world_info.get_entity(agent_position) + if position is None: + return None + + if isinstance(position, Refuge): + return ActionUnload() + else: + path = path_planning.get_path( + agent_position, self.world_info.get_entity_ids_of_type(Refuge) + ) + if path is not None and len(path) > 0: + return ActionMove(path) + + if target_id is None: + return None + + target_entity = self.world_info.get_entity(target_id) + + if isinstance(target_entity, Human): + human = cast(Human, target_entity) + if human.get_position() is not None: + return self.calc_refuge_action( + agent, path_planning, [human.get_position()], True + ) + path = self.get_nearest_refuge_path(agent, path_planning) + if path is not None and len(path) > 0: + return ActionMove(path) + + return None + + def calc_refuge_action( + self, + human: Human, + path_planning: PathPlanning, + target_entity_id: EntityID, + is_unload: bool, + ) -> Optional[ActionMove | ActionUnload | ActionRest]: + position = human.get_position() + refuges = self.world_info.get_entity_ids_of_type(Refuge) + size = len(refuges) + + if position in refuges: + return ActionUnload() if is_unload else ActionRest() + + first_result = None + while len(refuges) > 0: + path = path_planning.get_path(position, refuges[0]) + + if path is not None and len(path) > 0: + if first_result is None: + first_result = path.copy() + + refuge_id = path[-1] + from_refuge_to_target = path_planning.get_path( + refuge_id, target_entity_id + ) + + if from_refuge_to_target is not None and len(from_refuge_to_target) > 0: + return ActionMove(path) + + refuges.remove(refuge_id) + if size == len(refuges): + break + size = len(refuges) + else: + break + + return ActionMove(first_result) if first_result is not None else None + + def get_nearest_refuge_path( + self, human: Human, path_planning: PathPlanning + ) -> list[EntityID]: + position = human.get_position() + refuges = self.world_info.get_entity_ids_of_type(Refuge) + nearest_path = None + + for refuge_id in refuges: + path: list[EntityID] = path_planning.get_path(position, refuge_id) + if len(path) > 0: + if nearest_path is None or len(path) < len(nearest_path): + nearest_path = path + + return nearest_path if nearest_path is not None else [] From ee1787df5704f647aebb92a13e7490ed1bf25047 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 16:49:58 +0900 Subject: [PATCH 052/249] fix: fix wrong type type checking import statement --- .../core/component/module/complex/human_detector.py | 7 ++++--- .../core/component/module/complex/road_detector.py | 7 ++++--- adf_core_python/core/component/module/complex/search.py | 7 ++++--- 3 files changed, 12 insertions(+), 9 deletions(-) diff --git a/adf_core_python/core/component/module/complex/human_detector.py b/adf_core_python/core/component/module/complex/human_detector.py index 623bd69..10a31e2 100644 --- a/adf_core_python/core/component/module/complex/human_detector.py +++ b/adf_core_python/core/component/module/complex/human_detector.py @@ -5,6 +5,10 @@ from rcrs_core.entities.human import Human +from adf_core_python.core.component.module.complex.target_detector import ( + TargetDetector, +) + if TYPE_CHECKING: from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -12,9 +16,6 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.component.module.complex.target_detector import ( - TargetDetector, - ) class HumanDetector(TargetDetector[Human]): diff --git a/adf_core_python/core/component/module/complex/road_detector.py b/adf_core_python/core/component/module/complex/road_detector.py index 940fbfb..08b552d 100644 --- a/adf_core_python/core/component/module/complex/road_detector.py +++ b/adf_core_python/core/component/module/complex/road_detector.py @@ -5,6 +5,10 @@ from rcrs_core.entities.road import Road +from adf_core_python.core.component.module.complex.target_detector import ( + TargetDetector, +) + if TYPE_CHECKING: from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -12,9 +16,6 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.component.module.complex.target_detector import ( - TargetDetector, - ) class RoadDetector(TargetDetector[Road]): diff --git a/adf_core_python/core/component/module/complex/search.py b/adf_core_python/core/component/module/complex/search.py index 604cd69..7715831 100644 --- a/adf_core_python/core/component/module/complex/search.py +++ b/adf_core_python/core/component/module/complex/search.py @@ -5,6 +5,10 @@ from rcrs_core.entities.area import Area +from adf_core_python.core.component.module.complex.target_detector import ( + TargetDetector, +) + if TYPE_CHECKING: from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -12,9 +16,6 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.component.module.complex.target_detector import ( - TargetDetector, - ) class Search(TargetDetector[Area]): From 3c3d8121dd03945438085567cedf6e7c2b48fd0c Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 17:06:44 +0900 Subject: [PATCH 053/249] feat: Update main.py to use AgentLauncher for launching agents --- adf_core_python/main.py | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/adf_core_python/main.py b/adf_core_python/main.py index d4f477a..c988075 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -1,5 +1,9 @@ import argparse +from adf_core_python.core.config.config import Config +from adf_core_python.core.launcher.agent_launcher import AgentLauncher +from adf_core_python.core.launcher.config_key import ConfigKey + class Main: def __init__(self) -> None: @@ -55,7 +59,23 @@ def __init__(self) -> None: ) args = parser.parse_args() print(args) + self.config = Config() + self.config.set_value(ConfigKey.KEY_KERNEL_HOST, args.host) + self.config.set_value(ConfigKey.KEY_KERNEL_PORT, args.port) + self.config.set_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, args.ambulance) + self.config.set_value(ConfigKey.KEY_FIRE_STATION_COUNT, args.firebrigade) + self.config.set_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, args.policeforce) + self.config.set_value(ConfigKey.KEY_PRECOMPUTE, args.precompute) + self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, args.verbose) + + def launch(self): + agent_launcher: AgentLauncher = AgentLauncher( + self.config, + ) + agent_launcher.init_connector() + agent_launcher.launch() if __name__ == "__main__": main = Main() + main.launch() From c6748ec2d7f7bf4822081b073185ef11800f708c Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 25 Sep 2024 17:11:18 +0900 Subject: [PATCH 054/249] feat: Update launch method in main.py to use AgentLauncher --- adf_core_python/main.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/main.py b/adf_core_python/main.py index c988075..0e6d588 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -68,7 +68,7 @@ def __init__(self) -> None: self.config.set_value(ConfigKey.KEY_PRECOMPUTE, args.precompute) self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, args.verbose) - def launch(self): + def launch(self) -> None: agent_launcher: AgentLauncher = AgentLauncher( self.config, ) From 54457c0acd0445bb65e17644cae5aa971245ee98 Mon Sep 17 00:00:00 2001 From: harrki Date: Mon, 30 Sep 2024 18:12:50 +0900 Subject: [PATCH 055/249] feat: Update .gitignore to ignore .idea --- .gitignore | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.gitignore b/.gitignore index 4939007..9a270b3 100644 --- a/.gitignore +++ b/.gitignore @@ -166,3 +166,6 @@ cython_debug/ # vscode .vscode/ + +# pycharm +.idea/ \ No newline at end of file From 045a889f79c128706e37ed4d970fed470d5ba0d9 Mon Sep 17 00:00:00 2001 From: harrki Date: Mon, 30 Sep 2024 18:14:35 +0900 Subject: [PATCH 056/249] feat: Add DefaultRoadDetector class --- adf_core_python/core/agent/info/world_info.py | 21 +++ .../module/algorithm/path_planning.py | 8 + .../implement/module/complex/__init__.py | 0 .../module/complex/default_road_detector.py | 153 ++++++++++++++++++ 4 files changed, 182 insertions(+) create mode 100644 adf_core_python/implement/module/complex/__init__.py create mode 100644 adf_core_python/implement/module/complex/default_road_detector.py diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 1ca617d..6feb8cb 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -73,3 +73,24 @@ def get_entity_ids_of_type(self, entity_type: type[Entity]) -> list[EntityID]: entity_ids.append(entity.get_id()) return entity_ids + + def get_entities_of_type(self, entity_type: type[Entity]) -> list[Entity]: + """ + Get the entities of the specified type + + Parameters + ---------- + entity_type : type[Entity] + Entity type + + Returns + ------- + list[Entity] + Entities + """ + entities: list[Entity] = [] + for entity in self._world_model.get_entities(): + if isinstance(entity, entity_type): + entities.append(entity) + + return entities diff --git a/adf_core_python/core/component/module/algorithm/path_planning.py b/adf_core_python/core/component/module/algorithm/path_planning.py index b741862..839b007 100644 --- a/adf_core_python/core/component/module/algorithm/path_planning.py +++ b/adf_core_python/core/component/module/algorithm/path_planning.py @@ -40,6 +40,14 @@ def get_path( def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: pass + @abstractmethod + def set_from(self, from_entity_id: EntityID) -> PathPlanning: + pass + + @abstractmethod + def set_destination(self, destination_entity_ids: list[EntityID]) -> PathPlanning: + pass + def precompute(self, precompute_data: PrecomputeData) -> PathPlanning: super().precompute(precompute_data) return self diff --git a/adf_core_python/implement/module/complex/__init__.py b/adf_core_python/implement/module/complex/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py new file mode 100644 index 0000000..86dd473 --- /dev/null +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -0,0 +1,153 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING, cast + +from rcrs_core.entities.refuge import Refuge +from rcrs_core.entities.building import Building +from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.road_detector import RoadDetector +from adf_core_python.core.component.module.complex.target_detector import TargetDetector + +if TYPE_CHECKING: + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.component.module.algorithm.path_planning import ( + PathPlanning, + ) + from adf_core_python.core.component.module.complex.road_detector import RoadDetector + + +class DefaultRoadDetector(RoadDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._path_planning: PathPlanning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultRoadDetector.PathPlanning", + "adf_core_python.implement.module.algorithm.DijkstraPathPlanning", + ), + ) + + self.register_sub_module(self._path_planning) + self._result = None + + def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> RoadDetector: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + + self._target_areas = set() + entities = ( + self._world_info.get_entities_of_type(Refuge) + + self._world_info.get_entities_of_type(Building) + + self._world_info.get_entities_of_type(GasStation) + ) + for entity in entities: + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) + if isinstance(neighbour, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_type(Refuge): + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbours(): + if isinstance(neighbour, Road): + self._priority_roads.add(entity_id) + + return self + + def prepare(self) -> RoadDetector: + super().prepare() + if self.get_count_prepare() >= 2: + return self + + self._target_areas = set() + entities = ( + self._world_info.get_entities_of_type(Refuge) + + self._world_info.get_entities_of_type(Building) + + self._world_info.get_entities_of_type(GasStation) + ) + for entity in entities: + building: Building = cast(Building, entity) + for entity_id in building.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) + if isinstance(neighbour, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_type(Refuge): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbours(): + if isinstance(neighbour, Road): + self._priority_roads.add(entity_id) + + return self + + def update_info(self, message_manager: MessageManager) -> RoadDetector: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + if self._result is not None: + if self._agent_info.get_position_entity_id == self._result: + entity = self._world_info.get_entity(self._result) + if isinstance(entity, Building): + self._result = None + elif isinstance(entity, Road): + road: Road = cast(Road, entity) + if road.get_blockades() == []: + self._target_areas.remove(self._result) + self._result = None + + return self + + def calc(self) -> RoadDetector: + if self._result is None: + position_entity_id: EntityID = self._agent_info.get_position_entity_id() + if position_entity_id in self._target_areas: + self._result = position_entity_id + return self + remove_list = [] + for entity_id in self._priority_roads: + if entity_id not in self._target_areas: + remove_list.append(entity_id) + + self._priority_roads = self._priority_roads - set(remove_list) + if len(self._priority_roads) > 0: + self._path_planning.set_from(position_entity_id) + self._path_planning.set_destination(list(self._target_areas)) + path: list[EntityID] = self._path_planning.calculate().get_path() + if path is not None and len(path) > 0: + self._result = path[-1] + + return self + + def get_target(self) -> EntityID: + return self._result From 73e0bbbf82c2d391c7dac153602a8b6091454979 Mon Sep 17 00:00:00 2001 From: harrki Date: Mon, 30 Sep 2024 18:43:24 +0900 Subject: [PATCH 057/249] fix: DefaultRoadDetector class and dependencies --- adf_core_python/core/agent/info/world_info.py | 2 +- .../core/component/module/algorithm/path_planning.py | 4 ++++ .../implement/module/complex/default_road_detector.py | 5 ++--- 3 files changed, 7 insertions(+), 4 deletions(-) diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 6feb8cb..46ec4bd 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -73,7 +73,7 @@ def get_entity_ids_of_type(self, entity_type: type[Entity]) -> list[EntityID]: entity_ids.append(entity.get_id()) return entity_ids - + def get_entities_of_type(self, entity_type: type[Entity]) -> list[Entity]: """ Get the entities of the specified type diff --git a/adf_core_python/core/component/module/algorithm/path_planning.py b/adf_core_python/core/component/module/algorithm/path_planning.py index 839b007..191631e 100644 --- a/adf_core_python/core/component/module/algorithm/path_planning.py +++ b/adf_core_python/core/component/module/algorithm/path_planning.py @@ -30,6 +30,10 @@ def __init__( agent_info, world_info, scenario_info, module_manager, develop_data ) + @abstractmethod + def get_result(self) -> list[EntityID]: + pass + @abstractmethod def get_path( self, from_entity_id: EntityID, to_entity_id: EntityID diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index 86dd473..3457b72 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -11,7 +11,6 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.road_detector import RoadDetector -from adf_core_python.core.component.module.complex.target_detector import TargetDetector if TYPE_CHECKING: from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -41,7 +40,7 @@ def __init__( case Mode.NON_PRECOMPUTE: self._path_planning: PathPlanning = cast( PathPlanning, - self.module_manager.get_module( + module_manager.get_module( "DefaultRoadDetector.PathPlanning", "adf_core_python.implement.module.algorithm.DijkstraPathPlanning", ), @@ -143,7 +142,7 @@ def calc(self) -> RoadDetector: if len(self._priority_roads) > 0: self._path_planning.set_from(position_entity_id) self._path_planning.set_destination(list(self._target_areas)) - path: list[EntityID] = self._path_planning.calculate().get_path() + path: list[EntityID] = self._path_planning.calculate().get_result() if path is not None and len(path) > 0: self._result = path[-1] From a8994415fcb41797896666354bf812b73c928338 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 30 Sep 2024 21:47:42 +0900 Subject: [PATCH 058/249] feat: Add scikit-learn dependency to pyproject.toml --- poetry.lock | 181 ++++++++++++++++++++++++++++++++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 181 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index b074efb..2f0e6c9 100644 --- a/poetry.lock +++ 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diff --git a/pyproject.toml b/pyproject.toml index e9179d8..908a0b6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -15,6 +15,7 @@ rcrs_core = {git = "https://github.com/adf-python/rcrs-core-python"} pyyaml = "^6.0.2" pytest = "^8.3.2" types-pyyaml = "^6.0.12.20240808" +scikit-learn = "^1.5.2" [tool.poetry.group.dev.dependencies] From 6935e2e38de16932a0093df92791034d1eb5c084 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 30 Sep 2024 21:48:25 +0900 Subject: [PATCH 059/249] fix: move directory --- .../{astar_path_planning.py => algorithm/a_star_path_planning.py} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename adf_core_python/implement/module/{astar_path_planning.py => algorithm/a_star_path_planning.py} (100%) diff --git a/adf_core_python/implement/module/astar_path_planning.py b/adf_core_python/implement/module/algorithm/a_star_path_planning.py similarity index 100% rename from adf_core_python/implement/module/astar_path_planning.py rename to adf_core_python/implement/module/algorithm/a_star_path_planning.py From 382a47e453ea9cf6ba52398667fe2b871ac2cfc8 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 30 Sep 2024 21:54:11 +0900 Subject: [PATCH 060/249] feat: add complex module --- .../core/agent/info/scenario_info.py | 7 +- adf_core_python/core/agent/info/world_info.py | 90 ++++++++++++- .../component/module/algorithm/clustering.py | 68 ++++++++++ .../module/complex/target_detector.py | 4 +- .../default_extend_action_transport.py | 17 +-- .../module/algorithm/k_means_clustering.py | 123 ++++++++++++++++++ .../module/complex/default_human_detector.py | 110 ++++++++++++++++ .../module/complex/default_search.py | 98 ++++++++++++++ .../tactics/default_tactics_police_force.py | 2 +- .../core/agent/module/test_module_manager.py | 2 +- 10 files changed, 500 insertions(+), 21 deletions(-) create mode 100644 adf_core_python/core/component/module/algorithm/clustering.py create mode 100644 adf_core_python/implement/module/algorithm/k_means_clustering.py create mode 100644 adf_core_python/implement/module/complex/default_human_detector.py create mode 100644 adf_core_python/implement/module/complex/default_search.py diff --git a/adf_core_python/core/agent/info/scenario_info.py b/adf_core_python/core/agent/info/scenario_info.py index 099b7f2..fe085bf 100644 --- a/adf_core_python/core/agent/info/scenario_info.py +++ b/adf_core_python/core/agent/info/scenario_info.py @@ -1,4 +1,5 @@ from enum import Enum +from typing import Any from adf_core_python.core.config.config import Config @@ -57,7 +58,7 @@ def get_mode(self) -> Mode: """ return self._mode - def get_config_value(self, key: str, default: str) -> str: + def get_value(self, key: str, default: Any) -> Any: """ Get the value of the configuration @@ -65,10 +66,12 @@ def get_config_value(self, key: str, default: str) -> str: ---------- key : str Key of the configuration + default : Any + Default value of the configuration Returns ------- - str + Any Value of the configuration """ return self._config.get_value(key, default) diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 1ca617d..9a66517 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -53,14 +53,16 @@ def get_entity(self, entity_id: EntityID) -> Optional[Entity]: """ return self._world_model.get_entity(entity_id) - def get_entity_ids_of_type(self, entity_type: type[Entity]) -> list[EntityID]: + def get_entity_ids_of_types( + self, entity_types: list[type[Entity]] + ) -> list[EntityID]: """ - Get the entity IDs of the specified type + Get the entity IDs of the specified types Parameters ---------- - entity_type : type[Entity] - Entity type + entity_types : list[type[Entity]] + List of entity types Returns ------- @@ -69,7 +71,85 @@ def get_entity_ids_of_type(self, entity_type: type[Entity]) -> list[EntityID]: """ entity_ids: list[EntityID] = [] for entity in self._world_model.get_entities(): - if isinstance(entity, entity_type): + if any(isinstance(entity, entity_type) for entity_type in entity_types): entity_ids.append(entity.get_id()) return entity_ids + + def get_entities_of_types(self, entity_types: list[type[Entity]]) -> list[Entity]: + """ + Get the entities of the specified types + + Parameters + ---------- + entity_types : list[type[Entity]] + List of entity types + + Returns + ------- + list[Entity] + Entities + """ + entities: list[Entity] = [] + for entity in self._world_model.get_entities(): + if any(isinstance(entity, entity_type) for entity_type in entity_types): + entities.append(entity) + + return entities + + def get_distance(self, entity_id1: EntityID, entity_id2: EntityID) -> float: + """ + Get the distance between two entities + + Parameters + ---------- + entity_id1 : EntityID + Entity ID 1 + entity_id2 : EntityID + Entity ID 2 + + Returns + ------- + float + Distance + + Raises + ------ + ValueError + If one or both entities are invalid or the location is invalid + """ + entity1: Optional[Entity] = self.get_entity(entity_id1) + entity2: Optional[Entity] = self.get_entity(entity_id2) + if entity1 is None or entity2 is None: + raise ValueError( + f"One or both entities are invalid: entity_id1={entity_id1}, entity_id2={entity_id2}, entity1={entity1}, entity2={entity2}" + ) + + location1_x, location1_y = entity1.get_location() + location2_x, location2_y = entity2.get_location() + if ( + location1_x is None + or location1_y is None + or location2_x is None + or location2_y is None + ): + raise ValueError( + f"Invalid location: entity_id1={entity_id1}, entity_id2={entity_id2}, location1_x={location1_x}, location1_y={location1_y}, location2_x={location2_x}, location2_y={location2_y}" + ) + + distance: float = ( + (location1_x - location2_x) ** 2 + (location1_y - location2_y) ** 2 + ) ** 0.5 + + return distance + + def get_change_set(self) -> ChangeSet: + """ + Get the change set + + Returns + ------- + ChangeSet + Change set + """ + return self._change_set diff --git a/adf_core_python/core/component/module/algorithm/clustering.py b/adf_core_python/core/component/module/algorithm/clustering.py new file mode 100644 index 0000000..0a6bfdc --- /dev/null +++ b/adf_core_python/core/component/module/algorithm/clustering.py @@ -0,0 +1,68 @@ +from __future__ import annotations + +from abc import abstractmethod +from typing import TYPE_CHECKING + +from adf_core_python.core.component.module.abstract_module import AbstractModule + +if TYPE_CHECKING: + from rcrs_core.entities.entity import Entity + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + + +class Clustering(AbstractModule): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_cluster_number(self) -> int: + pass + + @abstractmethod + def get_cluster_index(self, entity_id: EntityID) -> int: + pass + + @abstractmethod + def get_cluster_entities(self, cluster_index: int) -> list[Entity]: + pass + + @abstractmethod + def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: + pass + + @abstractmethod + def calculate(self) -> Clustering: + pass + + def precompute(self, precompute_data: PrecomputeData) -> Clustering: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> Clustering: + super().resume(precompute_data) + return self + + def prepare(self) -> Clustering: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> Clustering: + super().update_info(message_manager) + return self diff --git a/adf_core_python/core/component/module/complex/target_detector.py b/adf_core_python/core/component/module/complex/target_detector.py index 2a405af..29fb4df 100644 --- a/adf_core_python/core/component/module/complex/target_detector.py +++ b/adf_core_python/core/component/module/complex/target_detector.py @@ -1,7 +1,7 @@ from __future__ import annotations from abc import abstractmethod -from typing import TYPE_CHECKING, Generic, TypeVar +from typing import TYPE_CHECKING, Generic, Optional, TypeVar from rcrs_core.entities.entity import Entity @@ -35,7 +35,7 @@ def __init__( ) @abstractmethod - def get_target_entity_id(self) -> EntityID: + def get_target_entity_id(self) -> Optional[EntityID]: pass @abstractmethod diff --git a/adf_core_python/implement/extend_action/default_extend_action_transport.py b/adf_core_python/implement/extend_action/default_extend_action_transport.py index f770b48..aa75d22 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_transport.py +++ b/adf_core_python/implement/extend_action/default_extend_action_transport.py @@ -23,6 +23,7 @@ from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning +# TODO: refactor this class class DefaultExtendActionTransport(ExtAction): def __init__( self, @@ -99,7 +100,7 @@ def calc(self) -> ExtAction: agent: AmbulanceTeamEntity = cast( AmbulanceTeamEntity, self.agent_info.get_myself() ) - transport_human: Human = self.agent_info.some_one_on_board() + transport_human: Optional[Human] = self.agent_info.some_one_on_board() if transport_human is not None: self.result = self.calc_unload( agent, self._path_planning, transport_human, self._target_entity_id @@ -134,9 +135,7 @@ def calc_rescue( target_position = human.get_position() if agent_position == target_position: - if isinstance(human, Civilian) and ( - human.get_buriedness() is not None and human.get_buriedness() > 0 - ): + if isinstance(human, Civilian) and ((human.get_buriedness() or 0) > 0): return ActionLoad(human.get_id()) else: path = path_planning.get_path(agent_position, target_position) @@ -176,9 +175,7 @@ def calc_unload( if isinstance(position, Refuge): return ActionUnload() else: - path = path_planning.get_path( - agent_position, self.world_info.get_entity_ids_of_type(Refuge) - ) + path = self.get_nearest_refuge_path(agent, path_planning) if path is not None and len(path) > 0: return ActionMove(path) @@ -191,7 +188,7 @@ def calc_unload( human = cast(Human, target_entity) if human.get_position() is not None: return self.calc_refuge_action( - agent, path_planning, [human.get_position()], True + agent, path_planning, human.get_position(), True ) path = self.get_nearest_refuge_path(agent, path_planning) if path is not None and len(path) > 0: @@ -207,7 +204,7 @@ def calc_refuge_action( is_unload: bool, ) -> Optional[ActionMove | ActionUnload | ActionRest]: position = human.get_position() - refuges = self.world_info.get_entity_ids_of_type(Refuge) + refuges = self.world_info.get_entity_ids_of_types([Refuge]) size = len(refuges) if position in refuges: @@ -242,7 +239,7 @@ def get_nearest_refuge_path( self, human: Human, path_planning: PathPlanning ) -> list[EntityID]: position = human.get_position() - refuges = self.world_info.get_entity_ids_of_type(Refuge) + refuges = self.world_info.get_entity_ids_of_types([Refuge]) nearest_path = None for refuge_id in refuges: diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py new file mode 100644 index 0000000..afb18be --- /dev/null +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -0,0 +1,123 @@ +import numpy as np +from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.entities.ambulanceCenter import AmbulanceCentreEntity +from rcrs_core.entities.building import Building +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.fireStation import FireStationEntity +from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.hydrant import Hydrant +from rcrs_core.entities.policeOffice import PoliceOfficeEntity +from rcrs_core.entities.refuge import Refuge +from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID +from sklearn.cluster import KMeans + +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.clustering import Clustering + + +class KMeansClustering(Clustering): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + match agent_info.get_myself().get_urn(): + case EntityURN.AMBULANCE_TEAM: + self._cluster_number = scenario_info.get_value( + "scenario.agents.at", + 1, + ) + case EntityURN.POLICE_FORCE: + self._cluster_number = scenario_info.get_value( + "scenario.agents.pf", + 1, + ) + case EntityURN.FIRE_BRIGADE: + self._cluster_number = scenario_info.get_value( + "scenario.agents.fb", + 1, + ) + case _: + self._cluster_number = 1 + + sorted_entities = sorted( + world_info.get_entities_of_types( + [ + agent_info.get_myself().__class__, + ] + ), + key=lambda entity: entity.get_id().get_value(), + ) + self.entity_cluster_indices = { + entity.get_id(): idx for idx, entity in enumerate(sorted_entities) + } + + self.cluster_entities: list[list[Entity]] = [] + self.entities: list[Entity] = world_info.get_entities_of_types( + [ + AmbulanceCentreEntity, + FireStationEntity, + GasStation, + Hydrant, + PoliceOfficeEntity, + Refuge, + Road, + Building, + ] + ) + + def calculate(self) -> Clustering: + return self + + def get_cluster_number(self) -> int: + return self._cluster_number + + def get_cluster_index(self, entity_id: EntityID) -> int: + return self.entity_cluster_indices.get(entity_id, 0) + + def get_cluster_entities(self, cluster_index: int) -> list[Entity]: + if cluster_index >= len(self.cluster_entities): + return [] + return self.cluster_entities[cluster_index] + + def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: + if cluster_index >= len(self.cluster_entities): + return [] + return [entity.get_id() for entity in self.cluster_entities[cluster_index]] + + def prepare(self) -> Clustering: + super().prepare() + if self.get_count_prepare() > 1: + return self + self.cluster_entities = self.create_cluster(self._cluster_number, self.entities) + return self + + def create_cluster( + self, cluster_number: int, entities: list[Entity] + ) -> list[list[Entity]]: + kmeans = KMeans(n_clusters=cluster_number) + entity_positions: np.ndarray = np.array([]) + for entity in entities: + location1_x, location1_y = entity.get_location() + if location1_x is None or location1_y is None: + continue + entity_positions = np.append(entity_positions, [location1_x, location1_y]) + + kmeans.fit(entity_positions.reshape(-1, 2)) + + clusters: list[list[Entity]] = [[] for _ in range(cluster_number)] + for entity, label in zip(entities, kmeans.labels_): + clusters[label].append(entity) + + return clusters diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py new file mode 100644 index 0000000..05e58ce --- /dev/null +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -0,0 +1,110 @@ +from typing import Optional, cast + +from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.clustering import Clustering +from adf_core_python.core.component.module.complex.human_detector import HumanDetector + + +class DefaultHumanDetector(HumanDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "DefaultHumanDetector.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + self.register_sub_module(self._clustering) + + self._result: Optional[EntityID] = None + + def calculate(self) -> HumanDetector: + transport_human: Optional[Human] = self._agent_info.some_one_on_board() + if transport_human is not None: + self._result = transport_human.get_id() + return self + + if self._result is not None: + if self._is_valid_human(self._result): + self._result = self._select_target() + + return self + + def _select_target(self) -> Optional[EntityID]: + if self._result is not None and self._is_valid_human(self._result): + return self._result + + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + cluster_valid_human_entities: list[Entity] = [ + entity + for entity in cluster_entities + if self._is_valid_human(entity.get_id()) + ] + if len(cluster_valid_human_entities) == 0: + return None + + nearest_human_entity: Optional[Entity] = None + nearest_distance: float = 10**10 + for entity in cluster_valid_human_entities: + distance: float = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_id(), + ) + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + + return ( + nearest_human_entity.get_id() if nearest_human_entity is not None else None + ) + + def _is_valid_human(self, target_entity_id: EntityID) -> bool: + target: Optional[Entity] = self._world_info.get_entity(target_entity_id) + if target is None: + return False + if not isinstance(target, Human): + return False + hp: Optional[int] = target.get_hp() + if hp is None or hp <= 0: + return False + buriedness: Optional[int] = target.get_buriedness() + if buriedness is None or buriedness > 0: + return False + position_entity_id: Optional[EntityID] = target.get_position() + if position_entity_id is None: + return False + position: Optional[Entity] = self._world_info.get_entity(position_entity_id) + if position is None: + return False + urn: EntityURN = position.get_urn() + if urn == EntityURN.REFUGE or urn == EntityURN.AMBULANCE_TEAM: + return False + + return True + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result diff --git a/adf_core_python/implement/module/complex/default_search.py b/adf_core_python/implement/module/complex/default_search.py new file mode 100644 index 0000000..3c35a4a --- /dev/null +++ b/adf_core_python/implement/module/complex/default_search.py @@ -0,0 +1,98 @@ +from typing import Optional, cast + +from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.entities.entity import Entity +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.clustering import Clustering +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning +from adf_core_python.core.component.module.complex.search import Search + + +class DefaultSearch(Search): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._unsearched_building_ids: set[EntityID] = set() + self._result: Optional[EntityID] = None + + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "DefaultSearch.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultSearch.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self.register_sub_module(self._clustering) + self.register_sub_module(self._path_planning) + + def update_info(self, message_manager: MessageManager) -> Search: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + + searched_building_ids = self._world_info.get_change_set().get_changed_entities() + self._unsearched_building_ids = self._unsearched_building_ids.difference( + searched_building_ids + ) + + if len(self._unsearched_building_ids) == 0: + self._unsearched_building_ids = self._get_search_targets() + + return self + + def calculate(self) -> Search: + nearest_building_id: Optional[EntityID] = None + nearest_distance: Optional[float] = None + for building_id in self._unsearched_building_ids: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), building_id + ) + if nearest_distance is None or distance < nearest_distance: + nearest_building_id = building_id + nearest_distance = distance + self._result = nearest_building_id + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result + + def _get_search_targets(self) -> set[EntityID]: + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + building_entity_ids: list[EntityID] = [ + entity.get_id() + for entity in cluster_entities + if entity.get_urn() == EntityURN.BUILDING + and entity.get_urn() != EntityURN.REFUGE + ] + + return set(building_entity_ids) diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index ecd2134..bd4f29d 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -31,7 +31,7 @@ def initialize( ) -> None: # world_info.index_class() self._clear_distance = int( - scenario_info.get_config_value("clear.repair.distance", "null") + scenario_info.get_value("clear.repair.distance", "null") ) match scenario_info.get_mode(): diff --git a/tests/core/agent/module/test_module_manager.py b/tests/core/agent/module/test_module_manager.py index 458791e..530b990 100644 --- a/tests/core/agent/module/test_module_manager.py +++ b/tests/core/agent/module/test_module_manager.py @@ -12,7 +12,7 @@ def test_can_get_module(self) -> None: config = ModuleConfig(config_file_path) config.set_value( "test_module", - "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ) module_manager = self.create_module_manager(config) module = module_manager.get_module("test_module", "test_module") From 154f227dce4039c4f633a8e28f3085553494bd5f Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 30 Sep 2024 22:13:02 +0900 Subject: [PATCH 061/249] feat: Update launch method in main.py to use AgentLauncher --- adf_core_python/core/agent/action/action.py | 6 +- .../core/agent/config/module_config.py | 3 - .../core/component/abstract_loader.py | 41 +++--- .../core/launcher/agent_launcher.py | 10 +- .../connect/connector_ambulance_team.py | 10 +- adf_core_python/implement/default_loader.py | 40 +++--- .../tactics/default_tactics_ambulance_team.py | 8 +- config/develop.json | 3 + config/module.yaml | 122 ++++++++++++++++++ 9 files changed, 183 insertions(+), 60 deletions(-) create mode 100644 config/develop.json create mode 100644 config/module.yaml diff --git a/adf_core_python/core/agent/action/action.py b/adf_core_python/core/agent/action/action.py index eb4a04c..c7ab198 100644 --- a/adf_core_python/core/agent/action/action.py +++ b/adf_core_python/core/agent/action/action.py @@ -1,9 +1,7 @@ from abc import ABC, abstractmethod -from typing import TYPE_CHECKING -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID class Action(ABC): diff --git a/adf_core_python/core/agent/config/module_config.py b/adf_core_python/core/agent/config/module_config.py index a97ef30..095cb50 100644 --- a/adf_core_python/core/agent/config/module_config.py +++ b/adf_core_python/core/agent/config/module_config.py @@ -35,9 +35,6 @@ def __init__(self, config_file_name: str = DEFAULT_CONFIG_FILE_NAME): for key, value in flatten_data.items(): self.set_value(key, value) - for key, value in flatten_data.items(): - print(f"{key}: {self.get_value(key)}") - def _read_from_yaml(self, file_name: str) -> dict[str, Any]: """ Read configuration from yaml file diff --git a/adf_core_python/core/component/abstract_loader.py b/adf_core_python/core/component/abstract_loader.py index 006db23..dc0feae 100644 --- a/adf_core_python/core/component/abstract_loader.py +++ b/adf_core_python/core/component/abstract_loader.py @@ -1,25 +1,24 @@ from abc import ABC, abstractmethod -from typing import TYPE_CHECKING, Optional - -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_ambulance_center import ( - TacticsAmbulanceCenter, - ) - from adf_core_python.core.component.tactics.tactics_ambulance_team import ( - TacticsAmbulanceTeam, - ) - from adf_core_python.core.component.tactics.tactics_fire_brigade import ( - TacticsFireBrigade, - ) - from adf_core_python.core.component.tactics.tactics_fire_station import ( - TacticsFireStation, - ) - from adf_core_python.core.component.tactics.tactics_police_force import ( - TacticsPoliceForce, - ) - from adf_core_python.core.component.tactics.tactics_police_office import ( - TacticsPoliceOffice, - ) +from typing import Optional + +from adf_core_python.core.component.tactics.tactics_ambulance_center import ( + TacticsAmbulanceCenter, +) +from adf_core_python.core.component.tactics.tactics_ambulance_team import ( + TacticsAmbulanceTeam, +) +from adf_core_python.core.component.tactics.tactics_fire_brigade import ( + TacticsFireBrigade, +) +from adf_core_python.core.component.tactics.tactics_fire_station import ( + TacticsFireStation, +) +from adf_core_python.core.component.tactics.tactics_police_force import ( + TacticsPoliceForce, +) +from adf_core_python.core.component.tactics.tactics_police_office import ( + TacticsPoliceOffice, +) class AbstractLoader(ABC): diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index f5b7fb1..dc5c1cd 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -48,12 +48,12 @@ def init_connector(self) -> None: self.config.get_value(ConfigKey.KEY_TEAM_NAME), ) - self.connectors.append(ConnectorAmbulanceCentre()) + # self.connectors.append(ConnectorAmbulanceCentre()) self.connectors.append(ConnectorAmbulanceTeam()) - self.connectors.append(ConnectorFireBrigade()) - self.connectors.append(ConnectorFireStation()) - self.connectors.append(ConnectorPoliceForce()) - self.connectors.append(ConnectorPoliceOffice()) + # self.connectors.append(ConnectorFireBrigade()) + # self.connectors.append(ConnectorFireStation()) + # self.connectors.append(ConnectorPoliceForce()) + # self.connectors.append(ConnectorPoliceOffice()) def launch(self) -> None: host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 5fcb3d5..59af7c1 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -1,10 +1,10 @@ from logging import Logger, getLogger -from rcrs_core.agents.ambulanceTeamAgent import AmbulanceTeamAgent from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.platoon.platoon_ambulance import PlatoonAmbulance from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_ambulance_team import ( TacticsAmbulanceTeam, @@ -53,8 +53,14 @@ def connect( # TODO: component_launcher.generate_request_ID can cause race condition component_launcher.connect( - AmbulanceTeamAgent( + PlatoonAmbulance( + tactics_ambulance_team, + "ambulance_team", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + "test", + module_config, + develop_data, ), component_launcher.generate_request_ID(), ) diff --git a/adf_core_python/implement/default_loader.py b/adf_core_python/implement/default_loader.py index 2b79b7b..73c1d5f 100644 --- a/adf_core_python/implement/default_loader.py +++ b/adf_core_python/implement/default_loader.py @@ -1,6 +1,24 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.tactics.tactics_ambulance_center import ( + TacticsAmbulanceCenter, +) +from adf_core_python.core.component.tactics.tactics_ambulance_team import ( + TacticsAmbulanceTeam, +) +from adf_core_python.core.component.tactics.tactics_fire_brigade import ( + TacticsFireBrigade, +) +from adf_core_python.core.component.tactics.tactics_fire_station import ( + TacticsFireStation, +) +from adf_core_python.core.component.tactics.tactics_police_force import ( + TacticsPoliceForce, +) +from adf_core_python.core.component.tactics.tactics_police_office import ( + TacticsPoliceOffice, +) from adf_core_python.implement.tactics.default_tactics_ambulance_center import ( DefaultTacticsAmbulanceCenter, ) @@ -20,26 +38,6 @@ DefaultTacticsPoliceOffice, ) -if TYPE_CHECKING: - from adf_core_python.core.component.tactics.tactics_ambulance_center import ( - TacticsAmbulanceCenter, - ) - from adf_core_python.core.component.tactics.tactics_ambulance_team import ( - TacticsAmbulanceTeam, - ) - from adf_core_python.core.component.tactics.tactics_fire_brigade import ( - TacticsFireBrigade, - ) - from adf_core_python.core.component.tactics.tactics_fire_station import ( - TacticsFireStation, - ) - from adf_core_python.core.component.tactics.tactics_police_force import ( - TacticsPoliceForce, - ) - from adf_core_python.core.component.tactics.tactics_police_office import ( - TacticsPoliceOffice, - ) - class DefaultLoader(AbstractLoader): def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: @@ -51,7 +49,7 @@ def get_tactics_fire_brigade(self) -> TacticsFireBrigade: def get_tactics_police_force(self) -> TacticsPoliceForce: return DefaultTacticsPoliceForce() - def get_tactics_ambulance_centre(self) -> TacticsAmbulanceCenter: + def get_tactics_ambulance_center(self) -> TacticsAmbulanceCenter: return DefaultTacticsAmbulanceCenter() def get_tactics_fire_station(self) -> TacticsFireStation: diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 4171198..0985c7d 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -36,23 +36,23 @@ def initialize( Search, module_manager.get_module( "DefaultTacticsAmbulanceTeam.Search", - "adf_core_python.implement.module.complex.DefaultSearch", + "adf_core_python.core.component.module.complex.search.Search", ), ) self._human_detector: HumanDetector = cast( HumanDetector, module_manager.get_module( "DefaultTacticsAmbulanceTeam.HumanDetector", - "adf_core_python.implement.module.complex.DefaultHumanDetector", + "adf_core_python.core.component.module.complex.human_detector.HumanDetector", ), ) self._action_transport = module_manager.get_ext_action( "DefaultTacticsAmbulanceTeam.ExtActionTransport", - "adf_core_python.implement.extaction.DefaultExtActionTransport", + "adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtActionTransport", ) self._action_ext_move = module_manager.get_ext_action( "DefaultTacticsAmbulanceTeam.ExtActionMove", - "adf_core_python.implement.extaction.DefaultExtActionMove", + "adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtActionMove", ) self.register_module(self._search) self.register_module(self._human_detector) diff --git a/config/develop.json b/config/develop.json new file mode 100644 index 0000000..d0ae716 --- /dev/null +++ b/config/develop.json @@ -0,0 +1,3 @@ +{ + "test": "test" +} diff --git a/config/module.yaml b/config/module.yaml new file mode 100644 index 0000000..43806fa --- /dev/null +++ b/config/module.yaml @@ -0,0 +1,122 @@ +## DefaultTacticsAmbulanceTeam +DefaultTacticsAmbulanceTeam: + HumanDetector: adf_core_python.core.component.module.complex.human_detector.HumanDetector + Search: adf_core_python.core.component.module.complex.search.Search + ExtActionTransport: adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtActionTransport + ExtActionMove: adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtActionMove + CommandExecutorAmbulance: adf.impl.centralized.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + +# ## DefaultTacticsFireBrigade +# DefaultTacticsFireBrigade: +# HumanDetector: sample_team.module.complex.SampleHumanDetector +# Search: sample_team.module.complex.SampleSearch +# ExtActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue +# ExtActionMove: adf.impl.extaction.DefaultExtActionMove +# CommandExecutorFire: adf.impl.centralized.DefaultCommandExecutorFire +# CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + +# ## DefaultTacticsPoliceForce +# DefaultTacticsPoliceForce: +# RoadDetector: sample_team.module.complex.SampleRoadDetector +# Search: sample_team.module.complex.SampleSearch +# ExtActionClear: adf.impl.extaction.DefaultExtActionClear +# ExtActionMove: adf.impl.extaction.DefaultExtActionMove +# CommandExecutorPolice: adf.impl.centralized.DefaultCommandExecutorPolice +# CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScoutPolice + +# ## DefaultTacticsAmbulanceCentre +# DefaultTacticsAmbulanceCentre: +# TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator +# CommandPicker: adf.impl.centralized.DefaultCommandPickerAmbulance + +# ## DefaultTacticsFireStation +# DefaultTacticsFireStation: +# TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator +# CommandPicker: adf.impl.centralized.DefaultCommandPickerFire + +# ## DefaultTacticsPoliceOffice +# DefaultTacticsPoliceOffice: +# TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator +# CommandPicker: adf.impl.centralized.DefaultCommandPickerPolice + +## SampleSearch +SampleSearch: + PathPlanning: + Ambulance: adf.impl.module.algorithm.DijkstraPathPlanning + Fire: adf.impl.module.algorithm.DijkstraPathPlanning + Police: adf.impl.module.algorithm.DijkstraPathPlanning + Clustering: + Ambulance: adf.impl.module.algorithm.KMeansClustering + Fire: adf.impl.module.algorithm.KMeansClustering + Police: adf.impl.module.algorithm.KMeansClustering + +## SampleBuildDetector +SampleBuildingDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + +## SampleRoadDetector +SampleRoadDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## SampleHumanDetector +SampleHumanDetector: + Clustering: adf.impl.module.algorithm.KMeansClustering + +## DefaultExtActionClear +DefaultExtActionClear: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionFireFighting +DefaultExtActionFireFighting: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionFireRescue +DefaultExtActionFireRescue: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionMove +DefaultExtActionMove: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +## DefaultExtActionTransport +DefaultExtActionTransport: + PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ## DefaultCommandExecutorAmbulance +# DefaultCommandExecutorAmbulance: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport +# ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +# ## DefaultCommandExecutorFire +# DefaultCommandExecutorFire: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# EtxActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue +# EtxActionFireFighting: adf.impl.extaction.DefaultExtActionFireFighting +# ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +# ## DefaultCommandExecutorPolice +# DefaultCommandExecutorPolice: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ExtActionClear: adf.impl.extaction.DefaultExtActionClear +# ExtActionMove: adf.impl.extaction.DefaultExtActionMove + +# ## DefaultCommandExecutorScout +# DefaultCommandExecutorScout: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +# ## DefaultCommandExecutorScoutPolice +# DefaultCommandExecutorScoutPolice: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ExtActionClear: adf.impl.extaction.DefaultExtActionClear + +# ## MessageManager +# MessageManager: +# PlatoonChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber +# CenterChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber +# PlatoonMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator +# CenterMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator + +# ## VisualDebug +# VisualDebug: true From 9cbd07cde10712421430e0109a014531cd9a2ff1 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 2 Oct 2024 02:15:22 +0900 Subject: [PATCH 062/249] feat: update connector methods to return threading.Thread lists --- .../core/launcher/connect/connector.py | 3 +- .../connect/connector_ambulance_centre.py | 23 ++++++++----- .../connect/connector_ambulance_team.py | 33 ++++++++++++------- .../connect/connector_fire_brigade.py | 20 +++++++---- .../connect/connector_fire_station.py | 22 +++++++++---- .../connect/connector_police_force.py | 20 +++++++---- .../connect/connector_police_office.py | 20 +++++++---- 7 files changed, 95 insertions(+), 46 deletions(-) diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py index dbf4f29..e2e562f 100644 --- a/adf_core_python/core/launcher/connect/connector.py +++ b/adf_core_python/core/launcher/connect/connector.py @@ -1,3 +1,4 @@ +import threading from abc import ABC, abstractmethod from rcrs_core.connection.componentLauncher import ComponentLauncher @@ -16,7 +17,7 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> None: + ) -> list[threading.Thread]: raise NotImplementedError def get_connected_agent_count(self) -> int: diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py index 3475174..e7909b4 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -1,3 +1,4 @@ +import threading from logging import Logger, getLogger from rcrs_core.agents.ambulanceCenterAgent import AmbulanceCenterAgent @@ -21,10 +22,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> None: + ) -> list[threading.Thread]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: - return + return [] + + threads: list[threading.Thread] = [] for _ in range(count): # tactics_ambulance_centre: TacticsAmbulanceCentre @@ -50,12 +53,16 @@ def connect( ) # TODO: component_launcher.generate_request_ID can cause race condition - component_launcher.connect( - # TODO: AmbulanceCenterAgent is not implemented precompute method and other methods - AmbulanceCenterAgent( - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - ), # type: ignore - component_launcher.generate_request_ID(), + thread = threading.Thread( + target=component_launcher.connect, + args=( + AmbulanceCenterAgent( + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + ), # type: ignore + component_launcher.generate_request_ID(), + ), ) + threads.append(thread) self.logger.info("Connected ambulance centre (count: %d)" % count) + return threads diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 59af7c1..1c09775 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -1,3 +1,4 @@ +import threading from logging import Logger, getLogger from rcrs_core.connection.componentLauncher import ComponentLauncher @@ -24,10 +25,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> None: + ) -> list[threading.Thread]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: - return + return [] + + threads: list[threading.Thread] = [] for _ in range(count): if loader.get_tactics_ambulance_team() is None: @@ -52,17 +55,23 @@ def connect( ) # TODO: component_launcher.generate_request_ID can cause race condition - component_launcher.connect( - PlatoonAmbulance( - tactics_ambulance_team, - "ambulance_team", - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - "test", - module_config, - develop_data, + # threading + thread = threading.Thread( + target=component_launcher.connect, + args=( + PlatoonAmbulance( + tactics_ambulance_team, + "ambulance_team", + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + "test", + module_config, + develop_data, + ), + component_launcher.generate_request_ID(), ), - component_launcher.generate_request_ID(), ) + threads.append(thread) self.logger.info("Connected ambulance team (count: %d)" % count) + return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 920a805..f210a63 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -1,3 +1,4 @@ +import threading from logging import Logger, getLogger from rcrs_core.agents.fireBrigadeAgent import FireBrigadeAgent @@ -21,10 +22,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> None: + ) -> list[threading.Thread]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: - return + return [] + + threads: list[threading.Thread] = [] for _ in range(count): # tactics_fire_brigade: TacticsFireBrigade @@ -50,11 +53,16 @@ def connect( ) # TODO: component_launcher.generate_request_ID can cause race condition - component_launcher.connect( - FireBrigadeAgent( - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + thread = threading.Thread( + target=component_launcher.connect, + args=( + FireBrigadeAgent( + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + ), + component_launcher.generate_request_ID(), ), - component_launcher.generate_request_ID(), ) + threads.append(thread) self.logger.info("Connected fire brigade (count: %d)" % count) + return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index a2e5860..86ac1dc 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -1,3 +1,4 @@ +import threading from logging import Logger, getLogger from rcrs_core.agents.fireStationAgent import FireStationAgent @@ -21,10 +22,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> None: + ) -> list[threading.Thread]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: - return + return [] + + threads: list[threading.Thread] = [] for _ in range(count): # tactics_fire_station: TacticsFireStation @@ -50,11 +53,16 @@ def connect( ) # TODO: component_launcher.generate_request_ID can cause race condition - component_launcher.connect( - FireStationAgent( - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - ), # type: ignore - component_launcher.generate_request_ID(), + thread = threading.Thread( + target=component_launcher.connect, + args=( + FireStationAgent( + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + ), # type: ignore + component_launcher.generate_request_ID(), + ), ) + threads.append(thread) self.logger.info("Connected fire station (count: %d)" % count) + return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index dda4fb6..440a75a 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -1,3 +1,4 @@ +import threading from logging import Logger, getLogger from rcrs_core.agents.policeForceAgent import PoliceForceAgent @@ -21,10 +22,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> None: + ) -> list[threading.Thread]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: - return + return [] + + threads: list[threading.Thread] = [] for _ in range(count): # tactics_police_force: TacticsPoliceForce @@ -50,11 +53,16 @@ def connect( ) # TODO: component_launcher.generate_request_ID can cause race condition - component_launcher.connect( - PoliceForceAgent( - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + thread = threading.Thread( + target=component_launcher.connect, + args=( + PoliceForceAgent( + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + ), + component_launcher.generate_request_ID(), ), - component_launcher.generate_request_ID(), ) + threads.append(thread) self.logger.info("Connected ambulance centre (count: %d)" % count) + return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 8cac435..789e962 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -1,3 +1,4 @@ +import threading from logging import Logger, getLogger from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent @@ -21,10 +22,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> None: + ) -> list[threading.Thread]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: - return + return [] + + threads: list[threading.Thread] = [] for _ in range(count): # tactics_police_office: TacticsPoliceOffice @@ -50,11 +53,16 @@ def connect( ) # TODO: component_launcher.generate_request_ID can cause race condition - component_launcher.connect( - PoliceOfficeAgent( - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + thread = threading.Thread( + target=component_launcher.connect, + args=( + PoliceOfficeAgent( + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + ), # type: ignore + component_launcher.generate_request_ID(), ), - component_launcher.generate_request_ID(), ) + threads.append(thread) self.logger.info("Connected ambulance centre (count: %d)" % count) + return threads From 9aafcf73776ff05e4d5186bfd30de49259f6de0e Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 2 Oct 2024 02:17:16 +0900 Subject: [PATCH 063/249] feat: implement ambulance team --- .../core/agent/action/common/action_move.py | 3 +- adf_core_python/core/agent/info/world_info.py | 4 +- .../core/agent/module/module_manager.py | 2 +- adf_core_python/core/agent/platoon/platoon.py | 22 ++++- .../core/agent/platoon/platoon_ambulance.py | 6 +- .../core/component/tactics/tactics_agent.py | 30 +++++-- .../core/launcher/agent_launcher.py | 42 ++++----- adf_core_python/implement/default_loader.py | 2 - .../default_extend_action_move.py | 12 +-- .../default_extend_action_transport.py | 2 +- .../module/algorithm/a_star_path_planning.py | 85 +++++++++++++++++-- .../module/algorithm/k_means_clustering.py | 24 ++++-- .../tactics/default_tactics_ambulance_team.py | 5 +- adf_core_python/main.py | 6 ++ config/module.yaml | 84 +++++++++--------- tests/core/agent/develop/test_develop.py | 1 - .../core/agent/module/test_module_manager.py | 3 + 17 files changed, 225 insertions(+), 108 deletions(-) diff --git a/adf_core_python/core/agent/action/common/action_move.py b/adf_core_python/core/agent/action/common/action_move.py index a693817..d5f586b 100644 --- a/adf_core_python/core/agent/action/common/action_move.py +++ b/adf_core_python/core/agent/action/common/action_move.py @@ -30,4 +30,5 @@ def get_command(self, agent_id: EntityID, time: int) -> Command: return AKMove(agent_id, time, path) def __str__(self) -> str: - return f"ActionMove(path={self.path}, destination_x={self.destination_x}, destination_y{self.destination_y})" + path: str = ", ".join([str(p) for p in self.path]) + return f"ActionMove(path={path}, destination_x={self.destination_x}, destination_y={self.destination_y})" diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 9a66517..f4818f9 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -125,8 +125,8 @@ def get_distance(self, entity_id1: EntityID, entity_id2: EntityID) -> float: f"One or both entities are invalid: entity_id1={entity_id1}, entity_id2={entity_id2}, entity1={entity1}, entity2={entity2}" ) - location1_x, location1_y = entity1.get_location() - location2_x, location2_y = entity2.get_location() + location1_x, location1_y = entity1.get_x(), entity1.get_y() + location2_x, location2_y = entity2.get_x(), entity2.get_y() if ( location1_x is None or location1_y is None diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index b6f325b..4f2dfbd 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -3,6 +3,7 @@ import importlib from typing import TYPE_CHECKING, Any +from adf_core_python.core.component.extaction.ext_action import ExtAction from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: @@ -11,7 +12,6 @@ from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.component.extaction.ext_action import ExtAction class ModuleManager: diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 4b231e6..60d4016 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -2,6 +2,7 @@ from rcrs_core.agents.agent import Agent from rcrs_core.commands.Command import Command +from rcrs_core.config.config import Config as RCRSConfig from rcrs_core.worldmodel.changeSet import ChangeSet from adf_core_python.core.agent.action.action import Action @@ -14,6 +15,7 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.config.config import Config class Platoon(Agent): @@ -53,7 +55,21 @@ def post_connect(self) -> None: # self._mode = Mode.NON_PRECOMPUTE self._mode = Mode.NON_PRECOMPUTE - self._scenario_info: ScenarioInfo = ScenarioInfo(self.config, self._mode) # type: ignore + config = Config() + if self.config is not None: + rcrc_config: RCRSConfig = self.config + for key, value in rcrc_config.data.items(): + config.set_value(key, value) + for key, value in rcrc_config.int_data.items(): + config.set_value(key, value) + for key, value in rcrc_config.float_data.items(): + config.set_value(key, value) + for key, value in rcrc_config.boolean_data.items(): + config.set_value(key, value) + for key, value in rcrc_config.array_data.items(): + config.set_value(key, value) + + self._scenario_info: ScenarioInfo = ScenarioInfo(config, self._mode) self._module_manager: ModuleManager = ModuleManager( self._agent_info, self._world_info, @@ -88,6 +104,8 @@ def post_connect(self) -> None: ) def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: + self._agent_info.set_change_set(change_set) + self._world_info.set_change_set(change_set) action: Action = self._tactics_agent.think( self._agent_info, self._world_info, @@ -99,4 +117,4 @@ def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: ) if action is not None and self.agent_id is not None: self._agent_info.set_executed_action(time, action) - self.send_msg(action.get_command(self.agent_id, time)) + self.send_msg(action.get_command(self.agent_id, time).prepare_cmd()) diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py index e0d7fd7..ca8e169 100644 --- a/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -1,4 +1,4 @@ -from rcrs_core.connection import URN +from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -30,5 +30,5 @@ def __init__( def precompute(self) -> None: pass - def get_requested_entities(self) -> list[str]: - return [URN.Entity.AMBULANCE_TEAM] + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.AMBULANCE_TEAM] diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index 2bcf5c5..100c4c7 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -113,29 +113,43 @@ def module_precompute(self, precompute_data: PrecomputeData) -> None: module.precompute(precompute_data) for action in self._actions: action.precompute(precompute_data) - for executor in self._command_executor: - executor.precompute(precompute_data) + # for executor in self._command_executor: + # executor.precompute(precompute_data) def module_resume(self, precompute_data: PrecomputeData) -> None: for module in self._modules: module.resume(precompute_data) for action in self._actions: action.resume(precompute_data) - for executor in self._command_executor: - executor.resume(precompute_data) + # for executor in self._command_executor: + # executor.resume(precompute_data) def module_prepare(self) -> None: for module in self._modules: module.prepare() for action in self._actions: action.prepare() - for executor in self._command_executor: - executor.prepare() + # for executor in self._command_executor: + # executor.prepare() def module_update_info(self, message_manager: MessageManager) -> None: for module in self._modules: module.update_info(message_manager) for action in self._actions: action.update_info(message_manager) - for executor in self._command_executor: - executor.update_info(message_manager) + # for executor in self._command_executor: + # executor.update_info(message_manager) + + def reset_count(self) -> None: + for module in self._modules: + module.reset_count_precompute() + module.reset_count_resume() + module.reset_count_prepare() + module.reset_count_update_info() + for action in self._actions: + action.reset_count_precompute() + action.reset_count_resume() + action.reset_count_prepare() + action.reset_count_update_info() + # for executor in self._command_executor: + # executor.reset_count() diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index dc5c1cd..c2c944f 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -8,24 +8,26 @@ from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector -from adf_core_python.core.launcher.connect.connector_ambulance_centre import ( - ConnectorAmbulanceCentre, -) + +# from adf_core_python.core.launcher.connect.connector_ambulance_centre import ( +# ConnectorAmbulanceCentre, +# ) from adf_core_python.core.launcher.connect.connector_ambulance_team import ( ConnectorAmbulanceTeam, ) -from adf_core_python.core.launcher.connect.connector_fire_brigade import ( - ConnectorFireBrigade, -) -from adf_core_python.core.launcher.connect.connector_fire_station import ( - ConnectorFireStation, -) -from adf_core_python.core.launcher.connect.connector_police_force import ( - ConnectorPoliceForce, -) -from adf_core_python.core.launcher.connect.connector_police_office import ( - ConnectorPoliceOffice, -) + +# from adf_core_python.core.launcher.connect.connector_fire_brigade import ( +# ConnectorFireBrigade, +# ) +# from adf_core_python.core.launcher.connect.connector_fire_station import ( +# ConnectorFireStation, +# ) +# from adf_core_python.core.launcher.connect.connector_police_force import ( +# ConnectorPoliceForce, +# ) +# from adf_core_python.core.launcher.connect.connector_police_office import ( +# ConnectorPoliceOffice, +# ) class AgentLauncher: @@ -63,12 +65,10 @@ def launch(self) -> None: component_launcher: ComponentLauncher = ComponentLauncher(port, host) for connector in self.connectors: - thread = threading.Thread( - target=connector.connect, - args=(component_launcher, self.config, self.loader), - ) - thread.start() - self.thread_list.append(thread) + threads = connector.connect(component_launcher, self.config, self.loader) + for thread in threads: + thread.start() + self.thread_list.extend(threads) for thread in self.thread_list: thread.join() diff --git a/adf_core_python/implement/default_loader.py b/adf_core_python/implement/default_loader.py index 73c1d5f..f3af8f8 100644 --- a/adf_core_python/implement/default_loader.py +++ b/adf_core_python/implement/default_loader.py @@ -1,5 +1,3 @@ -from typing import TYPE_CHECKING - from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_ambulance_center import ( TacticsAmbulanceCenter, diff --git a/adf_core_python/implement/extend_action/default_extend_action_move.py b/adf_core_python/implement/extend_action/default_extend_action_move.py index a8df764..cd8d934 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_move.py +++ b/adf_core_python/implement/extend_action/default_extend_action_move.py @@ -1,3 +1,4 @@ +from logging import Logger, getLogger from typing import Optional, cast from rcrs_core.entities.area import Area @@ -32,6 +33,7 @@ def __init__( ) self._target_entity_id: Optional[EntityID] = None self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) + self._logger: Logger = getLogger(__name__) match self.scenario_info.get_mode(): case Mode.NON_PRECOMPUTE: @@ -39,7 +41,7 @@ def __init__( PathPlanning, self.module_manager.get_module( "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) case Mode.PRECOMPUTATION: @@ -87,20 +89,20 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: elif isinstance(entity, Human): entity = entity.get_position() - if entity is None and isinstance(entity, Area): - self._target_entity_id = None + if entity is not None and isinstance(entity, Area): + self._target_entity_id = entity.get_id() return self def calc(self) -> ExtAction: - self._result = None + self.result = None agent: Human = cast(Human, self.agent_info.get_myself()) path: list[EntityID] = self._path_planning.get_path( agent.get_position(), self._target_entity_id ) - if path is not None or len(path) != 0: + if path is not None and len(path) != 0: self.result = ActionMove(path) return self diff --git a/adf_core_python/implement/extend_action/default_extend_action_transport.py b/adf_core_python/implement/extend_action/default_extend_action_transport.py index aa75d22..338fb66 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_transport.py +++ b/adf_core_python/implement/extend_action/default_extend_action_transport.py @@ -45,7 +45,7 @@ def __init__( PathPlanning, self.module_manager.get_module( "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) case Mode.PRECOMPUTATION: diff --git a/adf_core_python/implement/module/algorithm/a_star_path_planning.py b/adf_core_python/implement/module/algorithm/a_star_path_planning.py index 24c7afb..cd4b802 100644 --- a/adf_core_python/implement/module/algorithm/a_star_path_planning.py +++ b/adf_core_python/implement/module/algorithm/a_star_path_planning.py @@ -1,23 +1,98 @@ from __future__ import annotations -from typing import TYPE_CHECKING +from rcrs_core.entities.area import Area +from rcrs_core.entities.entity import Entity +from rcrs_core.worldmodel.entityID import EntityID +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.module.algorithm.path_planning import ( PathPlanning, ) -if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID - class AStarPathPlanning(PathPlanning): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + entitites: list[Entity] = self._world_info.get_entities_of_types([Area]) + self._graph: dict[EntityID, set[EntityID]] = {} + for entity in entitites: + if isinstance(entity, Area): + self._graph[entity.get_id()] = set( + neighbour + for neighbour in entity.get_neighbours() + if neighbour != EntityID(0) + ) + def get_path( self, from_entity_id: EntityID, to_entity_id: EntityID ) -> list[EntityID]: + open_set: set[EntityID] = {from_entity_id} + came_from: dict[EntityID, EntityID] = {} + g_score: dict[EntityID, float] = {from_entity_id: 0.0} + f_score: dict[EntityID, float] = { + from_entity_id: self.heuristic(from_entity_id, to_entity_id) + } + + while open_set: + current: EntityID = min( + open_set, key=lambda x: f_score.get(x, float("inf")) + ) + if current == to_entity_id: + return self.reconstruct_path(came_from, current) + + open_set.remove(current) + for neighbor in self._graph.get(current, []): + tentative_g_score: float = g_score[current] + self.distance( + current, neighbor + ) + if tentative_g_score < g_score.get(neighbor, float("inf")): + came_from[neighbor] = current + g_score[neighbor] = tentative_g_score + f_score[neighbor] = tentative_g_score + self.heuristic( + neighbor, to_entity_id + ) + if neighbor not in open_set: + open_set.add(neighbor) + return [] + def heuristic(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + # Implement a heuristic function, for example, Euclidean distance + return self._world_info.get_distance(from_entity_id, to_entity_id) + + def distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + # Implement a distance function, for example, Euclidean distance + return self._world_info.get_distance(from_entity_id, to_entity_id) + + def reconstruct_path( + self, came_from: dict[EntityID, EntityID], current: EntityID + ) -> list[EntityID]: + total_path = [current] + while current in came_from: + current = came_from[current] + total_path.append(current) + total_path.reverse() + return total_path + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - return 0.0 + path: list[EntityID] = self.get_path(from_entity_id, to_entity_id) + distance: float = 0.0 + for i in range(len(path) - 1): + distance += self.distance(path[i], path[i + 1]) + return distance def calculate(self) -> AStarPathPlanning: return self diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index afb18be..ee6db38 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -34,19 +34,25 @@ def __init__( ) match agent_info.get_myself().get_urn(): case EntityURN.AMBULANCE_TEAM: - self._cluster_number = scenario_info.get_value( - "scenario.agents.at", - 1, + self._cluster_number = int( + scenario_info.get_value( + "scenario.agents.at", + 1, + ) ) case EntityURN.POLICE_FORCE: - self._cluster_number = scenario_info.get_value( - "scenario.agents.pf", - 1, + self._cluster_number = int( + scenario_info.get_value( + "scenario.agents.pf", + 1, + ) ) case EntityURN.FIRE_BRIGADE: - self._cluster_number = scenario_info.get_value( - "scenario.agents.fb", - 1, + self._cluster_number = int( + scenario_info.get_value( + "scenario.agents.fb", + 1, + ) ) case _: self._cluster_number = 1 diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 0985c7d..45c7707 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -48,11 +48,11 @@ def initialize( ) self._action_transport = module_manager.get_ext_action( "DefaultTacticsAmbulanceTeam.ExtActionTransport", - "adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtActionTransport", + "adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtendActionTransport", ) self._action_ext_move = module_manager.get_ext_action( "DefaultTacticsAmbulanceTeam.ExtActionMove", - "adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtActionMove", + "adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtendActionMove", ) self.register_module(self._search) self.register_module(self._human_detector) @@ -104,6 +104,7 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> Action: + self.reset_count() self.module_update_info(message_manager) agent: AmbulanceTeamEntity = cast(AmbulanceTeamEntity, agent_info.get_myself()) # noqa: F841 diff --git a/adf_core_python/main.py b/adf_core_python/main.py index 0e6d588..5c8aedf 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -1,4 +1,5 @@ import argparse +import logging from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.agent_launcher import AgentLauncher @@ -77,5 +78,10 @@ def launch(self) -> None: if __name__ == "__main__": + logging.basicConfig( + level=logging.DEBUG, + format="%(threadName)s[%(levelname)s][%(name)s]: %(message)s", + ) + main = Main() main.launch() diff --git a/config/module.yaml b/config/module.yaml index 43806fa..a7dff76 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -1,9 +1,9 @@ ## DefaultTacticsAmbulanceTeam DefaultTacticsAmbulanceTeam: - HumanDetector: adf_core_python.core.component.module.complex.human_detector.HumanDetector - Search: adf_core_python.core.component.module.complex.search.Search - ExtActionTransport: adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtActionTransport - ExtActionMove: adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtActionMove + HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector + Search: adf_core_python.implement.module.complex.default_search.DefaultSearch + ExtActionTransport: adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtendActionTransport + ExtActionMove: adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtendActionMove CommandExecutorAmbulance: adf.impl.centralized.DefaultCommandExecutorAmbulance CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout @@ -42,47 +42,41 @@ DefaultTacticsAmbulanceTeam: ## SampleSearch SampleSearch: - PathPlanning: - Ambulance: adf.impl.module.algorithm.DijkstraPathPlanning - Fire: adf.impl.module.algorithm.DijkstraPathPlanning - Police: adf.impl.module.algorithm.DijkstraPathPlanning - Clustering: - Ambulance: adf.impl.module.algorithm.KMeansClustering - Fire: adf.impl.module.algorithm.KMeansClustering - Police: adf.impl.module.algorithm.KMeansClustering - -## SampleBuildDetector -SampleBuildingDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering - -## SampleRoadDetector -SampleRoadDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - -## SampleHumanDetector -SampleHumanDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering - -## DefaultExtActionClear -DefaultExtActionClear: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - -## DefaultExtActionFireFighting -DefaultExtActionFireFighting: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - -## DefaultExtActionFireRescue -DefaultExtActionFireRescue: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - -## DefaultExtActionMove -DefaultExtActionMove: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - -## DefaultExtActionTransport -DefaultExtActionTransport: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering + +# ## SampleBuildDetector +# SampleBuildingDetector: +# Clustering: adf.impl.module.algorithm.KMeansClustering + +# ## SampleRoadDetector +# SampleRoadDetector: +# Clustering: adf.impl.module.algorithm.KMeansClustering +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +# ## SampleHumanDetector +# SampleHumanDetector: +# Clustering: adf.impl.module.algorithm.KMeansClustering + +# ## DefaultExtActionClear +# DefaultExtActionClear: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtActionFireFighting +# DefaultExtActionFireFighting: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtActionFireRescue +# DefaultExtActionFireRescue: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtActionMove +# DefaultExtActionMove: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtActionTransport +# DefaultExtActionTransport: +# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning # ## DefaultCommandExecutorAmbulance # DefaultCommandExecutorAmbulance: # PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning diff --git a/tests/core/agent/develop/test_develop.py b/tests/core/agent/develop/test_develop.py index 90d8026..877e50a 100644 --- a/tests/core/agent/develop/test_develop.py +++ b/tests/core/agent/develop/test_develop.py @@ -10,7 +10,6 @@ def test_can_read_from_yaml(self) -> None: script_dir = os.path.dirname(os.path.abspath(__file__)) develop_file_path = os.path.join(script_dir, "develop.json") develop_data = DevelopData(True, develop_file_path) - print(develop_data._develop_data) assert develop_data.get_value("string") == "test" assert develop_data.get_value("number") == 1 diff --git a/tests/core/agent/module/test_module_manager.py b/tests/core/agent/module/test_module_manager.py index 530b990..470061e 100644 --- a/tests/core/agent/module/test_module_manager.py +++ b/tests/core/agent/module/test_module_manager.py @@ -1,11 +1,14 @@ import os +import pytest + from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.module.abstract_module import AbstractModule class TestModuleManager: + @pytest.mark.skip(reason="一時的に無効化") def test_can_get_module(self) -> None: script_dir = os.path.dirname(os.path.abspath(__file__)) config_file_path = os.path.join(script_dir, "module.yaml") From ef1504d70e6ed05a3eefacac60a945951fe4478f Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 2 Oct 2024 13:17:14 +0900 Subject: [PATCH 064/249] feat: Add typings for rcrs_core entities, connection, commands, and messages --- poetry.lock | 2 +- typings/rcrs_core/agents/agent.pyi | 94 ++++++++++++ typings/rcrs_core/commands/AKClear.pyi | 16 ++ typings/rcrs_core/commands/AKClearArea.pyi | 16 ++ typings/rcrs_core/commands/AKLoad.pyi | 16 ++ typings/rcrs_core/commands/AKMove.pyi | 17 +++ typings/rcrs_core/commands/AKRescue.pyi | 16 ++ typings/rcrs_core/commands/AKRest.pyi | 16 ++ typings/rcrs_core/commands/AKSay.pyi | 16 ++ typings/rcrs_core/commands/AKSpeak.pyi | 16 ++ typings/rcrs_core/commands/AKSubscribe.pyi | 17 +++ typings/rcrs_core/commands/AKTell.pyi | 16 ++ typings/rcrs_core/commands/AKUnload.pyi | 16 ++ typings/rcrs_core/commands/Command.pyi | 16 ++ typings/rcrs_core/config/config.pyi | 55 +++++++ .../rcrs_core/config/config_constraint.pyi | 25 ++++ .../rcrs_core/connection/RCRSProto_pb2.pyi | 42 ++++++ typings/rcrs_core/connection/URN.pyi | 141 ++++++++++++++++++ typings/rcrs_core/connection/__init__.pyi | 4 + .../connection/componentLauncher.pyi | 22 +++ typings/rcrs_core/connection/connection.pyi | 22 +++ .../connection/rcrs_encoding_utils.pyi | 20 +++ typings/rcrs_core/entities/__init__.pyi | 4 + .../rcrs_core/entities/ambulanceCenter.pyi | 22 +++ typings/rcrs_core/entities/ambulanceTeam.pyi | 22 +++ typings/rcrs_core/entities/area.pyi | 52 +++++++ typings/rcrs_core/entities/blockade.pyi | 73 +++++++++ typings/rcrs_core/entities/building.pyi | 124 +++++++++++++++ typings/rcrs_core/entities/civilian.pyi | 22 +++ typings/rcrs_core/entities/edge.pyi | 31 ++++ typings/rcrs_core/entities/entity.pyi | 61 ++++++++ typings/rcrs_core/entities/fireBrigade.pyi | 34 +++++ typings/rcrs_core/entities/fireStation.pyi | 22 +++ typings/rcrs_core/entities/gassStation.pyi | 22 +++ typings/rcrs_core/entities/human.pyi | 114 ++++++++++++++ typings/rcrs_core/entities/hydrant.pyi | 22 +++ typings/rcrs_core/entities/policeForce.pyi | 22 +++ typings/rcrs_core/entities/policeOffice.pyi | 22 +++ typings/rcrs_core/entities/refuge.pyi | 61 ++++++++ typings/rcrs_core/entities/road.pyi | 22 +++ .../entities/standardEntityFactory.pyi | 17 +++ typings/rcrs_core/log/logger.pyi | 28 ++++ typings/rcrs_core/messages/AKAcknowledge.pyi | 18 +++ typings/rcrs_core/messages/AKConnect.pyi | 18 +++ typings/rcrs_core/messages/KAConnectError.pyi | 18 +++ typings/rcrs_core/messages/KAConnectOK.pyi | 18 +++ typings/rcrs_core/messages/KASense.pyi | 19 +++ typings/rcrs_core/messages/Shutdown.pyi | 18 +++ .../messages/controlMessageFactory.pyi | 13 ++ typings/rcrs_core/messages/message.pyi | 23 +++ .../rcrs_core/properties/booleanProperty.pyi | 21 +++ .../rcrs_core/properties/edgeListProperty.pyi | 38 +++++ .../properties/entityIDListProperty.pyi | 26 ++++ .../rcrs_core/properties/entityIDProperty.pyi | 21 +++ .../rcrs_core/properties/intArrayProperty.pyi | 24 +++ typings/rcrs_core/properties/intProperty.pyi | 21 +++ typings/rcrs_core/properties/property.pyi | 22 +++ .../properties/standardPropertyFactory.pyi | 13 ++ typings/rcrs_core/worldmodel/changeSet.pyi | 34 +++++ typings/rcrs_core/worldmodel/entityID.pyi | 25 ++++ typings/rcrs_core/worldmodel/worldmodel.pyi | 51 +++++++ 61 files changed, 1858 insertions(+), 1 deletion(-) create mode 100644 typings/rcrs_core/agents/agent.pyi create mode 100644 typings/rcrs_core/commands/AKClear.pyi create mode 100644 typings/rcrs_core/commands/AKClearArea.pyi create mode 100644 typings/rcrs_core/commands/AKLoad.pyi create mode 100644 typings/rcrs_core/commands/AKMove.pyi create mode 100644 typings/rcrs_core/commands/AKRescue.pyi create mode 100644 typings/rcrs_core/commands/AKRest.pyi create mode 100644 typings/rcrs_core/commands/AKSay.pyi create mode 100644 typings/rcrs_core/commands/AKSpeak.pyi create mode 100644 typings/rcrs_core/commands/AKSubscribe.pyi create mode 100644 typings/rcrs_core/commands/AKTell.pyi create mode 100644 typings/rcrs_core/commands/AKUnload.pyi create mode 100644 typings/rcrs_core/commands/Command.pyi create mode 100644 typings/rcrs_core/config/config.pyi create mode 100644 typings/rcrs_core/config/config_constraint.pyi create mode 100644 typings/rcrs_core/connection/RCRSProto_pb2.pyi create mode 100644 typings/rcrs_core/connection/URN.pyi create mode 100644 typings/rcrs_core/connection/__init__.pyi create mode 100644 typings/rcrs_core/connection/componentLauncher.pyi create mode 100644 typings/rcrs_core/connection/connection.pyi create mode 100644 typings/rcrs_core/connection/rcrs_encoding_utils.pyi create mode 100644 typings/rcrs_core/entities/__init__.pyi create mode 100644 typings/rcrs_core/entities/ambulanceCenter.pyi create mode 100644 typings/rcrs_core/entities/ambulanceTeam.pyi create mode 100644 typings/rcrs_core/entities/area.pyi create mode 100644 typings/rcrs_core/entities/blockade.pyi create mode 100644 typings/rcrs_core/entities/building.pyi create mode 100644 typings/rcrs_core/entities/civilian.pyi create mode 100644 typings/rcrs_core/entities/edge.pyi create mode 100644 typings/rcrs_core/entities/entity.pyi create mode 100644 typings/rcrs_core/entities/fireBrigade.pyi create mode 100644 typings/rcrs_core/entities/fireStation.pyi create mode 100644 typings/rcrs_core/entities/gassStation.pyi create mode 100644 typings/rcrs_core/entities/human.pyi create mode 100644 typings/rcrs_core/entities/hydrant.pyi create mode 100644 typings/rcrs_core/entities/policeForce.pyi create mode 100644 typings/rcrs_core/entities/policeOffice.pyi create mode 100644 typings/rcrs_core/entities/refuge.pyi create mode 100644 typings/rcrs_core/entities/road.pyi create mode 100644 typings/rcrs_core/entities/standardEntityFactory.pyi create mode 100644 typings/rcrs_core/log/logger.pyi create mode 100644 typings/rcrs_core/messages/AKAcknowledge.pyi create mode 100644 typings/rcrs_core/messages/AKConnect.pyi create mode 100644 typings/rcrs_core/messages/KAConnectError.pyi create mode 100644 typings/rcrs_core/messages/KAConnectOK.pyi create mode 100644 typings/rcrs_core/messages/KASense.pyi create mode 100644 typings/rcrs_core/messages/Shutdown.pyi create mode 100644 typings/rcrs_core/messages/controlMessageFactory.pyi create mode 100644 typings/rcrs_core/messages/message.pyi create mode 100644 typings/rcrs_core/properties/booleanProperty.pyi create mode 100644 typings/rcrs_core/properties/edgeListProperty.pyi create mode 100644 typings/rcrs_core/properties/entityIDListProperty.pyi create mode 100644 typings/rcrs_core/properties/entityIDProperty.pyi create mode 100644 typings/rcrs_core/properties/intArrayProperty.pyi create mode 100644 typings/rcrs_core/properties/intProperty.pyi create mode 100644 typings/rcrs_core/properties/property.pyi create mode 100644 typings/rcrs_core/properties/standardPropertyFactory.pyi create mode 100644 typings/rcrs_core/worldmodel/changeSet.pyi create mode 100644 typings/rcrs_core/worldmodel/entityID.pyi create mode 100644 typings/rcrs_core/worldmodel/worldmodel.pyi diff --git a/poetry.lock b/poetry.lock index 2f0e6c9..d7a68ff 100644 --- a/poetry.lock +++ b/poetry.lock @@ -347,7 +347,7 @@ rtree = "*" type = "git" url = "https://github.com/adf-python/rcrs-core-python" reference = "HEAD" -resolved_reference = "7b0d4ef8d6c1205c00f9e197c5833a3939f482b2" +resolved_reference = "bd42a563fee818496ce4c020a7ec82c4b5c67042" [[package]] name = "rtree" diff --git a/typings/rcrs_core/agents/agent.pyi b/typings/rcrs_core/agents/agent.pyi new file mode 100644 index 0000000..e19674a --- /dev/null +++ b/typings/rcrs_core/agents/agent.pyi @@ -0,0 +1,94 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.connection.URN import Entity +from abc import ABC, abstractmethod +from rcrs_core.entities.human import Human + +class Agent(ABC): + def __init__(self, pre) -> None: + ... + + @abstractmethod + def precompute(self): # -> None: + ... + + @abstractmethod + def think(self, time, change_set, hear): # -> None: + ... + + def get_name(self): # -> str: + ... + + def get_id(self): # -> EntityID | None: + ... + + def set_send_msg(self, connection_send_func): # -> None: + ... + + def start_up(self, request_id): # -> None: + ... + + def post_connect(self): # -> None: + ... + + def message_received(self, msg): # -> None: + ... + + def handle_connect_error(self, msg): + ... + + def handle_connect_ok(self, msg): # -> None: + ... + + def sendAKAcknowledge(self, request_id): # -> None: + ... + + def process_sense(self, msg): # -> None: + ... + + def me(self) -> Human: + ... + + def location(self) -> Entity: + ... + + def random_walk(self): # -> list[Any]: + ... + + def send_clear(self, time, target): # -> None: + ... + + def send_clear_area(self, time, x=..., y=...): # -> None: + ... + + def send_load(self, time, target): # -> None: + ... + + def send_move(self, time, path, x=..., y=...): # -> None: + ... + + def send_rescue(self, time, target): # -> None: + ... + + def send_rest(self, time_step): # -> None: + ... + + def send_say(self, time_step: int, message: str): # -> None: + ... + + def send_speak(self, time_step: int, message: str, channel: int): # -> None: + ... + + def send_subscribe(self, time, channel): # -> None: + ... + + def send_tell(self, time_step: int, message: str): # -> None: + ... + + def send_unload(self, time): # -> None: + ... + + + diff --git a/typings/rcrs_core/commands/AKClear.pyi b/typings/rcrs_core/commands/AKClear.pyi new file mode 100644 index 0000000..1f3119a --- /dev/null +++ b/typings/rcrs_core/commands/AKClear.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKClear(Command): + def __init__(self, agent_id: EntityID, time: int, target: EntityID) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKClearArea.pyi b/typings/rcrs_core/commands/AKClearArea.pyi new file mode 100644 index 0000000..cde4e0d --- /dev/null +++ b/typings/rcrs_core/commands/AKClearArea.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKClearArea(Command): + def __init__(self, agent_id: EntityID, time: int, destinationX: int, destinationY: int) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKLoad.pyi b/typings/rcrs_core/commands/AKLoad.pyi new file mode 100644 index 0000000..1dda8d4 --- /dev/null +++ b/typings/rcrs_core/commands/AKLoad.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKLoad(Command): + def __init__(self, agent_id: EntityID, time: int, target: EntityID) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKMove.pyi b/typings/rcrs_core/commands/AKMove.pyi new file mode 100644 index 0000000..32f0c27 --- /dev/null +++ b/typings/rcrs_core/commands/AKMove.pyi @@ -0,0 +1,17 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID +from typing import List + +class AKMove(Command): + def __init__(self, agent_id: EntityID, time: int, path: List[int], destinationX=..., destinationY=...) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKRescue.pyi b/typings/rcrs_core/commands/AKRescue.pyi new file mode 100644 index 0000000..e1b18d6 --- /dev/null +++ b/typings/rcrs_core/commands/AKRescue.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKRescue(Command): + def __init__(self, agent_id: EntityID, time: int, target: EntityID) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKRest.pyi b/typings/rcrs_core/commands/AKRest.pyi new file mode 100644 index 0000000..78540d6 --- /dev/null +++ b/typings/rcrs_core/commands/AKRest.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKRest(Command): + def __init__(self, agent_id: EntityID, time: int) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKSay.pyi b/typings/rcrs_core/commands/AKSay.pyi new file mode 100644 index 0000000..d523688 --- /dev/null +++ b/typings/rcrs_core/commands/AKSay.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKSay(Command): + def __init__(self, agent_id: EntityID, time: int, message: str) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKSpeak.pyi b/typings/rcrs_core/commands/AKSpeak.pyi new file mode 100644 index 0000000..a72aada --- /dev/null +++ b/typings/rcrs_core/commands/AKSpeak.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKSpeak(Command): + def __init__(self, agent_id: EntityID, time: int, message: str, channel: int) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKSubscribe.pyi b/typings/rcrs_core/commands/AKSubscribe.pyi new file mode 100644 index 0000000..b6b2717 --- /dev/null +++ b/typings/rcrs_core/commands/AKSubscribe.pyi @@ -0,0 +1,17 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID +from typing import List + +class AKSubscribe(Command): + def __init__(self, agent_id: EntityID, time: int, channels: List[int]) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKTell.pyi b/typings/rcrs_core/commands/AKTell.pyi new file mode 100644 index 0000000..e35dfd1 --- /dev/null +++ b/typings/rcrs_core/commands/AKTell.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKTell(Command): + def __init__(self, agent_id: EntityID, time: int, message: str) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/AKUnload.pyi b/typings/rcrs_core/commands/AKUnload.pyi new file mode 100644 index 0000000..689bc11 --- /dev/null +++ b/typings/rcrs_core/commands/AKUnload.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID + +class AKUnload(Command): + def __init__(self, agent_id: EntityID, time: int) -> None: + ... + + def prepare_cmd(self): # -> MessageProto: + ... + + + diff --git a/typings/rcrs_core/commands/Command.pyi b/typings/rcrs_core/commands/Command.pyi new file mode 100644 index 0000000..e98df35 --- /dev/null +++ b/typings/rcrs_core/commands/Command.pyi @@ -0,0 +1,16 @@ +""" +This type stub file was generated by pyright. +""" + +from abc import ABC, abstractmethod + +class Command(ABC): + def __init__(self) -> None: + ... + + @abstractmethod + def prepare_cmd(): # -> None: + ... + + + diff --git a/typings/rcrs_core/config/config.pyi b/typings/rcrs_core/config/config.pyi new file mode 100644 index 0000000..c6942e2 --- /dev/null +++ b/typings/rcrs_core/config/config.pyi @@ -0,0 +1,55 @@ +""" +This type stub file was generated by pyright. +""" + +class Config: + def __init__(self) -> None: + ... + + def get_value(self, key: str) -> str | None: + ... + + def get_value_or_default(self, key: str, default: str) -> str: + ... + + def get_int_value(self, key: str) -> int | None: + ... + + def get_int_value_or_default(self, key: str, default: int) -> int: + ... + + def get_float_value(self, key) -> float | None: + ... + + def get_float_value_or_default(self, key: str, default: float) -> float: + ... + + def get_boolean_value(self, key) -> bool | None: + ... + + def get_boolean_value_or_default(self, key: str, default: bool) -> bool: + ... + + def get_array_value(self, key) -> list | None: + ... + + def get_array_value_or_default(self, key: str, default: list) -> list: + ... + + def set_value(self, key: str, value: str) -> None: + ... + + def set_int_value(self, key: str, value: int) -> None: + ... + + def set_float_value(self, key: str, value: float) -> None: + ... + + def set_boolean_value(self, key: str, value: bool) -> None: + ... + + def set_array_value(self, key: str, value: list) -> None: + ... + + + diff --git a/typings/rcrs_core/config/config_constraint.pyi b/typings/rcrs_core/config/config_constraint.pyi new file mode 100644 index 0000000..4b018e9 --- /dev/null +++ b/typings/rcrs_core/config/config_constraint.pyi @@ -0,0 +1,25 @@ +""" +This type stub file was generated by pyright. +""" + +from abc import ABC, abstractmethod +from typing import Set, TYPE_CHECKING +from rcrs_core.config.config import Config + +if TYPE_CHECKING: + ... +class ConfigConstraint(ABC): + @abstractmethod + def is_violated(self, config: Config) -> bool: + ... + + @abstractmethod + def get_description(self) -> str: + ... + + @abstractmethod + def get_keys(self) -> Set[str]: + ... + + + diff --git a/typings/rcrs_core/connection/RCRSProto_pb2.pyi b/typings/rcrs_core/connection/RCRSProto_pb2.pyi new file mode 100644 index 0000000..b0a1b66 --- /dev/null +++ b/typings/rcrs_core/connection/RCRSProto_pb2.pyi @@ -0,0 +1,42 @@ +""" +This type stub file was generated by pyright. +""" + +"""Generated protocol buffer code.""" +_sym_db = ... +DESCRIPTOR = ... +_MESSAGEPROTO_COMPONENTSENTRY = ... +_MESSAGEPROTO = ... +_MESSAGELISTPROTO = ... +_MESSAGECOMPONENTPROTO = ... +_STRLISTPROTO = ... +_INTLISTPROTO = ... +_FLOATLISTPROTO = ... +_INTMATRIXPROTO = ... +_VALUEPROTO = ... +_PROPERTYPROTO = ... +_POINT2DPROTO = ... +_ENTITYPROTO = ... +_ENTITYLISTPROTO = ... +_CONFIGPROTO_DATAENTRY = ... +_CONFIGPROTO = ... +_EDGELISTPROTO = ... +_EDGEPROTO = ... +_CHANGESETPROTO_ENTITYCHANGEPROTO = ... +_CHANGESETPROTO = ... +MessageProto = ... +MessageListProto = ... +MessageComponentProto = ... +StrListProto = ... +IntListProto = ... +FloatListProto = ... +IntMatrixProto = ... +ValueProto = ... +PropertyProto = ... +Point2DProto = ... +EntityProto = ... +EntityListProto = ... +ConfigProto = ... +EdgeListProto = ... +EdgeProto = ... +ChangeSetProto = ... diff --git a/typings/rcrs_core/connection/URN.pyi b/typings/rcrs_core/connection/URN.pyi new file mode 100644 index 0000000..c43d1b2 --- /dev/null +++ b/typings/rcrs_core/connection/URN.pyi @@ -0,0 +1,141 @@ +""" +This type stub file was generated by pyright. +""" + +from enum import IntEnum + +class Entity(IntEnum): + WORLD = ... + ROAD = ... + BLOCKADE = ... + BUILDING = ... + REFUGE = ... + HYDRANT = ... + GAS_STATION = ... + FIRE_STATION = ... + AMBULANCE_CENTRE = ... + POLICE_OFFICE = ... + CIVILIAN = ... + FIRE_BRIGADE = ... + AMBULANCE_TEAM = ... + POLICE_FORCE = ... + + +class Property(IntEnum): + START_TIME = ... + LONGITUDE = ... + LATITUDE = ... + WIND_FORCE = ... + WIND_DIRECTION = ... + X = ... + Y = ... + BLOCKADES = ... + REPAIR_COST = ... + FLOORS = ... + BUILDING_ATTRIBUTES = ... + IGNITION = ... + FIERYNESS = ... + BROKENNESS = ... + BUILDING_CODE = ... + BUILDING_AREA_GROUND = ... + BUILDING_AREA_TOTAL = ... + APEXES = ... + EDGES = ... + POSITION = ... + DIRECTION = ... + POSITION_HISTORY = ... + STAMINA = ... + HP = ... + DAMAGE = ... + BURIEDNESS = ... + TRAVEL_DISTANCE = ... + WATER_QUANTITY = ... + TEMPERATURE = ... + IMPORTANCE = ... + CAPACITY = ... + BEDCAPACITY = ... + OCCUPIEDBEDS = ... + REFILLCAPACITY = ... + WAITINGLISTSIZE = ... + + +class Command(IntEnum): + AK_REST = ... + AK_MOVE = ... + AK_LOAD = ... + AK_UNLOAD = ... + AK_SAY = ... + AK_TELL = ... + AK_EXTINGUISH = ... + AK_RESCUE = ... + AK_CLEAR = ... + AK_CLEAR_AREA = ... + AK_SUBSCRIBE = ... + AK_SPEAK = ... + + +class ComponentCommand(IntEnum): + Target = ... + DestinationX = ... + DestinationY = ... + Water = ... + Path = ... + Message = ... + Channel = ... + Channels = ... + + +class ControlMSG(IntEnum): + KG_CONNECT = ... + KG_ACKNOWLEDGE = ... + GK_CONNECT_OK = ... + GK_CONNECT_ERROR = ... + SK_CONNECT = ... + SK_ACKNOWLEDGE = ... + SK_UPDATE = ... + KS_CONNECT_OK = ... + KS_CONNECT_ERROR = ... + KS_UPDATE = ... + KS_COMMANDS = ... + KS_AFTERSHOCKS_INFO = ... + VK_CONNECT = ... + VK_ACKNOWLEDGE = ... + KV_CONNECT_OK = ... + KV_CONNECT_ERROR = ... + KV_TIMESTEP = ... + AK_CONNECT = ... + AK_ACKNOWLEDGE = ... + KA_CONNECT_OK = ... + KA_CONNECT_ERROR = ... + KA_SENSE = ... + SHUTDOWN = ... + ENTITY_ID_REQUEST = ... + ENTITY_ID_RESPONSE = ... + + +class ComponentControlMSG(IntEnum): + RequestID = ... + AgentID = ... + Version = ... + Name = ... + RequestedEntityTypes = ... + SimulatorID = ... + RequestNumber = ... + NumberOfIDs = ... + NewEntityIDs = ... + Reason = ... + Entities = ... + ViewerID = ... + AgentConfig = ... + Time = ... + Updates = ... + Hearing = ... + INTENSITIES = ... + TIMES = ... + ID = ... + Commands = ... + SimulatorConfig = ... + Changes = ... + + +MAP = ... diff --git a/typings/rcrs_core/connection/__init__.pyi b/typings/rcrs_core/connection/__init__.pyi new file mode 100644 index 0000000..006bc27 --- /dev/null +++ b/typings/rcrs_core/connection/__init__.pyi @@ -0,0 +1,4 @@ +""" +This type stub file was generated by pyright. +""" + diff --git a/typings/rcrs_core/connection/componentLauncher.pyi b/typings/rcrs_core/connection/componentLauncher.pyi new file mode 100644 index 0000000..edf2c44 --- /dev/null +++ b/typings/rcrs_core/connection/componentLauncher.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.agents.agent import Agent +from rcrs_core.connection.connection import Connection + +class ComponentLauncher: + def __init__(self, port, host) -> None: + ... + + def make_connection(self) -> Connection: + ... + + def connect(self, agent: Agent, _request_id): # -> None: + ... + + def generate_request_ID(self): # -> int: + ... + + + diff --git a/typings/rcrs_core/connection/connection.pyi b/typings/rcrs_core/connection/connection.pyi new file mode 100644 index 0000000..33218b8 --- /dev/null +++ b/typings/rcrs_core/connection/connection.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +class Connection: + def __init__(self, host, port) -> None: + ... + + def connect(self): # -> None: + ... + + def parseMessageFromKernel(self): # -> None: + ... + + def message_received(self, agent_message_received): # -> None: + ... + + def send_msg(self, msg): # -> None: + ... + + + diff --git a/typings/rcrs_core/connection/rcrs_encoding_utils.pyi b/typings/rcrs_core/connection/rcrs_encoding_utils.pyi new file mode 100644 index 0000000..947fc2b --- /dev/null +++ b/typings/rcrs_core/connection/rcrs_encoding_utils.pyi @@ -0,0 +1,20 @@ +""" +This type stub file was generated by pyright. +""" + +""" utils to handle connection """ +def write_int32(value, sock): # -> None: + ... + +def readnbytes(sock, n): # -> Literal[b""]: + ... + +def read_int32(sock): # -> int: + ... + +def write_msg(msg, sock): # -> None: + ... + +def read_msg(sock): # -> MessageProto: + ... + diff --git a/typings/rcrs_core/entities/__init__.pyi b/typings/rcrs_core/entities/__init__.pyi new file mode 100644 index 0000000..006bc27 --- /dev/null +++ b/typings/rcrs_core/entities/__init__.pyi @@ -0,0 +1,4 @@ +""" +This type stub file was generated by pyright. +""" + diff --git a/typings/rcrs_core/entities/ambulanceCenter.pyi b/typings/rcrs_core/entities/ambulanceCenter.pyi new file mode 100644 index 0000000..bde5db4 --- /dev/null +++ b/typings/rcrs_core/entities/ambulanceCenter.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.building import Building + +class AmbulanceCentreEntity(Building): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def set_entity(self, properties): # -> None: + ... + + def get_entity_name(self): # -> Literal['Ambulance Centre']: + ... + + def copy_impl(self): # -> AmbulanceCentreEntity: + ... + + + diff --git a/typings/rcrs_core/entities/ambulanceTeam.pyi b/typings/rcrs_core/entities/ambulanceTeam.pyi new file mode 100644 index 0000000..5c42faa --- /dev/null +++ b/typings/rcrs_core/entities/ambulanceTeam.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.human import Human + +class AmbulanceTeamEntity(Human): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def set_entity(self, properties): # -> None: + ... + + def get_entity_name(self): # -> Literal['Ambulance Team']: + ... + + def copy_impl(self): # -> AmbulanceTeamEntity: + ... + + + diff --git a/typings/rcrs_core/entities/area.pyi b/typings/rcrs_core/entities/area.pyi new file mode 100644 index 0000000..b3f1559 --- /dev/null +++ b/typings/rcrs_core/entities/area.pyi @@ -0,0 +1,52 @@ +""" +This type stub file was generated by pyright. +""" + +from typing import List +from rcrs_core.entities.entity import Entity + +class Area(Entity): + def __init__(self, entity_id) -> None: + ... + + def set_entity(self, properties): # -> None: + ... + + def get_location(self): # -> tuple[Any | None, Any | None]: + ... + + def get_neighbours(self): # -> list[Any]: + ... + + def get_edge_to(self, neighbour): # -> Entity | None: + ... + + def get_property(self, urn): # -> IntProperty | EdgeListProperty | EntityIDListProperty | None: + ... + + def get_edges_property(self): # -> EdgeListProperty: + ... + + def get_edges(self) -> List[Entity]: + ... + + def set_edges(self, value): # -> None: + ... + + def add_edge(self, edge): # -> None: + ... + + def get_blockades_property(self): # -> EntityIDListProperty: + ... + + def get_blockades(self): # -> None: + ... + + def set_blockades(self, value): # -> None: + ... + + def get_shape(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/blockade.pyi b/typings/rcrs_core/entities/blockade.pyi new file mode 100644 index 0000000..a9b1502 --- /dev/null +++ b/typings/rcrs_core/entities/blockade.pyi @@ -0,0 +1,73 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.entity import Entity + +class Blockade(Entity): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def get_entity_name(self): # -> Literal['Blockade']: + ... + + def set_entity(self, properties): # -> None: + ... + + def copy_impl(self): # -> Blockade: + ... + + def get_property(self, urn): # -> IntProperty | EntityIDProperty | IntArrayProperty | None: + ... + + def get_x_property(self): # -> IntProperty: + ... + + def get_x(self): # -> None: + ... + + def set_x(self, value): # -> None: + ... + + def get_y_property(self): # -> IntProperty: + ... + + def get_y(self): # -> None: + ... + + def set_y(self, value): # -> None: + ... + + def get_apexes_property(self): # -> IntArrayProperty: + ... + + def get_apexes(self): # -> None: + ... + + def set_apexes(self, value): # -> None: + ... + + def get_position_property(self): # -> EntityIDProperty: + ... + + def get_position(self): # -> None: + ... + + def set_position(self, value): # -> None: + ... + + def get_repaire_cost_property(self): # -> IntProperty: + ... + + def get_repaire_cost(self): # -> None: + ... + + def set_repaire_cost(self, value): # -> None: + ... + + def get_shape(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/building.pyi b/typings/rcrs_core/entities/building.pyi new file mode 100644 index 0000000..edf477d --- /dev/null +++ b/typings/rcrs_core/entities/building.pyi @@ -0,0 +1,124 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.area import Area + +class Building(Area): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def is__fiery(self): # -> bool: + ... + + def set_entity(self, properties): # -> None: + ... + + def copy_impl(self): # -> Building: + ... + + def get_entity_name(self): # -> Literal['Building']: + ... + + def get_property(self, urn): # -> IntProperty | EdgeListProperty | EntityIDListProperty | None: + ... + + def get_floors_property(self): # -> IntProperty: + ... + + def get_floors(self): # -> None: + ... + + def set_floors(self, value): # -> None: + ... + + def get_ignition_property(self): # -> IntProperty: + ... + + def get_ignition(self): # -> None: + ... + + def set_ignition(self, value): # -> None: + ... + + def get_fieryness_property(self): # -> IntProperty: + ... + + def get_fieryness(self): # -> None: + ... + + def set_fieryness(self, value): # -> None: + ... + + def get_fieryness_enum(self): # -> None: + ... + + def get_brokenness_property(self): # -> IntProperty: + ... + + def get_brokenness(self): # -> None: + ... + + def set_brokenness(self, value): # -> None: + ... + + def get_building_code_property(self): # -> IntProperty: + ... + + def get_building_code(self): # -> None: + ... + + def set_building_code(self, value): # -> None: + ... + + def get_building_code_enum(self): # -> None: + ... + + def get_attributes_property(self): # -> IntProperty: + ... + + def get_attributes(self): # -> None: + ... + + def set_attributes(self, value): # -> None: + ... + + def get_ground_area_property(self): # -> IntProperty: + ... + + def get_ground_area(self): # -> None: + ... + + def set_ground_area(self, value): # -> None: + ... + + def get_total_area_property(self): # -> IntProperty: + ... + + def get_total_area(self): # -> None: + ... + + def set_total_area(self, value): # -> None: + ... + + def get_temperature_property(self): # -> IntProperty: + ... + + def get_temperature(self): # -> None: + ... + + def set_temperature(self, value): # -> None: + ... + + def get_importance_property(self): # -> IntProperty: + ... + + def get_importance(self): # -> None: + ... + + def set_importance(self, value): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/civilian.pyi b/typings/rcrs_core/entities/civilian.pyi new file mode 100644 index 0000000..95f8ee3 --- /dev/null +++ b/typings/rcrs_core/entities/civilian.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.human import Human + +class Civilian(Human): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def copy_impl(self): # -> Civilian: + ... + + def get_entity_name(self): # -> Literal['Civilian']: + ... + + def set_entity(self, properties): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/edge.pyi b/typings/rcrs_core/entities/edge.pyi new file mode 100644 index 0000000..f35452b --- /dev/null +++ b/typings/rcrs_core/entities/edge.pyi @@ -0,0 +1,31 @@ +""" +This type stub file was generated by pyright. +""" + +class Edge: + def __init__(self, start_x, start_y, end_x, end_y, _neighbour) -> None: + ... + + def get_start_x(self): + ... + + def get_start_y(self): + ... + + def get_end_x(self): + ... + + def get_end_y(self): + ... + + def is_passable(self): # -> bool: + ... + + def get_neighbour(self): # -> None: + ... + + def to_string(self): + ... + + + diff --git a/typings/rcrs_core/entities/entity.pyi b/typings/rcrs_core/entities/entity.pyi new file mode 100644 index 0000000..1ebb7aa --- /dev/null +++ b/typings/rcrs_core/entities/entity.pyi @@ -0,0 +1,61 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.worldmodel.entityID import EntityID +from abc import ABC + +class Entity(ABC): + def __init__(self, _entity_id) -> None: + ... + + def set_entity(self, properties): # -> None: + ... + + def get_id(self) -> EntityID: + ... + + def get_properties(self): # -> dict[Any, Any]: + ... + + def register_properties(self, _properties): # -> None: + ... + + def copy_impl(self): # -> Entity: + ... + + def copy(self): # -> Entity: + ... + + def get_urn(self): + ... + + def __hash__(self) -> int: + ... + + def get_property(self, property_urn): # -> None: + ... + + def get_location(self): # -> tuple[Any | None, Any | None] | tuple[None, None]: + ... + + def get_x_property(self): # -> IntProperty: + ... + + def get_x(self): # -> None: + ... + + def set_x(self, value): # -> None: + ... + + def get_y_property(self): # -> IntProperty: + ... + + def get_y(self): # -> None: + ... + + def set_y(self, value): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/fireBrigade.pyi b/typings/rcrs_core/entities/fireBrigade.pyi new file mode 100644 index 0000000..850dc4d --- /dev/null +++ b/typings/rcrs_core/entities/fireBrigade.pyi @@ -0,0 +1,34 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.human import Human + +class FireBrigadeEntity(Human): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def set_entity(self, properties): # -> None: + ... + + def copy_impl(self): # -> FireBrigadeEntity: + ... + + def get_entity_name(self): # -> Literal['Fire brigade']: + ... + + def get_property(self, urn): # -> IntProperty | EntityIDProperty | IntArrayProperty | None: + ... + + def get_water_property(self): # -> IntProperty: + ... + + def get_water(self): # -> None: + ... + + def set_water(self, value): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/fireStation.pyi b/typings/rcrs_core/entities/fireStation.pyi new file mode 100644 index 0000000..46a7b74 --- /dev/null +++ b/typings/rcrs_core/entities/fireStation.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.building import Building + +class FireStationEntity(Building): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def copy_impl(self): # -> FireStationEntity: + ... + + def get_entity_name(self): # -> Literal['Fire Station']: + ... + + def set_entity(self, properties): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/gassStation.pyi b/typings/rcrs_core/entities/gassStation.pyi new file mode 100644 index 0000000..71aa885 --- /dev/null +++ b/typings/rcrs_core/entities/gassStation.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.building import Building + +class GasStation(Building): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def copy_impl(self): # -> GasStation: + ... + + def get_entity_name(self): # -> Literal['Gass Station']: + ... + + def set_entity(self, properties): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/human.pyi b/typings/rcrs_core/entities/human.pyi new file mode 100644 index 0000000..aebfd77 --- /dev/null +++ b/typings/rcrs_core/entities/human.pyi @@ -0,0 +1,114 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.entity import Entity +from rcrs_core.properties.entityIDProperty import EntityIDProperty +from rcrs_core.worldmodel.entityID import EntityID +from rcrs_core.worldmodel.worldmodel import WorldModel + +class Human(Entity): + def __init__(self, entity_id) -> None: + ... + + def get_location(self, world_model: WorldModel): # -> None: + ... + + def set_entity(self, properties: dict): # -> None: + ... + + def get_property(self, urn): # -> EntityIDProperty | IntArrayProperty | IntProperty | None: + ... + + def get_x_property(self): # -> IntProperty: + ... + + def get_x(self) -> int: + ... + + def set_x(self, value) -> None: + ... + + def get_y_property(self): # -> IntProperty: + ... + + def get_y(self): # -> None: + ... + + def set_y(self, value): # -> None: + ... + + def get_position_property(self) -> EntityIDProperty: + ... + + def get_position(self) -> EntityID: + ... + + def set_position(self, value): # -> None: + ... + + def get_position_history_property(self): # -> IntArrayProperty: + ... + + def get_position_history(self): # -> None: + ... + + def set_position_history(self, value): # -> None: + ... + + def get_direction_property(self): # -> IntProperty: + ... + + def get_direction(self): # -> None: + ... + + def set_direction(self, value): # -> None: + ... + + def get_stamina_property(self): # -> IntProperty: + ... + + def get_stamina(self): # -> None: + ... + + def set_stamina(self, value): # -> None: + ... + + def get_hp_property(self): # -> IntProperty: + ... + + def get_hp(self): # -> None: + ... + + def set_hp(self, value): # -> None: + ... + + def get_damage_property(self): # -> IntProperty: + ... + + def get_damage(self): # -> None: + ... + + def set_damage(self, value): # -> None: + ... + + def get_buriedness_property(self): # -> IntProperty: + ... + + def get_buriedness(self): # -> None: + ... + + def set_buriedness(self, value): # -> None: + ... + + def get_travel_distance_property(self): # -> IntProperty: + ... + + def get_travel_distance(self): # -> None: + ... + + def set_travel_distance(self, value): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/hydrant.pyi b/typings/rcrs_core/entities/hydrant.pyi new file mode 100644 index 0000000..4d564cd --- /dev/null +++ b/typings/rcrs_core/entities/hydrant.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.road import Road + +class Hydrant(Road): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def copy_impl(self): # -> Hydrant: + ... + + def get_entity_name(self): # -> Literal['Hydrant']: + ... + + def set_entity(self, properties): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/policeForce.pyi b/typings/rcrs_core/entities/policeForce.pyi new file mode 100644 index 0000000..1ee42f3 --- /dev/null +++ b/typings/rcrs_core/entities/policeForce.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.human import Human + +class PoliceForceEntity(Human): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def copy_impl(self): # -> PoliceForceEntity: + ... + + def get_entity_name(self): # -> Literal['Police force']: + ... + + def set_entity(self, properties): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/policeOffice.pyi b/typings/rcrs_core/entities/policeOffice.pyi new file mode 100644 index 0000000..f060e59 --- /dev/null +++ b/typings/rcrs_core/entities/policeOffice.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.building import Building + +class PoliceOfficeEntity(Building): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def copy_impl(self): # -> PoliceOfficeEntity: + ... + + def get_entity_name(self): # -> Literal['Police office']: + ... + + def set_entity(self, properties): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/refuge.pyi b/typings/rcrs_core/entities/refuge.pyi new file mode 100644 index 0000000..17ff0ed --- /dev/null +++ b/typings/rcrs_core/entities/refuge.pyi @@ -0,0 +1,61 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.building import Building + +class Refuge(Building): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def set_entity(self, properties): # -> None: + ... + + def copy_impl(self): # -> Refuge: + ... + + def get_entity_name(self) -> str: + ... + + def get_property(self, urn): # -> IntProperty | EdgeListProperty | EntityIDListProperty | None: + ... + + def get_bed_capacity_property(self): # -> IntProperty: + ... + + def get_bed_capacity(self): # -> None: + ... + + def set_bed_capacity(self, value): # -> None: + ... + + def get_occupied_beds_property(self): # -> IntProperty: + ... + + def get_occupied_beds(self): # -> None: + ... + + def set_occupied_beds(self, value): # -> None: + ... + + def get_refill_capacity_property(self): # -> IntProperty: + ... + + def get_refill_capacity(self): # -> None: + ... + + def set_refill_capacity(self, value): # -> None: + ... + + def get_waiting_list_size_property(self): # -> IntProperty: + ... + + def get_waiting_list_size(self): # -> None: + ... + + def set_waiting_list_size(self, value): # -> None: + ... + + + diff --git a/typings/rcrs_core/entities/road.pyi b/typings/rcrs_core/entities/road.pyi new file mode 100644 index 0000000..2ceaf0d --- /dev/null +++ b/typings/rcrs_core/entities/road.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.entities.area import Area + +class Road(Area): + urn = ... + def __init__(self, entity_id) -> None: + ... + + def set_entity(self, properties) -> None: + ... + + def get_entity_name(self) -> str: + ... + + def copy_impl(self): # -> Road: + ... + + + diff --git a/typings/rcrs_core/entities/standardEntityFactory.pyi b/typings/rcrs_core/entities/standardEntityFactory.pyi new file mode 100644 index 0000000..651fc76 --- /dev/null +++ b/typings/rcrs_core/entities/standardEntityFactory.pyi @@ -0,0 +1,17 @@ +""" +This type stub file was generated by pyright. +""" + +class StandardEntityFactory: + _instance = ... + def __new__(cls): # -> Self: + ... + + def __init__(self) -> None: + ... + + def make_entity(urn, id): # -> Building | Refuge | Road | Blockade | PoliceForceEntity | PoliceOfficeEntity | AmbulanceTeamEntity | AmbulanceCentreEntity | FireBrigadeEntity | FireStationEntity | Civilian | Hydrant | GasStation | None: + ... + + + diff --git a/typings/rcrs_core/log/logger.pyi b/typings/rcrs_core/log/logger.pyi new file mode 100644 index 0000000..bec3fd5 --- /dev/null +++ b/typings/rcrs_core/log/logger.pyi @@ -0,0 +1,28 @@ +""" +This type stub file was generated by pyright. +""" + +class Logger: + def __init__(self, _name, agent_id=...) -> None: + ... + + def info(self, msg): # -> None: + ... + + def debug(self, msg): # -> None: + ... + + def error(self, msg): # -> None: + ... + + def warning(self, msg): # -> None: + ... + + def warn(self, msg): # -> None: + ... + + def set_id(self, id): # -> None: + ... + + + diff --git a/typings/rcrs_core/messages/AKAcknowledge.pyi b/typings/rcrs_core/messages/AKAcknowledge.pyi new file mode 100644 index 0000000..1bea0e2 --- /dev/null +++ b/typings/rcrs_core/messages/AKAcknowledge.pyi @@ -0,0 +1,18 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.messages.message import Message + +class AKAcknowledge(Message): + def __init__(self) -> None: + ... + + def write(self, request_id, agent_id): # -> MessageProto: + ... + + def read(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/messages/AKConnect.pyi b/typings/rcrs_core/messages/AKConnect.pyi new file mode 100644 index 0000000..2c23c18 --- /dev/null +++ b/typings/rcrs_core/messages/AKConnect.pyi @@ -0,0 +1,18 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.messages.message import Message + +class AKConnect(Message): + def __init__(self) -> None: + ... + + def write(self, request_id, agent): # -> MessageProto: + ... + + def read(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/messages/KAConnectError.pyi b/typings/rcrs_core/messages/KAConnectError.pyi new file mode 100644 index 0000000..4fa547d --- /dev/null +++ b/typings/rcrs_core/messages/KAConnectError.pyi @@ -0,0 +1,18 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.messages.message import Message + +class KAConnectError(Message): + def __init__(self, data) -> None: + ... + + def read(self): # -> None: + ... + + def write(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/messages/KAConnectOK.pyi b/typings/rcrs_core/messages/KAConnectOK.pyi new file mode 100644 index 0000000..100e853 --- /dev/null +++ b/typings/rcrs_core/messages/KAConnectOK.pyi @@ -0,0 +1,18 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.messages.message import Message + +class KAConnectOK(Message): + def __init__(self, data) -> None: + ... + + def read(self): # -> None: + ... + + def write(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/messages/KASense.pyi b/typings/rcrs_core/messages/KASense.pyi new file mode 100644 index 0000000..163ac38 --- /dev/null +++ b/typings/rcrs_core/messages/KASense.pyi @@ -0,0 +1,19 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.messages.message import Message + +class KASense(Message): + def __init__(self, data: RCRSProto_pb2) -> None: + ... + + def read(self): # -> None: + ... + + def write(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/messages/Shutdown.pyi b/typings/rcrs_core/messages/Shutdown.pyi new file mode 100644 index 0000000..e5a6335 --- /dev/null +++ b/typings/rcrs_core/messages/Shutdown.pyi @@ -0,0 +1,18 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.messages.message import Message + +class Shutdown(Message): + def __init__(self, data) -> None: + ... + + def read(self): # -> None: + ... + + def write(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/messages/controlMessageFactory.pyi b/typings/rcrs_core/messages/controlMessageFactory.pyi new file mode 100644 index 0000000..a3e403b --- /dev/null +++ b/typings/rcrs_core/messages/controlMessageFactory.pyi @@ -0,0 +1,13 @@ +""" +This type stub file was generated by pyright. +""" + +class ControlMessageFactory: + def __init__(self) -> None: + ... + + def make_message(self, msg): # -> KASense | KAConnectOK | KAConnectError | Shutdown | None: + ... + + + diff --git a/typings/rcrs_core/messages/message.pyi b/typings/rcrs_core/messages/message.pyi new file mode 100644 index 0000000..005a916 --- /dev/null +++ b/typings/rcrs_core/messages/message.pyi @@ -0,0 +1,23 @@ +""" +This type stub file was generated by pyright. +""" + +from abc import ABC, abstractmethod + +class Message(ABC): + def __init__(self, _urn) -> None: + ... + + @abstractmethod + def read(self): # -> None: + ... + + @abstractmethod + def write(self): # -> None: + ... + + def get_urn(self): # -> Any: + ... + + + diff --git a/typings/rcrs_core/properties/booleanProperty.pyi b/typings/rcrs_core/properties/booleanProperty.pyi new file mode 100644 index 0000000..7bd816f --- /dev/null +++ b/typings/rcrs_core/properties/booleanProperty.pyi @@ -0,0 +1,21 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.properties.property import Property + +class BooleanProperty(Property): + def __init__(self, urn) -> None: + ... + + def set_fields(self, value): # -> None: + ... + + def copy(self): # -> BooleanProperty: + ... + + def take_value(self, _property): # -> None: + ... + + + diff --git a/typings/rcrs_core/properties/edgeListProperty.pyi b/typings/rcrs_core/properties/edgeListProperty.pyi new file mode 100644 index 0000000..2af9f10 --- /dev/null +++ b/typings/rcrs_core/properties/edgeListProperty.pyi @@ -0,0 +1,38 @@ +""" +This type stub file was generated by pyright. +""" + +from typing import List +from rcrs_core.properties.property import Property +from rcrs_core.entities.edge import Edge + +class EdgeListProperty(Property): + def __init__(self, urn) -> None: + ... + + def get_fields(self): # -> None: + ... + + def set_fields(self, data): # -> None: + ... + + def set_value(self, _value: List[Edge]): # -> None: + ... + + def set_edges(self, _edges: List[Edge]): # -> None: + ... + + def add_edge(self, _edge): # -> None: + ... + + def clear_edges(self): # -> None: + ... + + def take_value(self, _value): # -> None: + ... + + def copy(self): # -> EdgeListProperty: + ... + + + diff --git a/typings/rcrs_core/properties/entityIDListProperty.pyi b/typings/rcrs_core/properties/entityIDListProperty.pyi new file mode 100644 index 0000000..9f629f1 --- /dev/null +++ b/typings/rcrs_core/properties/entityIDListProperty.pyi @@ -0,0 +1,26 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.properties.property import Property +from rcrs_core.worldmodel.entityID import EntityID +from typing import List + +class EntityIDListProperty(Property): + def __init__(self, urn) -> None: + ... + + def set_fields(self, data): # -> None: + ... + + def set_value(self, _value: List[EntityID]): # -> None: + ... + + def copy(self): # -> EntityIDListProperty: + ... + + def take_value(self, _property): # -> None: + ... + + + diff --git a/typings/rcrs_core/properties/entityIDProperty.pyi b/typings/rcrs_core/properties/entityIDProperty.pyi new file mode 100644 index 0000000..da7b261 --- /dev/null +++ b/typings/rcrs_core/properties/entityIDProperty.pyi @@ -0,0 +1,21 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.properties.property import Property + +class EntityIDProperty(Property): + def __init__(self, urn) -> None: + ... + + def set_fields(self, value): # -> None: + ... + + def copy(self): # -> EntityIDProperty: + ... + + def take_value(self, _property): # -> None: + ... + + + diff --git a/typings/rcrs_core/properties/intArrayProperty.pyi b/typings/rcrs_core/properties/intArrayProperty.pyi new file mode 100644 index 0000000..a4c7a6c --- /dev/null +++ b/typings/rcrs_core/properties/intArrayProperty.pyi @@ -0,0 +1,24 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.properties.property import Property + +class IntArrayProperty(Property): + def __init__(self, urn) -> None: + ... + + def set_fields(self, data): # -> None: + ... + + def set_value(self, data): # -> None: + ... + + def copy(self): # -> IntArrayProperty: + ... + + def take_value(self, _property): # -> None: + ... + + + diff --git a/typings/rcrs_core/properties/intProperty.pyi b/typings/rcrs_core/properties/intProperty.pyi new file mode 100644 index 0000000..83cf474 --- /dev/null +++ b/typings/rcrs_core/properties/intProperty.pyi @@ -0,0 +1,21 @@ +""" +This type stub file was generated by pyright. +""" + +from rcrs_core.properties.property import Property + +class IntProperty(Property): + def __init__(self, urn) -> None: + ... + + def set_fields(self, value): # -> None: + ... + + def copy(self): # -> IntProperty: + ... + + def take_value(self, _property): # -> None: + ... + + + diff --git a/typings/rcrs_core/properties/property.pyi b/typings/rcrs_core/properties/property.pyi new file mode 100644 index 0000000..cbff460 --- /dev/null +++ b/typings/rcrs_core/properties/property.pyi @@ -0,0 +1,22 @@ +""" +This type stub file was generated by pyright. +""" + +class Property: + def __init__(self, _urn) -> None: + ... + + def get_urn(self): # -> Any: + ... + + def get_value(self): # -> None: + ... + + def set_value(self, _value): # -> None: + ... + + def to_string(self): # -> None: + ... + + + diff --git a/typings/rcrs_core/properties/standardPropertyFactory.pyi b/typings/rcrs_core/properties/standardPropertyFactory.pyi new file mode 100644 index 0000000..be77e22 --- /dev/null +++ b/typings/rcrs_core/properties/standardPropertyFactory.pyi @@ -0,0 +1,13 @@ +""" +This type stub file was generated by pyright. +""" + +class StandardPropertyFactory: + def __init__(self) -> None: + ... + + def make_property(urn): # -> IntProperty | IntArrayProperty | BooleanProperty | EntityIDProperty | EntityIDListProperty | EdgeListProperty | None: + ... + + + diff --git a/typings/rcrs_core/worldmodel/changeSet.pyi b/typings/rcrs_core/worldmodel/changeSet.pyi new file mode 100644 index 0000000..d1788f1 --- /dev/null +++ b/typings/rcrs_core/worldmodel/changeSet.pyi @@ -0,0 +1,34 @@ +""" +This type stub file was generated by pyright. +""" + +class ChangeSet: + def __init__(self, _change_set=...) -> None: + ... + + def add_change(self, entity_id, entity_urn, property): # -> None: + ... + + def entity_deleted(self, _entity_id): # -> None: + ... + + def get_changed_properties(self, _entity_id): # -> list[Any]: + ... + + def get_changed_property(self, _entity_id, prop_urn): # -> None: + ... + + def get_changed_entities(self): # -> dict_keys[Any, Any]: + ... + + def get_deleted_entities(self): # -> set[Any]: + ... + + def get_entity_urn(self, _entity_id): # -> None: + ... + + def merge(self, _change_set): # -> None: + ... + + + diff --git a/typings/rcrs_core/worldmodel/entityID.pyi b/typings/rcrs_core/worldmodel/entityID.pyi new file mode 100644 index 0000000..e570b8e --- /dev/null +++ b/typings/rcrs_core/worldmodel/entityID.pyi @@ -0,0 +1,25 @@ +""" +This type stub file was generated by pyright. +""" + +class EntityID: + def __init__(self, id: int) -> None: + ... + + def __eq__(self, other) -> bool: + ... + + def __hash__(self) -> int: + ... + + def get_value(self): # -> | int: + ... + + def __str__(self) -> str: + ... + + def equals(self, o): # -> bool: + ... + + + diff --git a/typings/rcrs_core/worldmodel/worldmodel.pyi b/typings/rcrs_core/worldmodel/worldmodel.pyi new file mode 100644 index 0000000..e9ccce0 --- /dev/null +++ b/typings/rcrs_core/worldmodel/worldmodel.pyi @@ -0,0 +1,51 @@ +""" +This type stub file was generated by pyright. +""" + +from typing import List +from rcrs_core.entities.entity import Entity +from rcrs_core.worldmodel.changeSet import ChangeSet +from rcrs_core.worldmodel.entityID import EntityID + +class WorldModel: + def __init__(self) -> None: + ... + + def add_entities(self, entities: List[Entity]): # -> None: + ... + + def get_entity(self, entity_id: EntityID) -> Entity: + ... + + def add_entity(self, entity): # -> None: + ... + + def remove_entity(self, entity_id): # -> None: + ... + + def get_entities(self): # -> dict_values[Any, Any]: + ... + + def merge(self, change_set: ChangeSet): # -> None: + ... + + def index_entities(self): # -> None: + ... + + def make_rectangle(self, entity): # -> tuple[None, None, None, None] | tuple[float, float, float, float]: + ... + + def get_rect_bounds(self): # -> tuple[Any, Any, Any, Any]: + ... + + def get_world_bounds(self): # -> tuple[Any, Any, Any, Any]: + ... + + def get_objects_in_rectangle(self, x1, y1, x2, y2): # -> list[Any]: + ... + + def get_objects_in_range(self, entity, range): # -> list[Any]: + ... + + + From ae4e8fa2238e24b5dedf4b740a1e46c3bc30d2c1 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 2 Oct 2024 14:09:56 +0900 Subject: [PATCH 065/249] Delete unused type stub files --- typings/rcrs_core/agents/agent.pyi | 94 ------------ typings/rcrs_core/commands/AKClear.pyi | 16 -- typings/rcrs_core/commands/AKClearArea.pyi | 16 -- typings/rcrs_core/commands/AKLoad.pyi | 16 -- typings/rcrs_core/commands/AKMove.pyi | 17 --- typings/rcrs_core/commands/AKRescue.pyi | 16 -- typings/rcrs_core/commands/AKRest.pyi | 16 -- typings/rcrs_core/commands/AKSay.pyi | 16 -- typings/rcrs_core/commands/AKSpeak.pyi | 16 -- typings/rcrs_core/commands/AKSubscribe.pyi | 17 --- typings/rcrs_core/commands/AKTell.pyi | 16 -- typings/rcrs_core/commands/AKUnload.pyi | 16 -- typings/rcrs_core/commands/Command.pyi | 16 -- typings/rcrs_core/config/config.pyi | 55 ------- .../rcrs_core/config/config_constraint.pyi | 25 ---- .../rcrs_core/connection/RCRSProto_pb2.pyi | 42 ------ typings/rcrs_core/connection/URN.pyi | 141 ------------------ typings/rcrs_core/connection/__init__.pyi | 4 - .../connection/componentLauncher.pyi | 22 --- typings/rcrs_core/connection/connection.pyi | 22 --- .../connection/rcrs_encoding_utils.pyi | 20 --- typings/rcrs_core/entities/__init__.pyi | 4 - .../rcrs_core/entities/ambulanceCenter.pyi | 22 --- typings/rcrs_core/entities/ambulanceTeam.pyi | 22 --- typings/rcrs_core/entities/area.pyi | 52 ------- typings/rcrs_core/entities/blockade.pyi | 73 --------- typings/rcrs_core/entities/building.pyi | 124 --------------- typings/rcrs_core/entities/civilian.pyi | 22 --- typings/rcrs_core/entities/edge.pyi | 31 ---- typings/rcrs_core/entities/entity.pyi | 61 -------- typings/rcrs_core/entities/fireBrigade.pyi | 34 ----- typings/rcrs_core/entities/fireStation.pyi | 22 --- typings/rcrs_core/entities/gassStation.pyi | 22 --- typings/rcrs_core/entities/human.pyi | 114 -------------- typings/rcrs_core/entities/hydrant.pyi | 22 --- typings/rcrs_core/entities/policeForce.pyi | 22 --- typings/rcrs_core/entities/policeOffice.pyi | 22 --- typings/rcrs_core/entities/refuge.pyi | 61 -------- typings/rcrs_core/entities/road.pyi | 22 --- .../entities/standardEntityFactory.pyi | 17 --- typings/rcrs_core/log/logger.pyi | 28 ---- typings/rcrs_core/messages/AKAcknowledge.pyi | 18 --- typings/rcrs_core/messages/AKConnect.pyi | 18 --- typings/rcrs_core/messages/KAConnectError.pyi | 18 --- typings/rcrs_core/messages/KAConnectOK.pyi | 18 --- typings/rcrs_core/messages/KASense.pyi | 19 --- typings/rcrs_core/messages/Shutdown.pyi | 18 --- .../messages/controlMessageFactory.pyi | 13 -- typings/rcrs_core/messages/message.pyi | 23 --- .../rcrs_core/properties/booleanProperty.pyi | 21 --- .../rcrs_core/properties/edgeListProperty.pyi | 38 ----- .../properties/entityIDListProperty.pyi | 26 ---- .../rcrs_core/properties/entityIDProperty.pyi | 21 --- .../rcrs_core/properties/intArrayProperty.pyi | 24 --- typings/rcrs_core/properties/intProperty.pyi | 21 --- typings/rcrs_core/properties/property.pyi | 22 --- .../properties/standardPropertyFactory.pyi | 13 -- typings/rcrs_core/worldmodel/changeSet.pyi | 34 ----- typings/rcrs_core/worldmodel/entityID.pyi | 25 ---- typings/rcrs_core/worldmodel/worldmodel.pyi | 51 ------- 60 files changed, 1857 deletions(-) delete mode 100644 typings/rcrs_core/agents/agent.pyi delete mode 100644 typings/rcrs_core/commands/AKClear.pyi delete mode 100644 typings/rcrs_core/commands/AKClearArea.pyi delete mode 100644 typings/rcrs_core/commands/AKLoad.pyi delete mode 100644 typings/rcrs_core/commands/AKMove.pyi delete mode 100644 typings/rcrs_core/commands/AKRescue.pyi delete mode 100644 typings/rcrs_core/commands/AKRest.pyi delete mode 100644 typings/rcrs_core/commands/AKSay.pyi delete mode 100644 typings/rcrs_core/commands/AKSpeak.pyi delete mode 100644 typings/rcrs_core/commands/AKSubscribe.pyi delete mode 100644 typings/rcrs_core/commands/AKTell.pyi delete mode 100644 typings/rcrs_core/commands/AKUnload.pyi delete mode 100644 typings/rcrs_core/commands/Command.pyi delete mode 100644 typings/rcrs_core/config/config.pyi delete mode 100644 typings/rcrs_core/config/config_constraint.pyi delete mode 100644 typings/rcrs_core/connection/RCRSProto_pb2.pyi delete mode 100644 typings/rcrs_core/connection/URN.pyi delete mode 100644 typings/rcrs_core/connection/__init__.pyi delete mode 100644 typings/rcrs_core/connection/componentLauncher.pyi delete mode 100644 typings/rcrs_core/connection/connection.pyi delete mode 100644 typings/rcrs_core/connection/rcrs_encoding_utils.pyi delete mode 100644 typings/rcrs_core/entities/__init__.pyi delete mode 100644 typings/rcrs_core/entities/ambulanceCenter.pyi delete mode 100644 typings/rcrs_core/entities/ambulanceTeam.pyi delete mode 100644 typings/rcrs_core/entities/area.pyi delete mode 100644 typings/rcrs_core/entities/blockade.pyi delete mode 100644 typings/rcrs_core/entities/building.pyi delete mode 100644 typings/rcrs_core/entities/civilian.pyi delete mode 100644 typings/rcrs_core/entities/edge.pyi delete mode 100644 typings/rcrs_core/entities/entity.pyi delete mode 100644 typings/rcrs_core/entities/fireBrigade.pyi delete mode 100644 typings/rcrs_core/entities/fireStation.pyi delete mode 100644 typings/rcrs_core/entities/gassStation.pyi delete mode 100644 typings/rcrs_core/entities/human.pyi delete mode 100644 typings/rcrs_core/entities/hydrant.pyi delete mode 100644 typings/rcrs_core/entities/policeForce.pyi delete mode 100644 typings/rcrs_core/entities/policeOffice.pyi delete mode 100644 typings/rcrs_core/entities/refuge.pyi delete mode 100644 typings/rcrs_core/entities/road.pyi delete mode 100644 typings/rcrs_core/entities/standardEntityFactory.pyi delete mode 100644 typings/rcrs_core/log/logger.pyi delete mode 100644 typings/rcrs_core/messages/AKAcknowledge.pyi delete mode 100644 typings/rcrs_core/messages/AKConnect.pyi delete mode 100644 typings/rcrs_core/messages/KAConnectError.pyi delete mode 100644 typings/rcrs_core/messages/KAConnectOK.pyi delete mode 100644 typings/rcrs_core/messages/KASense.pyi delete mode 100644 typings/rcrs_core/messages/Shutdown.pyi delete mode 100644 typings/rcrs_core/messages/controlMessageFactory.pyi delete mode 100644 typings/rcrs_core/messages/message.pyi delete mode 100644 typings/rcrs_core/properties/booleanProperty.pyi delete mode 100644 typings/rcrs_core/properties/edgeListProperty.pyi delete mode 100644 typings/rcrs_core/properties/entityIDListProperty.pyi delete mode 100644 typings/rcrs_core/properties/entityIDProperty.pyi delete mode 100644 typings/rcrs_core/properties/intArrayProperty.pyi delete mode 100644 typings/rcrs_core/properties/intProperty.pyi delete mode 100644 typings/rcrs_core/properties/property.pyi delete mode 100644 typings/rcrs_core/properties/standardPropertyFactory.pyi delete mode 100644 typings/rcrs_core/worldmodel/changeSet.pyi delete mode 100644 typings/rcrs_core/worldmodel/entityID.pyi delete mode 100644 typings/rcrs_core/worldmodel/worldmodel.pyi diff --git a/typings/rcrs_core/agents/agent.pyi b/typings/rcrs_core/agents/agent.pyi deleted file mode 100644 index e19674a..0000000 --- a/typings/rcrs_core/agents/agent.pyi +++ /dev/null @@ -1,94 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.connection.URN import Entity -from abc import ABC, abstractmethod -from rcrs_core.entities.human import Human - -class Agent(ABC): - def __init__(self, pre) -> None: - ... - - @abstractmethod - def precompute(self): # -> None: - ... - - @abstractmethod - def think(self, time, change_set, hear): # -> None: - ... - - def get_name(self): # -> str: - ... - - def get_id(self): # -> EntityID | None: - ... - - def set_send_msg(self, connection_send_func): # -> None: - ... - - def start_up(self, request_id): # -> None: - ... - - def post_connect(self): # -> None: - ... - - def message_received(self, msg): # -> None: - ... - - def handle_connect_error(self, msg): - ... - - def handle_connect_ok(self, msg): # -> None: - ... - - def sendAKAcknowledge(self, request_id): # -> None: - ... - - def process_sense(self, msg): # -> None: - ... - - def me(self) -> Human: - ... - - def location(self) -> Entity: - ... - - def random_walk(self): # -> list[Any]: - ... - - def send_clear(self, time, target): # -> None: - ... - - def send_clear_area(self, time, x=..., y=...): # -> None: - ... - - def send_load(self, time, target): # -> None: - ... - - def send_move(self, time, path, x=..., y=...): # -> None: - ... - - def send_rescue(self, time, target): # -> None: - ... - - def send_rest(self, time_step): # -> None: - ... - - def send_say(self, time_step: int, message: str): # -> None: - ... - - def send_speak(self, time_step: int, message: str, channel: int): # -> None: - ... - - def send_subscribe(self, time, channel): # -> None: - ... - - def send_tell(self, time_step: int, message: str): # -> None: - ... - - def send_unload(self, time): # -> None: - ... - - - diff --git a/typings/rcrs_core/commands/AKClear.pyi b/typings/rcrs_core/commands/AKClear.pyi deleted file mode 100644 index 1f3119a..0000000 --- a/typings/rcrs_core/commands/AKClear.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKClear(Command): - def __init__(self, agent_id: EntityID, time: int, target: EntityID) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKClearArea.pyi b/typings/rcrs_core/commands/AKClearArea.pyi deleted file mode 100644 index cde4e0d..0000000 --- a/typings/rcrs_core/commands/AKClearArea.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKClearArea(Command): - def __init__(self, agent_id: EntityID, time: int, destinationX: int, destinationY: int) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKLoad.pyi b/typings/rcrs_core/commands/AKLoad.pyi deleted file mode 100644 index 1dda8d4..0000000 --- a/typings/rcrs_core/commands/AKLoad.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKLoad(Command): - def __init__(self, agent_id: EntityID, time: int, target: EntityID) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKMove.pyi b/typings/rcrs_core/commands/AKMove.pyi deleted file mode 100644 index 32f0c27..0000000 --- a/typings/rcrs_core/commands/AKMove.pyi +++ /dev/null @@ -1,17 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID -from typing import List - -class AKMove(Command): - def __init__(self, agent_id: EntityID, time: int, path: List[int], destinationX=..., destinationY=...) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKRescue.pyi b/typings/rcrs_core/commands/AKRescue.pyi deleted file mode 100644 index e1b18d6..0000000 --- a/typings/rcrs_core/commands/AKRescue.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKRescue(Command): - def __init__(self, agent_id: EntityID, time: int, target: EntityID) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKRest.pyi b/typings/rcrs_core/commands/AKRest.pyi deleted file mode 100644 index 78540d6..0000000 --- a/typings/rcrs_core/commands/AKRest.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKRest(Command): - def __init__(self, agent_id: EntityID, time: int) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKSay.pyi b/typings/rcrs_core/commands/AKSay.pyi deleted file mode 100644 index d523688..0000000 --- a/typings/rcrs_core/commands/AKSay.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKSay(Command): - def __init__(self, agent_id: EntityID, time: int, message: str) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKSpeak.pyi b/typings/rcrs_core/commands/AKSpeak.pyi deleted file mode 100644 index a72aada..0000000 --- a/typings/rcrs_core/commands/AKSpeak.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKSpeak(Command): - def __init__(self, agent_id: EntityID, time: int, message: str, channel: int) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKSubscribe.pyi b/typings/rcrs_core/commands/AKSubscribe.pyi deleted file mode 100644 index b6b2717..0000000 --- a/typings/rcrs_core/commands/AKSubscribe.pyi +++ /dev/null @@ -1,17 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID -from typing import List - -class AKSubscribe(Command): - def __init__(self, agent_id: EntityID, time: int, channels: List[int]) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKTell.pyi b/typings/rcrs_core/commands/AKTell.pyi deleted file mode 100644 index e35dfd1..0000000 --- a/typings/rcrs_core/commands/AKTell.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKTell(Command): - def __init__(self, agent_id: EntityID, time: int, message: str) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/AKUnload.pyi b/typings/rcrs_core/commands/AKUnload.pyi deleted file mode 100644 index 689bc11..0000000 --- a/typings/rcrs_core/commands/AKUnload.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID - -class AKUnload(Command): - def __init__(self, agent_id: EntityID, time: int) -> None: - ... - - def prepare_cmd(self): # -> MessageProto: - ... - - - diff --git a/typings/rcrs_core/commands/Command.pyi b/typings/rcrs_core/commands/Command.pyi deleted file mode 100644 index e98df35..0000000 --- a/typings/rcrs_core/commands/Command.pyi +++ /dev/null @@ -1,16 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from abc import ABC, abstractmethod - -class Command(ABC): - def __init__(self) -> None: - ... - - @abstractmethod - def prepare_cmd(): # -> None: - ... - - - diff --git a/typings/rcrs_core/config/config.pyi b/typings/rcrs_core/config/config.pyi deleted file mode 100644 index c6942e2..0000000 --- a/typings/rcrs_core/config/config.pyi +++ /dev/null @@ -1,55 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class Config: - def __init__(self) -> None: - ... - - def get_value(self, key: str) -> str | None: - ... - - def get_value_or_default(self, key: str, default: str) -> str: - ... - - def get_int_value(self, key: str) -> int | None: - ... - - def get_int_value_or_default(self, key: str, default: int) -> int: - ... - - def get_float_value(self, key) -> float | None: - ... - - def get_float_value_or_default(self, key: str, default: float) -> float: - ... - - def get_boolean_value(self, key) -> bool | None: - ... - - def get_boolean_value_or_default(self, key: str, default: bool) -> bool: - ... - - def get_array_value(self, key) -> list | None: - ... - - def get_array_value_or_default(self, key: str, default: list) -> list: - ... - - def set_value(self, key: str, value: str) -> None: - ... - - def set_int_value(self, key: str, value: int) -> None: - ... - - def set_float_value(self, key: str, value: float) -> None: - ... - - def set_boolean_value(self, key: str, value: bool) -> None: - ... - - def set_array_value(self, key: str, value: list) -> None: - ... - - - diff --git a/typings/rcrs_core/config/config_constraint.pyi b/typings/rcrs_core/config/config_constraint.pyi deleted file mode 100644 index 4b018e9..0000000 --- a/typings/rcrs_core/config/config_constraint.pyi +++ /dev/null @@ -1,25 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from abc import ABC, abstractmethod -from typing import Set, TYPE_CHECKING -from rcrs_core.config.config import Config - -if TYPE_CHECKING: - ... -class ConfigConstraint(ABC): - @abstractmethod - def is_violated(self, config: Config) -> bool: - ... - - @abstractmethod - def get_description(self) -> str: - ... - - @abstractmethod - def get_keys(self) -> Set[str]: - ... - - - diff --git a/typings/rcrs_core/connection/RCRSProto_pb2.pyi b/typings/rcrs_core/connection/RCRSProto_pb2.pyi deleted file mode 100644 index b0a1b66..0000000 --- a/typings/rcrs_core/connection/RCRSProto_pb2.pyi +++ /dev/null @@ -1,42 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -"""Generated protocol buffer code.""" -_sym_db = ... -DESCRIPTOR = ... -_MESSAGEPROTO_COMPONENTSENTRY = ... -_MESSAGEPROTO = ... -_MESSAGELISTPROTO = ... -_MESSAGECOMPONENTPROTO = ... -_STRLISTPROTO = ... -_INTLISTPROTO = ... -_FLOATLISTPROTO = ... -_INTMATRIXPROTO = ... -_VALUEPROTO = ... -_PROPERTYPROTO = ... -_POINT2DPROTO = ... -_ENTITYPROTO = ... -_ENTITYLISTPROTO = ... -_CONFIGPROTO_DATAENTRY = ... -_CONFIGPROTO = ... -_EDGELISTPROTO = ... -_EDGEPROTO = ... -_CHANGESETPROTO_ENTITYCHANGEPROTO = ... -_CHANGESETPROTO = ... -MessageProto = ... -MessageListProto = ... -MessageComponentProto = ... -StrListProto = ... -IntListProto = ... -FloatListProto = ... -IntMatrixProto = ... -ValueProto = ... -PropertyProto = ... -Point2DProto = ... -EntityProto = ... -EntityListProto = ... -ConfigProto = ... -EdgeListProto = ... -EdgeProto = ... -ChangeSetProto = ... diff --git a/typings/rcrs_core/connection/URN.pyi b/typings/rcrs_core/connection/URN.pyi deleted file mode 100644 index c43d1b2..0000000 --- a/typings/rcrs_core/connection/URN.pyi +++ /dev/null @@ -1,141 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from enum import IntEnum - -class Entity(IntEnum): - WORLD = ... - ROAD = ... - BLOCKADE = ... - BUILDING = ... - REFUGE = ... - HYDRANT = ... - GAS_STATION = ... - FIRE_STATION = ... - AMBULANCE_CENTRE = ... - POLICE_OFFICE = ... - CIVILIAN = ... - FIRE_BRIGADE = ... - AMBULANCE_TEAM = ... - POLICE_FORCE = ... - - -class Property(IntEnum): - START_TIME = ... - LONGITUDE = ... - LATITUDE = ... - WIND_FORCE = ... - WIND_DIRECTION = ... - X = ... - Y = ... - BLOCKADES = ... - REPAIR_COST = ... - FLOORS = ... - BUILDING_ATTRIBUTES = ... - IGNITION = ... - FIERYNESS = ... - BROKENNESS = ... - BUILDING_CODE = ... - BUILDING_AREA_GROUND = ... - BUILDING_AREA_TOTAL = ... - APEXES = ... - EDGES = ... - POSITION = ... - DIRECTION = ... - POSITION_HISTORY = ... - STAMINA = ... - HP = ... - DAMAGE = ... - BURIEDNESS = ... - TRAVEL_DISTANCE = ... - WATER_QUANTITY = ... - TEMPERATURE = ... - IMPORTANCE = ... - CAPACITY = ... - BEDCAPACITY = ... - OCCUPIEDBEDS = ... - REFILLCAPACITY = ... - WAITINGLISTSIZE = ... - - -class Command(IntEnum): - AK_REST = ... - AK_MOVE = ... - AK_LOAD = ... - AK_UNLOAD = ... - AK_SAY = ... - AK_TELL = ... - AK_EXTINGUISH = ... - AK_RESCUE = ... - AK_CLEAR = ... - AK_CLEAR_AREA = ... - AK_SUBSCRIBE = ... - AK_SPEAK = ... - - -class ComponentCommand(IntEnum): - Target = ... - DestinationX = ... - DestinationY = ... - Water = ... - Path = ... - Message = ... - Channel = ... - Channels = ... - - -class ControlMSG(IntEnum): - KG_CONNECT = ... - KG_ACKNOWLEDGE = ... - GK_CONNECT_OK = ... - GK_CONNECT_ERROR = ... - SK_CONNECT = ... - SK_ACKNOWLEDGE = ... - SK_UPDATE = ... - KS_CONNECT_OK = ... - KS_CONNECT_ERROR = ... - KS_UPDATE = ... - KS_COMMANDS = ... - KS_AFTERSHOCKS_INFO = ... - VK_CONNECT = ... - VK_ACKNOWLEDGE = ... - KV_CONNECT_OK = ... - KV_CONNECT_ERROR = ... - KV_TIMESTEP = ... - AK_CONNECT = ... - AK_ACKNOWLEDGE = ... - KA_CONNECT_OK = ... - KA_CONNECT_ERROR = ... - KA_SENSE = ... - SHUTDOWN = ... - ENTITY_ID_REQUEST = ... - ENTITY_ID_RESPONSE = ... - - -class ComponentControlMSG(IntEnum): - RequestID = ... - AgentID = ... - Version = ... - Name = ... - RequestedEntityTypes = ... - SimulatorID = ... - RequestNumber = ... - NumberOfIDs = ... - NewEntityIDs = ... - Reason = ... - Entities = ... - ViewerID = ... - AgentConfig = ... - Time = ... - Updates = ... - Hearing = ... - INTENSITIES = ... - TIMES = ... - ID = ... - Commands = ... - SimulatorConfig = ... - Changes = ... - - -MAP = ... diff --git a/typings/rcrs_core/connection/__init__.pyi b/typings/rcrs_core/connection/__init__.pyi deleted file mode 100644 index 006bc27..0000000 --- a/typings/rcrs_core/connection/__init__.pyi +++ /dev/null @@ -1,4 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - diff --git a/typings/rcrs_core/connection/componentLauncher.pyi b/typings/rcrs_core/connection/componentLauncher.pyi deleted file mode 100644 index edf2c44..0000000 --- a/typings/rcrs_core/connection/componentLauncher.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.agents.agent import Agent -from rcrs_core.connection.connection import Connection - -class ComponentLauncher: - def __init__(self, port, host) -> None: - ... - - def make_connection(self) -> Connection: - ... - - def connect(self, agent: Agent, _request_id): # -> None: - ... - - def generate_request_ID(self): # -> int: - ... - - - diff --git a/typings/rcrs_core/connection/connection.pyi b/typings/rcrs_core/connection/connection.pyi deleted file mode 100644 index 33218b8..0000000 --- a/typings/rcrs_core/connection/connection.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class Connection: - def __init__(self, host, port) -> None: - ... - - def connect(self): # -> None: - ... - - def parseMessageFromKernel(self): # -> None: - ... - - def message_received(self, agent_message_received): # -> None: - ... - - def send_msg(self, msg): # -> None: - ... - - - diff --git a/typings/rcrs_core/connection/rcrs_encoding_utils.pyi b/typings/rcrs_core/connection/rcrs_encoding_utils.pyi deleted file mode 100644 index 947fc2b..0000000 --- a/typings/rcrs_core/connection/rcrs_encoding_utils.pyi +++ /dev/null @@ -1,20 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -""" utils to handle connection """ -def write_int32(value, sock): # -> None: - ... - -def readnbytes(sock, n): # -> Literal[b""]: - ... - -def read_int32(sock): # -> int: - ... - -def write_msg(msg, sock): # -> None: - ... - -def read_msg(sock): # -> MessageProto: - ... - diff --git a/typings/rcrs_core/entities/__init__.pyi b/typings/rcrs_core/entities/__init__.pyi deleted file mode 100644 index 006bc27..0000000 --- a/typings/rcrs_core/entities/__init__.pyi +++ /dev/null @@ -1,4 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - diff --git a/typings/rcrs_core/entities/ambulanceCenter.pyi b/typings/rcrs_core/entities/ambulanceCenter.pyi deleted file mode 100644 index bde5db4..0000000 --- a/typings/rcrs_core/entities/ambulanceCenter.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.building import Building - -class AmbulanceCentreEntity(Building): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def set_entity(self, properties): # -> None: - ... - - def get_entity_name(self): # -> Literal['Ambulance Centre']: - ... - - def copy_impl(self): # -> AmbulanceCentreEntity: - ... - - - diff --git a/typings/rcrs_core/entities/ambulanceTeam.pyi b/typings/rcrs_core/entities/ambulanceTeam.pyi deleted file mode 100644 index 5c42faa..0000000 --- a/typings/rcrs_core/entities/ambulanceTeam.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.human import Human - -class AmbulanceTeamEntity(Human): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def set_entity(self, properties): # -> None: - ... - - def get_entity_name(self): # -> Literal['Ambulance Team']: - ... - - def copy_impl(self): # -> AmbulanceTeamEntity: - ... - - - diff --git a/typings/rcrs_core/entities/area.pyi b/typings/rcrs_core/entities/area.pyi deleted file mode 100644 index b3f1559..0000000 --- a/typings/rcrs_core/entities/area.pyi +++ /dev/null @@ -1,52 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from typing import List -from rcrs_core.entities.entity import Entity - -class Area(Entity): - def __init__(self, entity_id) -> None: - ... - - def set_entity(self, properties): # -> None: - ... - - def get_location(self): # -> tuple[Any | None, Any | None]: - ... - - def get_neighbours(self): # -> list[Any]: - ... - - def get_edge_to(self, neighbour): # -> Entity | None: - ... - - def get_property(self, urn): # -> IntProperty | EdgeListProperty | EntityIDListProperty | None: - ... - - def get_edges_property(self): # -> EdgeListProperty: - ... - - def get_edges(self) -> List[Entity]: - ... - - def set_edges(self, value): # -> None: - ... - - def add_edge(self, edge): # -> None: - ... - - def get_blockades_property(self): # -> EntityIDListProperty: - ... - - def get_blockades(self): # -> None: - ... - - def set_blockades(self, value): # -> None: - ... - - def get_shape(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/blockade.pyi b/typings/rcrs_core/entities/blockade.pyi deleted file mode 100644 index a9b1502..0000000 --- a/typings/rcrs_core/entities/blockade.pyi +++ /dev/null @@ -1,73 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.entity import Entity - -class Blockade(Entity): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def get_entity_name(self): # -> Literal['Blockade']: - ... - - def set_entity(self, properties): # -> None: - ... - - def copy_impl(self): # -> Blockade: - ... - - def get_property(self, urn): # -> IntProperty | EntityIDProperty | IntArrayProperty | None: - ... - - def get_x_property(self): # -> IntProperty: - ... - - def get_x(self): # -> None: - ... - - def set_x(self, value): # -> None: - ... - - def get_y_property(self): # -> IntProperty: - ... - - def get_y(self): # -> None: - ... - - def set_y(self, value): # -> None: - ... - - def get_apexes_property(self): # -> IntArrayProperty: - ... - - def get_apexes(self): # -> None: - ... - - def set_apexes(self, value): # -> None: - ... - - def get_position_property(self): # -> EntityIDProperty: - ... - - def get_position(self): # -> None: - ... - - def set_position(self, value): # -> None: - ... - - def get_repaire_cost_property(self): # -> IntProperty: - ... - - def get_repaire_cost(self): # -> None: - ... - - def set_repaire_cost(self, value): # -> None: - ... - - def get_shape(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/building.pyi b/typings/rcrs_core/entities/building.pyi deleted file mode 100644 index edf477d..0000000 --- a/typings/rcrs_core/entities/building.pyi +++ /dev/null @@ -1,124 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.area import Area - -class Building(Area): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def is__fiery(self): # -> bool: - ... - - def set_entity(self, properties): # -> None: - ... - - def copy_impl(self): # -> Building: - ... - - def get_entity_name(self): # -> Literal['Building']: - ... - - def get_property(self, urn): # -> IntProperty | EdgeListProperty | EntityIDListProperty | None: - ... - - def get_floors_property(self): # -> IntProperty: - ... - - def get_floors(self): # -> None: - ... - - def set_floors(self, value): # -> None: - ... - - def get_ignition_property(self): # -> IntProperty: - ... - - def get_ignition(self): # -> None: - ... - - def set_ignition(self, value): # -> None: - ... - - def get_fieryness_property(self): # -> IntProperty: - ... - - def get_fieryness(self): # -> None: - ... - - def set_fieryness(self, value): # -> None: - ... - - def get_fieryness_enum(self): # -> None: - ... - - def get_brokenness_property(self): # -> IntProperty: - ... - - def get_brokenness(self): # -> None: - ... - - def set_brokenness(self, value): # -> None: - ... - - def get_building_code_property(self): # -> IntProperty: - ... - - def get_building_code(self): # -> None: - ... - - def set_building_code(self, value): # -> None: - ... - - def get_building_code_enum(self): # -> None: - ... - - def get_attributes_property(self): # -> IntProperty: - ... - - def get_attributes(self): # -> None: - ... - - def set_attributes(self, value): # -> None: - ... - - def get_ground_area_property(self): # -> IntProperty: - ... - - def get_ground_area(self): # -> None: - ... - - def set_ground_area(self, value): # -> None: - ... - - def get_total_area_property(self): # -> IntProperty: - ... - - def get_total_area(self): # -> None: - ... - - def set_total_area(self, value): # -> None: - ... - - def get_temperature_property(self): # -> IntProperty: - ... - - def get_temperature(self): # -> None: - ... - - def set_temperature(self, value): # -> None: - ... - - def get_importance_property(self): # -> IntProperty: - ... - - def get_importance(self): # -> None: - ... - - def set_importance(self, value): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/civilian.pyi b/typings/rcrs_core/entities/civilian.pyi deleted file mode 100644 index 95f8ee3..0000000 --- a/typings/rcrs_core/entities/civilian.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.human import Human - -class Civilian(Human): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def copy_impl(self): # -> Civilian: - ... - - def get_entity_name(self): # -> Literal['Civilian']: - ... - - def set_entity(self, properties): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/edge.pyi b/typings/rcrs_core/entities/edge.pyi deleted file mode 100644 index f35452b..0000000 --- a/typings/rcrs_core/entities/edge.pyi +++ /dev/null @@ -1,31 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class Edge: - def __init__(self, start_x, start_y, end_x, end_y, _neighbour) -> None: - ... - - def get_start_x(self): - ... - - def get_start_y(self): - ... - - def get_end_x(self): - ... - - def get_end_y(self): - ... - - def is_passable(self): # -> bool: - ... - - def get_neighbour(self): # -> None: - ... - - def to_string(self): - ... - - - diff --git a/typings/rcrs_core/entities/entity.pyi b/typings/rcrs_core/entities/entity.pyi deleted file mode 100644 index 1ebb7aa..0000000 --- a/typings/rcrs_core/entities/entity.pyi +++ /dev/null @@ -1,61 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.worldmodel.entityID import EntityID -from abc import ABC - -class Entity(ABC): - def __init__(self, _entity_id) -> None: - ... - - def set_entity(self, properties): # -> None: - ... - - def get_id(self) -> EntityID: - ... - - def get_properties(self): # -> dict[Any, Any]: - ... - - def register_properties(self, _properties): # -> None: - ... - - def copy_impl(self): # -> Entity: - ... - - def copy(self): # -> Entity: - ... - - def get_urn(self): - ... - - def __hash__(self) -> int: - ... - - def get_property(self, property_urn): # -> None: - ... - - def get_location(self): # -> tuple[Any | None, Any | None] | tuple[None, None]: - ... - - def get_x_property(self): # -> IntProperty: - ... - - def get_x(self): # -> None: - ... - - def set_x(self, value): # -> None: - ... - - def get_y_property(self): # -> IntProperty: - ... - - def get_y(self): # -> None: - ... - - def set_y(self, value): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/fireBrigade.pyi b/typings/rcrs_core/entities/fireBrigade.pyi deleted file mode 100644 index 850dc4d..0000000 --- a/typings/rcrs_core/entities/fireBrigade.pyi +++ /dev/null @@ -1,34 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.human import Human - -class FireBrigadeEntity(Human): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def set_entity(self, properties): # -> None: - ... - - def copy_impl(self): # -> FireBrigadeEntity: - ... - - def get_entity_name(self): # -> Literal['Fire brigade']: - ... - - def get_property(self, urn): # -> IntProperty | EntityIDProperty | IntArrayProperty | None: - ... - - def get_water_property(self): # -> IntProperty: - ... - - def get_water(self): # -> None: - ... - - def set_water(self, value): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/fireStation.pyi b/typings/rcrs_core/entities/fireStation.pyi deleted file mode 100644 index 46a7b74..0000000 --- a/typings/rcrs_core/entities/fireStation.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.building import Building - -class FireStationEntity(Building): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def copy_impl(self): # -> FireStationEntity: - ... - - def get_entity_name(self): # -> Literal['Fire Station']: - ... - - def set_entity(self, properties): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/gassStation.pyi b/typings/rcrs_core/entities/gassStation.pyi deleted file mode 100644 index 71aa885..0000000 --- a/typings/rcrs_core/entities/gassStation.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.building import Building - -class GasStation(Building): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def copy_impl(self): # -> GasStation: - ... - - def get_entity_name(self): # -> Literal['Gass Station']: - ... - - def set_entity(self, properties): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/human.pyi b/typings/rcrs_core/entities/human.pyi deleted file mode 100644 index aebfd77..0000000 --- a/typings/rcrs_core/entities/human.pyi +++ /dev/null @@ -1,114 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.entity import Entity -from rcrs_core.properties.entityIDProperty import EntityIDProperty -from rcrs_core.worldmodel.entityID import EntityID -from rcrs_core.worldmodel.worldmodel import WorldModel - -class Human(Entity): - def __init__(self, entity_id) -> None: - ... - - def get_location(self, world_model: WorldModel): # -> None: - ... - - def set_entity(self, properties: dict): # -> None: - ... - - def get_property(self, urn): # -> EntityIDProperty | IntArrayProperty | IntProperty | None: - ... - - def get_x_property(self): # -> IntProperty: - ... - - def get_x(self) -> int: - ... - - def set_x(self, value) -> None: - ... - - def get_y_property(self): # -> IntProperty: - ... - - def get_y(self): # -> None: - ... - - def set_y(self, value): # -> None: - ... - - def get_position_property(self) -> EntityIDProperty: - ... - - def get_position(self) -> EntityID: - ... - - def set_position(self, value): # -> None: - ... - - def get_position_history_property(self): # -> IntArrayProperty: - ... - - def get_position_history(self): # -> None: - ... - - def set_position_history(self, value): # -> None: - ... - - def get_direction_property(self): # -> IntProperty: - ... - - def get_direction(self): # -> None: - ... - - def set_direction(self, value): # -> None: - ... - - def get_stamina_property(self): # -> IntProperty: - ... - - def get_stamina(self): # -> None: - ... - - def set_stamina(self, value): # -> None: - ... - - def get_hp_property(self): # -> IntProperty: - ... - - def get_hp(self): # -> None: - ... - - def set_hp(self, value): # -> None: - ... - - def get_damage_property(self): # -> IntProperty: - ... - - def get_damage(self): # -> None: - ... - - def set_damage(self, value): # -> None: - ... - - def get_buriedness_property(self): # -> IntProperty: - ... - - def get_buriedness(self): # -> None: - ... - - def set_buriedness(self, value): # -> None: - ... - - def get_travel_distance_property(self): # -> IntProperty: - ... - - def get_travel_distance(self): # -> None: - ... - - def set_travel_distance(self, value): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/hydrant.pyi b/typings/rcrs_core/entities/hydrant.pyi deleted file mode 100644 index 4d564cd..0000000 --- a/typings/rcrs_core/entities/hydrant.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.road import Road - -class Hydrant(Road): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def copy_impl(self): # -> Hydrant: - ... - - def get_entity_name(self): # -> Literal['Hydrant']: - ... - - def set_entity(self, properties): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/policeForce.pyi b/typings/rcrs_core/entities/policeForce.pyi deleted file mode 100644 index 1ee42f3..0000000 --- a/typings/rcrs_core/entities/policeForce.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.human import Human - -class PoliceForceEntity(Human): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def copy_impl(self): # -> PoliceForceEntity: - ... - - def get_entity_name(self): # -> Literal['Police force']: - ... - - def set_entity(self, properties): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/policeOffice.pyi b/typings/rcrs_core/entities/policeOffice.pyi deleted file mode 100644 index f060e59..0000000 --- a/typings/rcrs_core/entities/policeOffice.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.building import Building - -class PoliceOfficeEntity(Building): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def copy_impl(self): # -> PoliceOfficeEntity: - ... - - def get_entity_name(self): # -> Literal['Police office']: - ... - - def set_entity(self, properties): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/refuge.pyi b/typings/rcrs_core/entities/refuge.pyi deleted file mode 100644 index 17ff0ed..0000000 --- a/typings/rcrs_core/entities/refuge.pyi +++ /dev/null @@ -1,61 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.building import Building - -class Refuge(Building): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def set_entity(self, properties): # -> None: - ... - - def copy_impl(self): # -> Refuge: - ... - - def get_entity_name(self) -> str: - ... - - def get_property(self, urn): # -> IntProperty | EdgeListProperty | EntityIDListProperty | None: - ... - - def get_bed_capacity_property(self): # -> IntProperty: - ... - - def get_bed_capacity(self): # -> None: - ... - - def set_bed_capacity(self, value): # -> None: - ... - - def get_occupied_beds_property(self): # -> IntProperty: - ... - - def get_occupied_beds(self): # -> None: - ... - - def set_occupied_beds(self, value): # -> None: - ... - - def get_refill_capacity_property(self): # -> IntProperty: - ... - - def get_refill_capacity(self): # -> None: - ... - - def set_refill_capacity(self, value): # -> None: - ... - - def get_waiting_list_size_property(self): # -> IntProperty: - ... - - def get_waiting_list_size(self): # -> None: - ... - - def set_waiting_list_size(self, value): # -> None: - ... - - - diff --git a/typings/rcrs_core/entities/road.pyi b/typings/rcrs_core/entities/road.pyi deleted file mode 100644 index 2ceaf0d..0000000 --- a/typings/rcrs_core/entities/road.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.entities.area import Area - -class Road(Area): - urn = ... - def __init__(self, entity_id) -> None: - ... - - def set_entity(self, properties) -> None: - ... - - def get_entity_name(self) -> str: - ... - - def copy_impl(self): # -> Road: - ... - - - diff --git a/typings/rcrs_core/entities/standardEntityFactory.pyi b/typings/rcrs_core/entities/standardEntityFactory.pyi deleted file mode 100644 index 651fc76..0000000 --- a/typings/rcrs_core/entities/standardEntityFactory.pyi +++ /dev/null @@ -1,17 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class StandardEntityFactory: - _instance = ... - def __new__(cls): # -> Self: - ... - - def __init__(self) -> None: - ... - - def make_entity(urn, id): # -> Building | Refuge | Road | Blockade | PoliceForceEntity | PoliceOfficeEntity | AmbulanceTeamEntity | AmbulanceCentreEntity | FireBrigadeEntity | FireStationEntity | Civilian | Hydrant | GasStation | None: - ... - - - diff --git a/typings/rcrs_core/log/logger.pyi b/typings/rcrs_core/log/logger.pyi deleted file mode 100644 index bec3fd5..0000000 --- a/typings/rcrs_core/log/logger.pyi +++ /dev/null @@ -1,28 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class Logger: - def __init__(self, _name, agent_id=...) -> None: - ... - - def info(self, msg): # -> None: - ... - - def debug(self, msg): # -> None: - ... - - def error(self, msg): # -> None: - ... - - def warning(self, msg): # -> None: - ... - - def warn(self, msg): # -> None: - ... - - def set_id(self, id): # -> None: - ... - - - diff --git a/typings/rcrs_core/messages/AKAcknowledge.pyi b/typings/rcrs_core/messages/AKAcknowledge.pyi deleted file mode 100644 index 1bea0e2..0000000 --- a/typings/rcrs_core/messages/AKAcknowledge.pyi +++ /dev/null @@ -1,18 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.messages.message import Message - -class AKAcknowledge(Message): - def __init__(self) -> None: - ... - - def write(self, request_id, agent_id): # -> MessageProto: - ... - - def read(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/messages/AKConnect.pyi b/typings/rcrs_core/messages/AKConnect.pyi deleted file mode 100644 index 2c23c18..0000000 --- a/typings/rcrs_core/messages/AKConnect.pyi +++ /dev/null @@ -1,18 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.messages.message import Message - -class AKConnect(Message): - def __init__(self) -> None: - ... - - def write(self, request_id, agent): # -> MessageProto: - ... - - def read(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/messages/KAConnectError.pyi b/typings/rcrs_core/messages/KAConnectError.pyi deleted file mode 100644 index 4fa547d..0000000 --- a/typings/rcrs_core/messages/KAConnectError.pyi +++ /dev/null @@ -1,18 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.messages.message import Message - -class KAConnectError(Message): - def __init__(self, data) -> None: - ... - - def read(self): # -> None: - ... - - def write(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/messages/KAConnectOK.pyi b/typings/rcrs_core/messages/KAConnectOK.pyi deleted file mode 100644 index 100e853..0000000 --- a/typings/rcrs_core/messages/KAConnectOK.pyi +++ /dev/null @@ -1,18 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.messages.message import Message - -class KAConnectOK(Message): - def __init__(self, data) -> None: - ... - - def read(self): # -> None: - ... - - def write(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/messages/KASense.pyi b/typings/rcrs_core/messages/KASense.pyi deleted file mode 100644 index 163ac38..0000000 --- a/typings/rcrs_core/messages/KASense.pyi +++ /dev/null @@ -1,19 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.messages.message import Message - -class KASense(Message): - def __init__(self, data: RCRSProto_pb2) -> None: - ... - - def read(self): # -> None: - ... - - def write(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/messages/Shutdown.pyi b/typings/rcrs_core/messages/Shutdown.pyi deleted file mode 100644 index e5a6335..0000000 --- a/typings/rcrs_core/messages/Shutdown.pyi +++ /dev/null @@ -1,18 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.messages.message import Message - -class Shutdown(Message): - def __init__(self, data) -> None: - ... - - def read(self): # -> None: - ... - - def write(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/messages/controlMessageFactory.pyi b/typings/rcrs_core/messages/controlMessageFactory.pyi deleted file mode 100644 index a3e403b..0000000 --- a/typings/rcrs_core/messages/controlMessageFactory.pyi +++ /dev/null @@ -1,13 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class ControlMessageFactory: - def __init__(self) -> None: - ... - - def make_message(self, msg): # -> KASense | KAConnectOK | KAConnectError | Shutdown | None: - ... - - - diff --git a/typings/rcrs_core/messages/message.pyi b/typings/rcrs_core/messages/message.pyi deleted file mode 100644 index 005a916..0000000 --- a/typings/rcrs_core/messages/message.pyi +++ /dev/null @@ -1,23 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from abc import ABC, abstractmethod - -class Message(ABC): - def __init__(self, _urn) -> None: - ... - - @abstractmethod - def read(self): # -> None: - ... - - @abstractmethod - def write(self): # -> None: - ... - - def get_urn(self): # -> Any: - ... - - - diff --git a/typings/rcrs_core/properties/booleanProperty.pyi b/typings/rcrs_core/properties/booleanProperty.pyi deleted file mode 100644 index 7bd816f..0000000 --- a/typings/rcrs_core/properties/booleanProperty.pyi +++ /dev/null @@ -1,21 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.properties.property import Property - -class BooleanProperty(Property): - def __init__(self, urn) -> None: - ... - - def set_fields(self, value): # -> None: - ... - - def copy(self): # -> BooleanProperty: - ... - - def take_value(self, _property): # -> None: - ... - - - diff --git a/typings/rcrs_core/properties/edgeListProperty.pyi b/typings/rcrs_core/properties/edgeListProperty.pyi deleted file mode 100644 index 2af9f10..0000000 --- a/typings/rcrs_core/properties/edgeListProperty.pyi +++ /dev/null @@ -1,38 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from typing import List -from rcrs_core.properties.property import Property -from rcrs_core.entities.edge import Edge - -class EdgeListProperty(Property): - def __init__(self, urn) -> None: - ... - - def get_fields(self): # -> None: - ... - - def set_fields(self, data): # -> None: - ... - - def set_value(self, _value: List[Edge]): # -> None: - ... - - def set_edges(self, _edges: List[Edge]): # -> None: - ... - - def add_edge(self, _edge): # -> None: - ... - - def clear_edges(self): # -> None: - ... - - def take_value(self, _value): # -> None: - ... - - def copy(self): # -> EdgeListProperty: - ... - - - diff --git a/typings/rcrs_core/properties/entityIDListProperty.pyi b/typings/rcrs_core/properties/entityIDListProperty.pyi deleted file mode 100644 index 9f629f1..0000000 --- a/typings/rcrs_core/properties/entityIDListProperty.pyi +++ /dev/null @@ -1,26 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.properties.property import Property -from rcrs_core.worldmodel.entityID import EntityID -from typing import List - -class EntityIDListProperty(Property): - def __init__(self, urn) -> None: - ... - - def set_fields(self, data): # -> None: - ... - - def set_value(self, _value: List[EntityID]): # -> None: - ... - - def copy(self): # -> EntityIDListProperty: - ... - - def take_value(self, _property): # -> None: - ... - - - diff --git a/typings/rcrs_core/properties/entityIDProperty.pyi b/typings/rcrs_core/properties/entityIDProperty.pyi deleted file mode 100644 index da7b261..0000000 --- a/typings/rcrs_core/properties/entityIDProperty.pyi +++ /dev/null @@ -1,21 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.properties.property import Property - -class EntityIDProperty(Property): - def __init__(self, urn) -> None: - ... - - def set_fields(self, value): # -> None: - ... - - def copy(self): # -> EntityIDProperty: - ... - - def take_value(self, _property): # -> None: - ... - - - diff --git a/typings/rcrs_core/properties/intArrayProperty.pyi b/typings/rcrs_core/properties/intArrayProperty.pyi deleted file mode 100644 index a4c7a6c..0000000 --- a/typings/rcrs_core/properties/intArrayProperty.pyi +++ /dev/null @@ -1,24 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.properties.property import Property - -class IntArrayProperty(Property): - def __init__(self, urn) -> None: - ... - - def set_fields(self, data): # -> None: - ... - - def set_value(self, data): # -> None: - ... - - def copy(self): # -> IntArrayProperty: - ... - - def take_value(self, _property): # -> None: - ... - - - diff --git a/typings/rcrs_core/properties/intProperty.pyi b/typings/rcrs_core/properties/intProperty.pyi deleted file mode 100644 index 83cf474..0000000 --- a/typings/rcrs_core/properties/intProperty.pyi +++ /dev/null @@ -1,21 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from rcrs_core.properties.property import Property - -class IntProperty(Property): - def __init__(self, urn) -> None: - ... - - def set_fields(self, value): # -> None: - ... - - def copy(self): # -> IntProperty: - ... - - def take_value(self, _property): # -> None: - ... - - - diff --git a/typings/rcrs_core/properties/property.pyi b/typings/rcrs_core/properties/property.pyi deleted file mode 100644 index cbff460..0000000 --- a/typings/rcrs_core/properties/property.pyi +++ /dev/null @@ -1,22 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class Property: - def __init__(self, _urn) -> None: - ... - - def get_urn(self): # -> Any: - ... - - def get_value(self): # -> None: - ... - - def set_value(self, _value): # -> None: - ... - - def to_string(self): # -> None: - ... - - - diff --git a/typings/rcrs_core/properties/standardPropertyFactory.pyi b/typings/rcrs_core/properties/standardPropertyFactory.pyi deleted file mode 100644 index be77e22..0000000 --- a/typings/rcrs_core/properties/standardPropertyFactory.pyi +++ /dev/null @@ -1,13 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class StandardPropertyFactory: - def __init__(self) -> None: - ... - - def make_property(urn): # -> IntProperty | IntArrayProperty | BooleanProperty | EntityIDProperty | EntityIDListProperty | EdgeListProperty | None: - ... - - - diff --git a/typings/rcrs_core/worldmodel/changeSet.pyi b/typings/rcrs_core/worldmodel/changeSet.pyi deleted file mode 100644 index d1788f1..0000000 --- a/typings/rcrs_core/worldmodel/changeSet.pyi +++ /dev/null @@ -1,34 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class ChangeSet: - def __init__(self, _change_set=...) -> None: - ... - - def add_change(self, entity_id, entity_urn, property): # -> None: - ... - - def entity_deleted(self, _entity_id): # -> None: - ... - - def get_changed_properties(self, _entity_id): # -> list[Any]: - ... - - def get_changed_property(self, _entity_id, prop_urn): # -> None: - ... - - def get_changed_entities(self): # -> dict_keys[Any, Any]: - ... - - def get_deleted_entities(self): # -> set[Any]: - ... - - def get_entity_urn(self, _entity_id): # -> None: - ... - - def merge(self, _change_set): # -> None: - ... - - - diff --git a/typings/rcrs_core/worldmodel/entityID.pyi b/typings/rcrs_core/worldmodel/entityID.pyi deleted file mode 100644 index e570b8e..0000000 --- a/typings/rcrs_core/worldmodel/entityID.pyi +++ /dev/null @@ -1,25 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -class EntityID: - def __init__(self, id: int) -> None: - ... - - def __eq__(self, other) -> bool: - ... - - def __hash__(self) -> int: - ... - - def get_value(self): # -> | int: - ... - - def __str__(self) -> str: - ... - - def equals(self, o): # -> bool: - ... - - - diff --git a/typings/rcrs_core/worldmodel/worldmodel.pyi b/typings/rcrs_core/worldmodel/worldmodel.pyi deleted file mode 100644 index e9ccce0..0000000 --- a/typings/rcrs_core/worldmodel/worldmodel.pyi +++ /dev/null @@ -1,51 +0,0 @@ -""" -This type stub file was generated by pyright. -""" - -from typing import List -from rcrs_core.entities.entity import Entity -from rcrs_core.worldmodel.changeSet import ChangeSet -from rcrs_core.worldmodel.entityID import EntityID - -class WorldModel: - def __init__(self) -> None: - ... - - def add_entities(self, entities: List[Entity]): # -> None: - ... - - def get_entity(self, entity_id: EntityID) -> Entity: - ... - - def add_entity(self, entity): # -> None: - ... - - def remove_entity(self, entity_id): # -> None: - ... - - def get_entities(self): # -> dict_values[Any, Any]: - ... - - def merge(self, change_set: ChangeSet): # -> None: - ... - - def index_entities(self): # -> None: - ... - - def make_rectangle(self, entity): # -> tuple[None, None, None, None] | tuple[float, float, float, float]: - ... - - def get_rect_bounds(self): # -> tuple[Any, Any, Any, Any]: - ... - - def get_world_bounds(self): # -> tuple[Any, Any, Any, Any]: - ... - - def get_objects_in_rectangle(self, x1, y1, x2, y2): # -> list[Any]: - ... - - def get_objects_in_range(self, entity, range): # -> list[Any]: - ... - - - From 17f6f34db1b57be641bbf175edf9bcca4753170b Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 2 Oct 2024 14:10:09 +0900 Subject: [PATCH 066/249] refactor: Remove unused Agent class and related imports --- adf_core_python/core/agent/agent.py | 30 ----------------------------- 1 file changed, 30 deletions(-) delete mode 100644 adf_core_python/core/agent/agent.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py deleted file mode 100644 index ae19b1e..0000000 --- a/adf_core_python/core/agent/agent.py +++ /dev/null @@ -1,30 +0,0 @@ -from rcrs_core.entities.entity import Entity - -from adf_core_python.core.agent.config.module_config import ModuleConfig -from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.scenario_info import Mode -from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - - -class Agent(Entity): - def __init__( - self, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - ): - self._tema_name = team_name - self._is_precompute = is_precompute - self._is_debug = is_debug - - if self._is_precompute: - # PrecomputeData.remove_data(data_storage_name) - self._mode = Mode.PRECOMPUTATION - - self._module_config: ModuleConfig = module_config - self._develop_data: DevelopData = develop_data - self._precompute_data: PrecomputeData = PrecomputeData(data_storage_name) - self._message_manager = None From cdea89918768af565958319935313d140aa7166f Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 2 Oct 2024 14:10:23 +0900 Subject: [PATCH 067/249] feat: Add pyrightconfig.json for standard type checking mode and exclude site-packages --- pyrightconfig.json | 4 ++++ 1 file changed, 4 insertions(+) create mode 100644 pyrightconfig.json diff --git a/pyrightconfig.json b/pyrightconfig.json new file mode 100644 index 0000000..8a1eb70 --- /dev/null +++ b/pyrightconfig.json @@ -0,0 +1,4 @@ +{ + "typeCheckingMode": "standard", + "exclude": ["**/site-packages"] +} From 2b778558e1d20ab7f5136b8b0d12b5d7dcbdb274 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 2 Oct 2024 14:10:40 +0900 Subject: [PATCH 068/249] feat: fix type --- .../core/agent/config/module_config.py | 5 ++-- adf_core_python/core/agent/info/agent_info.py | 7 +++-- .../tactics/default_tactics_ambulance_team.py | 30 ++++++++++--------- .../tactics/default_tactics_fire_brigade.py | 30 ++++++++++--------- .../tactics/default_tactics_police_force.py | 30 ++++++++++--------- 5 files changed, 56 insertions(+), 46 deletions(-) diff --git a/adf_core_python/core/agent/config/module_config.py b/adf_core_python/core/agent/config/module_config.py index 095cb50..72a292a 100644 --- a/adf_core_python/core/agent/config/module_config.py +++ b/adf_core_python/core/agent/config/module_config.py @@ -79,11 +79,12 @@ def _flatten( dict[str, Any] Flattened dictionary """ - flatten_data = {} + flatten_data: dict[str, Any] = {} for key, value in data.items(): new_key = f"{parent_key}{sep}{key}" if parent_key else key if isinstance(value, dict): - flatten_data.update(self._flatten(value, new_key, sep=sep)) + v: dict[str, Any] = value + flatten_data.update(self._flatten(v, new_key, sep=sep)) else: flatten_data[new_key] = value return flatten_data diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py index d65070c..030de23 100644 --- a/adf_core_python/core/agent/info/agent_info.py +++ b/adf_core_python/core/agent/info/agent_info.py @@ -2,8 +2,11 @@ from typing import Any from rcrs_core.agents.agent import Agent +from rcrs_core.entities.entity import Entity from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.worldmodel import ChangeSet, Entity, EntityID, WorldModel +from rcrs_core.worldmodel.changeSet import ChangeSet +from rcrs_core.worldmodel.entityID import EntityID +from rcrs_core.worldmodel.worldmodel import WorldModel from adf_core_python.core.agent.action.action import Action @@ -97,7 +100,7 @@ def get_position_entity_id(self) -> EntityID: """ entity = self._world_model.get_entity(self.get_entity_id()) if isinstance(entity, Human): - return entity.get_position_property() + return entity.get_position() else: return entity.get_id() diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 45c7707..8666e14 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -111,21 +111,23 @@ def think( entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._human_detector.calculate().get_target_entity_id() - action = ( - self._action_transport.set_target_entity_id(target_entity_id) - .calc() - .get_action() - ) - if action is not None: - return action + if target_entity_id is not None: + action = ( + self._action_transport.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action target_entity_id = self._search.calculate().get_target_entity_id() - action = ( - self._action_ext_move.set_target_entity_id(target_entity_id) - .calc() - .get_action() - ) - if action is not None: - return action + if target_entity_id is not None: + action = ( + self._action_ext_move.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action return ActionRest() diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index 11b38af..2af3378 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -110,21 +110,23 @@ def think( entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._human_detector.calculate().get_target_entity_id() - action = ( - self._action_fire_rescue.set_target_entity_id(target_entity_id) - .calc() - .get_action() - ) - if action is not None: - return action + if target_entity_id is not None: + action = ( + self._action_fire_rescue.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action target_entity_id = self._search.calculate().get_target_entity_id() - action = ( - self._action_ext_move.set_target_entity_id(target_entity_id) - .calc() - .get_action() - ) - if action is not None: - return action + if target_entity_id is not None: + action = ( + self._action_ext_move.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action return ActionRest() diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index bd4f29d..3253aeb 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -114,21 +114,23 @@ def think( entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._road_detector.calculate().get_target_entity_id() - action = ( - self._action_ext_clear.set_target_entity_id(target_entity_id) - .calc() - .get_action() - ) - if action is not None: - return action + if target_entity_id is not None: + action = ( + self._action_ext_clear.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action target_entity_id = self._search.calculate().get_target_entity_id() - action = ( - self._action_ext_clear.set_target_entity_id(target_entity_id) - .calc() - .get_action() - ) - if action is not None: - return action + if target_entity_id is not None: + action = ( + self._action_ext_clear.set_target_entity_id(target_entity_id) + .calc() + .get_action() + ) + if action is not None: + return action return ActionRest() From c1b8295eb94d6874e7eea10980208af326914e29 Mon Sep 17 00:00:00 2001 From: harrki Date: Thu, 3 Oct 2024 20:02:11 +0900 Subject: [PATCH 069/249] fix: .gitignore --- .gitignore | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 9a270b3..dd7a3b1 100644 --- a/.gitignore +++ b/.gitignore @@ -168,4 +168,7 @@ cython_debug/ .vscode/ # pycharm -.idea/ \ No newline at end of file +.idea/ + +# MacOS +.DS_Store \ No newline at end of file From e1c026b1a1fc46943224868f237e887fae257be1 Mon Sep 17 00:00:00 2001 From: harrki Date: Thu, 3 Oct 2024 20:04:35 +0900 Subject: [PATCH 070/249] fix: wrong module paths --- .../implement/extend_action/default_extend_action_move.py | 2 +- .../implement/extend_action/default_extend_action_transport.py | 2 +- tests/core/agent/module/test_module_manager.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/adf_core_python/implement/extend_action/default_extend_action_move.py b/adf_core_python/implement/extend_action/default_extend_action_move.py index a8df764..c6d7e0e 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_move.py +++ b/adf_core_python/implement/extend_action/default_extend_action_move.py @@ -39,7 +39,7 @@ def __init__( PathPlanning, self.module_manager.get_module( "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + "adf_core_python.implement.module.algorithm.astar_path_planning.AStarPathPlanning", ), ) case Mode.PRECOMPUTATION: diff --git a/adf_core_python/implement/extend_action/default_extend_action_transport.py b/adf_core_python/implement/extend_action/default_extend_action_transport.py index f770b48..73655a0 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_transport.py +++ b/adf_core_python/implement/extend_action/default_extend_action_transport.py @@ -44,7 +44,7 @@ def __init__( PathPlanning, self.module_manager.get_module( "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + "adf_core_python.implement.module.algorithm.astar_path_planning.AStarPathPlanning", ), ) case Mode.PRECOMPUTATION: diff --git a/tests/core/agent/module/test_module_manager.py b/tests/core/agent/module/test_module_manager.py index 458791e..41a0a57 100644 --- a/tests/core/agent/module/test_module_manager.py +++ b/tests/core/agent/module/test_module_manager.py @@ -12,7 +12,7 @@ def test_can_get_module(self) -> None: config = ModuleConfig(config_file_path) config.set_value( "test_module", - "adf_core_python.implement.module.astar_path_planning.AStarPathPlanning", + "adf_core_python.implement.module.algorithm.astar_path_planning.AStarPathPlanning", ) module_manager = self.create_module_manager(config) module = module_manager.get_module("test_module", "test_module") From 4157c4eabca38e7202b8516bc43774a53dbe951a Mon Sep 17 00:00:00 2001 From: harrki Date: Thu, 3 Oct 2024 20:07:42 +0900 Subject: [PATCH 071/249] fix: create new directory and move astar path planning module --- adf_core_python/implement/module/__init__.py | 0 .../implement/module/algorithm/__init__.py | 0 .../{ => algorithm}/astar_path_planning.py | 17 +++++++++++++++++ 3 files changed, 17 insertions(+) create mode 100644 adf_core_python/implement/module/__init__.py create mode 100644 adf_core_python/implement/module/algorithm/__init__.py rename adf_core_python/implement/module/{ => algorithm}/astar_path_planning.py (53%) diff --git a/adf_core_python/implement/module/__init__.py b/adf_core_python/implement/module/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/module/algorithm/__init__.py b/adf_core_python/implement/module/algorithm/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/module/astar_path_planning.py b/adf_core_python/implement/module/algorithm/astar_path_planning.py similarity index 53% rename from adf_core_python/implement/module/astar_path_planning.py rename to adf_core_python/implement/module/algorithm/astar_path_planning.py index 24c7afb..4947366 100644 --- a/adf_core_python/implement/module/astar_path_planning.py +++ b/adf_core_python/implement/module/algorithm/astar_path_planning.py @@ -2,6 +2,8 @@ from typing import TYPE_CHECKING +from rcrs_core.worldmodel.entityID import EntityID + from adf_core_python.core.component.module.algorithm.path_planning import ( PathPlanning, ) @@ -11,6 +13,9 @@ class AStarPathPlanning(PathPlanning): + def get_result(self) -> list[EntityID]: + return self._result + def get_path( self, from_entity_id: EntityID, to_entity_id: EntityID ) -> list[EntityID]: @@ -19,5 +24,17 @@ def get_path( def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: return 0.0 + def set_from(self, from_entity_id: EntityID) -> PathPlanning: + self._from = from_entity_id + return self + + def set_destination(self, destination_entity_ids: list[EntityID]) -> PathPlanning: + self._targets = destination_entity_ids + return self + def calculate(self) -> AStarPathPlanning: return self + + +# TODO: Implement the A* path planning algorithm +# TODO: Move this file to algorithm directory From 12610f639faf9165ba7483e64d14d73f9b591c34 Mon Sep 17 00:00:00 2001 From: harrki Date: Thu, 3 Oct 2024 20:09:46 +0900 Subject: [PATCH 072/249] feat: Create target allocator modules --- .../complex/ambulance_target_allocator.py | 46 +++++++++++++++++++ .../module/complex/fire_target_allocator.py | 46 +++++++++++++++++++ .../module/complex/police_target_allocator.py | 46 +++++++++++++++++++ 3 files changed, 138 insertions(+) create mode 100644 adf_core_python/core/component/module/complex/ambulance_target_allocator.py create mode 100644 adf_core_python/core/component/module/complex/fire_target_allocator.py create mode 100644 adf_core_python/core/component/module/complex/police_target_allocator.py diff --git a/adf_core_python/core/component/module/complex/ambulance_target_allocator.py b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py new file mode 100644 index 0000000..9bd48e7 --- /dev/null +++ b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py @@ -0,0 +1,46 @@ +from abc import abstractmethod +from rcrs_core.worldmodel.entityID import EntityID +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_allocator import ( + TargetAllocator, +) + + +class AmbulanceTargetAllocator(TargetAllocator): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> TargetAllocator: + pass + + def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> TargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> TargetAllocator: + super().update_info(message_manager) + return self diff --git a/adf_core_python/core/component/module/complex/fire_target_allocator.py b/adf_core_python/core/component/module/complex/fire_target_allocator.py new file mode 100644 index 0000000..6804030 --- /dev/null +++ b/adf_core_python/core/component/module/complex/fire_target_allocator.py @@ -0,0 +1,46 @@ +from abc import abstractmethod +from rcrs_core.worldmodel.entityID import EntityID +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_allocator import ( + TargetAllocator, +) + + +class FireTargetAllocator(TargetAllocator): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> TargetAllocator: + pass + + def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> TargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> TargetAllocator: + super().update_info(message_manager) + return self diff --git a/adf_core_python/core/component/module/complex/police_target_allocator.py b/adf_core_python/core/component/module/complex/police_target_allocator.py new file mode 100644 index 0000000..d199ca3 --- /dev/null +++ b/adf_core_python/core/component/module/complex/police_target_allocator.py @@ -0,0 +1,46 @@ +from abc import abstractmethod +from rcrs_core.worldmodel.entityID import EntityID +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.target_allocator import ( + TargetAllocator, +) + + +class PoliceTargetAllocator(TargetAllocator): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> TargetAllocator: + pass + + def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> TargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> TargetAllocator: + super().update_info(message_manager) + return self From 124245c04543bad1fc666b50c089e00c5e1334ba Mon Sep 17 00:00:00 2001 From: harrki Date: Fri, 4 Oct 2024 20:56:14 +0900 Subject: [PATCH 073/249] fix: Add deprecated message to old functions --- .../implement/module/algorithm/astar_path_planning.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/adf_core_python/implement/module/algorithm/astar_path_planning.py b/adf_core_python/implement/module/algorithm/astar_path_planning.py index 4947366..d9166ea 100644 --- a/adf_core_python/implement/module/algorithm/astar_path_planning.py +++ b/adf_core_python/implement/module/algorithm/astar_path_planning.py @@ -1,5 +1,6 @@ from __future__ import annotations +from warnings import warn from typing import TYPE_CHECKING from rcrs_core.worldmodel.entityID import EntityID @@ -26,15 +27,14 @@ def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> floa def set_from(self, from_entity_id: EntityID) -> PathPlanning: self._from = from_entity_id + warn("This method is deprecated. Use get_path instead.", DeprecationWarning) return self def set_destination(self, destination_entity_ids: list[EntityID]) -> PathPlanning: self._targets = destination_entity_ids + warn("This method is deprecated. Use get_path instead.", DeprecationWarning) return self def calculate(self) -> AStarPathPlanning: + warn("This method is deprecated. Use get_path instead.", DeprecationWarning) return self - - -# TODO: Implement the A* path planning algorithm -# TODO: Move this file to algorithm directory From d0c520bbfe8224f1d4f26b6f52b6062f0ab2990e Mon Sep 17 00:00:00 2001 From: harrki Date: Fri, 4 Oct 2024 20:56:42 +0900 Subject: [PATCH 074/249] feat: Create default target allocator modules --- .../default_ambulance_target_allocator.py | 121 ++++++++++++++ .../complex/default_fire_target_allocator.py | 121 ++++++++++++++ .../default_police_target_allocator.py | 156 ++++++++++++++++++ 3 files changed, 398 insertions(+) create mode 100644 adf_core_python/implement/module/complex/default_ambulance_target_allocator.py create mode 100644 adf_core_python/implement/module/complex/default_fire_target_allocator.py create mode 100644 adf_core_python/implement/module/complex/default_police_target_allocator.py diff --git a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py new file mode 100644 index 0000000..37e258d --- /dev/null +++ b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py @@ -0,0 +1,121 @@ +from functools import cmp_to_key + +from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.module.complex.ambulance_target_allocator import ( + AmbulanceTargetAllocator, +) + + +class DefaultAmbulanceTargetAllocator(AmbulanceTargetAllocator): + def __init__( + self, + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + ): + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._priority_humans = set() + self._target_humans = set() + self._ambulance_team_info_map = {} + + def resume(self, precompute_data): + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_type(AmbulanceTeamEntity): + self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) + return self + + def prepare(self): + super().prepare() + if self.get_count_prepare() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_type(AmbulanceTeamEntity): + self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) + return self + + def update_info(self, message_manager): + super().update_info(message_manager) + # TODO: implement after message_manager is implemented + return self + + def calculate(self): + agents = self.get_action_agents(self._ambulance_team_info_map) + removes = [] + current_time = self._agent_info.get_time() + + for target in self._priority_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._ambulance_team_info_map[result.get_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._ambulance_team_info_map[result.get_id()] = info + removes.append(target) + + for r in removes: + self._priority_humans.remove(r) + removes.clear() + + for target in self._target_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._ambulance_team_info_map[result.get_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._ambulance_team_info_map[result.get_id()] = info + removes.append(target) + + for r in removes: + self._target_humans.remove(r) + + return self + + def get_result(self): + return self._convert(self._ambulance_team_info_map) + + def _compare_by_distance(self, target_entity): + def _cmp_func(self, entity_a, entity_b): + distance_a = self._world_info.get_distance(target_entity, entity_a) + distance_b = self._world_info.get_distance(target_entity, entity_b) + if distance_a < distance_b: + return -1 + elif distance_a > distance_b: + return 1 + else: + return 0 + + def _convert(self, info_map): + result = {} + for entity_id in info_map.keys(): + info = info_map[entity_id] + if info is not None and info._target is not None: + result[entity_id] = info._target + + class AmbulanceTeamInfo: + def __init__(self, entity_id: EntityID): + self._agent_id = entity_id + self._target = None + self._can_new_action = True + self.command_time = -1 diff --git a/adf_core_python/implement/module/complex/default_fire_target_allocator.py b/adf_core_python/implement/module/complex/default_fire_target_allocator.py new file mode 100644 index 0000000..b5155f6 --- /dev/null +++ b/adf_core_python/implement/module/complex/default_fire_target_allocator.py @@ -0,0 +1,121 @@ +from functools import cmp_to_key + +from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.module.complex.fire_target_allocator import ( + FireTargetAllocator, +) + + +class DefaultFireTargetAllocator(FireTargetAllocator): + def __init__( + self, + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + ): + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._priority_humans = set() + self._target_humans = set() + self._fire_brigade_info_map = {} + + def resume(self, precompute_data): + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_type(FireBrigadeEntity): + self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) + return self + + def prepare(self): + super().prepare() + if self.get_count_prepare() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_type(FireBrigadeEntity): + self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) + return self + + def update_info(self, message_manager): + super().update_info(message_manager) + # TODO: implement after message_manager is implemented + return self + + def calculate(self): + agents = self.get_action_agents(self._fire_brigade_info_map) + removes = [] + current_time = self._agent_info.get_time() + + for target in self._priority_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._fire_brigade_info_map[result.get_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._fire_brigade_info_map[result.get_id()] = info + removes.append(target) + + for r in removes: + self._priority_humans.remove(r) + removes.clear() + + for target in self._target_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._fire_brigade_info_map[result.get_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._fire_brigade_info_map[result.get_id()] = info + removes.append(target) + + for r in removes: + self._target_humans.remove(r) + + return self + + def get_result(self): + return self._convert(self._fire_brigade_info_map) + + def _compare_by_distance(self, target_entity): + def _cmp_func(self, entity_a, entity_b): + distance_a = self._world_info.get_distance(target_entity, entity_a) + distance_b = self._world_info.get_distance(target_entity, entity_b) + if distance_a < distance_b: + return -1 + elif distance_a > distance_b: + return 1 + else: + return 0 + + def _convert(self, info_map): + result = {} + for entity_id in info_map.keys(): + info = info_map[entity_id] + if info is not None and info._target is not None: + result[entity_id] = info._target + + class FireBrigadeInfo: + def __init__(self, entity_id: EntityID): + self._agent_id = entity_id + self._target = None + self._can_new_action = True + self.command_time = -1 diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/adf_core_python/implement/module/complex/default_police_target_allocator.py new file mode 100644 index 0000000..08c4ae5 --- /dev/null +++ b/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -0,0 +1,156 @@ +from functools import cmp_to_key + +from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.worldmodel.entityID import EntityID +from rcrs_core.entities.refuge import Refuge +from rcrs_core.entities.building import Building +from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.road import Road + +from adf_core_python.core.component.module.complex.police_target_allocator import ( + PoliceTargetAllocator, +) + + +class DefaultPoliceTargetAllocator(PoliceTargetAllocator): + def __init__( + self, + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + ): + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._priority_areas = set() + self._target_areas = set() + self._agent_info_map = {} + + def resume(self, precompute_data): + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + + for entity_id in self._world_info.get_entity_ids_of_type(PoliceForceEntity): + self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) + for entity in ( + self._world_info.get_entities_of_type(Refuge) + + self._world_info.get_entities_of_type(Building) + + self._world_info.get_entities_of_type(GasStation) + ): + for entity_id in entity.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) + if isinstance(neighbour, Road): + self._target_areas.add(entity_id) + + for entity in self._world_info.get_entities_of_type(Refuge): + for entity_id in entity.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) + if isinstance(neighbour, Road): + self._priority_areas.add(entity_id) + return self + + def prepare(self): + super().prepare() + if self.get_count_prepare() >= 2: + return self + + for entity_id in self._world_info.get_entity_ids_of_type(PoliceForceEntity): + self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) + + for entity in ( + self._world_info.get_entities_of_type(Refuge) + + self._world_info.get_entities_of_type(Building) + + self._world_info.get_entities_of_type(GasStation) + ): + for entity_id in entity.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) + if isinstance(neighbour, Road): + self._target_areas.add(entity_id) + + for entity in self._world_info.get_entities_of_type(Refuge): + for entity_id in entity.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) + if isinstance(neighbour, Road): + self._priority_areas.add(entity_id) + + return self + + def update_info(self, message_manager): + super().update_info(message_manager) + # TODO: implement after message_manager is implemented + return self + + def calculate(self): + agents = self.get_action_agents(self._agent_info_map) + removes = [] + current_time = self._agent_info.get_time() + + for target in self._priority_areas: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None: + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._agent_info_map[result.get_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._agent_info_map[result.get_id()] = info + removes.append(target) + + for r in removes: + self._priority_areas.remove(r) + + areas = [] + for target in self._target_areas: + target_entity = self._world_info.get_entity(target) + if target_entity is not None: + areas.append(target_entity) + + for agent in agents: + if len(areas) > 0: + areas.sort(key=cmp_to_key(self._compare_by_distance(agent))) + result = areas.pop(0) + self._target_areas.remove(result.get_id()) + info = self._agent_info_map[agent.get_id()] + if info is not None: + info._can_new_action = False + info._target = result.get_id() + info.command_time = current_time + self._agent_info_map[agent.get_id()] = info + + return self + + def get_result(self): + return self._convert(self._agent_info_map) + + def _compare_by_distance(self, target_entity): + def _cmp_func(self, entity_a, entity_b): + distance_a = self._world_info.get_distance(target_entity, entity_a) + distance_b = self._world_info.get_distance(target_entity, entity_b) + if distance_a < distance_b: + return -1 + elif distance_a > distance_b: + return 1 + else: + return 0 + + def _convert(self, info_map): + result = {} + for entity_id in info_map.keys(): + info = info_map[entity_id] + if info is not None and info._target is not None: + result[entity_id] = info._target + + class PoliceForceInfo: + def __init__(self, entity_id: EntityID): + self._agent_id = entity_id + self._target = None + self._can_new_action = True + self.command_time = -1 From f3079b88600d12c50b6239e4d0289ce0813c557b Mon Sep 17 00:00:00 2001 From: harrki Date: Tue, 8 Oct 2024 16:45:26 +0900 Subject: [PATCH 075/249] fix: Fixed inconsistencies from merge request --- .../module/algorithm/path_planning.py | 12 -- .../complex/ambulance_target_allocator.py | 2 + .../module/complex/fire_target_allocator.py | 2 + .../module/complex/police_target_allocator.py | 2 + .../module/algorithm/astar_path_planning.py | 40 ------ .../default_ambulance_target_allocator.py | 92 +++++++++---- .../complex/default_fire_target_allocator.py | 86 ++++++++---- .../default_police_target_allocator.py | 122 +++++++++++------- .../module/complex/default_road_detector.py | 64 +++++---- 9 files changed, 243 insertions(+), 179 deletions(-) delete mode 100644 adf_core_python/implement/module/algorithm/astar_path_planning.py diff --git a/adf_core_python/core/component/module/algorithm/path_planning.py b/adf_core_python/core/component/module/algorithm/path_planning.py index 191631e..b741862 100644 --- a/adf_core_python/core/component/module/algorithm/path_planning.py +++ b/adf_core_python/core/component/module/algorithm/path_planning.py @@ -30,10 +30,6 @@ def __init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - @abstractmethod - def get_result(self) -> list[EntityID]: - pass - @abstractmethod def get_path( self, from_entity_id: EntityID, to_entity_id: EntityID @@ -44,14 +40,6 @@ def get_path( def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: pass - @abstractmethod - def set_from(self, from_entity_id: EntityID) -> PathPlanning: - pass - - @abstractmethod - def set_destination(self, destination_entity_ids: list[EntityID]) -> PathPlanning: - pass - def precompute(self, precompute_data: PrecomputeData) -> PathPlanning: super().precompute(precompute_data) return self diff --git a/adf_core_python/core/component/module/complex/ambulance_target_allocator.py b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py index 9bd48e7..2c36e74 100644 --- a/adf_core_python/core/component/module/complex/ambulance_target_allocator.py +++ b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py @@ -1,5 +1,7 @@ from abc import abstractmethod + from rcrs_core.worldmodel.entityID import EntityID + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo diff --git a/adf_core_python/core/component/module/complex/fire_target_allocator.py b/adf_core_python/core/component/module/complex/fire_target_allocator.py index 6804030..a537ef6 100644 --- a/adf_core_python/core/component/module/complex/fire_target_allocator.py +++ b/adf_core_python/core/component/module/complex/fire_target_allocator.py @@ -1,5 +1,7 @@ from abc import abstractmethod + from rcrs_core.worldmodel.entityID import EntityID + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo diff --git a/adf_core_python/core/component/module/complex/police_target_allocator.py b/adf_core_python/core/component/module/complex/police_target_allocator.py index d199ca3..8403d8f 100644 --- a/adf_core_python/core/component/module/complex/police_target_allocator.py +++ b/adf_core_python/core/component/module/complex/police_target_allocator.py @@ -1,5 +1,7 @@ from abc import abstractmethod + from rcrs_core.worldmodel.entityID import EntityID + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo diff --git a/adf_core_python/implement/module/algorithm/astar_path_planning.py b/adf_core_python/implement/module/algorithm/astar_path_planning.py deleted file mode 100644 index d9166ea..0000000 --- a/adf_core_python/implement/module/algorithm/astar_path_planning.py +++ /dev/null @@ -1,40 +0,0 @@ -from __future__ import annotations - -from warnings import warn -from typing import TYPE_CHECKING - -from rcrs_core.worldmodel.entityID import EntityID - -from adf_core_python.core.component.module.algorithm.path_planning import ( - PathPlanning, -) - -if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID - - -class AStarPathPlanning(PathPlanning): - def get_result(self) -> list[EntityID]: - return self._result - - def get_path( - self, from_entity_id: EntityID, to_entity_id: EntityID - ) -> list[EntityID]: - return [] - - def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - return 0.0 - - def set_from(self, from_entity_id: EntityID) -> PathPlanning: - self._from = from_entity_id - warn("This method is deprecated. Use get_path instead.", DeprecationWarning) - return self - - def set_destination(self, destination_entity_ids: list[EntityID]) -> PathPlanning: - self._targets = destination_entity_ids - warn("This method is deprecated. Use get_path instead.", DeprecationWarning) - return self - - def calculate(self) -> AStarPathPlanning: - warn("This method is deprecated. Use get_path instead.", DeprecationWarning) - return self diff --git a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py index 37e258d..1fc40f6 100644 --- a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py @@ -1,9 +1,18 @@ from functools import cmp_to_key +from typing import Callable, Optional from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.entity import Entity from rcrs_core.entities.human import Human from rcrs_core.worldmodel.entityID import EntityID +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.ambulance_target_allocator import ( AmbulanceTargetAllocator, ) @@ -12,42 +21,48 @@ class DefaultAmbulanceTargetAllocator(AmbulanceTargetAllocator): def __init__( self, - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - ): + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._priority_humans = set() - self._target_humans = set() - self._ambulance_team_info_map = {} + self._priority_humans: set[EntityID] = set() + self._target_humans: set[EntityID] = set() + self._ambulance_team_info_map: dict[ + EntityID, DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo + ] = {} - def resume(self, precompute_data): + def resume(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: super().resume(precompute_data) if self.get_count_resume() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_type(AmbulanceTeamEntity): + for entity_id in self._world_info.get_entity_ids_of_types( + [AmbulanceTeamEntity] + ): self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) return self - def prepare(self): + def prepare(self) -> AmbulanceTargetAllocator: super().prepare() if self.get_count_prepare() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_type(AmbulanceTeamEntity): + for entity_id in self._world_info.get_entity_ids_of_types( + [AmbulanceTeamEntity] + ): self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) return self - def update_info(self, message_manager): + def update_info(self, message_manager: MessageManager) -> AmbulanceTargetAllocator: super().update_info(message_manager) # TODO: implement after message_manager is implemented return self - def calculate(self): - agents = self.get_action_agents(self._ambulance_team_info_map) + def calculate(self) -> AmbulanceTargetAllocator: + agents = self._get_action_agents(self._ambulance_team_info_map) removes = [] current_time = self._agent_info.get_time() @@ -92,13 +107,30 @@ def calculate(self): return self - def get_result(self): + def get_result(self) -> dict[EntityID, EntityID]: return self._convert(self._ambulance_team_info_map) - def _compare_by_distance(self, target_entity): - def _cmp_func(self, entity_a, entity_b): - distance_a = self._world_info.get_distance(target_entity, entity_a) - distance_b = self._world_info.get_distance(target_entity, entity_b) + def _get_action_agents( + self, + info_map: dict[EntityID, "DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo"], + ) -> list[AmbulanceTeamEntity]: + result = [] + for entity in self._world_info.get_entities_of_types([AmbulanceTeamEntity]): + info = info_map[entity.get_id()] + if info is not None and info._can_new_action: + result.append(entity) + return result + + def _compare_by_distance( + self, target_entity: Entity + ) -> Callable[[Entity, Entity], int]: + def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: + distance_a = self._world_info.get_distance( + target_entity.get_id(), entity_a.get_id() + ) + distance_b = self._world_info.get_distance( + target_entity.get_id(), entity_b.get_id() + ) if distance_a < distance_b: return -1 elif distance_a > distance_b: @@ -106,16 +138,22 @@ def _cmp_func(self, entity_a, entity_b): else: return 0 - def _convert(self, info_map): + return _cmp_func + + def _convert( + self, + info_map: dict[EntityID, "DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo"], + ) -> dict[EntityID, EntityID]: result = {} for entity_id in info_map.keys(): info = info_map[entity_id] if info is not None and info._target is not None: result[entity_id] = info._target + return result class AmbulanceTeamInfo: - def __init__(self, entity_id: EntityID): - self._agent_id = entity_id - self._target = None - self._can_new_action = True - self.command_time = -1 + def __init__(self, entity_id: EntityID) -> None: + self._agent_id: EntityID = entity_id + self._target: Optional[EntityID] = None + self._can_new_action: bool = True + self.command_time: int = -1 diff --git a/adf_core_python/implement/module/complex/default_fire_target_allocator.py b/adf_core_python/implement/module/complex/default_fire_target_allocator.py index b5155f6..aaf96b3 100644 --- a/adf_core_python/implement/module/complex/default_fire_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_fire_target_allocator.py @@ -1,9 +1,18 @@ from functools import cmp_to_key +from typing import Callable, Optional +from rcrs_core.entities.entity import Entity from rcrs_core.entities.fireBrigade import FireBrigadeEntity from rcrs_core.entities.human import Human from rcrs_core.worldmodel.entityID import EntityID +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.fire_target_allocator import ( FireTargetAllocator, ) @@ -12,42 +21,44 @@ class DefaultFireTargetAllocator(FireTargetAllocator): def __init__( self, - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - ): + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._priority_humans = set() - self._target_humans = set() - self._fire_brigade_info_map = {} + self._priority_humans: set[EntityID] = set() + self._target_humans: set[EntityID] = set() + self._fire_brigade_info_map: dict[ + EntityID, DefaultFireTargetAllocator.FireBrigadeInfo + ] = {} - def resume(self, precompute_data): + def resume(self, precompute_data: PrecomputeData) -> FireTargetAllocator: super().resume(precompute_data) if self.get_count_resume() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_type(FireBrigadeEntity): + for entity_id in self._world_info.get_entity_ids_of_types([FireBrigadeEntity]): self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) return self - def prepare(self): + def prepare(self) -> FireTargetAllocator: super().prepare() if self.get_count_prepare() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_type(FireBrigadeEntity): + for entity_id in self._world_info.get_entity_ids_of_types([FireBrigadeEntity]): self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) return self - def update_info(self, message_manager): + def update_info(self, message_manager: MessageManager) -> FireTargetAllocator: super().update_info(message_manager) # TODO: implement after message_manager is implemented return self - def calculate(self): - agents = self.get_action_agents(self._fire_brigade_info_map) + def calculate(self) -> FireTargetAllocator: + agents = self._get_action_agents(self._fire_brigade_info_map) removes = [] current_time = self._agent_info.get_time() @@ -92,13 +103,29 @@ def calculate(self): return self - def get_result(self): + def get_result(self) -> dict[EntityID, EntityID]: return self._convert(self._fire_brigade_info_map) - def _compare_by_distance(self, target_entity): - def _cmp_func(self, entity_a, entity_b): - distance_a = self._world_info.get_distance(target_entity, entity_a) - distance_b = self._world_info.get_distance(target_entity, entity_b) + def _get_action_agents( + self, info_map: dict[EntityID, "DefaultFireTargetAllocator.FireBrigadeInfo"] + ) -> list[FireBrigadeEntity]: + result = [] + for entity in self._world_info.get_entities_of_types([FireBrigadeEntity]): + info = info_map[entity.get_id()] + if info is not None and info._can_new_action: + result.append(entity) + return result + + def _compare_by_distance( + self, target_entity: Entity + ) -> Callable[[Entity, Entity], int]: + def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: + distance_a = self._world_info.get_distance( + target_entity.get_id(), entity_a.get_id() + ) + distance_b = self._world_info.get_distance( + target_entity.get_id(), entity_b.get_id() + ) if distance_a < distance_b: return -1 elif distance_a > distance_b: @@ -106,16 +133,21 @@ def _cmp_func(self, entity_a, entity_b): else: return 0 - def _convert(self, info_map): + return _cmp_func + + def _convert( + self, info_map: dict[EntityID, "DefaultFireTargetAllocator.FireBrigadeInfo"] + ) -> dict[EntityID, EntityID]: result = {} for entity_id in info_map.keys(): info = info_map[entity_id] if info is not None and info._target is not None: result[entity_id] = info._target + return result class FireBrigadeInfo: - def __init__(self, entity_id: EntityID): - self._agent_id = entity_id - self._target = None - self._can_new_action = True - self.command_time = -1 + def __init__(self, entity_id: EntityID) -> None: + self._agent_id: EntityID = entity_id + self._target: Optional[EntityID] = None + self._can_new_action: bool = True + self.command_time: int = -1 diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/adf_core_python/implement/module/complex/default_police_target_allocator.py index 08c4ae5..acd2c4b 100644 --- a/adf_core_python/implement/module/complex/default_police_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -1,12 +1,21 @@ from functools import cmp_to_key +from typing import Callable, Optional, cast -from rcrs_core.entities.policeForce import PoliceForceEntity -from rcrs_core.worldmodel.entityID import EntityID -from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.building import Building +from rcrs_core.entities.entity import Entity from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.police_target_allocator import ( PoliceTargetAllocator, ) @@ -15,76 +24,78 @@ class DefaultPoliceTargetAllocator(PoliceTargetAllocator): def __init__( self, - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - ): + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._priority_areas = set() - self._target_areas = set() - self._agent_info_map = {} + self._priority_areas: set[EntityID] = set() + self._target_areas: set[EntityID] = set() + self._agent_info_map: dict[ + EntityID, DefaultPoliceTargetAllocator.PoliceForceInfo + ] = {} - def resume(self, precompute_data): + def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: super().resume(precompute_data) if self.get_count_resume() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_type(PoliceForceEntity): + for entity_id in self._world_info.get_entity_ids_of_types([PoliceForceEntity]): self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) - for entity in ( - self._world_info.get_entities_of_type(Refuge) - + self._world_info.get_entities_of_type(Building) - + self._world_info.get_entities_of_type(GasStation) + for entity in self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] ): - for entity_id in entity.get_neighbours(): + building: Building = cast(Building, entity) + for entity_id in building.get_neighbours(): neighbour = self._world_info.get_entity(entity_id) if isinstance(neighbour, Road): self._target_areas.add(entity_id) - for entity in self._world_info.get_entities_of_type(Refuge): - for entity_id in entity.get_neighbours(): + for entity in self._world_info.get_entities_of_types([Refuge]): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbours(): neighbour = self._world_info.get_entity(entity_id) if isinstance(neighbour, Road): self._priority_areas.add(entity_id) return self - def prepare(self): + def prepare(self) -> PoliceTargetAllocator: super().prepare() if self.get_count_prepare() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_type(PoliceForceEntity): + for entity_id in self._world_info.get_entity_ids_of_types([PoliceForceEntity]): self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) - for entity in ( - self._world_info.get_entities_of_type(Refuge) - + self._world_info.get_entities_of_type(Building) - + self._world_info.get_entities_of_type(GasStation) + for entity in self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] ): - for entity_id in entity.get_neighbours(): + building: Building = cast(Building, entity) + for entity_id in building.get_neighbours(): neighbour = self._world_info.get_entity(entity_id) if isinstance(neighbour, Road): self._target_areas.add(entity_id) - for entity in self._world_info.get_entities_of_type(Refuge): - for entity_id in entity.get_neighbours(): + for entity in self._world_info.get_entities_of_types([Refuge]): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbours(): neighbour = self._world_info.get_entity(entity_id) if isinstance(neighbour, Road): self._priority_areas.add(entity_id) return self - def update_info(self, message_manager): + def update_info(self, message_manager: MessageManager) -> PoliceTargetAllocator: super().update_info(message_manager) # TODO: implement after message_manager is implemented return self - def calculate(self): - agents = self.get_action_agents(self._agent_info_map) + def calculate(self) -> PoliceTargetAllocator: + agents = self._get_action_agents(self._agent_info_map) removes = [] current_time = self._agent_info.get_time() @@ -127,13 +138,29 @@ def calculate(self): return self - def get_result(self): + def get_result(self) -> dict[EntityID, EntityID]: return self._convert(self._agent_info_map) - def _compare_by_distance(self, target_entity): - def _cmp_func(self, entity_a, entity_b): - distance_a = self._world_info.get_distance(target_entity, entity_a) - distance_b = self._world_info.get_distance(target_entity, entity_b) + def _get_action_agents( + self, info_map: dict[EntityID, "DefaultPoliceTargetAllocator.PoliceForceInfo"] + ) -> list[PoliceForceEntity]: + result = [] + for entity in self._world_info.get_entities_of_types([PoliceForceEntity]): + info = info_map[entity.get_id()] + if info is not None and info._can_new_action: + result.append(entity) + return result + + def _compare_by_distance( + self, target_entity: Entity + ) -> Callable[[Entity, Entity], int]: + def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: + distance_a = self._world_info.get_distance( + target_entity.get_id(), entity_a.get_id() + ) + distance_b = self._world_info.get_distance( + target_entity.get_id(), entity_b.get_id() + ) if distance_a < distance_b: return -1 elif distance_a > distance_b: @@ -141,16 +168,21 @@ def _cmp_func(self, entity_a, entity_b): else: return 0 - def _convert(self, info_map): - result = {} + return _cmp_func + + def _convert( + self, info_map: dict[EntityID, "DefaultPoliceTargetAllocator.PoliceForceInfo"] + ) -> dict[EntityID, EntityID]: + result: dict[EntityID, EntityID] = {} for entity_id in info_map.keys(): info = info_map[entity_id] if info is not None and info._target is not None: result[entity_id] = info._target + return result class PoliceForceInfo: - def __init__(self, entity_id: EntityID): - self._agent_id = entity_id - self._target = None - self._can_new_action = True - self.command_time = -1 + def __init__(self, entity_id: EntityID) -> None: + self._agent_id: EntityID = entity_id + self._target: Optional[EntityID] = None + self._can_new_action: bool = True + self.command_time: int = -1 diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index 3457b72..339cc35 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -1,28 +1,25 @@ from __future__ import annotations -from typing import TYPE_CHECKING, cast +from typing import Optional, cast -from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.building import Building from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.road import Road from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.algorithm.path_planning import ( + PathPlanning, +) from adf_core_python.core.component.module.complex.road_detector import RoadDetector -if TYPE_CHECKING: - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.component.module.algorithm.path_planning import ( - PathPlanning, - ) - from adf_core_python.core.component.module.complex.road_detector import RoadDetector - class DefaultRoadDetector(RoadDetector): def __init__( @@ -58,11 +55,9 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: if self.get_count_resume() >= 2: return self - self._target_areas = set() - entities = ( - self._world_info.get_entities_of_type(Refuge) - + self._world_info.get_entities_of_type(Building) - + self._world_info.get_entities_of_type(GasStation) + self._target_areas: set[EntityID] = set() + entities = self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] ) for entity in entities: if not isinstance(entity, Building): @@ -73,10 +68,11 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: self._target_areas.add(entity_id) self._priority_roads = set() - for entity in self._world_info.get_entities_of_type(Refuge): + for entity in self._world_info.get_entities_of_types([Refuge]): if not isinstance(entity, Building): continue for entity_id in entity.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) if isinstance(neighbour, Road): self._priority_roads.add(entity_id) @@ -88,10 +84,8 @@ def prepare(self) -> RoadDetector: return self self._target_areas = set() - entities = ( - self._world_info.get_entities_of_type(Refuge) - + self._world_info.get_entities_of_type(Building) - + self._world_info.get_entities_of_type(GasStation) + entities = self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] ) for entity in entities: building: Building = cast(Building, entity) @@ -101,9 +95,10 @@ def prepare(self) -> RoadDetector: self._target_areas.add(entity_id) self._priority_roads = set() - for entity in self._world_info.get_entities_of_type(Refuge): + for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) for entity_id in refuge.get_neighbours(): + neighbour = self._world_info.get_entity(entity_id) if isinstance(neighbour, Road): self._priority_roads.add(entity_id) @@ -140,13 +135,26 @@ def calc(self) -> RoadDetector: self._priority_roads = self._priority_roads - set(remove_list) if len(self._priority_roads) > 0: - self._path_planning.set_from(position_entity_id) - self._path_planning.set_destination(list(self._target_areas)) - path: list[EntityID] = self._path_planning.calculate().get_result() + _nearest_target_area = self._agent_info.get_position_entity_id() + _nearest_distance = float("inf") + for target_area in self._target_areas: + if ( + self._world_info.get_distance( + self._agent_info.get_position_entity_id(), target_area + ) + < _nearest_distance + ): + _nearest_target_area = target_area + _nearest_distance = self._world_info.get_distance( + self._agent_info.get_position_entity_id(), target_area + ) + path: list[EntityID] = self._path_planning.get_path( + self._agent_info.get_position_entity_id(), _nearest_target_area + ) if path is not None and len(path) > 0: self._result = path[-1] return self - def get_target(self) -> EntityID: + def get_target(self) -> Optional[EntityID]: return self._result From 981b9445de13ee7713adb6f2b087bff4bdb1f55a Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 8 Oct 2024 19:20:57 +0900 Subject: [PATCH 076/249] feat: Add structlog dependency --- poetry.lock | 137 +++++++++++++++++++++++++++---------------------- pyproject.toml | 1 + 2 files changed, 78 insertions(+), 60 deletions(-) diff --git a/poetry.lock b/poetry.lock index d7a68ff..d96029f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -103,64 +103,64 @@ files = [ [[package]] name = "numpy" -version = "2.1.1" +version = "2.1.2" description = "Fundamental package for array computing in Python" optional = false python-versions = ">=3.10" files = [ - {file = 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682d53aae578ea4f1817b92c35ba25b732ff778e Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 8 Oct 2024 19:23:03 +0900 Subject: [PATCH 077/249] feat: Add structlog dependency --- adf_core_python/core/agent/platoon/platoon.py | 11 ++- .../core/component/tactics/tactics_agent.py | 6 +- .../core/launcher/agent_launcher.py | 11 +-- .../connect/connector_ambulance_team.py | 4 +- adf_core_python/core/logger/logger.py | 80 +++++++++++++++++++ .../tactics/default_tactics_ambulance_team.py | 11 +++ adf_core_python/main.py | 28 ++++--- 7 files changed, 128 insertions(+), 23 deletions(-) create mode 100644 adf_core_python/core/logger/logger.py diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 60d4016..1d2e341 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,5 +1,3 @@ -from logging import Logger, getLogger - from rcrs_core.agents.agent import Agent from rcrs_core.commands.Command import Command from rcrs_core.config.config import Config as RCRSConfig @@ -16,6 +14,7 @@ from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent from adf_core_python.core.config.config import Config +from adf_core_python.core.logger.logger import get_agent_logger class Platoon(Agent): @@ -41,7 +40,10 @@ def __init__( self._develop_data = develop_data def post_connect(self) -> None: - self._logger: Logger = getLogger(__name__) + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) self._agent_info: AgentInfo = AgentInfo(self, self.world_model) self._world_info: WorldInfo = WorldInfo(self.world_model) self._precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) @@ -106,6 +108,9 @@ def post_connect(self) -> None: def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: self._agent_info.set_change_set(change_set) self._world_info.set_change_set(change_set) + self._agent_info.set_time(time) + self._agent_info.set_heard_commands(hear) + action: Action = self._tactics_agent.think( self._agent_info, self._world_info, diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index 100c4c7..fab20dc 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -3,6 +3,8 @@ from abc import ABC, abstractmethod from typing import TYPE_CHECKING, Any, Optional +from adf_core_python.core.logger.logger import get_agent_logger + if TYPE_CHECKING: from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -34,7 +36,9 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", agent_info + ) @abstractmethod def precompute( diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index c2c944f..3b66c1b 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -1,6 +1,5 @@ import importlib import threading -from logging import Logger, getLogger from rcrs_core.connection.componentLauncher import ComponentLauncher @@ -15,6 +14,7 @@ from adf_core_python.core.launcher.connect.connector_ambulance_team import ( ConnectorAmbulanceTeam, ) +from adf_core_python.core.logger.logger import get_logger # from adf_core_python.core.launcher.connect.connector_fire_brigade import ( # ConnectorFireBrigade, @@ -33,7 +33,7 @@ class AgentLauncher: def __init__(self, config: Config): self.config = config - self.logger: Logger = getLogger(__name__) + self.logger = get_logger(__name__) self.connectors: list[Connector] = [] self.thread_list: list[threading.Thread] = [] @@ -67,14 +67,9 @@ def launch(self) -> None: for connector in self.connectors: threads = connector.connect(component_launcher, self.config, self.loader) for thread in threads: + thread.daemon = True thread.start() self.thread_list.extend(threads) for thread in self.thread_list: thread.join() - - connected_agent_count = 0 - for connector in self.connectors: - connected_agent_count += connector.get_connected_agent_count() - - self.logger.info(f"Connected agent count: {connected_agent_count}") diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 1c09775..1d457b3 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -1,5 +1,4 @@ import threading -from logging import Logger, getLogger from rcrs_core.connection.componentLauncher import ComponentLauncher @@ -13,12 +12,13 @@ from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector +from adf_core_python.core.logger.logger import get_logger class ConnectorAmbulanceTeam(Connector): def __init__(self) -> None: super().__init__() - self.logger: Logger = getLogger(__name__) + self.logger = get_logger(__name__) def connect( self, diff --git a/adf_core_python/core/logger/logger.py b/adf_core_python/core/logger/logger.py new file mode 100644 index 0000000..7e5ff40 --- /dev/null +++ b/adf_core_python/core/logger/logger.py @@ -0,0 +1,80 @@ +import logging +import sys + +import structlog +from structlog.dev import ConsoleRenderer +from structlog.processors import JSONRenderer + +from adf_core_python.core.agent.info.agent_info import AgentInfo + + +def get_logger(name: str) -> structlog.BoundLogger: + """ + Get a logger with the given name. + For kernel logging, use this function to get a logger. + + Parameters + ---------- + name : str + The name of the logger. + + Returns + ------- + structlog.BoundLogger + The logger with the given name. + """ + return structlog.get_logger(name) + + +def get_agent_logger(name: str, agent_info: AgentInfo) -> structlog.BoundLogger: + """ + Get a logger with the given name and agent information. + For agent logging, use this function to get a logger. + + Parameters + ---------- + name : str + The name of the logger. + agent_info : AgentInfo + The agent information. + + Returns + ------- + structlog.BoundLogger + The logger with the given name and agent information. + """ + return structlog.get_logger(name).bind( + agent_id=str(agent_info.get_entity_id()), + agent_type=str(agent_info.get_myself().get_urn().name), + ) + + +def configure_logger(): + structlog.configure( + processors=[ + structlog.stdlib.add_log_level, + structlog.stdlib.add_logger_name, + structlog.stdlib.PositionalArgumentsFormatter(), + structlog.processors.TimeStamper(fmt="%Y-%m-%d %H:%M.%S", utc=False), + structlog.processors.StackInfoRenderer(), + structlog.processors.UnicodeDecoder(), + structlog.stdlib.ProcessorFormatter.wrap_for_formatter, + ], + logger_factory=structlog.stdlib.LoggerFactory(), + wrapper_class=structlog.stdlib.BoundLogger, + cache_logger_on_first_use=True, + ) + handler_stdout = logging.StreamHandler(sys.stdout) + handler_stdout.setFormatter( + structlog.stdlib.ProcessorFormatter(processor=ConsoleRenderer()) + ) + + handler_file = logging.FileHandler("agent.log") + handler_file.setFormatter( + structlog.stdlib.ProcessorFormatter(processor=JSONRenderer()) + ) + + root_logger = logging.getLogger() + root_logger.addHandler(handler_stdout) + root_logger.addHandler(handler_file) + root_logger.setLevel(logging.DEBUG) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 8666e14..0d45df8 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -30,6 +30,15 @@ def initialize( develop_data: DevelopData, ) -> None: # world_info.index_class() + super().initialize( + agent_info, + world_info, + scenario_info, + module_manager, + precompute_data, + message_manager, + develop_data, + ) match scenario_info.get_mode(): case Mode.NON_PRECOMPUTE: self._search: Search = cast( @@ -118,6 +127,7 @@ def think( .get_action() ) if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) return action target_entity_id = self._search.calculate().get_target_entity_id() @@ -128,6 +138,7 @@ def think( .get_action() ) if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) return action return ActionRest() diff --git a/adf_core_python/main.py b/adf_core_python/main.py index 5c8aedf..8ba028c 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -1,13 +1,14 @@ import argparse -import logging from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.agent_launcher import AgentLauncher from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.logger.logger import configure_logger, get_logger class Main: def __init__(self) -> None: + self.logger = get_logger(__name__) parser = argparse.ArgumentParser(description="Agent Launcher") parser.add_argument( @@ -56,10 +57,11 @@ def __init__(self) -> None: metavar="", ) parser.add_argument( - "--verbose", type=bool, default=False, help="verbose flag", metavar="" + "--debug", type=bool, default=False, help="debug flag", metavar="" ) args = parser.parse_args() - print(args) + self.logger.info(f"Arguments: {args}") + self.config = Config() self.config.set_value(ConfigKey.KEY_KERNEL_HOST, args.host) self.config.set_value(ConfigKey.KEY_KERNEL_PORT, args.port) @@ -67,21 +69,29 @@ def __init__(self) -> None: self.config.set_value(ConfigKey.KEY_FIRE_STATION_COUNT, args.firebrigade) self.config.set_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, args.policeforce) self.config.set_value(ConfigKey.KEY_PRECOMPUTE, args.precompute) - self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, args.verbose) + self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, args.debug) + self.logger.info(f"Config: {self.config}") def launch(self) -> None: agent_launcher: AgentLauncher = AgentLauncher( self.config, ) agent_launcher.init_connector() - agent_launcher.launch() + + try: + agent_launcher.launch() + except KeyboardInterrupt: + self.logger.info("Agent launcher interrupted") + except Exception as e: + self.logger.exception("Agent launcher failed", exc_info=e) + raise e + self.logger.info("Agent launcher finished") if __name__ == "__main__": - logging.basicConfig( - level=logging.DEBUG, - format="%(threadName)s[%(levelname)s][%(name)s]: %(message)s", - ) + configure_logger() + logger = get_logger(__name__) + logger.info("Starting the agent launcher") main = Main() main.launch() From 8af12d026837c20cf3cf88065ea87150132a423f Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 8 Oct 2024 23:43:32 +0900 Subject: [PATCH 078/249] refactor: Reorganize Platoon class initialization and logger setup --- adf_core_python/core/agent/platoon/platoon.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 1d2e341..1b7748c 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -40,13 +40,14 @@ def __init__( self._develop_data = develop_data def post_connect(self) -> None: + self._agent_info: AgentInfo = AgentInfo(self, self.world_model) + self._world_info: WorldInfo = WorldInfo(self.world_model) + self._precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) + self._logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", self._agent_info, ) - self._agent_info: AgentInfo = AgentInfo(self, self.world_model) - self._world_info: WorldInfo = WorldInfo(self.world_model) - self._precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) if self._is_precompute: self._mode = Mode.PRECOMPUTATION From 988d7a4c3e61d7960d9e659112e8e9e40bc1cfd1 Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 9 Oct 2024 10:45:35 +0900 Subject: [PATCH 079/249] fix: Fixed some files from suggestions --- .gitignore | 4 ++-- .../implement/module/complex/default_road_detector.py | 2 -- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/.gitignore b/.gitignore index dd7a3b1..16e8308 100644 --- a/.gitignore +++ b/.gitignore @@ -159,7 +159,7 @@ cython_debug/ # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore # and can be added to the global gitignore or merged into this file. For a more nuclear # option (not recommended) you can uncomment the following to ignore the entire idea folder. -#.idea/ +.idea/ # ruff .ruff_cache/ @@ -171,4 +171,4 @@ cython_debug/ .idea/ # MacOS -.DS_Store \ No newline at end of file +.DS_Store diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index 339cc35..d6089a2 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -1,5 +1,3 @@ -from __future__ import annotations - from typing import Optional, cast from rcrs_core.entities.building import Building From c000530ef327d679ff2c9a15d5029392b3a28265 Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 9 Oct 2024 10:58:41 +0900 Subject: [PATCH 080/249] fix: Fixed gitignore --- .gitignore | 3 --- 1 file changed, 3 deletions(-) diff --git a/.gitignore b/.gitignore index 16e8308..675f361 100644 --- a/.gitignore +++ b/.gitignore @@ -167,8 +167,5 @@ cython_debug/ # vscode .vscode/ -# pycharm -.idea/ - # MacOS .DS_Store From bae36db705c39c072b1791b5aa5aea7f9f4c7560 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 11:22:49 +0900 Subject: [PATCH 081/249] fix: Add return type annotation to configure_logger function --- adf_core_python/core/logger/logger.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/core/logger/logger.py b/adf_core_python/core/logger/logger.py index 7e5ff40..fe29e0a 100644 --- a/adf_core_python/core/logger/logger.py +++ b/adf_core_python/core/logger/logger.py @@ -49,7 +49,7 @@ def get_agent_logger(name: str, agent_info: AgentInfo) -> structlog.BoundLogger: ) -def configure_logger(): +def configure_logger() -> None: structlog.configure( processors=[ structlog.stdlib.add_log_level, From 40501b1054291f3cde31b274e78338afeb903834 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 01:41:46 +0900 Subject: [PATCH 082/249] refactor: Update AgentInfo class to use Civilian instead of Human for entity comparison --- adf_core_python/core/agent/info/agent_info.py | 5 +- .../default_extend_action_transport.py | 8 ++- .../module/complex/default_human_detector.py | 70 ++++++++++++++----- .../module/complex/default_search.py | 12 ++-- .../tactics/default_tactics_ambulance_team.py | 7 ++ 5 files changed, 76 insertions(+), 26 deletions(-) diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py index 030de23..79e8cf2 100644 --- a/adf_core_python/core/agent/info/agent_info.py +++ b/adf_core_python/core/agent/info/agent_info.py @@ -2,6 +2,7 @@ from typing import Any from rcrs_core.agents.agent import Agent +from rcrs_core.entities.civilian import Civilian from rcrs_core.entities.entity import Entity from rcrs_core.entities.human import Human from rcrs_core.worldmodel.changeSet import ChangeSet @@ -137,8 +138,8 @@ def some_one_on_board(self) -> Human | None: """ entity_id: EntityID = self.get_entity_id() for entity in self._world_model.get_entities(): - if isinstance(entity, Human): - if entity.get_position_property() == entity_id: + if isinstance(entity, Civilian): + if entity.get_position() == entity_id: return entity return None diff --git a/adf_core_python/implement/extend_action/default_extend_action_transport.py b/adf_core_python/implement/extend_action/default_extend_action_transport.py index 338fb66..cad0aeb 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_transport.py +++ b/adf_core_python/implement/extend_action/default_extend_action_transport.py @@ -21,6 +21,7 @@ from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.extaction.ext_action import ExtAction from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning +from adf_core_python.core.logger.logger import get_agent_logger # TODO: refactor this class @@ -38,6 +39,10 @@ def __init__( ) self._target_entity_id: Optional[EntityID] = None self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self.agent_info, + ) match self.scenario_info.get_mode(): case Mode.NON_PRECOMPUTE: @@ -102,6 +107,7 @@ def calc(self) -> ExtAction: ) transport_human: Optional[Human] = self.agent_info.some_one_on_board() if transport_human is not None: + self._logger.debug(f"transport_human: {transport_human.get_id()}") self.result = self.calc_unload( agent, self._path_planning, transport_human, self._target_entity_id ) @@ -135,7 +141,7 @@ def calc_rescue( target_position = human.get_position() if agent_position == target_position: - if isinstance(human, Civilian) and ((human.get_buriedness() or 0) > 0): + if isinstance(human, Civilian) and ((human.get_buriedness() or 0) == 0): return ActionLoad(human.get_id()) else: path = path_planning.get_path(agent_position, target_position) diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index 05e58ce..5a96b23 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -1,6 +1,7 @@ from typing import Optional, cast from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.entities.civilian import Civilian from rcrs_core.entities.entity import Entity from rcrs_core.entities.human import Human from rcrs_core.worldmodel.entityID import EntityID @@ -12,6 +13,7 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.module.algorithm.clustering import Clustering from adf_core_python.core.component.module.complex.human_detector import HumanDetector +from adf_core_python.core.logger.logger import get_agent_logger class DefaultHumanDetector(HumanDetector): @@ -36,6 +38,10 @@ def __init__( self.register_sub_module(self._clustering) self._result: Optional[EntityID] = None + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) def calculate(self) -> HumanDetector: transport_human: Optional[Human] = self._agent_info.some_one_on_board() @@ -44,8 +50,11 @@ def calculate(self) -> HumanDetector: return self if self._result is not None: - if self._is_valid_human(self._result): - self._result = self._select_target() + if not self._is_valid_human(self._result): + self._result = None + + if self._result is None: + self._result = self._select_target() return self @@ -59,28 +68,54 @@ def _select_target(self) -> Optional[EntityID]: cluster_entities: list[Entity] = self._clustering.get_cluster_entities( cluster_index ) + + self._logger.debug( + f"cluster_entities: {[str(entity.get_id()) for entity in cluster_entities]}" + ) + cluster_valid_human_entities: list[Entity] = [ entity for entity in cluster_entities - if self._is_valid_human(entity.get_id()) + if self._is_valid_human(entity.get_id()) and isinstance(entity, Civilian) ] - if len(cluster_valid_human_entities) == 0: - return None + if len(cluster_valid_human_entities) != 0: + nearest_human_entity: Optional[Entity] = cluster_valid_human_entities[0] + nearest_distance: float = self._world_info.get_distance( + self._agent_info.get_entity_id(), + nearest_human_entity.get_id(), + ) + for entity in cluster_valid_human_entities: + distance: float = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_id(), + ) + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_id() - nearest_human_entity: Optional[Entity] = None - nearest_distance: float = 10**10 - for entity in cluster_valid_human_entities: - distance: float = self._world_info.get_distance( + world_valid_human_entities: list[Entity] = [ + entity + for entity in self._world_info.get_entities_of_types([Civilian]) + if self._is_valid_human(entity.get_id()) + ] + if len(world_valid_human_entities) != 0: + nearest_human_entity: Optional[Entity] = world_valid_human_entities[0] + nearest_distance: float = self._world_info.get_distance( self._agent_info.get_entity_id(), - entity.get_id(), + nearest_human_entity.get_id(), ) - if distance < nearest_distance: - nearest_distance = distance - nearest_human_entity = entity + for entity in world_valid_human_entities: + distance: float = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_id(), + ) + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_id() - return ( - nearest_human_entity.get_id() if nearest_human_entity is not None else None - ) + return None def _is_valid_human(self, target_entity_id: EntityID) -> bool: target: Optional[Entity] = self._world_info.get_entity(target_entity_id) @@ -94,6 +129,9 @@ def _is_valid_human(self, target_entity_id: EntityID) -> bool: buriedness: Optional[int] = target.get_buriedness() if buriedness is None or buriedness > 0: return False + damage: Optional[int] = target.get_damage() + if damage is None or damage == 0: + return False position_entity_id: Optional[EntityID] = target.get_position() if position_entity_id is None: return False diff --git a/adf_core_python/implement/module/complex/default_search.py b/adf_core_python/implement/module/complex/default_search.py index 3c35a4a..d57f6e1 100644 --- a/adf_core_python/implement/module/complex/default_search.py +++ b/adf_core_python/implement/module/complex/default_search.py @@ -1,7 +1,8 @@ from typing import Optional, cast -from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.entities.building import Building from rcrs_core.entities.entity import Entity +from rcrs_core.entities.refuge import Refuge from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -55,10 +56,8 @@ def update_info(self, message_manager: MessageManager) -> Search: if self.get_count_update_info() > 1: return self - searched_building_ids = self._world_info.get_change_set().get_changed_entities() - self._unsearched_building_ids = self._unsearched_building_ids.difference( - searched_building_ids - ) + searched_building_id = self._agent_info.get_position_entity_id() + self._unsearched_building_ids.discard(searched_building_id) if len(self._unsearched_building_ids) == 0: self._unsearched_building_ids = self._get_search_targets() @@ -91,8 +90,7 @@ def _get_search_targets(self) -> set[EntityID]: building_entity_ids: list[EntityID] = [ entity.get_id() for entity in cluster_entities - if entity.get_urn() == EntityURN.BUILDING - and entity.get_urn() != EntityURN.REFUGE + if isinstance(entity, Building) and not isinstance(entity, Refuge) ] return set(building_entity_ids) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 0d45df8..ad34f68 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -120,6 +120,10 @@ def think( entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._human_detector.calculate().get_target_entity_id() + self._logger.debug( + f"human detector target_entity_id: {target_entity_id}", + time=agent_info.get_time(), + ) if target_entity_id is not None: action = ( self._action_transport.set_target_entity_id(target_entity_id) @@ -131,6 +135,9 @@ def think( return action target_entity_id = self._search.calculate().get_target_entity_id() + self._logger.debug( + f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + ) if target_entity_id is not None: action = ( self._action_ext_move.set_target_entity_id(target_entity_id) From a234f0b418088e2b31b22521f3a0c30bd919eb20 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 10:33:25 +0900 Subject: [PATCH 083/249] refactor: Update KMeansClustering to set random_state and rename unsearched_building_ids in DefaultSearch --- .../module/algorithm/k_means_clustering.py | 2 +- .../module/complex/default_human_detector.py | 4 ---- .../module/complex/default_search.py | 20 ++++++++++++++----- 3 files changed, 16 insertions(+), 10 deletions(-) diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index ee6db38..0a432cb 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -112,7 +112,7 @@ def prepare(self) -> Clustering: def create_cluster( self, cluster_number: int, entities: list[Entity] ) -> list[list[Entity]]: - kmeans = KMeans(n_clusters=cluster_number) + kmeans = KMeans(n_clusters=cluster_number, random_state=0) entity_positions: np.ndarray = np.array([]) for entity in entities: location1_x, location1_y = entity.get_location() diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index 5a96b23..38ddb64 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -69,10 +69,6 @@ def _select_target(self) -> Optional[EntityID]: cluster_index ) - self._logger.debug( - f"cluster_entities: {[str(entity.get_id()) for entity in cluster_entities]}" - ) - cluster_valid_human_entities: list[Entity] = [ entity for entity in cluster_entities diff --git a/adf_core_python/implement/module/complex/default_search.py b/adf_core_python/implement/module/complex/default_search.py index d57f6e1..05d7c88 100644 --- a/adf_core_python/implement/module/complex/default_search.py +++ b/adf_core_python/implement/module/complex/default_search.py @@ -14,6 +14,7 @@ from adf_core_python.core.component.module.algorithm.clustering import Clustering from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning from adf_core_python.core.component.module.complex.search import Search +from adf_core_python.core.logger.logger import get_agent_logger class DefaultSearch(Search): @@ -29,7 +30,7 @@ def __init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._unsearched_building_ids: set[EntityID] = set() + self._unreached_building_ids: set[EntityID] = set() self._result: Optional[EntityID] = None self._clustering: Clustering = cast( @@ -48,6 +49,11 @@ def __init__( ), ) + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + self.register_sub_module(self._clustering) self.register_sub_module(self._path_planning) @@ -56,18 +62,22 @@ def update_info(self, message_manager: MessageManager) -> Search: if self.get_count_update_info() > 1: return self + self._logger.debug( + f"unreached_building_ids: {[str(id) for id in self._unreached_building_ids]}" + ) + searched_building_id = self._agent_info.get_position_entity_id() - self._unsearched_building_ids.discard(searched_building_id) + self._unreached_building_ids.discard(searched_building_id) - if len(self._unsearched_building_ids) == 0: - self._unsearched_building_ids = self._get_search_targets() + if len(self._unreached_building_ids) == 0: + self._unreached_building_ids = self._get_search_targets() return self def calculate(self) -> Search: nearest_building_id: Optional[EntityID] = None nearest_distance: Optional[float] = None - for building_id in self._unsearched_building_ids: + for building_id in self._unreached_building_ids: distance = self._world_info.get_distance( self._agent_info.get_entity_id(), building_id ) From d97ca891ac8f535716b4dcbadb03b0cda403b15a Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 12:21:13 +0900 Subject: [PATCH 084/249] refactor: Remove type annotations for nearest_human_entity and nearest_distance in DefaultHumanDetector --- .../module/complex/default_human_detector.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index 38ddb64..fa55bc6 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -75,13 +75,13 @@ def _select_target(self) -> Optional[EntityID]: if self._is_valid_human(entity.get_id()) and isinstance(entity, Civilian) ] if len(cluster_valid_human_entities) != 0: - nearest_human_entity: Optional[Entity] = cluster_valid_human_entities[0] - nearest_distance: float = self._world_info.get_distance( + nearest_human_entity = cluster_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( self._agent_info.get_entity_id(), nearest_human_entity.get_id(), ) for entity in cluster_valid_human_entities: - distance: float = self._world_info.get_distance( + distance = self._world_info.get_distance( self._agent_info.get_entity_id(), entity.get_id(), ) @@ -96,13 +96,13 @@ def _select_target(self) -> Optional[EntityID]: if self._is_valid_human(entity.get_id()) ] if len(world_valid_human_entities) != 0: - nearest_human_entity: Optional[Entity] = world_valid_human_entities[0] - nearest_distance: float = self._world_info.get_distance( + nearest_human_entity = world_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( self._agent_info.get_entity_id(), nearest_human_entity.get_id(), ) for entity in world_valid_human_entities: - distance: float = self._world_info.get_distance( + distance = self._world_info.get_distance( self._agent_info.get_entity_id(), entity.get_id(), ) From 9b4279685e9b80adf5031b11837a222089457f45 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 12:56:10 +0900 Subject: [PATCH 085/249] refactor: Simplify entity position handling in DefaultExtendActionMove --- .../extend_action/default_extend_action_move.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/adf_core_python/implement/extend_action/default_extend_action_move.py b/adf_core_python/implement/extend_action/default_extend_action_move.py index cd8d934..c46db5f 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_move.py +++ b/adf_core_python/implement/extend_action/default_extend_action_move.py @@ -84,10 +84,11 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: if entity is None: return self - if isinstance(entity, Blockade): - entity = self.world_info.get_entity(cast(Blockade, entity).get_position()) - elif isinstance(entity, Human): - entity = entity.get_position() + if isinstance(entity, Blockade) or isinstance(entity, Human): + position: Optional[EntityID] = entity.get_position() + if position is None: + return self + entity = self.world_info.get_entity(position) if entity is not None and isinstance(entity, Area): self._target_entity_id = entity.get_id() @@ -98,6 +99,9 @@ def calc(self) -> ExtAction: self.result = None agent: Human = cast(Human, self.agent_info.get_myself()) + if self._target_entity_id is None: + return self + path: list[EntityID] = self._path_planning.get_path( agent.get_position(), self._target_entity_id ) From bb8bf61a25260122535d96f77b0bf1b2669b17ff Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 13:00:49 +0900 Subject: [PATCH 086/249] refactor: fix typo --- .../implement/module/algorithm/a_star_path_planning.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/adf_core_python/implement/module/algorithm/a_star_path_planning.py b/adf_core_python/implement/module/algorithm/a_star_path_planning.py index cd4b802..63a258f 100644 --- a/adf_core_python/implement/module/algorithm/a_star_path_planning.py +++ b/adf_core_python/implement/module/algorithm/a_star_path_planning.py @@ -26,14 +26,14 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - entitites: list[Entity] = self._world_info.get_entities_of_types([Area]) + entities: list[Entity] = self._world_info.get_entities_of_types([Area]) self._graph: dict[EntityID, set[EntityID]] = {} - for entity in entitites: + for entity in entities: if isinstance(entity, Area): self._graph[entity.get_id()] = set( - neighbour - for neighbour in entity.get_neighbours() - if neighbour != EntityID(0) + neighbor + for neighbor in entity.get_neighbours() # TODO: Fix rcrs_core typo + if neighbor != EntityID(0) ) def get_path( From 26da37641e3bc105b5a2b1c121504d44908a6a24 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 13:02:35 +0900 Subject: [PATCH 087/249] refactor: Fix variable name typo from 'neighbour' to 'neighbor' in DefaultPoliceTargetAllocator --- .../complex/default_police_target_allocator.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/adf_core_python/implement/module/complex/default_police_target_allocator.py index acd2c4b..72e65e1 100644 --- a/adf_core_python/implement/module/complex/default_police_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -51,15 +51,15 @@ def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: ): building: Building = cast(Building, entity) for entity_id in building.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._target_areas.add(entity_id) for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) for entity_id in refuge.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._priority_areas.add(entity_id) return self @@ -76,15 +76,15 @@ def prepare(self) -> PoliceTargetAllocator: ): building: Building = cast(Building, entity) for entity_id in building.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._target_areas.add(entity_id) for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) for entity_id in refuge.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._priority_areas.add(entity_id) return self From 267f3bd0af1a68aa7d248cdd75a9ed407e155a01 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 13:03:09 +0900 Subject: [PATCH 088/249] refactor: Fix variable name typo from 'neighbour' to 'neighbor' in DefaultRoadDetector --- .../module/complex/default_road_detector.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index d6089a2..e4514ac 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -61,8 +61,8 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: if not isinstance(entity, Building): continue for entity_id in entity.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._target_areas.add(entity_id) self._priority_roads = set() @@ -70,8 +70,8 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: if not isinstance(entity, Building): continue for entity_id in entity.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._priority_roads.add(entity_id) return self @@ -88,16 +88,16 @@ def prepare(self) -> RoadDetector: for entity in entities: building: Building = cast(Building, entity) for entity_id in building.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._target_areas.add(entity_id) self._priority_roads = set() for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) for entity_id in refuge.get_neighbours(): - neighbour = self._world_info.get_entity(entity_id) - if isinstance(neighbour, Road): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): self._priority_roads.add(entity_id) return self From 1b5300c827a25f9c46b595e2a9962f25530daffc Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 13:11:27 +0900 Subject: [PATCH 089/249] refactor: Update action method in DefaultTacticsPoliceForce to use set_target_entity_id from action_ext_move --- .../implement/tactics/default_tactics_police_force.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 3253aeb..0a78597 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -116,7 +116,7 @@ def think( target_entity_id = self._road_detector.calculate().get_target_entity_id() if target_entity_id is not None: action = ( - self._action_ext_clear.set_target_entity_id(target_entity_id) + self._action_ext_move.set_target_entity_id(target_entity_id) .calc() .get_action() ) From fd95fce18685b3a01862be89ca692363be13ccae Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 13:34:21 +0900 Subject: [PATCH 090/249] refactor: Simplify CI workflow by removing redundant virtual environment caching steps --- .github/workflows/ci.yaml | 80 +++++++-------------------------------- 1 file changed, 14 insertions(+), 66 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index b0da406..bb98450 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -11,32 +11,19 @@ on: - develop jobs: + # これ以降のジョブでキャッシュが使えるようにする setup: runs-on: ubuntu-latest steps: - name: Checkout code uses: actions/checkout@v4 - - name: Set up Python + - &setup-python + name: Set up Python uses: actions/setup-python@v5 with: python-version: 3.12 - - - name: Cache virtual environment - uses: actions/cache@v4 - with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - restore-keys: | - ${{ runner.os }}-venv- - - - name: Install dependencies - run: | - python -m venv .venv - source .venv/bin/activate - pip install --upgrade pip - pip install poetry - poetry install + cache: 'poetry' ruff-format: needs: setup @@ -45,23 +32,13 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 - with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - restore-keys: | - ${{ runner.os }}-venv- + - *setup-python - name: Check ruff version - run: | - source .venv/bin/activate - poetry run ruff --version + run: poetry run ruff --version - name: Run ruff format check - run: | - source .venv/bin/activate - poetry run ruff format --check . + run: poetry run ruff format --check . ruff-lint: needs: setup @@ -70,26 +47,13 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 - with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - restore-keys: | - ${{ runner.os }}-venv- - - - name: Set up Python environment - run: source .venv/bin/activate + - *setup-python - name: Check ruff version - run: | - source .venv/bin/activate - poetry run ruff --version + run: poetry run ruff --version - name: Run ruff lint - run: | - source .venv/bin/activate - poetry run ruff check --output-format=github . + run: poetry run ruff check --output-format=github . mypy-type-check: needs: setup @@ -98,23 +62,13 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 - with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - restore-keys: | - ${{ runner.os }}-venv- + - *setup-python - name: Check mypy version - run: | - source .venv/bin/activate - poetry run mypy --version + run: poetry run mypy --version - name: Run mypy type check - run: | - source .venv/bin/activate - poetry run mypy . + run: poetry run mypy . pytest: needs: setup @@ -123,13 +77,7 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 - with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - restore-keys: | - ${{ runner.os }}-venv- + - *setup-python - name: Run pytest run: | From a4ac073db97eb100ba3a2ab9e89fbf2468e21ded Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 13:47:10 +0900 Subject: [PATCH 091/249] refactor: Use environment variables for Python version and cache type in CI workflow --- .github/workflows/ci.yaml | 36 +++++++++++++++++++++++++++--------- 1 file changed, 27 insertions(+), 9 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index bb98450..793e68a 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -10,6 +10,10 @@ on: - main - develop +env: + PYTHON_VERSION: 3.12 + PYTHON_CACHE_TYPE: 'poetry' + jobs: # これ以降のジョブでキャッシュが使えるようにする setup: @@ -18,12 +22,11 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - &setup-python - name: Set up Python + - name: Set up Python uses: actions/setup-python@v5 with: - python-version: 3.12 - cache: 'poetry' + python-version: ${{ env.PYTHON_VERSION }} + cache: ${{ env.PYTHON_CACHE_TYPE }} ruff-format: needs: setup @@ -32,7 +35,11 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - *setup-python + - name: Set up Python + uses: actions/setup-python@v5 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: ${{ env.PYTHON_CACHE_TYPE }} - name: Check ruff version run: poetry run ruff --version @@ -47,7 +54,11 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - *setup-python + - name: Set up Python + uses: actions/setup-python@v5 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: ${{ env.PYTHON_CACHE_TYPE }} - name: Check ruff version run: poetry run ruff --version @@ -62,7 +73,11 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - *setup-python + - name: Set up Python + uses: actions/setup-python@v5 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: ${{ env.PYTHON_CACHE_TYPE }} - name: Check mypy version run: poetry run mypy --version @@ -77,9 +92,12 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - *setup-python + - name: Set up Python + uses: actions/setup-python@v5 + with: + python-version: ${{ env.PYTHON_VERSION }} + cache: ${{ env.PYTHON_CACHE_TYPE }} - name: Run pytest run: | - source .venv/bin/activate poetry run pytest tests/ From df4d626a28e8eda006fac52ca00cfd6b11e59cc9 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 15:35:00 +0900 Subject: [PATCH 092/249] refactor: Streamline CI workflow by consolidating Python setup and virtual environment caching --- .github/workflows/ci.yaml | 84 +++++++++++++++++++++++++-------------- 1 file changed, 55 insertions(+), 29 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 793e68a..b3ee205 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -10,12 +10,7 @@ on: - main - develop -env: - PYTHON_VERSION: 3.12 - PYTHON_CACHE_TYPE: 'poetry' - jobs: - # これ以降のジョブでキャッシュが使えるようにする setup: runs-on: ubuntu-latest steps: @@ -25,8 +20,23 @@ jobs: - name: Set up Python uses: actions/setup-python@v5 with: - python-version: ${{ env.PYTHON_VERSION }} - cache: ${{ env.PYTHON_CACHE_TYPE }} + python-version: 3.12 + + - name: Cache virtual environment + id: cached-virtualenv + uses: actions/cache@v4 + with: + path: .venv + key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + + - name: Install dependencies + if: steps.cached-virtualenv.outputs.cache-hit != 'true' + run: | + python -m venv .venv + source .venv/bin/activate + pip install --upgrade pip + pip install poetry + poetry install ruff-format: needs: setup @@ -35,17 +45,21 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 + - name: Restore virtual environment cache + uses: actions/cache@v4 with: - python-version: ${{ env.PYTHON_VERSION }} - cache: ${{ env.PYTHON_CACHE_TYPE }} + path: .venv + key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - name: Check ruff version - run: poetry run ruff --version + run: | + source .venv/bin/activate + ruff --version - name: Run ruff format check - run: poetry run ruff format --check . + run: | + source .venv/bin/activate + ruff format --check . ruff-lint: needs: setup @@ -54,17 +68,24 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 + - name: Restore virtual environment cache + uses: actions/cache@v4 with: - python-version: ${{ env.PYTHON_VERSION }} - cache: ${{ env.PYTHON_CACHE_TYPE }} + path: .venv + key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + + - name: Set up Python environment + run: source .venv/bin/activate - name: Check ruff version - run: poetry run ruff --version + run: | + source .venv/bin/activate + poetry run ruff --version - name: Run ruff lint - run: poetry run ruff check --output-format=github . + run: | + source .venv/bin/activate + poetry run ruff check --output-format=github . mypy-type-check: needs: setup @@ -73,17 +94,21 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 + - name: Restore virtual environment cache + uses: actions/cache@v4 with: - python-version: ${{ env.PYTHON_VERSION }} - cache: ${{ env.PYTHON_CACHE_TYPE }} + path: .venv + key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - name: Check mypy version - run: poetry run mypy --version + run: | + source .venv/bin/activate + poetry run mypy --version - name: Run mypy type check - run: poetry run mypy . + run: | + source .venv/bin/activate + poetry run mypy . pytest: needs: setup @@ -92,12 +117,13 @@ jobs: - name: Checkout code uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 + - name: Restore virtual environment cache + uses: actions/cache@v4 with: - python-version: ${{ env.PYTHON_VERSION }} - cache: ${{ env.PYTHON_CACHE_TYPE }} + path: .venv + key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - name: Run pytest run: | + source .venv/bin/activate poetry run pytest tests/ From e3484b85e26149d035591a892acf120527769ac6 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 15:40:36 +0900 Subject: [PATCH 093/249] refactor: Update CI workflow to use Poetry for ruff commands and remove redundant Python environment setup --- .github/workflows/ci.yaml | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index b3ee205..9d37a27 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -54,12 +54,12 @@ jobs: - name: Check ruff version run: | source .venv/bin/activate - ruff --version + poetry run ruff --version - name: Run ruff format check run: | source .venv/bin/activate - ruff format --check . + poetry run ruff format --check . ruff-lint: needs: setup @@ -74,9 +74,6 @@ jobs: path: .venv key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - - name: Set up Python environment - run: source .venv/bin/activate - - name: Check ruff version run: | source .venv/bin/activate From aee0c252ed070a39fe2c02ec4e50d427025503f3 Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 9 Oct 2024 15:50:25 +0900 Subject: [PATCH 094/249] fix: Rename modules from ExtAction to ExtendAction --- .../core/agent/module/module_manager.py | 12 +- .../ext_action.py => action/extend_action.py} | 14 +-- .../core/component/tactics/tactics_agent.py | 8 +- adf_core_python/core/launcher/config_key.py | 2 +- .../default_extend_action_move.py | 16 +-- .../default_extend_action_transport.py | 16 +-- .../tactics/default_tactics_ambulance_team.py | 12 +- .../tactics/default_tactics_fire_brigade.py | 12 +- .../tactics/default_tactics_police_force.py | 12 +- config/module.yaml | 102 ++++++++-------- tests/core/agent/config/module.yaml | 114 +++++++++--------- tests/core/agent/config/test_module_config.py | 14 +-- tests/core/agent/module/module.yaml | 114 +++++++++--------- 13 files changed, 225 insertions(+), 223 deletions(-) rename adf_core_python/core/component/{extaction/ext_action.py => action/extend_action.py} (92%) rename adf_core_python/implement/{extend_action => action}/default_extend_action_move.py (92%) rename adf_core_python/implement/{extend_action => action}/default_extend_action_transport.py (96%) diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index 4f2dfbd..b15dd8e 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -3,7 +3,7 @@ import importlib from typing import TYPE_CHECKING, Any -from adf_core_python.core.component.extaction.ext_action import ExtAction +from adf_core_python.core.component.action.extend_action import ExtendAction from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: @@ -29,7 +29,7 @@ def __init__( self._module_config = module_config self._develop_data = develop_data self._modules: dict[str, AbstractModule] = {} - self._actions: dict[str, ExtAction] = {} + self._actions: dict[str, ExtendAction] = {} self._executors: dict[str, Any] = {} self._pickers: dict[str, Any] = {} @@ -63,7 +63,9 @@ def get_module(self, module_name: str, default_module_name: str) -> AbstractModu raise RuntimeError(f"Module {class_name} is not a subclass of AbstractModule") - def get_ext_action(self, action_name: str, default_action_name: str) -> ExtAction: + def get_extend_action( + self, action_name: str, default_action_name: str + ) -> ExtendAction: class_name = self._module_config.get_value_or_default( action_name, default_action_name ) @@ -77,7 +79,7 @@ def get_ext_action(self, action_name: str, default_action_name: str) -> ExtActio if instance is not None: return instance - if issubclass(action_class, ExtAction): + if issubclass(action_class, ExtendAction): instance = action_class( self._agent_info, self._world_info, @@ -88,7 +90,7 @@ def get_ext_action(self, action_name: str, default_action_name: str) -> ExtActio self._actions[action_name] = instance return instance - raise RuntimeError(f"Action {class_name} is not a subclass of ExtAction") + raise RuntimeError(f"Action {class_name} is not a subclass of ExtendAction") def _load_module(self, class_name: str) -> type: module_name, module_class_name = class_name.rsplit(".", 1) diff --git a/adf_core_python/core/component/extaction/ext_action.py b/adf_core_python/core/component/action/extend_action.py similarity index 92% rename from adf_core_python/core/component/extaction/ext_action.py rename to adf_core_python/core/component/action/extend_action.py index e474a8f..752f64c 100644 --- a/adf_core_python/core/component/extaction/ext_action.py +++ b/adf_core_python/core/component/action/extend_action.py @@ -16,7 +16,7 @@ from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -class ExtAction(ABC): +class ExtendAction(ABC): def __init__( self, agent_info: AgentInfo, @@ -38,29 +38,29 @@ def __init__( self.count_update_info_current_time: int = 0 @abstractmethod - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: raise NotImplementedError @abstractmethod - def calc(self) -> ExtAction: + def calc(self) -> ExtendAction: raise NotImplementedError def get_action(self) -> Optional[Action]: return self.result - def precompute(self, precompute_data: PrecomputeData) -> ExtAction: + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: self.count_precompute += 1 return self - def resume(self, precompute_data: PrecomputeData) -> ExtAction: + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: self.count_resume += 1 return self - def prepare(self) -> ExtAction: + def prepare(self) -> ExtendAction: self.count_prepare += 1 return self - def update_info(self, message_manager: MessageManager) -> ExtAction: + def update_info(self, message_manager: MessageManager) -> ExtendAction: self.count_update_info += 1 return self diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index fab20dc..b513441 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -14,7 +14,7 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.component.extaction.ext_action import ExtAction + from adf_core_python.core.component.action.extend_action import ExtendAction from adf_core_python.core.component.module.abstract_module import AbstractModule @@ -22,7 +22,7 @@ class TacticsAgent(ABC): def __init__(self, parent: Optional[TacticsAgent] = None) -> None: self._parent = parent self._modules: list[AbstractModule] = [] - self._actions: list[ExtAction] = [] + self._actions: list[ExtendAction] = [] self._command_executor: Any = None @abstractmethod @@ -100,10 +100,10 @@ def register_module(self, module: AbstractModule) -> None: def unregister_module(self, module: AbstractModule) -> None: self._modules.remove(module) - def register_action(self, action: ExtAction) -> None: + def register_action(self, action: ExtendAction) -> None: self._actions.append(action) - def unregister_action(self, action: ExtAction) -> None: + def unregister_action(self, action: ExtendAction) -> None: self._actions.remove(action) def register_command_executor(self, command_executor: Any) -> None: diff --git a/adf_core_python/core/launcher/config_key.py b/adf_core_python/core/launcher/config_key.py index bcb2577..69d7d35 100644 --- a/adf_core_python/core/launcher/config_key.py +++ b/adf_core_python/core/launcher/config_key.py @@ -3,7 +3,7 @@ class ConfigKey: # General - KEY_LOADER_CLASS: Final[str] = "adf.launcher.loader" + KEY_LOADER_CLASS: Final[str] = "adf_core_python.launcher.loader" KEY_KERNEL_HOST: Final[str] = "kernel.host" KEY_KERNEL_PORT: Final[str] = "kernel.port" KEY_TEAM_NAME: Final[str] = "team.name" diff --git a/adf_core_python/implement/extend_action/default_extend_action_move.py b/adf_core_python/implement/action/default_extend_action_move.py similarity index 92% rename from adf_core_python/implement/extend_action/default_extend_action_move.py rename to adf_core_python/implement/action/default_extend_action_move.py index cd8d934..9026816 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_move.py +++ b/adf_core_python/implement/action/default_extend_action_move.py @@ -15,11 +15,11 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -from adf_core_python.core.component.extaction.ext_action import ExtAction +from adf_core_python.core.component.action.extend_action import ExtendAction from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning -class DefaultExtendActionMove(ExtAction): +class DefaultExtendActionMove(ExtendAction): def __init__( self, agent_info: AgentInfo, @@ -49,35 +49,35 @@ def __init__( case Mode.PRECOMPUTED: pass - def precompute(self, precompute_data: PrecomputeData) -> ExtAction: + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: super().precompute(precompute_data) if self.get_count_precompute() > 1: return self self._path_planning.precompute(precompute_data) return self - def resume(self, precompute_data: PrecomputeData) -> ExtAction: + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: super().resume(precompute_data) if self.get_count_resume() > 1: return self self._path_planning.resume(precompute_data) return self - def prepare(self) -> ExtAction: + def prepare(self) -> ExtendAction: super().prepare() if self.get_count_prepare() > 1: return self self._path_planning.prepare() return self - def update_info(self, message_manager: MessageManager) -> ExtAction: + def update_info(self, message_manager: MessageManager) -> ExtendAction: super().update_info(message_manager) if self.get_count_update_info() > 1: return self self._path_planning.update_info(message_manager) return self - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: entity: Optional[Entity] = self.world_info.get_entity(target_entity_id) self._target_entity_id = None @@ -94,7 +94,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: return self - def calc(self) -> ExtAction: + def calc(self) -> ExtendAction: self.result = None agent: Human = cast(Human, self.agent_info.get_myself()) diff --git a/adf_core_python/implement/extend_action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py similarity index 96% rename from adf_core_python/implement/extend_action/default_extend_action_transport.py rename to adf_core_python/implement/action/default_extend_action_transport.py index cad0aeb..fec221f 100644 --- a/adf_core_python/implement/extend_action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -19,13 +19,13 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -from adf_core_python.core.component.extaction.ext_action import ExtAction +from adf_core_python.core.component.action.extend_action import ExtendAction from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning from adf_core_python.core.logger.logger import get_agent_logger # TODO: refactor this class -class DefaultExtendActionTransport(ExtAction): +class DefaultExtendActionTransport(ExtendAction): def __init__( self, agent_info: AgentInfo, @@ -58,35 +58,35 @@ def __init__( case Mode.PRECOMPUTED: pass - def precompute(self, precompute_data: PrecomputeData) -> ExtAction: + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: super().precompute(precompute_data) if self.get_count_precompute() > 1: return self self._path_planning.precompute(precompute_data) return self - def resume(self, precompute_data: PrecomputeData) -> ExtAction: + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: super().resume(precompute_data) if self.get_count_resume() > 1: return self self._path_planning.resume(precompute_data) return self - def prepare(self) -> ExtAction: + def prepare(self) -> ExtendAction: super().prepare() if self.get_count_prepare() > 1: return self self._path_planning.prepare() return self - def update_info(self, message_manager: MessageManager) -> ExtAction: + def update_info(self, message_manager: MessageManager) -> ExtendAction: super().update_info(message_manager) if self.get_count_update_info() > 1: return self self._path_planning.update_info(message_manager) return self - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: entity: Optional[Entity] = self.world_info.get_world_model().get_entity( target_entity_id ) @@ -100,7 +100,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction: return self - def calc(self) -> ExtAction: + def calc(self) -> ExtendAction: self._result = None agent: AmbulanceTeamEntity = cast( AmbulanceTeamEntity, self.agent_info.get_myself() diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index ad34f68..5d7e4bb 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -55,13 +55,13 @@ def initialize( "adf_core_python.core.component.module.complex.human_detector.HumanDetector", ), ) - self._action_transport = module_manager.get_ext_action( - "DefaultTacticsAmbulanceTeam.ExtActionTransport", - "adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtendActionTransport", + self._action_transport = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionTransport", + "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", ) - self._action_ext_move = module_manager.get_ext_action( - "DefaultTacticsAmbulanceTeam.ExtActionMove", - "adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtendActionMove", + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) self.register_module(self._search) self.register_module(self._human_detector) diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index 2af3378..a61f6ff 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -46,13 +46,13 @@ def initialize( "adf_core_python.impl.module.complex.DefaultHumanDetector", ), ) - self._action_fire_rescue = module_manager.get_ext_action( - "DefaultTacticsFireBrigade.ExtActionFireRescue", - "adf_core_python.impl.extaction.DefaultExtActionFireRescue", + self._action_fire_rescue = module_manager.get_extend_action( + "DefaultTacticsFireBrigade.ExtendActionRescue", + "adf_core_python.implement.action.DefaultExtendActionRescue", ) - self._action_ext_move = module_manager.get_ext_action( - "DefaultTacticsAmbulanceTeam.ExtActionMove", - "adf_core_python.impl.extaction.DefaultExtActionMove", + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionMove", + "adf_core_python.implement.action.DefaultExtendActionMove", ) self.register_module(self._search) self.register_module(self._human_detector) diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 3253aeb..a9f6e92 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -50,13 +50,13 @@ def initialize( "adf_core_python.implement.module.complex.DefaultRoadDetector", ), ) - self._action_ext_clear = module_manager.get_ext_action( - "DefaultTacticsPoliceForce.ExtActionClear", - "adf_core_python.implement.extaction.DefaultExtActionClear", + self._action_ext_clear = module_manager.get_extend_action( + "DefaultTacticsPoliceForce.ExtendActionClear", + "adf_core_python.implement.action.DefaultExtendActionClear", ) - self._action_ext_move = module_manager.get_ext_action( - "DefaultTacticsPoliceForce.ExtActionMove", - "adf_core_python.implement.extaction.DefaultExtActionMove", + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsPoliceForce.ExtendActionMove", + "adf_core_python.implement.action.DefaultExtendActionMove", ) self.register_module(self._search) self.register_module(self._road_detector) diff --git a/config/module.yaml b/config/module.yaml index a7dff76..3047c7a 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -2,43 +2,43 @@ DefaultTacticsAmbulanceTeam: HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector Search: adf_core_python.implement.module.complex.default_search.DefaultSearch - ExtActionTransport: adf_core_python.implement.extend_action.default_extend_action_transport.DefaultExtendActionTransport - ExtActionMove: adf_core_python.implement.extend_action.default_extend_action_move.DefaultExtendActionMove - CommandExecutorAmbulance: adf.impl.centralized.DefaultCommandExecutorAmbulance - CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove + CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout # ## DefaultTacticsFireBrigade # DefaultTacticsFireBrigade: # HumanDetector: sample_team.module.complex.SampleHumanDetector # Search: sample_team.module.complex.SampleSearch -# ExtActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue -# ExtActionMove: adf.impl.extaction.DefaultExtActionMove -# CommandExecutorFire: adf.impl.centralized.DefaultCommandExecutorFire -# CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout +# ExtendActionRescue: adf_core_python.implement.action.DefaultExtendActionRescue +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +# CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire +# CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout # ## DefaultTacticsPoliceForce # DefaultTacticsPoliceForce: # RoadDetector: sample_team.module.complex.SampleRoadDetector # Search: sample_team.module.complex.SampleSearch -# ExtActionClear: adf.impl.extaction.DefaultExtActionClear -# ExtActionMove: adf.impl.extaction.DefaultExtActionMove -# CommandExecutorPolice: adf.impl.centralized.DefaultCommandExecutorPolice -# CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScoutPolice +# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +# CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice +# CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice # ## DefaultTacticsAmbulanceCentre # DefaultTacticsAmbulanceCentre: # TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator -# CommandPicker: adf.impl.centralized.DefaultCommandPickerAmbulance +# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance # ## DefaultTacticsFireStation # DefaultTacticsFireStation: # TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator -# CommandPicker: adf.impl.centralized.DefaultCommandPickerFire +# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire # ## DefaultTacticsPoliceOffice # DefaultTacticsPoliceOffice: # TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator -# CommandPicker: adf.impl.centralized.DefaultCommandPickerPolice +# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice ## SampleSearch SampleSearch: @@ -47,70 +47,70 @@ SampleSearch: # ## SampleBuildDetector # SampleBuildingDetector: -# Clustering: adf.impl.module.algorithm.KMeansClustering +# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering # ## SampleRoadDetector # SampleRoadDetector: -# Clustering: adf.impl.module.algorithm.KMeansClustering -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning # ## SampleHumanDetector # SampleHumanDetector: -# Clustering: adf.impl.module.algorithm.KMeansClustering +# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering -# ## DefaultExtActionClear -# DefaultExtActionClear: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ## DefaultExtendActionClear +# DefaultExtendActionClear: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -# ## DefaultExtActionFireFighting -# DefaultExtActionFireFighting: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ## DefaultExtendActionFireFighting +# DefaultExtendActionFireFighting: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -# ## DefaultExtActionFireRescue -# DefaultExtActionFireRescue: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ## DefaultExtendActionRescue +# DefaultExtendActionRescue: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -# ## DefaultExtActionMove -# DefaultExtActionMove: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ## DefaultExtendActionMove +# DefaultExtendActionMove: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -# ## DefaultExtActionTransport -# DefaultExtActionTransport: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# ## DefaultExtendActionTransport +# DefaultExtendActionTransport: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning # ## DefaultCommandExecutorAmbulance # DefaultCommandExecutorAmbulance: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning -# ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport -# ExtActionMove: adf.impl.extaction.DefaultExtActionMove +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove # ## DefaultCommandExecutorFire # DefaultCommandExecutorFire: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning -# EtxActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue -# EtxActionFireFighting: adf.impl.extaction.DefaultExtActionFireFighting -# ExtActionMove: adf.impl.extaction.DefaultExtActionMove +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue +# EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove # ## DefaultCommandExecutorPolice # DefaultCommandExecutorPolice: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning -# ExtActionClear: adf.impl.extaction.DefaultExtActionClear -# ExtActionMove: adf.impl.extaction.DefaultExtActionMove +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove # ## DefaultCommandExecutorScout # DefaultCommandExecutorScout: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning # ## DefaultCommandExecutorScoutPolice # DefaultCommandExecutorScoutPolice: -# PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning -# ExtActionClear: adf.impl.extaction.DefaultExtActionClear +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear # ## MessageManager # MessageManager: -# PlatoonChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber -# CenterChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber -# PlatoonMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator -# CenterMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator +# PlatoonChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber +# CenterChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber +# PlatoonMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator +# CenterMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator # ## VisualDebug # VisualDebug: true diff --git a/tests/core/agent/config/module.yaml b/tests/core/agent/config/module.yaml index 6e27f99..54c54a9 100644 --- a/tests/core/agent/config/module.yaml +++ b/tests/core/agent/config/module.yaml @@ -2,122 +2,122 @@ DefaultTacticsAmbulanceTeam: HumanDetector: sample_team.module.complex.SampleHumanDetector Search: sample_team.module.complex.SampleSearch - ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport - ExtActionMove: adf.impl.extaction.DefaultExtActionMove - CommandExecutorAmbulance: adf.impl.centralized.DefaultCommandExecutorAmbulance - CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout ## DefaultTacticsFireBrigade DefaultTacticsFireBrigade: HumanDetector: sample_team.module.complex.SampleHumanDetector Search: sample_team.module.complex.SampleSearch - ExtActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue - ExtActionMove: adf.impl.extaction.DefaultExtActionMove - CommandExecutorFire: adf.impl.centralized.DefaultCommandExecutorFire - CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + ExtendActionRescue: adf_core_python.implement.action.DefaultExtendActionRescue + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout ## DefaultTacticsPoliceForce DefaultTacticsPoliceForce: RoadDetector: sample_team.module.complex.SampleRoadDetector Search: sample_team.module.complex.SampleSearch - ExtActionClear: adf.impl.extaction.DefaultExtActionClear - ExtActionMove: adf.impl.extaction.DefaultExtActionMove - CommandExecutorPolice: adf.impl.centralized.DefaultCommandExecutorPolice - CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScoutPolice + ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice ## DefaultTacticsAmbulanceCentre DefaultTacticsAmbulanceCentre: TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator - CommandPicker: adf.impl.centralized.DefaultCommandPickerAmbulance + CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance ## DefaultTacticsFireStation DefaultTacticsFireStation: TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator - CommandPicker: adf.impl.centralized.DefaultCommandPickerFire + CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire ## DefaultTacticsPoliceOffice DefaultTacticsPoliceOffice: TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator - CommandPicker: adf.impl.centralized.DefaultCommandPickerPolice + CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice ## SampleSearch SampleSearch: PathPlanning: - Ambulance: adf.impl.module.algorithm.DijkstraPathPlanning - Fire: adf.impl.module.algorithm.DijkstraPathPlanning - Police: adf.impl.module.algorithm.DijkstraPathPlanning + Ambulance: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + Fire: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + Police: adf_core_python.implement.module.algorithm.DijkstraPathPlanning Clustering: - Ambulance: adf.impl.module.algorithm.KMeansClustering - Fire: adf.impl.module.algorithm.KMeansClustering - Police: adf.impl.module.algorithm.KMeansClustering + Ambulance: adf_core_python.implement.module.algorithm.KMeansClustering + Fire: adf_core_python.implement.module.algorithm.KMeansClustering + Police: adf_core_python.implement.module.algorithm.KMeansClustering ## SampleBuildDetector SampleBuildingDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering + Clustering: adf_core_python.implement.module.algorithm.KMeansClustering ## SampleRoadDetector SampleRoadDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + Clustering: adf_core_python.implement.module.algorithm.KMeansClustering + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning ## SampleHumanDetector SampleHumanDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering + Clustering: adf_core_python.implement.module.algorithm.KMeansClustering -## DefaultExtActionClear -DefaultExtActionClear: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionClear +DefaultExtendActionClear: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionFireFighting -DefaultExtActionFireFighting: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionFireFighting +DefaultExtendActionFireFighting: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionFireRescue -DefaultExtActionFireRescue: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionRescue +DefaultExtendActionRescue: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionMove -DefaultExtActionMove: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionMove +DefaultExtendActionMove: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionTransport -DefaultExtActionTransport: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionTransport +DefaultExtendActionTransport: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning ## DefaultCommandExecutorAmbulance DefaultCommandExecutorAmbulance: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport - ExtActionMove: adf.impl.extaction.DefaultExtActionMove + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove ## DefaultCommandExecutorFire DefaultCommandExecutorFire: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - EtxActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue - EtxActionFireFighting: adf.impl.extaction.DefaultExtActionFireFighting - ExtActionMove: adf.impl.extaction.DefaultExtActionMove + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue + EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove ## DefaultCommandExecutorPolice DefaultCommandExecutorPolice: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - ExtActionClear: adf.impl.extaction.DefaultExtActionClear - ExtActionMove: adf.impl.extaction.DefaultExtActionMove + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove ## DefaultCommandExecutorScout DefaultCommandExecutorScout: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning ## DefaultCommandExecutorScoutPolice DefaultCommandExecutorScoutPolice: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - ExtActionClear: adf.impl.extaction.DefaultExtActionClear + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear ## MessageManager MessageManager: - PlatoonChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber - CenterChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber - PlatoonMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator - CenterMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator + PlatoonChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber + CenterChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber + PlatoonMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator + CenterMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator ## VisualDebug VisualDebug: true diff --git a/tests/core/agent/config/test_module_config.py b/tests/core/agent/config/test_module_config.py index fcdd099..af0aa95 100644 --- a/tests/core/agent/config/test_module_config.py +++ b/tests/core/agent/config/test_module_config.py @@ -16,31 +16,31 @@ def test_can_read_from_yaml(self) -> None: ) assert ( config.get_value("DefaultTacticsPoliceOffice.CommandPicker") - == "adf.impl.centralized.DefaultCommandPickerPolice" + == "adf_core_python.implement.centralized.DefaultCommandPickerPolice" ) assert ( config.get_value("SampleSearch.PathPlanning.Ambulance") - == "adf.impl.module.algorithm.DijkstraPathPlanning" + == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" ) assert ( config.get_value("SampleSearch.PathPlanning.Fire") - == "adf.impl.module.algorithm.DijkstraPathPlanning" + == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" ) assert ( config.get_value("SampleSearch.PathPlanning.Police") - == "adf.impl.module.algorithm.DijkstraPathPlanning" + == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" ) assert ( config.get_value("SampleSearch.Clustering.Ambulance") - == "adf.impl.module.algorithm.KMeansClustering" + == "adf_core_python.implement.module.algorithm.KMeansClustering" ) assert ( config.get_value("SampleSearch.Clustering.Fire") - == "adf.impl.module.algorithm.KMeansClustering" + == "adf_core_python.implement.module.algorithm.KMeansClustering" ) assert ( config.get_value("SampleSearch.Clustering.Police") - == "adf.impl.module.algorithm.KMeansClustering" + == "adf_core_python.implement.module.algorithm.KMeansClustering" ) def test_if_file_not_found(self) -> None: diff --git a/tests/core/agent/module/module.yaml b/tests/core/agent/module/module.yaml index 6e27f99..54c54a9 100644 --- a/tests/core/agent/module/module.yaml +++ b/tests/core/agent/module/module.yaml @@ -2,122 +2,122 @@ DefaultTacticsAmbulanceTeam: HumanDetector: sample_team.module.complex.SampleHumanDetector Search: sample_team.module.complex.SampleSearch - ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport - ExtActionMove: adf.impl.extaction.DefaultExtActionMove - CommandExecutorAmbulance: adf.impl.centralized.DefaultCommandExecutorAmbulance - CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout ## DefaultTacticsFireBrigade DefaultTacticsFireBrigade: HumanDetector: sample_team.module.complex.SampleHumanDetector Search: sample_team.module.complex.SampleSearch - ExtActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue - ExtActionMove: adf.impl.extaction.DefaultExtActionMove - CommandExecutorFire: adf.impl.centralized.DefaultCommandExecutorFire - CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScout + ExtendActionRescue: adf_core_python.implement.action.DefaultExtendActionRescue + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout ## DefaultTacticsPoliceForce DefaultTacticsPoliceForce: RoadDetector: sample_team.module.complex.SampleRoadDetector Search: sample_team.module.complex.SampleSearch - ExtActionClear: adf.impl.extaction.DefaultExtActionClear - ExtActionMove: adf.impl.extaction.DefaultExtActionMove - CommandExecutorPolice: adf.impl.centralized.DefaultCommandExecutorPolice - CommandExecutorScout: adf.impl.centralized.DefaultCommandExecutorScoutPolice + ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice ## DefaultTacticsAmbulanceCentre DefaultTacticsAmbulanceCentre: TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator - CommandPicker: adf.impl.centralized.DefaultCommandPickerAmbulance + CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance ## DefaultTacticsFireStation DefaultTacticsFireStation: TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator - CommandPicker: adf.impl.centralized.DefaultCommandPickerFire + CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire ## DefaultTacticsPoliceOffice DefaultTacticsPoliceOffice: TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator - CommandPicker: adf.impl.centralized.DefaultCommandPickerPolice + CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice ## SampleSearch SampleSearch: PathPlanning: - Ambulance: adf.impl.module.algorithm.DijkstraPathPlanning - Fire: adf.impl.module.algorithm.DijkstraPathPlanning - Police: adf.impl.module.algorithm.DijkstraPathPlanning + Ambulance: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + Fire: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + Police: adf_core_python.implement.module.algorithm.DijkstraPathPlanning Clustering: - Ambulance: adf.impl.module.algorithm.KMeansClustering - Fire: adf.impl.module.algorithm.KMeansClustering - Police: adf.impl.module.algorithm.KMeansClustering + Ambulance: adf_core_python.implement.module.algorithm.KMeansClustering + Fire: adf_core_python.implement.module.algorithm.KMeansClustering + Police: adf_core_python.implement.module.algorithm.KMeansClustering ## SampleBuildDetector SampleBuildingDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering + Clustering: adf_core_python.implement.module.algorithm.KMeansClustering ## SampleRoadDetector SampleRoadDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + Clustering: adf_core_python.implement.module.algorithm.KMeansClustering + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning ## SampleHumanDetector SampleHumanDetector: - Clustering: adf.impl.module.algorithm.KMeansClustering + Clustering: adf_core_python.implement.module.algorithm.KMeansClustering -## DefaultExtActionClear -DefaultExtActionClear: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionClear +DefaultExtendActionClear: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionFireFighting -DefaultExtActionFireFighting: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionFireFighting +DefaultExtendActionFireFighting: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionFireRescue -DefaultExtActionFireRescue: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionRescue +DefaultExtendActionRescue: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionMove -DefaultExtActionMove: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionMove +DefaultExtendActionMove: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -## DefaultExtActionTransport -DefaultExtActionTransport: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning +## DefaultExtendActionTransport +DefaultExtendActionTransport: + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning ## DefaultCommandExecutorAmbulance DefaultCommandExecutorAmbulance: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - ExtActionTransport: adf.impl.extaction.DefaultExtActionTransport - ExtActionMove: adf.impl.extaction.DefaultExtActionMove + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove ## DefaultCommandExecutorFire DefaultCommandExecutorFire: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - EtxActionFireRescue: adf.impl.extaction.DefaultExtActionFireRescue - EtxActionFireFighting: adf.impl.extaction.DefaultExtActionFireFighting - ExtActionMove: adf.impl.extaction.DefaultExtActionMove + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue + EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove ## DefaultCommandExecutorPolice DefaultCommandExecutorPolice: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - ExtActionClear: adf.impl.extaction.DefaultExtActionClear - ExtActionMove: adf.impl.extaction.DefaultExtActionMove + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove ## DefaultCommandExecutorScout DefaultCommandExecutorScout: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning ## DefaultCommandExecutorScoutPolice DefaultCommandExecutorScoutPolice: - PathPlanning: adf.impl.module.algorithm.DijkstraPathPlanning - ExtActionClear: adf.impl.extaction.DefaultExtActionClear + PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear ## MessageManager MessageManager: - PlatoonChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber - CenterChannelSubscriber: adf.impl.module.comm.DefaultChannelSubscriber - PlatoonMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator - CenterMessageCoordinator: adf.impl.module.comm.DefaultMessageCoordinator + PlatoonChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber + CenterChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber + PlatoonMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator + CenterMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator ## VisualDebug VisualDebug: true From d8a08857667ce909e0dfda55467b4ebce5279c64 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 15:52:10 +0900 Subject: [PATCH 095/249] refactor: Swap action_ext_move and action_ext_clear in DefaultTacticsPoliceForce --- .../implement/tactics/default_tactics_police_force.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 0a78597..ac649aa 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -116,7 +116,7 @@ def think( target_entity_id = self._road_detector.calculate().get_target_entity_id() if target_entity_id is not None: action = ( - self._action_ext_move.set_target_entity_id(target_entity_id) + self._action_ext_clear.set_target_entity_id(target_entity_id) .calc() .get_action() ) @@ -126,7 +126,7 @@ def think( target_entity_id = self._search.calculate().get_target_entity_id() if target_entity_id is not None: action = ( - self._action_ext_clear.set_target_entity_id(target_entity_id) + self._action_ext_move.set_target_entity_id(target_entity_id) .calc() .get_action() ) From f9004de25b0901cb0e73798c651dc212cc6b243e Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 9 Oct 2024 16:16:11 +0900 Subject: [PATCH 096/249] ci: Simplify CI workflow by removing poetry activation and setting path directly --- .github/workflows/ci.yaml | 40 +++++++++++++++++++-------------------- 1 file changed, 19 insertions(+), 21 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 9d37a27..9854a70 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -51,15 +51,14 @@ jobs: path: .venv key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + - name: Set path + run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH + - name: Check ruff version - run: | - source .venv/bin/activate - poetry run ruff --version + run: ruff --version - name: Run ruff format check - run: | - source .venv/bin/activate - poetry run ruff format --check . + run: ruff format --check . ruff-lint: needs: setup @@ -74,15 +73,14 @@ jobs: path: .venv key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + - name: Set path + run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH + - name: Check ruff version - run: | - source .venv/bin/activate - poetry run ruff --version + run: ruff --version - name: Run ruff lint - run: | - source .venv/bin/activate - poetry run ruff check --output-format=github . + run: ruff check --output-format=github . mypy-type-check: needs: setup @@ -97,15 +95,14 @@ jobs: path: .venv key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + - name: Set path + run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH + - name: Check mypy version - run: | - source .venv/bin/activate - poetry run mypy --version + run: mypy --version - name: Run mypy type check - run: | - source .venv/bin/activate - poetry run mypy . + run: mypy . pytest: needs: setup @@ -120,7 +117,8 @@ jobs: path: .venv key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + - name: Set path + run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH + - name: Run pytest - run: | - source .venv/bin/activate - poetry run pytest tests/ + run: pytest tests/ From f3beb56129a0cf86ff60d2393426b45cd7e1dbac Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 11 Oct 2024 11:25:26 +0900 Subject: [PATCH 097/249] fix: add count reset --- .../implement/tactics/default_tactics_fire_brigade.py | 1 + .../implement/tactics/default_tactics_police_force.py | 1 + 2 files changed, 2 insertions(+) diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index a61f6ff..f9eabd0 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -104,6 +104,7 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> Action: + self.reset_count() self.module_update_info(message_manager) agent: FireBrigadeEntity = cast(FireBrigadeEntity, agent_info.get_myself()) # noqa: F841 diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 82bfae7..3cb08cc 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -108,6 +108,7 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> Action: + self.reset_count() self.module_update_info(message_manager) agent: PoliceForceEntity = cast(PoliceForceEntity, agent_info.get_myself()) # noqa: F841 From 301124737888cffe69f1a5f98bdc874229b8de23 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 17 Oct 2024 17:08:15 +0900 Subject: [PATCH 098/249] fix: update protobuf to version 5.28.2 and adjust Python version compatibility --- poetry.lock | 43 ++++++++++++++++--------------------------- 1 file changed, 16 insertions(+), 27 deletions(-) diff --git a/poetry.lock b/poetry.lock index d96029f..7ae97d6 100644 --- a/poetry.lock +++ b/poetry.lock @@ -191,33 +191,22 @@ testing = ["pytest", "pytest-benchmark"] [[package]] name = "protobuf" -version = "3.20.3" -description = "Protocol Buffers" +version = 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.../core/component/action/extend_action.py | 2 +- .../core/launcher/agent_launcher.py | 21 +- .../connect/connector_ambulance_team.py | 2 +- .../connect/connector_fire_brigade.py | 30 +- .../connect/connector_fire_station.py | 2 +- .../connect/connector_police_force.py | 32 +- .../connect/connector_police_office.py | 4 +- .../action/default_extend_action_clear.py | 753 ++++++++++++++++++ .../action/default_extend_action_move.py | 2 +- .../action/default_extend_action_rescue.py | 149 ++++ .../action/default_extend_action_transport.py | 2 +- .../module/complex/default_road_detector.py | 6 +- .../tactics/default_tactics_ambulance_team.py | 4 +- .../tactics/default_tactics_fire_brigade.py | 37 +- .../tactics/default_tactics_police_force.py | 34 +- adf_core_python/main.py | 8 +- config/module.yaml | 28 +- poetry.lock | 161 ++-- pyproject.toml | 1 + 25 files changed, 1259 insertions(+), 128 deletions(-) create mode 100644 adf_core_python/core/agent/platoon/platoon_fire.py create mode 100644 adf_core_python/core/agent/platoon/platoon_police.py create mode 100644 adf_core_python/implement/action/default_extend_action_clear.py create mode 100644 adf_core_python/implement/action/default_extend_action_rescue.py diff --git a/adf_core_python/core/agent/action/common/action_move.py b/adf_core_python/core/agent/action/common/action_move.py index d5f586b..2baaba4 100644 --- a/adf_core_python/core/agent/action/common/action_move.py +++ b/adf_core_python/core/agent/action/common/action_move.py @@ -22,6 +22,15 @@ def __init__( self.destination_x = destination_x self.destination_y = destination_y + def is_destination_defined(self) -> bool: + return self.destination_x is not None and self.destination_y is not None + + def get_destination_x(self) -> Optional[int]: + return self.destination_x + + def get_destination_y(self) -> Optional[int]: + return self.destination_y + def get_command(self, agent_id: EntityID, time: int) -> Command: path: list[int] = [p.get_value() for p in self.path] if self.destination_x is not None and self.destination_y is not None: diff --git a/adf_core_python/core/agent/action/police/action_clear.py b/adf_core_python/core/agent/action/police/action_clear.py index dcee14a..b343336 100644 --- a/adf_core_python/core/agent/action/police/action_clear.py +++ b/adf_core_python/core/agent/action/police/action_clear.py @@ -1,12 +1,14 @@ from typing import TYPE_CHECKING from rcrs_core.commands.AKClear import AKClear +from rcrs_core.commands.Command import Command +from rcrs_core.entities.blockade import Blockade +from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.action.action import Action if TYPE_CHECKING: from rcrs_core.commands.Command import Command - from rcrs_core.entities.blockade import Blockade from rcrs_core.worldmodel.entityID import EntityID diff --git a/adf_core_python/core/agent/action/police/action_clear_area.py b/adf_core_python/core/agent/action/police/action_clear_area.py index f87726f..2531dd5 100644 --- a/adf_core_python/core/agent/action/police/action_clear_area.py +++ b/adf_core_python/core/agent/action/police/action_clear_area.py @@ -1,6 +1,8 @@ from typing import TYPE_CHECKING from rcrs_core.commands.AKClearArea import AKClearArea +from rcrs_core.commands.Command import Command +from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.action.action import Action @@ -14,6 +16,12 @@ def __init__(self, position_x: int, position_y: int) -> None: self.position_x = position_x self.position_y = position_y + def get_position_x(self) -> int: + return self.position_x + + def get_position_y(self) -> int: + return self.position_y + def get_command(self, agent_id: EntityID, time: int) -> Command: return AKClearArea(agent_id, time, self.position_x, self.position_y) diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index f4818f9..223bfb1 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -1,5 +1,7 @@ -from typing import Any, Optional +from typing import Any, Optional, cast +from rcrs_core.entities.area import Area +from rcrs_core.entities.blockade import Blockade from rcrs_core.entities.entity import Entity from rcrs_core.worldmodel.changeSet import ChangeSet from rcrs_core.worldmodel.entityID import EntityID @@ -153,3 +155,19 @@ def get_change_set(self) -> ChangeSet: Change set """ return self._change_set + + def get_bloackades(self, area: Area) -> set[Blockade]: + """ + Get the blockades in the area + + Returns + ------- + ChangeSet + Blockade + """ + bloakcades = set() + for blockade_entity_id in area.get_blockades(): + bloackde_entity = self.get_entity(blockade_entity_id) + if isinstance(bloackde_entity, Blockade): + bloakcades.add(cast(Blockade, bloackde_entity)) + return bloakcades diff --git a/adf_core_python/core/agent/platoon/platoon_fire.py b/adf_core_python/core/agent/platoon/platoon_fire.py new file mode 100644 index 0000000..1935795 --- /dev/null +++ b/adf_core_python/core/agent/platoon/platoon_fire.py @@ -0,0 +1,34 @@ +from rcrs_core.connection.URN import Entity as EntityURN + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.platoon.platoon import Platoon +from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent + + +class PlatoonFire(Platoon): + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + ): + super().__init__( + tactics_agent, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) + + def precompute(self) -> None: + pass + + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.FIRE_BRIGADE] diff --git a/adf_core_python/core/agent/platoon/platoon_police.py b/adf_core_python/core/agent/platoon/platoon_police.py new file mode 100644 index 0000000..129c663 --- /dev/null +++ b/adf_core_python/core/agent/platoon/platoon_police.py @@ -0,0 +1,34 @@ +from rcrs_core.connection.URN import Entity as EntityURN + +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.platoon.platoon import Platoon +from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent + + +class PlatoonPolice(Platoon): + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + ): + super().__init__( + tactics_agent, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) + + def precompute(self) -> None: + pass + + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.POLICE_FORCE] diff --git a/adf_core_python/core/component/action/extend_action.py b/adf_core_python/core/component/action/extend_action.py index 752f64c..fece605 100644 --- a/adf_core_python/core/component/action/extend_action.py +++ b/adf_core_python/core/component/action/extend_action.py @@ -42,7 +42,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: raise NotImplementedError @abstractmethod - def calc(self) -> ExtendAction: + def calculate(self) -> ExtendAction: raise NotImplementedError def get_action(self) -> Optional[Action]: diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index 3b66c1b..edc4148 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -14,21 +14,22 @@ from adf_core_python.core.launcher.connect.connector_ambulance_team import ( ConnectorAmbulanceTeam, ) -from adf_core_python.core.logger.logger import get_logger +from adf_core_python.core.launcher.connect.connector_fire_brigade import ( + ConnectorFireBrigade, +) -# from adf_core_python.core.launcher.connect.connector_fire_brigade import ( -# ConnectorFireBrigade, -# ) # from adf_core_python.core.launcher.connect.connector_fire_station import ( # ConnectorFireStation, # ) -# from adf_core_python.core.launcher.connect.connector_police_force import ( -# ConnectorPoliceForce, -# ) +from adf_core_python.core.launcher.connect.connector_police_force import ( + ConnectorPoliceForce, +) # from adf_core_python.core.launcher.connect.connector_police_office import ( # ConnectorPoliceOffice, # ) +from adf_core_python.core.logger.logger import get_logger + class AgentLauncher: def __init__(self, config: Config): @@ -50,11 +51,11 @@ def init_connector(self) -> None: self.config.get_value(ConfigKey.KEY_TEAM_NAME), ) - # self.connectors.append(ConnectorAmbulanceCentre()) self.connectors.append(ConnectorAmbulanceTeam()) - # self.connectors.append(ConnectorFireBrigade()) + # self.connectors.append(ConnectorAmbulanceCentre()) + self.connectors.append(ConnectorFireBrigade()) # self.connectors.append(ConnectorFireStation()) - # self.connectors.append(ConnectorPoliceForce()) + self.connectors.append(ConnectorPoliceForce()) # self.connectors.append(ConnectorPoliceOffice()) def launch(self) -> None: diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 1d457b3..8bb3af5 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -26,7 +26,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> list[threading.Thread]: - count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_TEAM_COUNT, 0) if count == 0: return [] diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index f210a63..576978e 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -1,21 +1,24 @@ import threading -from logging import Logger, getLogger -from rcrs_core.agents.fireBrigadeAgent import FireBrigadeAgent from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.platoon.platoon_fire import PlatoonFire from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.tactics.tactics_fire_brigade import ( + TacticsFireBrigade, +) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector +from adf_core_python.core.logger.logger import get_logger class ConnectorFireBrigade(Connector): def __init__(self) -> None: super().__init__() - self.logger: Logger = getLogger(__name__) + self.logger = get_logger(__name__) def connect( self, @@ -23,20 +26,19 @@ def connect( config: Config, loader: AbstractLoader, ) -> list[threading.Thread]: - count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) + count: int = config.get_value(ConfigKey.KEY_FIRE_BRIGADE_COUNT, 0) if count == 0: return [] threads: list[threading.Thread] = [] for _ in range(count): - # tactics_fire_brigade: TacticsFireBrigade - if loader.get_tactics_fire_brigade() is not None: + if loader.get_tactics_fire_brigade() is None: self.logger.error("Cannot load fire brigade tactics") - # tactics_fire_brigade = loader.get_tactics_fire_brigade() - else: - # tactics_fire_brigade = DummyTacticsFireBrigade() - pass + + tactics_fire_brigade: TacticsFireBrigade = ( # noqa: F841 + loader.get_tactics_fire_brigade() + ) module_config: ModuleConfig = ModuleConfig( # noqa: F841 config.get_value( @@ -56,8 +58,14 @@ def connect( thread = threading.Thread( target=component_launcher.connect, args=( - FireBrigadeAgent( + PlatoonFire( + tactics_fire_brigade, + "fire_brigade", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + "test", + module_config, + develop_data, ), component_launcher.generate_request_ID(), ), diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 86ac1dc..99d50dc 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -23,7 +23,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> list[threading.Thread]: - count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) + count: int = config.get_value(ConfigKey.KEY_FIRE_STATION_COUNT, 0) if count == 0: return [] diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 440a75a..8d1502f 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -1,21 +1,24 @@ import threading -from logging import Logger, getLogger -from rcrs_core.agents.policeForceAgent import PoliceForceAgent from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.platoon.platoon_police import PlatoonPolice from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.tactics.tactics_police_force import ( + TacticsPoliceForce, +) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.connector import Connector +from adf_core_python.core.logger.logger import get_logger class ConnectorPoliceForce(Connector): def __init__(self) -> None: super().__init__() - self.logger: Logger = getLogger(__name__) + self.logger = get_logger(__name__) def connect( self, @@ -23,20 +26,19 @@ def connect( config: Config, loader: AbstractLoader, ) -> list[threading.Thread]: - count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) + count: int = config.get_value(ConfigKey.KEY_POLICE_FORCE_COUNT, 0) if count == 0: return [] threads: list[threading.Thread] = [] for _ in range(count): - # tactics_police_force: TacticsPoliceForce - if loader.get_tactics_police_force() is not None: + if loader.get_tactics_police_force() is None: self.logger.error("Cannot load police force tactics") - # tactics_police_force = loader.get_tactics_police_force() - else: - # tactics_police_force = DummyTacticsPoliceForce() - pass + + tactics_police_force: TacticsPoliceForce = ( # noqa: F841 + loader.get_tactics_police_force() + ) module_config: ModuleConfig = ModuleConfig( # noqa: F841 config.get_value( @@ -56,13 +58,19 @@ def connect( thread = threading.Thread( target=component_launcher.connect, args=( - PoliceForceAgent( + PlatoonPolice( + tactics_police_force, + "police_force", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + "test", + module_config, + develop_data, ), component_launcher.generate_request_ID(), ), ) threads.append(thread) - self.logger.info("Connected ambulance centre (count: %d)" % count) + self.logger.info("Connected police force (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 789e962..7627fc4 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -23,7 +23,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> list[threading.Thread]: - count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) + count: int = config.get_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, 0) if count == 0: return [] @@ -64,5 +64,5 @@ def connect( ) threads.append(thread) - self.logger.info("Connected ambulance centre (count: %d)" % count) + self.logger.info("Connected police office (count: %d)" % count) return threads diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py new file mode 100644 index 0000000..7b6731b --- /dev/null +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -0,0 +1,753 @@ +import math +import sys +from typing import Optional, cast + +from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.area import Area +from rcrs_core.entities.blockade import Blockade +from rcrs_core.entities.building import Building +from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.human import Human +from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.refuge import Refuge +from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID +from shapely import LineString, Point, Polygon + +from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.action.common.action_rest import ActionRest +from adf_core_python.core.agent.action.police.action_clear import ActionClear +from adf_core_python.core.agent.action.police.action_clear_area import ActionClearArea +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.action.extend_action import ExtendAction +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultExtendActionClear(ExtendAction): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._clear_distance = float( + self.scenario_info.get_value("clear.repair.distance", 0.0) + ) + self._forced_move = float( + develop_data.get_value( + "adf_core_python.implement.action.DefaultExtendActionClear.forced_move", + 3, + ) + ) + self._threshold_rest = float( + develop_data.get_value( + "adf_core_python.implement.action.DefaultExtendActionClear.rest", 100 + ) + ) + + self._target_entity_id = None + self._move_point_cache: dict[EntityID, Optional[set[tuple[float, float]]]] = {} + self._old_clear_x = 0 + self._old_clear_y = 0 + self.count = 0 + + match self.scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._path_planning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionClear.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + case Mode.PRECOMPUTATION: + pass + case Mode.PRECOMPUTED: + pass + + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def prepare(self) -> ExtendAction: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def update_info(self, message_manager: MessageManager) -> ExtendAction: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: + self._target_entity_id = None + target_entity = self.world_info.get_entity(target_entity_id) + if target_entity is not None: + if isinstance(target_entity, Road): + self._target_entity_id = target_entity_id + elif isinstance(target_entity, Blockade): + self._target_entity_id = target_entity.get_position() + elif isinstance(target_entity, Building): + self._target_entity_id = target_entity_id + return self + + def calculate(self) -> ExtendAction: + self.result = None + police_force = cast(PoliceForceEntity, self.agent_info.get_myself()) + + if self._need_rest(police_force): + target_entity_ids: list[EntityID] = [] + if self._target_entity_id is not None: + target_entity_ids.append(self._target_entity_id) + + self.result = self._calc_rest( + police_force, self._path_planning, target_entity_ids + ) + if self.result is not None: + return self + + if self._target_entity_id is None: + return self + + agent_position_entity_id = police_force.get_position() + target_entity = self.world_info.get_entity(self._target_entity_id) + position_entity = self.world_info.get_entity(agent_position_entity_id) + if target_entity is None or isinstance(target_entity, Area) is False: + return self + if isinstance(position_entity, Road): + self.result = self._get_rescue_action( + police_force, cast(Road, position_entity) + ) + if self.result is not None: + return self + + if agent_position_entity_id == self._target_entity_id: + self.result = self._get_area_clear_action( + police_force, cast(Road, position_entity) + ) + if self.result is not None: + return self + elif ( + cast(Area, target_entity).get_edge_to(agent_position_entity_id) is not None + ): + self.result = self._get_neighbour_position_action( + police_force, cast(Area, target_entity) + ) + else: + path = self._path_planning.get_path( + agent_position_entity_id, self._target_entity_id + ) + if path is not None and len(path) > 0: + index = self._index_of(path, agent_position_entity_id) + if index == -1: + area = cast(Area, position_entity) + for i in range(0, len(path), 1): + if area.get_edge_to(path[i]) is not None: + index = i + break + + elif index >= 0: + index += 1 + + if index >= 0 and index < len(path): + entity = self.world_info.get_entity(path[index]) + self.result = self._get_neighbour_position_action( + police_force, cast(Area, entity) + ) + if self.result is not None and isinstance(self.result, ActionMove): + action_move = cast(ActionMove, self.result) + if action_move.is_destination_defined(): + self.result = None + + if self.result is None: + self.result = ActionMove(path) + + return self + + def _need_rest(self, police_force: PoliceForceEntity) -> bool: + hp = police_force.get_hp() + damage = police_force.get_damage() + + if hp == 0 or damage == 0: + return False + + active_time = (hp / damage) + (1 if (hp % damage) != 0 else 0) + if self._kernel_time == -1: + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + + return damage >= self._threshold_rest or ( + active_time + self.agent_info.get_time() < self._kernel_time + ) + + def _calc_rest( + self, + police_force: PoliceForceEntity, + path_planning: PathPlanning, + target_entity_ids: list[EntityID], + ) -> Optional[Action]: + position_entity_id = police_force.get_position() + refuges = self.world_info.get_entity_ids_of_types([Refuge]) + current_size = len(refuges) + if position_entity_id in refuges: + return ActionRest() + + first_result: list[EntityID] = [] + while len(refuges) > 0: + path = path_planning.get_path(position_entity_id, refuges[0]) + if path is not None and len(path) > 0: + if first_result == []: + first_result = path.copy() + if target_entity_ids == []: + break + + refuge_entity_id = path[-1] + from_refuge_to_target_path = path_planning.get_path( + refuge_entity_id, target_entity_ids[0] + ) + if from_refuge_to_target_path != []: + return ActionMove(path) + + refuges.remove(refuge_entity_id) + if current_size == len(refuges): + break + current_size = len(refuges) + else: + break + + return ActionMove(first_result) if first_result != [] else None + + def _get_rescue_action( + self, police_entity: PoliceForceEntity, road: Road + ) -> Optional[Action]: + blockades = set( + [] + if road.get_blockades() is None + else [ + cast(Blockade, self.world_info.get_entity(blockade_entity_id)) + for blockade_entity_id in road.get_blockades() + ] + ) + agent_entities = set( + self.world_info.get_entities_of_types( + [AmbulanceTeamEntity, FireBrigadeEntity] + ) + ) + + police_x = police_entity.get_x() + police_y = police_entity.get_y() + min_distance = sys.float_info.max + move_action: Optional[ActionMove] = None + + for agent_entity in agent_entities: + human = cast(Human, agent_entity) + if human.get_position().get_value() != road.get_id().get_value(): + continue + + human_x = human.get_x() + human_y = human.get_y() + action_clear: Optional[ActionClear | ActionClearArea] = None + clear_blockade: Optional[Blockade] = None + for blockade in blockades: + if not self._is_inside(human_x, human_y, blockade.get_apexes()): + continue + + distance = self._get_distance(police_x, police_y, human_x, human_y) + if self._is_intersecting_area( + police_x, police_y, human_x, human_y, road + ): + action = self._get_intersect_edge_action( + police_x, police_y, human_x, human_y, road + ) + if action is None: + continue + if isinstance(action, ActionClear): + if action_clear is None: + action_clear = action + clear_blockade = blockade + continue + + if clear_blockade is not None: + if self._is_intersecting_blockades( + blockade, clear_blockade + ): + return ActionClear(clear_blockade) + + another_distance = self.world_info.get_distance( + police_entity.get_id(), clear_blockade.get_id() + ) + blockade_distance = self.world_info.get_distance( + police_entity.get_id(), blockade.get_id() + ) + if blockade_distance < another_distance: + return action + + return action_clear + elif isinstance(action, ActionMove) and distance < min_distance: + min_distance = distance + move_action = action + + elif self._is_intersecting_blockade( + police_x, police_y, human_x, human_y, blockade + ): + vector = self._scale_clear( + self._get_vector(police_x, police_y, human_x, human_y) + ) + clear_x = int(police_x + vector[0]) + clear_y = int(police_y + vector[1]) + + vector = self._scale_back_clear(vector) + start_x = int(police_x + vector[0]) + start_y = int(police_y + vector[1]) + + if self._is_intersecting_blockade( + start_x, start_y, clear_x, clear_y, blockade + ): + if action_clear is None: + action_clear = ActionClearArea(clear_x, clear_y) + clear_blockade = blockade + else: + if clear_blockade is not None: + if self._is_intersecting_blockades( + blockade, clear_blockade + ): + return ActionClear(clear_blockade) + + distance1 = self.world_info.get_distance( + police_entity.get_id(), clear_blockade.get_id() + ) + distance2 = self.world_info.get_distance( + police_entity.get_id(), blockade.get_id() + ) + if distance1 > distance2: + return ActionClearArea(clear_x, clear_y) + + return action_clear + + elif distance < min_distance: + min_distance = distance + move_action = ActionMove([road.get_id()], human_x, human_y) + + if action_clear is not None: + return action_clear + + return move_action + + def _is_inside(self, x: float, y: float, apexes: list[int]) -> bool: + point = Point(x, y) + polygon = Polygon( + [(apexes[i], apexes[i + 1]) for i in range(0, len(apexes), 2)] + ) + return polygon.contains(point) + + def _get_distance(self, x1: float, y1: float, x2: float, y2: float) -> float: + return ((x1 - x2) ** 2 + (y1 - y2) ** 2) ** 0.5 + + def _is_intersecting_area( + self, agent_x: float, agent_y: float, point_x: float, point_y: float, area: Area + ) -> bool: + for edge in area.get_edges(): + start_x = edge.get_start_x() + start_y = edge.get_start_y() + end_x = edge.get_end_x() + end_y = edge.get_end_y() + + line1 = LineString([(agent_x, agent_y), (point_x, point_y)]) + line2 = LineString([(start_x, start_y), (end_x, end_y)]) + if line1.intersects(line2): + mid_x = (start_x + end_x) / 2.0 + mid_y = (start_y + end_y) / 2.0 + if not self._equals_point( + agent_x, agent_y, mid_x, mid_y, 1000 + ) and not self._equals_point(point_x, point_y, mid_x, mid_y, 1000): + return True + + return False + + def _equals_point( + self, x1: float, y1: float, x2: float, y2: float, range: float + ) -> bool: + return (x2 - range < x1 and x1 < x2 + range) and ( + y2 - range < y1 and y1 < y2 + range + ) + + def _get_intersect_edge_action( + self, agent_x: float, agent_y: float, point_x: float, point_y: float, road: Road + ) -> Action: + move_points = self._get_move_points(road) + best_point: Optional[tuple[float, float]] = None + best_distance = sys.float_info.max + for point in move_points: + if not self._is_intersecting_area( + agent_x, agent_y, point[0], point[1], road + ): + if not self._is_intersecting_area( + point_x, point_y, point[0], point[1], road + ): + distance = self._get_distance(point_x, point_y, point[0], point[1]) + if distance < best_distance: + best_point = point + best_distance = distance + + if best_point is not None: + bp_x, bp_y = best_point + if road.get_blockades() is None: + return ActionMove([road.get_id()], int(bp_x), int(bp_y)) + + action_clear: Optional[ActionClearArea] = None + clear_blockade: Optional[Blockade] = None + action_move: Optional[ActionMove] = None + + vector = self._scale_clear(self._get_vector(agent_x, agent_y, bp_x, bp_y)) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_x + vector[1]) + + vector = self._scale_back_clear(vector) + start_x = int(agent_x + vector[0]) + start_y = int(agent_y + vector[1]) + + for blockade in self.world_info.get_bloackades(road): + if self._is_intersecting_blockade( + start_x, start_y, bp_x, bp_y, blockade + ): + if self._is_intersecting_blockade( + start_x, start_y, clear_x, clear_y, blockade + ): + if action_clear is None: + action_clear = ActionClearArea(clear_x, clear_y) + clear_blockade = blockade + else: + if ( + clear_blockade is not None + and self._is_intersecting_blockades( + blockade, clear_blockade + ) + ): + return ActionClear(clear_blockade) + return action_clear + elif action_move is None: + action_move = ActionMove([road.get_id()], int(bp_x), int(bp_y)) + + if action_clear is not None: + return action_clear + if action_move is not None: + return action_move + + action = self._get_area_clear_action( + cast(PoliceForceEntity, self.agent_info.get_myself()), road + ) + if action is None: + action = ActionMove([road.get_id()], int(point_x), int(point_y)) + return action + + def _get_move_points(self, road: Road) -> set[tuple[float, float]]: + points: Optional[set[tuple[float, float]]] = self._move_point_cache.get( + road.get_id() + ) + if points is None: + points = set() + apex = road.get_apexes() + for i in range(0, len(apex), 2): + for j in range(i + 2, len(apex), 2): + mid_x = (apex[i] + apex[j]) / 2.0 + mid_y = (apex[i + 1] + apex[j + 1]) / 2.0 + if self._is_inside(mid_x, mid_y, apex): + points.add((mid_x, mid_y)) + + for edge in road.get_edges(): + mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 + mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 + points.remove((mid_x, mid_y)) + + self._move_point_cache[road.get_id()] = points + + return points + + def _get_vector( + self, from_x: float, from_y: float, to_x: float, to_y: float + ) -> tuple[float, float]: + return (to_x - from_x, to_y - from_y) + + def _scale_clear(self, vector: tuple[float, float]) -> tuple[float, float]: + length = 1.0 / math.hypot(vector[0], vector[1]) + return ( + vector[0] * length * self._clear_distance, + vector[1] * length * self._clear_distance, + ) + + def _scale_back_clear(self, vector: tuple[float, float]) -> tuple[float, float]: + length = 1.0 / math.hypot(vector[0], vector[1]) + return (vector[0] * length * -510, vector[1] * length * -510) + + def _is_intersecting_blockade( + self, + agent_x: float, + agent_y: float, + point_x: float, + point_y: float, + blockade: Blockade, + ) -> bool: + apexes = blockade.get_apexes() + for i in range(0, len(apexes) - 3, 2): + line1 = LineString( + [(apexes[i], apexes[i + 1]), (apexes[i + 2], apexes[i + 3])] + ) + line2 = LineString([(agent_x, agent_y), (point_x, point_y)]) + if line1.intersects(line2): + return True + return False + + def _is_intersecting_blockades( + self, blockade1: Blockade, blockade2: Blockade + ) -> bool: + apexes1 = blockade1.get_apexes() + apexes2 = blockade2.get_apexes() + for i in range(0, len(apexes1) - 2, 2): + for j in range(0, len(apexes2) - 2, 2): + line1 = LineString( + [(apexes1[i], apexes1[i + 1]), (apexes1[i + 2], apexes1[i + 3])] + ) + line2 = LineString( + [(apexes2[j], apexes2[j + 1]), (apexes2[j + 2], apexes2[j + 3])] + ) + if line1.intersects(line2): + return True + + for i in range(0, len(apexes1) - 2, 2): + line1 = LineString( + [(apexes1[i], apexes1[i + 1]), (apexes1[i + 2], apexes1[i + 3])] + ) + line2 = LineString([(apexes2[-2], apexes2[-1]), (apexes2[0], apexes2[1])]) + if line1.intersects(line2): + return True + + for i in range(0, len(apexes1) - 2, 2): + line1 = LineString([(apexes1[-2], apexes1[-1]), (apexes1[0], apexes1[1])]) + line2 = LineString( + [(apexes2[i], apexes2[i + 1]), (apexes2[i + 2], apexes2[i + 3])] + ) + if line1.intersects(line2): + return True + + return False + + def _get_area_clear_action( + self, police_entity: PoliceForceEntity, road: Road + ) -> Optional[Action]: + if road.get_blockades() == []: + return None + + blockades = set(self.world_info.get_bloackades(road)) + min_distance = sys.float_info.max + clear_blockade: Optional[Blockade] = None + for blockade in blockades: + for another in blockades: + if blockade == another: + continue + + if self._is_intersecting_blockades(blockade, another): + distance1 = self.world_info.get_distance( + police_entity.get_id(), blockade.get_id() + ) + distance2 = self.world_info.get_distance( + police_entity.get_id(), another.get_id() + ) + if distance1 <= distance2 and distance1 < min_distance: + min_distance = distance1 + clear_blockade = blockade + elif distance2 < min_distance: + min_distance = distance2 + clear_blockade = another + + if clear_blockade is not None: + if min_distance < self._clear_distance: + return ActionClear(clear_blockade) + else: + return ActionMove( + [police_entity.get_position()], + clear_blockade.get_x(), + clear_blockade.get_y(), + ) + + agent_x = police_entity.get_x() + agent_y = police_entity.get_y() + clear_blockade = None + min_point_distance = sys.float_info.max + clear_x = 0 + clear_y = 0 + for blockade in blockades: + apexes = blockade.get_apexes() + for i in range(0, len(apexes) - 2, 2): + distance = self._get_distance( + agent_x, agent_y, apexes[i], apexes[i + 1] + ) + if distance < min_point_distance: + clear_blockade = blockade + min_point_distance = distance + clear_x = apexes[i] + clear_y = apexes[i + 1] + + if clear_blockade is not None: + if min_point_distance < self._clear_distance: + vector = self._scale_clear( + self._get_vector(agent_x, agent_y, clear_x, clear_y) + ) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_y + vector[1]) + return ActionClearArea(clear_x, clear_y) + return ActionMove([police_entity.get_position()], clear_x, clear_y) + + return None + + def _index_of(self, list: list[EntityID], x: EntityID) -> int: + return list.index(x) if x in list else -1 + + def _get_neighbour_position_action( + self, police_entity: PoliceForceEntity, target: Area + ) -> Optional[Action]: + agent_x = police_entity.get_x() + agent_y = police_entity.get_y() + position = police_entity.get_position() + edge = target.get_edge_to(position) + if edge is None: + return None + + if isinstance(position, Road): + road = cast(Road, position) + if road.get_blockades() != []: + mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 + mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 + if self._is_intersecting_area(agent_x, agent_y, mid_x, mid_y, road): + return self._get_intersect_edge_action( + agent_x, agent_y, mid_x, mid_y, road + ) + + action_clear: Optional[ActionClear | ActionClearArea] = None + clear_blockade: Optional[Blockade] = None + action_move: Optional[ActionMove] = None + + vector = self._scale_clear( + self._get_vector(agent_x, agent_y, mid_x, mid_y) + ) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_y + vector[1]) + + vector = self._scale_back_clear(vector) + start_x = int(agent_x + vector[0]) + start_y = int(agent_y + vector[1]) + + for blockade in self.world_info.get_bloackades(road): + if self._is_intersecting_blockade( + start_x, start_y, mid_x, mid_y, blockade + ): + if self._is_intersecting_blockade( + start_x, start_y, clear_x, clear_y, blockade + ): + if action_clear is None: + action_clear = ActionClearArea(clear_x, clear_y) + clear_blockade = blockade + if self._equals_point( + self._old_clear_x, + self._old_clear_y, + clear_x, + clear_y, + 1000, + ): + if self.count >= self._forced_move: + self.count = 0 + return ActionMove( + [road.get_id()], int(clear_x), int(clear_y) + ) + self.count += 1 + + self._old_clear_x = clear_x + self._old_clear_y = clear_y + else: + if clear_blockade is not None: + if self._is_intersecting_blockades( + blockade, clear_blockade + ): + return ActionClear(clear_blockade) + + return action_clear + elif action_move is None: + action_move = ActionMove( + [road.get_id()], int(mid_x), int(mid_y) + ) + + if action_clear is not None: + return action_clear + if action_move is not None: + return action_move + + if isinstance(target, Road): + road = cast(Road, target) + if road.get_blockades() == []: + return ActionMove([position, target.get_id()]) + + target_blockade: Optional[Blockade] = None + min_point_distance = sys.float_info.max + clear_x = 0 + clear_y = 0 + for blockade in self.world_info.get_bloackades(road): + apexes = blockade.get_apexes() + for i in range(0, len(apexes) - 2, 2): + distance = self._get_distance( + agent_x, agent_y, apexes[i], apexes[i + 1] + ) + if distance < min_point_distance: + target_blockade = blockade + min_point_distance = distance + clear_x = apexes[i] + clear_y = apexes[i + 1] + + if ( + target_blockade is not None + and min_point_distance < self._clear_distance + ): + vector = self._scale_clear( + self._get_vector(agent_x, agent_y, clear_x, clear_y) + ) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_y + vector[1]) + if self._equals_point( + self._old_clear_x, self._old_clear_y, clear_x, clear_y, 1000 + ): + if self.count >= self._forced_move: + self.count = 0 + return ActionMove([road.get_id()], clear_x, clear_y) + self.count += 1 + + self._old_clear_x = clear_x + self._old_clear_y = clear_y + return ActionClearArea(clear_x, clear_y) + + return ActionMove([position, target.get_id()]) diff --git a/adf_core_python/implement/action/default_extend_action_move.py b/adf_core_python/implement/action/default_extend_action_move.py index d888215..46a2c6c 100644 --- a/adf_core_python/implement/action/default_extend_action_move.py +++ b/adf_core_python/implement/action/default_extend_action_move.py @@ -95,7 +95,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: return self - def calc(self) -> ExtendAction: + def calculate(self) -> ExtendAction: self.result = None agent: Human = cast(Human, self.agent_info.get_myself()) diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py new file mode 100644 index 0000000..845ad18 --- /dev/null +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -0,0 +1,149 @@ +from typing import cast, Optional + +from rcrs_core.entities.area import Area +from rcrs_core.entities.blockade import Blockade +from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.action.ambulance.action_rescue import ActionRescue +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, Mode +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.action.extend_action import ExtendAction +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultExtendActionRescue(ExtendAction): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._kernel_time = None + self._target_entity_id = None + self._threshold_rest = develop_data.get_value( + "adf_core_python.implement.action.DefaultExtendActionRescue.rest", 100 + ) + + match self.scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._path_planning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionMove.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + case Mode.PRECOMPUTATION: + pass + case Mode.PRECOMPUTED: + pass + + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def prepare(self) -> ExtendAction: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def update_info(self, message_manager: MessageManager) -> ExtendAction: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: + self._target_entity_id = None + if target_entity_id is not None: + entity = self.world_info.get_entity(target_entity_id) + if isinstance(entity, Human) or isinstance(entity, Area): + self._target_entity_id = target_entity_id + return self + return self + + def calculate(self) -> ExtendAction: + self.result = None + agent = cast(FireBrigadeEntity, self.agent_info.get_myself()) + + if self._target_entity_id is not None: + self.result = self._calc_rescue( + agent, self._path_planning, self._target_entity_id + ) + + return self + + def _calc_rescue( + self, + agent: FireBrigadeEntity, + path_planning: PathPlanning, + target_entity_id: EntityID, + ) -> Optional[Action]: + target_entity = self.world_info.get_entity(target_entity_id) + if target_entity is None: + return None + + agent_position_entity_id = agent.get_position() + if isinstance(target_entity, Human): + human = cast(Human, target_entity) + if human.get_hp() == 0: + return None + + target_position_entity_id = human.get_position() + if ( + agent_position_entity_id.get_value() + == target_position_entity_id.get_value() + ): + buriedness = human.get_buriedness() + if buriedness is not None and buriedness > 0: + return ActionRescue(target_entity_id) + else: + path = path_planning.get_path( + agent_position_entity_id, target_position_entity_id + ) + if path != []: + return ActionMove(path) + + return None + + if isinstance(target_entity, Blockade): + blockade = cast(Blockade, target_entity) + target_entity = self.world_info.get_entity(blockade.get_position()) + if isinstance(target_entity, Area): + path = self._path_planning.get_path( + agent_position_entity_id, target_entity.get_id() + ) + if path != []: + return ActionMove(path) + + return None diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py index fec221f..a84b859 100644 --- a/adf_core_python/implement/action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -100,7 +100,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: return self - def calc(self) -> ExtendAction: + def calculate(self) -> ExtendAction: self._result = None agent: AmbulanceTeamEntity = cast( AmbulanceTeamEntity, self.agent_info.get_myself() diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index e4514ac..adad2d8 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -37,7 +37,7 @@ def __init__( PathPlanning, module_manager.get_module( "DefaultRoadDetector.PathPlanning", - "adf_core_python.implement.module.algorithm.DijkstraPathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) @@ -120,7 +120,7 @@ def update_info(self, message_manager: MessageManager) -> RoadDetector: return self - def calc(self) -> RoadDetector: + def calculate(self) -> RoadDetector: if self._result is None: position_entity_id: EntityID = self._agent_info.get_position_entity_id() if position_entity_id in self._target_areas: @@ -154,5 +154,5 @@ def calc(self) -> RoadDetector: return self - def get_target(self) -> Optional[EntityID]: + def get_target_entity_id(self) -> Optional[EntityID]: return self._result diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 5d7e4bb..3154107 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -127,7 +127,7 @@ def think( if target_entity_id is not None: action = ( self._action_transport.set_target_entity_id(target_entity_id) - .calc() + .calculate() .get_action() ) if action is not None: @@ -141,7 +141,7 @@ def think( if target_entity_id is not None: action = ( self._action_ext_move.set_target_entity_id(target_entity_id) - .calc() + .calculate() .get_action() ) if action is not None: diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index f9eabd0..d421ac6 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -30,33 +30,43 @@ def initialize( develop_data: DevelopData, ) -> None: # world_info.index_class() + super().initialize( + agent_info, + world_info, + scenario_info, + module_manager, + precompute_data, + message_manager, + develop_data, + ) + match scenario_info.get_mode(): case Mode.NON_PRECOMPUTE: self._search: Search = cast( Search, module_manager.get_module( "DefaultTacticsFireBrigade.Search", - "adf_core_python.impl.module.complex.DefaultSearch", + "adf_core_python.core.component.module.complex.search.Search", ), ) self._human_detector: HumanDetector = cast( HumanDetector, module_manager.get_module( "DefaultTacticsFireBrigade.HumanDetector", - "adf_core_python.impl.module.complex.DefaultHumanDetector", + "adf_core_python.core.component.module.complex.human_detector.HumanDetector", ), ) - self._action_fire_rescue = module_manager.get_extend_action( + self._action_rescue = module_manager.get_extend_action( "DefaultTacticsFireBrigade.ExtendActionRescue", - "adf_core_python.implement.action.DefaultExtendActionRescue", + "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", ) self._action_ext_move = module_manager.get_extend_action( "DefaultTacticsAmbulanceTeam.ExtendActionMove", - "adf_core_python.implement.action.DefaultExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) self.register_module(self._search) self.register_module(self._human_detector) - self.register_action(self._action_fire_rescue) + self.register_action(self._action_rescue) self.register_action(self._action_ext_move) def precompute( @@ -111,23 +121,32 @@ def think( entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._human_detector.calculate().get_target_entity_id() + self._logger.debug( + f"human detector target_entity_id: {target_entity_id}", + time=agent_info.get_time(), + ) if target_entity_id is not None: action = ( - self._action_fire_rescue.set_target_entity_id(target_entity_id) - .calc() + self._action_rescue.set_target_entity_id(target_entity_id) + .calculate() .get_action() ) if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) return action target_entity_id = self._search.calculate().get_target_entity_id() + self._logger.debug( + f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + ) if target_entity_id is not None: action = ( self._action_ext_move.set_target_entity_id(target_entity_id) - .calc() + .calculate() .get_action() ) if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) return action return ActionRest() diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 3cb08cc..4f8bb89 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -30,9 +30,18 @@ def initialize( develop_data: DevelopData, ) -> None: # world_info.index_class() - self._clear_distance = int( - scenario_info.get_value("clear.repair.distance", "null") + super().initialize( + agent_info, + world_info, + scenario_info, + module_manager, + precompute_data, + message_manager, + develop_data, ) + # self._clear_distance = int( + # scenario_info.get_value("clear.repair.distance", "null") + # ) match scenario_info.get_mode(): case Mode.NON_PRECOMPUTE: @@ -40,23 +49,23 @@ def initialize( Search, module_manager.get_module( "DefaultTacticsPoliceForce.Search", - "adf_core_python.implement.module.complex.DefaultSearch", + "adf_core_python.core.component.module.complex.search.Search", ), ) self._road_detector: RoadDetector = cast( RoadDetector, module_manager.get_module( "DefaultTacticsPoliceForce.RoadDetector", - "adf_core_python.implement.module.complex.DefaultRoadDetector", + "adf_core_python.core.component.module.complex.road_detector.RoadDetector", ), ) self._action_ext_clear = module_manager.get_extend_action( "DefaultTacticsPoliceForce.ExtendActionClear", - "adf_core_python.implement.action.DefaultExtendActionClear", + "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", ) self._action_ext_move = module_manager.get_extend_action( "DefaultTacticsPoliceForce.ExtendActionMove", - "adf_core_python.implement.action.DefaultExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) self.register_module(self._search) self.register_module(self._road_detector) @@ -115,23 +124,32 @@ def think( entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._road_detector.calculate().get_target_entity_id() + self._logger.debug( + f"road detector target_entity_id: {target_entity_id}", + time=agent_info.get_time(), + ) if target_entity_id is not None: action = ( self._action_ext_clear.set_target_entity_id(target_entity_id) - .calc() + .calculate() .get_action() ) if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) return action target_entity_id = self._search.calculate().get_target_entity_id() + self._logger.debug( + f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + ) if target_entity_id is not None: action = ( self._action_ext_move.set_target_entity_id(target_entity_id) - .calc() + .calculate() .get_action() ) if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) return action return ActionRest() diff --git a/adf_core_python/main.py b/adf_core_python/main.py index 8ba028c..36151d1 100644 --- a/adf_core_python/main.py +++ b/adf_core_python/main.py @@ -27,7 +27,7 @@ def __init__(self) -> None: ) parser.add_argument( "-a", - "--ambulance", + "--ambulanceteam", type=int, default=-1, help="number of ambulance agents(Default: -1 means all ambulance)", @@ -65,9 +65,9 @@ def __init__(self) -> None: self.config = Config() self.config.set_value(ConfigKey.KEY_KERNEL_HOST, args.host) self.config.set_value(ConfigKey.KEY_KERNEL_PORT, args.port) - self.config.set_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, args.ambulance) - self.config.set_value(ConfigKey.KEY_FIRE_STATION_COUNT, args.firebrigade) - self.config.set_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, args.policeforce) + self.config.set_value(ConfigKey.KEY_AMBULANCE_TEAM_COUNT, args.ambulanceteam) + self.config.set_value(ConfigKey.KEY_FIRE_BRIGADE_COUNT, args.firebrigade) + self.config.set_value(ConfigKey.KEY_POLICE_FORCE_COUNT, args.policeforce) self.config.set_value(ConfigKey.KEY_PRECOMPUTE, args.precompute) self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, args.debug) self.logger.info(f"Config: {self.config}") diff --git a/config/module.yaml b/config/module.yaml index 3047c7a..a265bde 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -8,22 +8,22 @@ DefaultTacticsAmbulanceTeam: CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout # ## DefaultTacticsFireBrigade -# DefaultTacticsFireBrigade: -# HumanDetector: sample_team.module.complex.SampleHumanDetector -# Search: sample_team.module.complex.SampleSearch -# ExtendActionRescue: adf_core_python.implement.action.DefaultExtendActionRescue -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire -# CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout +DefaultTacticsFireBrigade: + HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector + Search: adf_core_python.implement.module.complex.default_search.DefaultSearch + ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove + CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout # ## DefaultTacticsPoliceForce -# DefaultTacticsPoliceForce: -# RoadDetector: sample_team.module.complex.SampleRoadDetector -# Search: sample_team.module.complex.SampleSearch -# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice -# CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice +DefaultTacticsPoliceForce: + RoadDetector: adf_core_python.implement.module.complex.default_road_detector.DefaultRoadDetector + Search: adf_core_python.implement.module.complex.default_search.DefaultSearch + ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove + CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice # ## DefaultTacticsAmbulanceCentre # DefaultTacticsAmbulanceCentre: diff --git a/poetry.lock b/poetry.lock index 7ae97d6..0524cca 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. 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[metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "93caa36e663f9d18358e1aefabd4d5b3e71ad1864663ad2a5f956b65c6cf77be" +content-hash = "f5041edb49c80e926991fbd658e04175d3c35e3e95fb90bf8762d244de7498f3" diff --git a/pyproject.toml b/pyproject.toml index 04ae6e9..b768e40 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -17,6 +17,7 @@ pytest = "^8.3.2" types-pyyaml = "^6.0.12.20240808" scikit-learn = "^1.5.2" structlog = "^24.4.0" +shapely = "^2.0.6" [tool.poetry.group.dev.dependencies] From f0447f8fa4a073bcb551e1edce878376fa38d20e Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 23 Oct 2024 11:10:29 +0900 Subject: [PATCH 100/249] feat: add launcher script with argument parsing and configuration setup --- adf_core_python/launcher.py | 103 ++++++++++++++++++++++ config/{develop.json => development.json} | 0 config/launcher.yaml | 4 +- 3 files changed, 105 insertions(+), 2 deletions(-) create mode 100644 adf_core_python/launcher.py rename config/{develop.json => development.json} (100%) diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py new file mode 100644 index 0000000..04d566b --- /dev/null +++ b/adf_core_python/launcher.py @@ -0,0 +1,103 @@ +import argparse + +from adf_core_python.core.config.config import Config +from adf_core_python.core.launcher.agent_launcher import AgentLauncher +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.logger.logger import configure_logger, get_logger + + +class Launcher: + def __init__( + self, + launcher_config_file: str, + ) -> None: + configure_logger() + + self.logger = get_logger(__name__) + self.launcher_config = Config(launcher_config_file) + + parser = argparse.ArgumentParser(description="Agent Launcher") + + parser.add_argument( + "--host", + type=str, + help="host name(Default: localhost)", + metavar="", + ) + parser.add_argument( + "--port", + type=int, + help="port number(Default: 27931)", + metavar="", + ) + parser.add_argument( + "-a", + "--ambulance", + type=int, + help="number of ambulance agents(Default: all ambulance)", + metavar="", + ) + parser.add_argument( + "-f", + "--firebrigade", + type=int, + help="number of firebrigade agents(Default: all firebrigade)", + metavar="", + ) + parser.add_argument( + "-p", + "--policeforce", + type=int, + help="number of policeforce agents(Default: all policeforce)", + metavar="", + ) + parser.add_argument( + "--precompute", + type=bool, + help="precompute flag", + metavar="", + ) + parser.add_argument( + "--debug", type=bool, default=False, help="debug flag", metavar="" + ) + args = parser.parse_args() + self.logger.info(f"Arguments: {args}") + + config_map = { + args.host: ConfigKey.KEY_KERNEL_HOST, + args.port: ConfigKey.KEY_KERNEL_PORT, + args.ambulance: ConfigKey.KEY_AMBULANCE_TEAM_COUNT, + args.firebrigade: ConfigKey.KEY_FIRE_BRIGADE_COUNT, + args.policeforce: ConfigKey.KEY_POLICE_FORCE_COUNT, + args.precompute: ConfigKey.KEY_PRECOMPUTE, + args.debug: ConfigKey.KEY_DEBUG_FLAG, + } + + for arg, key in config_map.items(): + if arg is not None: + self.launcher_config.set_value(key, arg) + + self.logger.info(f"Config: {self.launcher_config}") + + def launch(self) -> None: + agent_launcher: AgentLauncher = AgentLauncher( + self.launcher_config, + ) + agent_launcher.init_connector() + + try: + agent_launcher.launch() + except KeyboardInterrupt: + self.logger.info("Agent launcher interrupted") + except Exception as e: + self.logger.exception("Agent launcher failed", exc_info=e) + raise e + self.logger.info("Agent launcher finished") + + +if __name__ == "__main__": + launcher = Launcher( + "config/launcher.yaml", + ) + + launcher.launch() diff --git a/config/develop.json b/config/development.json similarity index 100% rename from config/develop.json rename to config/development.json diff --git a/config/launcher.yaml b/config/launcher.yaml index 532a4cf..b75f0d1 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -16,12 +16,12 @@ adf: develop: flag: 1 - filename: config/develop.json + filename: config/development.json team: platoon: ambulance: - count: -1 + count: 5 fire: count: -1 police: From f77fcd056cdb610a4cdbf16bbd0b7dcd711e4acd Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 23 Oct 2024 11:10:53 +0900 Subject: [PATCH 101/249] fix: fix get config key --- .../connect/connector_police_force.py | 2 +- adf_core_python/main.py | 97 ------------------- 2 files changed, 1 insertion(+), 98 deletions(-) delete mode 100644 adf_core_python/main.py diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 8d1502f..92151bf 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -26,7 +26,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> list[threading.Thread]: - count: int = config.get_value(ConfigKey.KEY_POLICE_FORCE_COUNT, 0) + count: int = config.get_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, 0) if count == 0: return [] diff --git a/adf_core_python/main.py b/adf_core_python/main.py deleted file mode 100644 index 36151d1..0000000 --- a/adf_core_python/main.py +++ /dev/null @@ -1,97 +0,0 @@ -import argparse - -from adf_core_python.core.config.config import Config -from adf_core_python.core.launcher.agent_launcher import AgentLauncher -from adf_core_python.core.launcher.config_key import ConfigKey -from adf_core_python.core.logger.logger import configure_logger, get_logger - - -class Main: - def __init__(self) -> None: - self.logger = get_logger(__name__) - parser = argparse.ArgumentParser(description="Agent Launcher") - - parser.add_argument( - "--host", - type=str, - default="localhost", - help="host name(Default: localhost)", - metavar="", - ) - parser.add_argument( - "--port", - type=int, - default=27931, - help="port number(Default: 27931)", - metavar="", - ) - parser.add_argument( - "-a", - "--ambulanceteam", - type=int, - default=-1, - help="number of ambulance agents(Default: -1 means all ambulance)", - metavar="", - ) - parser.add_argument( - "-f", - "--firebrigade", - type=int, - default=-1, - help="number of firebrigade agents(Default: -1 means all firebrigade)", - metavar="", - ) - parser.add_argument( - "-p", - "--policeforce", - type=int, - default=-1, - help="number of policeforce agents(Default: -1 means all policeforce)", - metavar="", - ) - parser.add_argument( - "--precompute", - type=bool, - default=False, - help="precompute flag", - metavar="", - ) - parser.add_argument( - "--debug", type=bool, default=False, help="debug flag", metavar="" - ) - args = parser.parse_args() - self.logger.info(f"Arguments: {args}") - - self.config = Config() - self.config.set_value(ConfigKey.KEY_KERNEL_HOST, args.host) - self.config.set_value(ConfigKey.KEY_KERNEL_PORT, args.port) - self.config.set_value(ConfigKey.KEY_AMBULANCE_TEAM_COUNT, args.ambulanceteam) - self.config.set_value(ConfigKey.KEY_FIRE_BRIGADE_COUNT, args.firebrigade) - self.config.set_value(ConfigKey.KEY_POLICE_FORCE_COUNT, args.policeforce) - self.config.set_value(ConfigKey.KEY_PRECOMPUTE, args.precompute) - self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, args.debug) - self.logger.info(f"Config: {self.config}") - - def launch(self) -> None: - agent_launcher: AgentLauncher = AgentLauncher( - self.config, - ) - agent_launcher.init_connector() - - try: - agent_launcher.launch() - except KeyboardInterrupt: - self.logger.info("Agent launcher interrupted") - except Exception as e: - self.logger.exception("Agent launcher failed", exc_info=e) - raise e - self.logger.info("Agent launcher finished") - - -if __name__ == "__main__": - configure_logger() - logger = get_logger(__name__) - logger.info("Starting the agent launcher") - - main = Main() - main.launch() From 71ab5aa865fd77c69cda2e2940e7d1f5061cbb88 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 23 Oct 2024 11:15:54 +0900 Subject: [PATCH 102/249] docs: add instructions for running the agent and accessing help --- README.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/README.md b/README.md index d0692eb..0125315 100644 --- a/README.md +++ b/README.md @@ -13,6 +13,15 @@ poetry install ``` +### Run Agent + +```bash +poetry run python ./adf_core_python/launcher.py + +# get help +poetry run python ./adf_core_python/launcher.py -h +``` + ### Build ```bash From 7652c059adba2d924a1d506fd0cb1302030e585b Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 23 Oct 2024 11:08:00 +0900 Subject: [PATCH 103/249] feat: Add PoliceForce and FireBrigade modules --- adf_core_python/core/launcher/connect/connector_police_force.py | 2 +- adf_core_python/launcher.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 92151bf..8d1502f 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -26,7 +26,7 @@ def connect( config: Config, loader: AbstractLoader, ) -> list[threading.Thread]: - count: int = config.get_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, 0) + count: int = config.get_value(ConfigKey.KEY_POLICE_FORCE_COUNT, 0) if count == 0: return [] diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index 04d566b..e67ffff 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -32,7 +32,7 @@ def __init__( ) parser.add_argument( "-a", - "--ambulance", + "--ambulanceteam", type=int, help="number of ambulance agents(Default: all ambulance)", metavar="", From b0da5d63493ecd926214ce52cab8b25233636435 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 23 Oct 2024 11:41:34 +0900 Subject: [PATCH 104/249] fix: update argument name for ambulance team count in launcher --- adf_core_python/launcher.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index e67ffff..fa8b33e 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -66,7 +66,7 @@ def __init__( config_map = { args.host: ConfigKey.KEY_KERNEL_HOST, args.port: ConfigKey.KEY_KERNEL_PORT, - args.ambulance: ConfigKey.KEY_AMBULANCE_TEAM_COUNT, + args.ambulanceteam: ConfigKey.KEY_AMBULANCE_TEAM_COUNT, args.firebrigade: ConfigKey.KEY_FIRE_BRIGADE_COUNT, args.policeforce: ConfigKey.KEY_POLICE_FORCE_COUNT, args.precompute: ConfigKey.KEY_PRECOMPUTE, From ff1ab55963dad9c290ca90c7d66e7d49c9af558a Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 23 Oct 2024 11:49:48 +0900 Subject: [PATCH 105/249] refactor: remove unnecessary comments --- .../core/launcher/connect/connector_ambulance_team.py | 8 +++----- .../core/launcher/connect/connector_fire_brigade.py | 9 +++------ .../core/launcher/connect/connector_police_force.py | 9 +++------ 3 files changed, 9 insertions(+), 17 deletions(-) diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 8bb3af5..b4d7fb4 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -36,26 +36,24 @@ def connect( if loader.get_tactics_ambulance_team() is None: self.logger.error("Cannot load ambulance team tactics") - tactics_ambulance_team: TacticsAmbulanceTeam = ( # noqa: F841 + tactics_ambulance_team: TacticsAmbulanceTeam = ( loader.get_tactics_ambulance_team() ) - module_config: ModuleConfig = ModuleConfig( # noqa: F841 + module_config: ModuleConfig = ModuleConfig( config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) - develop_data: DevelopData = DevelopData( # noqa: F841 + develop_data: DevelopData = DevelopData( config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) - # TODO: component_launcher.generate_request_ID can cause race condition - # threading thread = threading.Thread( target=component_launcher.connect, args=( diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 576978e..81ae2af 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -36,25 +36,22 @@ def connect( if loader.get_tactics_fire_brigade() is None: self.logger.error("Cannot load fire brigade tactics") - tactics_fire_brigade: TacticsFireBrigade = ( # noqa: F841 - loader.get_tactics_fire_brigade() - ) + tactics_fire_brigade: TacticsFireBrigade = loader.get_tactics_fire_brigade() - module_config: ModuleConfig = ModuleConfig( # noqa: F841 + module_config: ModuleConfig = ModuleConfig( config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) - develop_data: DevelopData = DevelopData( # noqa: F841 + develop_data: DevelopData = DevelopData( config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) - # TODO: component_launcher.generate_request_ID can cause race condition thread = threading.Thread( target=component_launcher.connect, args=( diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 8d1502f..eb4e7cc 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -36,25 +36,22 @@ def connect( if loader.get_tactics_police_force() is None: self.logger.error("Cannot load police force tactics") - tactics_police_force: TacticsPoliceForce = ( # noqa: F841 - loader.get_tactics_police_force() - ) + tactics_police_force: TacticsPoliceForce = loader.get_tactics_police_force() - module_config: ModuleConfig = ModuleConfig( # noqa: F841 + module_config: ModuleConfig = ModuleConfig( config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) - develop_data: DevelopData = DevelopData( # noqa: F841 + develop_data: DevelopData = DevelopData( config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME ), ) - # TODO: component_launcher.generate_request_ID can cause race condition thread = threading.Thread( target=component_launcher.connect, args=( From 23e8e191523df4090177ae7f0d9b8358e52be0ca Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 23 Oct 2024 19:13:55 +0900 Subject: [PATCH 106/249] fix: Fixed FireBrigade to exec ActionLoad --- .../implement/module/complex/default_human_detector.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index fa55bc6..4720226 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -123,7 +123,12 @@ def _is_valid_human(self, target_entity_id: EntityID) -> bool: if hp is None or hp <= 0: return False buriedness: Optional[int] = target.get_buriedness() - if buriedness is None or buriedness > 0: + if buriedness is None: + return False + myself = self._agent_info.get_myself() + if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: + return False + if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: return False damage: Optional[int] = target.get_damage() if damage is None or damage == 0: From 46ec6120e23b34ed9fb58bdc82902c04c0c4bccf Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 23 Oct 2024 16:36:07 +0900 Subject: [PATCH 107/249] wip --- .gitignore | 3 ++ adf_core_python/core/agent/agent.py | 24 ++++++++++ adf_core_python/core/agent/platoon/platoon.py | 17 ++++--- .../core/launcher/agent_launcher.py | 11 +++-- .../launcher/connect/component_launcher.py | 48 +++++++++++++++++++ .../core/launcher/connect/connection.py | 48 +++++++++++++++++++ .../core/launcher/connect/connector.py | 3 +- .../connect/connector_ambulance_centre.py | 4 +- .../connect/connector_ambulance_team.py | 5 +- .../connect/connector_fire_brigade.py | 5 +- .../connect/connector_fire_station.py | 4 +- .../connect/connector_police_force.py | 5 +- .../connect/connector_police_office.py | 4 +- adf_core_python/core/logger/logger.py | 6 ++- adf_core_python/launcher.py | 6 +-- config/launcher.yaml | 6 +-- poetry.lock | 9 +--- 17 files changed, 164 insertions(+), 44 deletions(-) create mode 100644 adf_core_python/core/agent/agent.py create mode 100644 adf_core_python/core/launcher/connect/component_launcher.py create mode 100644 adf_core_python/core/launcher/connect/connection.py diff --git a/.gitignore b/.gitignore index 675f361..7e7baef 100644 --- a/.gitignore +++ b/.gitignore @@ -169,3 +169,6 @@ cython_debug/ # MacOS .DS_Store + +# ADF +agent.log* diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py new file mode 100644 index 0000000..3cfb99c --- /dev/null +++ b/adf_core_python/core/agent/agent.py @@ -0,0 +1,24 @@ +import sys + +from rcrs_core.agents.agent import Agent as RCRSAgent +from rcrs_core.worldmodel.worldmodel import WorldModel + +from adf_core_python.core.logger.logger import get_logger + + +class Agent(RCRSAgent): + def __init__(self, is_precompute: bool, name: str) -> None: + self.name = name + self.connect_request_id = None + self.world_model = WorldModel() + self.config = None + self.random = None + self.agent_id = None + self.precompute_flag = is_precompute + self.logger = get_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}" + ) + + def handle_connect_error(self, msg): + self.logger.warning("failed {0} : {1}".format(msg.request_id, msg.reason)) + sys.exit(1) diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 1b7748c..6ffcd02 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,9 +1,10 @@ -from rcrs_core.agents.agent import Agent +# from rcrs_core.agents.agent import Agent from rcrs_core.commands.Command import Command from rcrs_core.config.config import Config as RCRSConfig from rcrs_core.worldmodel.changeSet import ChangeSet from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.agent import Agent from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -28,9 +29,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, ) -> None: - super().__init__( - is_precompute, - ) + super().__init__(is_precompute, self.__class__.__qualname__) self._tactics_agent = tactics_agent self._team_name = team_name self._is_precompute = is_precompute @@ -61,15 +60,15 @@ def post_connect(self) -> None: config = Config() if self.config is not None: rcrc_config: RCRSConfig = self.config - for key, value in rcrc_config.data.items(): + for key, value in rcrc_config.data.items(): # type: ignore config.set_value(key, value) - for key, value in rcrc_config.int_data.items(): + for key, value in rcrc_config.int_data.items(): # type: ignore config.set_value(key, value) - for key, value in rcrc_config.float_data.items(): + for key, value in rcrc_config.float_data.items(): # type: ignore config.set_value(key, value) - for key, value in rcrc_config.boolean_data.items(): + for key, value in rcrc_config.boolean_data.items(): # type: ignore config.set_value(key, value) - for key, value in rcrc_config.array_data.items(): + for key, value in rcrc_config.array_data.items(): # type: ignore config.set_value(key, value) self._scenario_info: ScenarioInfo = ScenarioInfo(config, self._mode) diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index edc4148..e7884fb 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -1,11 +1,12 @@ import importlib import threading -from rcrs_core.connection.componentLauncher import ComponentLauncher - from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey + +# from rcrs_core.connection.componentLauncher import ComponentLauncher +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector # from adf_core_python.core.launcher.connect.connector_ambulance_centre import ( @@ -24,10 +25,10 @@ from adf_core_python.core.launcher.connect.connector_police_force import ( ConnectorPoliceForce, ) + # from adf_core_python.core.launcher.connect.connector_police_office import ( # ConnectorPoliceOffice, # ) - from adf_core_python.core.logger.logger import get_logger @@ -63,7 +64,9 @@ def launch(self) -> None: port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) self.logger.info(f"Start agent launcher (host: {host}, port: {port})") - component_launcher: ComponentLauncher = ComponentLauncher(port, host) + component_launcher: ComponentLauncher = ComponentLauncher( + host, port, self.logger + ) for connector in self.connectors: threads = connector.connect(component_launcher, self.config, self.loader) diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py new file mode 100644 index 0000000..cb7fe16 --- /dev/null +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -0,0 +1,48 @@ +import socket + +from rcrs_core.agents.agent import Agent + +from adf_core_python.core.launcher.connect.connection import Connection + + +class ComponentLauncher: + def __init__(self, host: str, port: int, logger) -> None: + self.request_id = 0 + self.port = port + self.host = host + self.logger = logger + + def make_connection(self) -> Connection: + return Connection(self.host, self.port) + + def connect(self, agent: Agent, _request_id) -> None: + self.logger.info( + f"{agent.__class__.__name__} connecting to {self.host}:{self.port} request_id: {_request_id}" + ) + connection = self.make_connection() + try: + connection.connect() + # ソケットが使用しているPORT番号を取得 + if connection.socket is not None: + self.logger.info( + f"Connected to {self.host}:{self.port} on port {connection.socket.getsockname()[1]}" + ) + except socket.timeout: + self.logger.warning(f"Connection to {self.host}:{self.port} timed out") + return + except socket.error: + self.logger.error(f"Failed to connect to {self.host}:{self.port}") + return + + connection.message_received(agent.message_received) + agent.set_send_msg(connection.send_msg) + agent.start_up(_request_id) + + try: + connection.parse_message_from_kernel() + except Exception as e: + self.logger.error(f"Failed to connect agent: {self.host}:{self.port} {e}") + + def generate_request_id(self) -> int: + self.request_id += 1 + return self.request_id diff --git a/adf_core_python/core/launcher/connect/connection.py b/adf_core_python/core/launcher/connect/connection.py new file mode 100644 index 0000000..3f9b35a --- /dev/null +++ b/adf_core_python/core/launcher/connect/connection.py @@ -0,0 +1,48 @@ +import socket +import sys + +import rcrs_core.connection.rcrs_encoding_utils as rcrs_encoding_utils + + +class Connection: + def __init__(self, host: str, port: int) -> None: + self.socket = None + self.agent = None + self.buffer_size: int = 4096 + self.data_buffer: bytes = b"" + self.host = host + self.port = port + + def connect(self) -> None: + """ + Connect to the kernel + + Raises + ------ + socket.timeout + If the connection times out + socket.error + If there is an error connecting to the socket + + """ + self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.socket.connect((self.host, self.port)) + + def parse_message_from_kernel(self) -> None: + """ + Parse messages from the kernel + + Raises + ------ + IOError + If there is an error reading from the socket + """ + while True: + msg = rcrs_encoding_utils.read_msg(self.socket) + self.agent_message_received(msg) + + def message_received(self, agent_message_received) -> None: + self.agent_message_received = agent_message_received + + def send_msg(self, msg) -> None: + rcrs_encoding_utils.write_msg(msg, self.socket) diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py index e2e562f..850023a 100644 --- a/adf_core_python/core/launcher/connect/connector.py +++ b/adf_core_python/core/launcher/connect/connector.py @@ -1,10 +1,9 @@ import threading from abc import ABC, abstractmethod -from rcrs_core.connection.componentLauncher import ComponentLauncher - from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher class Connector(ABC): diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py index e7909b4..9efeee5 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -2,13 +2,13 @@ from logging import Logger, getLogger from rcrs_core.agents.ambulanceCenterAgent import AmbulanceCenterAgent -from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -59,7 +59,7 @@ def connect( AmbulanceCenterAgent( config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore - component_launcher.generate_request_ID(), + component_launcher.generate_request_id(), ), ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index b4d7fb4..15da390 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -1,7 +1,5 @@ import threading -from rcrs_core.connection.componentLauncher import ComponentLauncher - from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_ambulance import PlatoonAmbulance @@ -11,6 +9,7 @@ ) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector from adf_core_python.core.logger.logger import get_logger @@ -66,7 +65,7 @@ def connect( module_config, develop_data, ), - component_launcher.generate_request_ID(), + component_launcher.generate_request_id(), ), ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 81ae2af..fab7095 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -1,7 +1,5 @@ import threading -from rcrs_core.connection.componentLauncher import ComponentLauncher - from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_fire import PlatoonFire @@ -11,6 +9,7 @@ ) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector from adf_core_python.core.logger.logger import get_logger @@ -64,7 +63,7 @@ def connect( module_config, develop_data, ), - component_launcher.generate_request_ID(), + component_launcher.generate_request_id(), ), ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 99d50dc..0f3bc81 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -2,13 +2,13 @@ from logging import Logger, getLogger from rcrs_core.agents.fireStationAgent import FireStationAgent -from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -59,7 +59,7 @@ def connect( FireStationAgent( config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore - component_launcher.generate_request_ID(), + component_launcher.generate_request_id(), ), ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index eb4e7cc..bbf9359 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -1,7 +1,5 @@ import threading -from rcrs_core.connection.componentLauncher import ComponentLauncher - from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_police import PlatoonPolice @@ -11,6 +9,7 @@ ) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector from adf_core_python.core.logger.logger import get_logger @@ -64,7 +63,7 @@ def connect( module_config, develop_data, ), - component_launcher.generate_request_ID(), + component_launcher.generate_request_id(), ), ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 7627fc4..bd1d405 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -2,13 +2,13 @@ from logging import Logger, getLogger from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent -from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -59,7 +59,7 @@ def connect( PoliceOfficeAgent( config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore - component_launcher.generate_request_ID(), + component_launcher.generate_request_id(), ), ) threads.append(thread) diff --git a/adf_core_python/core/logger/logger.py b/adf_core_python/core/logger/logger.py index fe29e0a..84f857a 100644 --- a/adf_core_python/core/logger/logger.py +++ b/adf_core_python/core/logger/logger.py @@ -1,5 +1,6 @@ import logging import sys +from logging.handlers import RotatingFileHandler import structlog from structlog.dev import ConsoleRenderer @@ -69,7 +70,10 @@ def configure_logger() -> None: structlog.stdlib.ProcessorFormatter(processor=ConsoleRenderer()) ) - handler_file = logging.FileHandler("agent.log") + handler_file = RotatingFileHandler( + "agent.log", maxBytes=10 * 1024 * 1024, backupCount=5 + ) + handler_file.doRollover() handler_file.setFormatter( structlog.stdlib.ProcessorFormatter(processor=JSONRenderer()) ) diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index fa8b33e..9c48b9b 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -57,9 +57,7 @@ def __init__( help="precompute flag", metavar="", ) - parser.add_argument( - "--debug", type=bool, default=False, help="debug flag", metavar="" - ) + parser.add_argument("--debug", type=bool, help="debug flag", metavar="") args = parser.parse_args() self.logger.info(f"Arguments: {args}") @@ -73,6 +71,8 @@ def __init__( args.debug: ConfigKey.KEY_DEBUG_FLAG, } + self.logger.info(f"Config map: {config_map}") + for arg, key in config_map.items(): if arg is not None: self.launcher_config.set_value(key, arg) diff --git a/config/launcher.yaml b/config/launcher.yaml index b75f0d1..3d64272 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -21,11 +21,11 @@ adf: team: platoon: ambulance: - count: 5 + count: 100 fire: - count: -1 + count: 100 police: - count: -1 + count: 100 office: ambulance: count: -1 diff --git a/poetry.lock b/poetry.lock index 0524cca..a96b272 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. [[package]] name = "colorama" @@ -342,7 +342,7 @@ rtree = "*" type = "git" url = "https://github.com/adf-python/rcrs-core-python" reference = "HEAD" -resolved_reference = "9dfa01ee8d8ccc9cb5e84fdf21c8c403e4f28ed3" +resolved_reference = "b353cd6e82005e20e099554d4f357d9c0cc2e052" [[package]] name = "rtree" @@ -411,11 +411,6 @@ files = [ {file = "scikit_learn-1.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f60021ec1574e56632be2a36b946f8143bf4e5e6af4a06d85281adc22938e0dd"}, {file = "scikit_learn-1.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:394397841449853c2290a32050382edaec3da89e35b3e03d6cc966aebc6a8ae6"}, {file = "scikit_learn-1.5.2-cp312-cp312-win_amd64.whl", hash = "sha256:57cc1786cfd6bd118220a92ede80270132aa353647684efa385a74244a41e3b1"}, - {file = "scikit_learn-1.5.2-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:e9a702e2de732bbb20d3bad29ebd77fc05a6b427dc49964300340e4c9328b3f5"}, - {file = "scikit_learn-1.5.2-cp313-cp313-macosx_12_0_arm64.whl", hash = "sha256:b0768ad641981f5d3a198430a1d31c3e044ed2e8a6f22166b4d546a5116d7908"}, - {file = "scikit_learn-1.5.2-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:178ddd0a5cb0044464fc1bfc4cca5b1833bfc7bb022d70b05db8530da4bb3dd3"}, - {file = "scikit_learn-1.5.2-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f7284ade780084d94505632241bf78c44ab3b6f1e8ccab3d2af58e0e950f9c12"}, - {file = "scikit_learn-1.5.2-cp313-cp313-win_amd64.whl", hash = "sha256:b7b0f9a0b1040830d38c39b91b3a44e1b643f4b36e36567b80b7c6bd2202a27f"}, {file = "scikit_learn-1.5.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:757c7d514ddb00ae249832fe87100d9c73c6ea91423802872d9e74970a0e40b9"}, {file = "scikit_learn-1.5.2-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:52788f48b5d8bca5c0736c175fa6bdaab2ef00a8f536cda698db61bd89c551c1"}, {file = "scikit_learn-1.5.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:643964678f4b5fbdc95cbf8aec638acc7aa70f5f79ee2cdad1eec3df4ba6ead8"}, From 70c38fe6713e7f38d3fb87a4dbe0eb4706937c0e Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 25 Oct 2024 14:36:01 +0900 Subject: [PATCH 108/249] refactor: improve logging format in agent connection error handling and bind agent ID in component launcher --- adf_core_python/core/agent/agent.py | 4 +++- adf_core_python/core/launcher/connect/component_launcher.py | 2 ++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 3cfb99c..de93d4a 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -20,5 +20,7 @@ def __init__(self, is_precompute: bool, name: str) -> None: ) def handle_connect_error(self, msg): - self.logger.warning("failed {0} : {1}".format(msg.request_id, msg.reason)) + self.logger.warning( + "Failed to connect agent: %s(request_id: %s)", msg.reason, msg.request_id + ) sys.exit(1) diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index cb7fe16..c723c51 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -16,6 +16,8 @@ def make_connection(self) -> Connection: return Connection(self.host, self.port) def connect(self, agent: Agent, _request_id) -> None: + self.logger.bind(agent_id=agent.get_id()) + self.logger.info( f"{agent.__class__.__name__} connecting to {self.host}:{self.port} request_id: {_request_id}" ) From 0d6de7338aaac3b931d0a60e2860dcb99f40d7eb Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 25 Oct 2024 14:42:22 +0900 Subject: [PATCH 109/249] refactor: remove unused import of sys in connection.py --- adf_core_python/core/launcher/connect/connection.py | 1 - 1 file changed, 1 deletion(-) diff --git a/adf_core_python/core/launcher/connect/connection.py b/adf_core_python/core/launcher/connect/connection.py index 3f9b35a..b5fc5d4 100644 --- a/adf_core_python/core/launcher/connect/connection.py +++ b/adf_core_python/core/launcher/connect/connection.py @@ -1,5 +1,4 @@ import socket -import sys import rcrs_core.connection.rcrs_encoding_utils as rcrs_encoding_utils From 9f6b8a89f67f47c55bf18d975a4e8ecd231a0057 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 25 Oct 2024 18:27:48 +0900 Subject: [PATCH 110/249] refactor: add type hints to agent and connection classes --- adf_core_python/core/agent/agent.py | 5 +++-- .../core/launcher/connect/component_launcher.py | 5 +++-- adf_core_python/core/launcher/connect/connection.py | 7 ++++--- 3 files changed, 10 insertions(+), 7 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index de93d4a..297f42a 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -1,4 +1,5 @@ import sys +from typing import Any, NoReturn from rcrs_core.agents.agent import Agent as RCRSAgent from rcrs_core.worldmodel.worldmodel import WorldModel @@ -19,8 +20,8 @@ def __init__(self, is_precompute: bool, name: str) -> None: f"{self.__class__.__module__}.{self.__class__.__qualname__}" ) - def handle_connect_error(self, msg): - self.logger.warning( + def handle_connect_error(self, msg: Any) -> NoReturn: + self.logger.error( "Failed to connect agent: %s(request_id: %s)", msg.reason, msg.request_id ) sys.exit(1) diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index c723c51..027bb85 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -1,12 +1,13 @@ import socket from rcrs_core.agents.agent import Agent +from structlog import BoundLogger from adf_core_python.core.launcher.connect.connection import Connection class ComponentLauncher: - def __init__(self, host: str, port: int, logger) -> None: + def __init__(self, host: str, port: int, logger: BoundLogger) -> None: self.request_id = 0 self.port = port self.host = host @@ -15,7 +16,7 @@ def __init__(self, host: str, port: int, logger) -> None: def make_connection(self) -> Connection: return Connection(self.host, self.port) - def connect(self, agent: Agent, _request_id) -> None: + def connect(self, agent: Agent, _request_id: int) -> None: self.logger.bind(agent_id=agent.get_id()) self.logger.info( diff --git a/adf_core_python/core/launcher/connect/connection.py b/adf_core_python/core/launcher/connect/connection.py index b5fc5d4..6497231 100644 --- a/adf_core_python/core/launcher/connect/connection.py +++ b/adf_core_python/core/launcher/connect/connection.py @@ -1,11 +1,12 @@ import socket +from typing import Any, Callable import rcrs_core.connection.rcrs_encoding_utils as rcrs_encoding_utils class Connection: def __init__(self, host: str, port: int) -> None: - self.socket = None + self.socket: socket.socket self.agent = None self.buffer_size: int = 4096 self.data_buffer: bytes = b"" @@ -40,8 +41,8 @@ def parse_message_from_kernel(self) -> None: msg = rcrs_encoding_utils.read_msg(self.socket) self.agent_message_received(msg) - def message_received(self, agent_message_received) -> None: + def message_received(self, agent_message_received: Callable) -> None: self.agent_message_received = agent_message_received - def send_msg(self, msg) -> None: + def send_msg(self, msg: Any) -> None: rcrs_encoding_utils.write_msg(msg, self.socket) From 865fd7bc76087c2b88c2b667f47509538860d58c Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 25 Oct 2024 18:47:52 +0900 Subject: [PATCH 111/249] refactor: update argument parsing to improve config mapping in launcher --- adf_core_python/launcher.py | 23 ++++++++++------------- 1 file changed, 10 insertions(+), 13 deletions(-) diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index 9c48b9b..a7105ca 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -59,23 +59,20 @@ def __init__( ) parser.add_argument("--debug", type=bool, help="debug flag", metavar="") args = parser.parse_args() - self.logger.info(f"Arguments: {args}") config_map = { - args.host: ConfigKey.KEY_KERNEL_HOST, - args.port: ConfigKey.KEY_KERNEL_PORT, - args.ambulanceteam: ConfigKey.KEY_AMBULANCE_TEAM_COUNT, - args.firebrigade: ConfigKey.KEY_FIRE_BRIGADE_COUNT, - args.policeforce: ConfigKey.KEY_POLICE_FORCE_COUNT, - args.precompute: ConfigKey.KEY_PRECOMPUTE, - args.debug: ConfigKey.KEY_DEBUG_FLAG, + ConfigKey.KEY_KERNEL_HOST: args.host, + ConfigKey.KEY_KERNEL_PORT: args.port, + ConfigKey.KEY_AMBULANCE_TEAM_COUNT: args.ambulanceteam, + ConfigKey.KEY_FIRE_BRIGADE_COUNT: args.firebrigade, + ConfigKey.KEY_POLICE_FORCE_COUNT: args.policeforce, + ConfigKey.KEY_PRECOMPUTE: args.precompute, + ConfigKey.KEY_DEBUG_FLAG: args.debug, } - self.logger.info(f"Config map: {config_map}") - - for arg, key in config_map.items(): - if arg is not None: - self.launcher_config.set_value(key, arg) + for key, value in config_map.items(): + if value is not None: + self.launcher_config.set_value(key, value) self.logger.info(f"Config: {self.launcher_config}") From bad2e4a73e8c54cde735277af1238c3f0a9c90f9 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 25 Oct 2024 18:53:06 +0900 Subject: [PATCH 112/249] refactor: replace getLogger with custom get_logger in connector classes --- .../core/launcher/connect/connector_ambulance_centre.py | 4 ++-- .../core/launcher/connect/connector_fire_station.py | 4 ++-- .../core/launcher/connect/connector_police_office.py | 4 ++-- .../implement/action/default_extend_action_move.py | 2 -- 4 files changed, 6 insertions(+), 8 deletions(-) diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py index 9efeee5..0194918 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -1,5 +1,4 @@ import threading -from logging import Logger, getLogger from rcrs_core.agents.ambulanceCenterAgent import AmbulanceCenterAgent @@ -10,12 +9,13 @@ from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector +from adf_core_python.core.logger.logger import get_logger class ConnectorAmbulanceCentre(Connector): def __init__(self) -> None: super().__init__() - self.logger: Logger = getLogger(__name__) + self.logger = get_logger(__name__) def connect( self, diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 0f3bc81..49bd190 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -1,5 +1,4 @@ import threading -from logging import Logger, getLogger from rcrs_core.agents.fireStationAgent import FireStationAgent @@ -10,12 +9,13 @@ from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector +from adf_core_python.core.logger.logger import get_logger class ConnectorFireStation(Connector): def __init__(self) -> None: super().__init__() - self.logger: Logger = getLogger(__name__) + self.logger = get_logger(__name__) def connect( self, diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index bd1d405..32e9060 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -1,5 +1,4 @@ import threading -from logging import Logger, getLogger from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent @@ -10,12 +9,13 @@ from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector +from adf_core_python.core.logger.logger import get_logger class ConnectorPoliceOffice(Connector): def __init__(self) -> None: super().__init__() - self.logger: Logger = getLogger(__name__) + self.logger = get_logger(__name__) def connect( self, diff --git a/adf_core_python/implement/action/default_extend_action_move.py b/adf_core_python/implement/action/default_extend_action_move.py index 46a2c6c..6614ffd 100644 --- a/adf_core_python/implement/action/default_extend_action_move.py +++ b/adf_core_python/implement/action/default_extend_action_move.py @@ -1,4 +1,3 @@ -from logging import Logger, getLogger from typing import Optional, cast from rcrs_core.entities.area import Area @@ -33,7 +32,6 @@ def __init__( ) self._target_entity_id: Optional[EntityID] = None self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) - self._logger: Logger = getLogger(__name__) match self.scenario_info.get_mode(): case Mode.NON_PRECOMPUTE: From c800e252f93a8fb35bea2f511e4ccdbb1ffcd702 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 26 Oct 2024 12:10:28 +0900 Subject: [PATCH 113/249] feat: communication module --- adf_core_python/core/agent/agent.py | 38 ++- .../agent/communication/message_manager.py | 271 +++++++++++++++++- .../standard/standard_communication_module.py | 14 + .../core/agent/info/scenario_info.py | 31 ++ .../communication/channel_subscriber.py | 32 +++ .../communication/communication_message.py | 4 + .../communication/communication_module.py | 15 + .../communication/message_coordinator.py | 23 ++ 8 files changed, 425 insertions(+), 3 deletions(-) create mode 100644 adf_core_python/core/agent/communication/standard/standard_communication_module.py create mode 100644 adf_core_python/core/component/communication/channel_subscriber.py create mode 100644 adf_core_python/core/component/communication/communication_module.py create mode 100644 adf_core_python/core/component/communication/message_coordinator.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 297f42a..50056da 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -1,14 +1,30 @@ import sys +from abc import abstractmethod from typing import Any, NoReturn from rcrs_core.agents.agent import Agent as RCRSAgent +from rcrs_core.connection.URN import Entity as EntityURN from rcrs_core.worldmodel.worldmodel import WorldModel +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.scenario_info import Mode +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.logger.logger import get_logger class Agent(RCRSAgent): - def __init__(self, is_precompute: bool, name: str) -> None: + def __init__( + self, + is_precompute: bool, + name: str, + is_debug: bool, + team_name: str, + deta_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + ) -> None: self.name = name self.connect_request_id = None self.world_model = WorldModel() @@ -20,8 +36,28 @@ def __init__(self, is_precompute: bool, name: str) -> None: f"{self.__class__.__module__}.{self.__class__.__qualname__}" ) + self.team_name = team_name + self.is_debug = is_debug + self.is_precompute = is_precompute + + if is_precompute: + # PrecomputeData.remove_date(deta_storage_name) + self.mode = Mode.PRECOMPUTATION + + self.module_config = module_config + self.develop_data = develop_data + self.precompute_data = PrecomputeData(deta_storage_name) + self.message_manager: MessageManager = MessageManager() + def handle_connect_error(self, msg: Any) -> NoReturn: self.logger.error( "Failed to connect agent: %s(request_id: %s)", msg.reason, msg.request_id ) sys.exit(1) + + def precompute(self): + pass + + @abstractmethod + def get_requested_entities(self) -> list[EntityURN]: + pass diff --git a/adf_core_python/core/agent/communication/message_manager.py b/adf_core_python/core/agent/communication/message_manager.py index 7883136..e873664 100644 --- a/adf_core_python/core/agent/communication/message_manager.py +++ b/adf_core_python/core/agent/communication/message_manager.py @@ -1,4 +1,271 @@ -# TODO: Implement MessageManager class +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, ScenarioInfoKeys +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.component.communication.channel_subscriber import ( + ChannelSubscriber, +) +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) +from adf_core_python.core.component.communication.message_coordinator import ( + MessageCoordinator, +) + + class MessageManager: + MAX_MESSAGE_CLASS_COUNT = 32 + def __init__(self) -> None: - pass + """ + Initialize the MessageManager. + + Parameters + ---------- + __standard_message_class_count : int + The count of standard message classes. + __custom_message_class_count : int + The count of custom message classes. + __message_classes : dict[int, CommunicationMessage] + The message classes. + __subscribed_channels : list[int] + The subscribed channels. Default is [1]. + __is_subscribed : bool + The flag to indicate if the agent is subscribed to the channel. + """ + self.__standard_message_class_count = 0b0000_0001 + self.__custom_message_class_count = 0b0001_0000 + self.__message_classes: dict[int, CommunicationMessage] = {} + self.__send_message_list: list[CommunicationMessage] = [] + self.__received_message_list: list[CommunicationMessage] = [] + self.__channel_send_message_list: list[list[CommunicationMessage]] = [] + self.__check_duplicate_cache: set[str] = set() + self.__message_coordinator: MessageCoordinator + self.__channel_subscriber: ChannelSubscriber + self.__heard_agent_help_message_count: int = 0 + self.__subscribed_channels: list[int] = [1] + self.__is_subscribed = False + + def set_subscribed_channels(self, subscribed_channels: list[int]) -> None: + """ + Set the subscribed channels. + + Parameters + ---------- + subscribed_channels : list[int] + The subscribed channels. + + """ + self.__subscribed_channels = subscribed_channels + self.__is_subscribed = False + + def get_subscribed_channels(self) -> list[int]: + """ + Get the subscribed channels. + + Returns + ------- + list[int] + The subscribed channels. + + """ + return self.__subscribed_channels + + def set_is_subscribed(self, is_subscribed: bool) -> None: + """ + Set the flag to indicate if the agent is subscribed to the channel. + + Parameters + ---------- + is_subscribed : bool + The flag to indicate if the agent is subscribed to the channel. + + """ + self.__is_subscribed = is_subscribed + + def get_is_subscribed(self) -> bool: + """ + Get the flag to indicate if the agent is subscribed to the channel. + + Returns + ------- + bool + The flag to indicate if the agent is subscribed to the channel. + + """ + return self.__is_subscribed + + def set_channel_subscriber(self, channel_subscriber: ChannelSubscriber) -> None: + """ + Set the channel subscriber. + + Parameters + ---------- + channel_subscriber : ChannelSubscriber + The channel subscriber. + + """ + self.__channel_subscriber = channel_subscriber + + def get_channel_subscriber(self) -> ChannelSubscriber: + """ + Get the channel subscriber. + + Returns + ------- + ChannelSubscriber + The channel subscriber. + + """ + return self.__channel_subscriber + + def add_heard_agent_help_message_count(self) -> None: + """ + Add the heard agent help message count. + + """ + self.__heard_agent_help_message_count += 1 + + def get_heard_agent_help_message_count(self) -> int: + """ + Get the heard agent help message count. + + Returns + ------- + int + The heard agent help message count. + + """ + return self.__heard_agent_help_message_count + + def add_received_message(self, message: CommunicationMessage) -> None: + """ + Add the received message. + + Parameters + ---------- + message : CommunicationMessage + The received message. + + """ + self.__received_message_list.append(message) + + def get_received_message_list(self) -> list[CommunicationMessage]: + """ + Get the received message list. + + Returns + ------- + list[CommunicationMessage] + The received message list. + + """ + return self.__received_message_list + + def subscribe( + self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo + ) -> None: + """ + Subscribe to the channel. + + Parameters + ---------- + agent_info : AgentInfo + The agent info. + world_info : WorldInfo + The world info. + scenario_info : ScenarioInfo + The scenario info. + + Throws + ------ + ValueError + If the ChannelSubscriber is not set. + + """ + if self.__channel_subscriber is None: + raise ValueError("ChannelSubscriber is not set.") + + self.__channel_subscriber.subscribe(agent_info, world_info, scenario_info, self) + + def register_message_class( + self, index: int, message_class: CommunicationMessage + ) -> None: + """ + Register the message class. + + Parameters + ---------- + message_class : type[CommunicationMessage] + The message class. + + """ + if index >= self.MAX_MESSAGE_CLASS_COUNT: + raise ValueError( + f"Possible index values are 0 to {self.MAX_MESSAGE_CLASS_COUNT-1}" + ) + self.__message_classes[index] = message_class + + def add_message( + self, message: CommunicationMessage, check_duplicate: bool = True + ) -> None: + """ + Add the message. + + Parameters + ---------- + message : CommunicationMessage + The message. + + """ + check_key = message.get_check_key() + # TODO:両方同じコードになっているが、なぜなのか調査する + if check_duplicate and check_key not in self.__check_duplicate_cache: + self.__send_message_list.append(message) + self.__check_duplicate_cache.add(check_key) + else: + self.__send_message_list.append(message) + self.__check_duplicate_cache.add(check_key) + + def coordinate_message( + self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo + ) -> None: + """ + Coordinate the message. + + Parameters + ---------- + agent_info : AgentInfo + The agent info. + world_info : WorldInfo + The world info. + scenario_info : ScenarioInfo + The scenario info. + + """ + if self.__message_coordinator is None: + raise ValueError("MessageCoordinator is not set.") + + self.__channel_send_message_list = [ + [] + for _ in range( + scenario_info.get_value(ScenarioInfoKeys.COMMS_CHANNELS_COUNT, 1) + ) + ] + + self.__message_coordinator.coordinate( + agent_info, + world_info, + scenario_info, + self, + self.__send_message_list, + self.__channel_send_message_list, + ) + + def refresh(self) -> None: + """ + Refresh the message manager. + + """ + self.__send_message_list = [] + self.__check_duplicate_cache = set() + self.__heard_agent_help_message_count = 0 diff --git a/adf_core_python/core/agent/communication/standard/standard_communication_module.py b/adf_core_python/core/agent/communication/standard/standard_communication_module.py new file mode 100644 index 0000000..057930d --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/standard_communication_module.py @@ -0,0 +1,14 @@ +from rcrs_core.agents.agent import Agent + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.component.communication.communication_module import ( + CommunicationModule, +) + + +class StandardCommunicationModule(CommunicationModule): + def receive(self, agent: Agent, message_manager: MessageManager) -> None: + raise NotImplementedError + + def send(self, agent: Agent, message_manager: MessageManager) -> None: + raise NotImplementedError diff --git a/adf_core_python/core/agent/info/scenario_info.py b/adf_core_python/core/agent/info/scenario_info.py index fe085bf..f8d35fa 100644 --- a/adf_core_python/core/agent/info/scenario_info.py +++ b/adf_core_python/core/agent/info/scenario_info.py @@ -10,6 +10,37 @@ class Mode(Enum): PRECOMPUTATION = 2 +class ScenarioInfoKeys: + KERNEL_PERCEPTION = "kernel.perception" + PERCEPTION_LOS_PRECISION_HP = "perception.los.precision.hp" + CLEAR_REPAIR_RAD = "clear.repair.rad" + FIRE_TANK_REFILL_HYDRANT_RATE = "fire.tank.refill_hydrant_rate" + SCENARIO_AGENTS_PF = "scenario.agents.pf" + SCENARIO_AGENTS_FS = "scenario.agents.fs" + VOICE_MESSAGES_SIZE = "comms.channels.0.messages.size" + FIRE_TANK_REFILL_RATE = "fire.tank.refill_rate" + KERNEL_TIMESTEPS = "kernel.timesteps" + FIRE_EXTINGUISH_MAX_SUM = "fire.extinguish.max-sum" + COMMS_CHANNELS_MAX_PLATOON = "comms.channels.max.platoon" + KERNEL_AGENTS_THINK_TIME = "kernel.agents.think-time" + FIRE_TANK_MAXIMUM = "fire.tank.maximum" + CLEAR_REPAIR_RATE = "clear.repair.rate" + KERNEL_STARTUP_CONNECT_TIME = "kernel.startup.connect-time" + KERNEL_HOST = "kernel.host" + SCENARIO_AGENTS_AT = "scenario.agents.at" + PERCEPTION_LOS_MAX_DISTANCE = "perception.los.max-distance" + SCENARIO_AGENTS_FB = "scenario.agents.fb" + SCENARIO_AGENTS_PO = "scenario.agents.po" + KERNEL_COMMUNICATION_MODEL = "kernel.communication-model" + PERCEPTION_LOS_PRECISION_DAMAGE = "perception.los.precision.damage" + SCENARIO_AGENTS_AC = "scenario.agents.ac" + COMMS_CHANNELS_MAX_OFFICE = "comms.channels.max.centre" + FIRE_EXTINGUISH_MAX_DISTANCE = "fire.extinguish.max-distance" + KERNEL_AGENTS_IGNOREUNTIL = "kernel.agents.ignoreuntil" + CLEAR_REPAIR_DISTANCE = "clear.repair.distance" + COMMS_CHANNELS_COUNT = "comms.channels.count" + + class ScenarioInfo: def __init__(self, config: Config, mode: Mode): """ diff --git a/adf_core_python/core/component/communication/channel_subscriber.py b/adf_core_python/core/component/communication/channel_subscriber.py new file mode 100644 index 0000000..7b4ee89 --- /dev/null +++ b/adf_core_python/core/component/communication/channel_subscriber.py @@ -0,0 +1,32 @@ +from abc import ABC, abstractmethod + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo + + +class ChannelSubscriber(ABC): + @abstractmethod + def subscribe( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + message_manager: MessageManager, + ) -> None: + """ + Subscribe to the channel. + + Parameters + ---------- + agent_info : AgentInfo + The agent info. + world_info : WorldInfo + The world info. + scenario_info : ScenarioInfo + The scenario info. + message_manager : MessageManager + The message manager. + """ + pass diff --git a/adf_core_python/core/component/communication/communication_message.py b/adf_core_python/core/component/communication/communication_message.py index 2909fcf..a6cd25d 100644 --- a/adf_core_python/core/component/communication/communication_message.py +++ b/adf_core_python/core/component/communication/communication_message.py @@ -16,4 +16,8 @@ def get_byte_size(self) -> int: def to_bytes(self) -> bytes: raise NotImplementedError + @abstractmethod + def get_check_key(self) -> str: + raise NotImplementedError + # TODO: Implement the toBitOutputStream and getCheckKey methods diff --git a/adf_core_python/core/component/communication/communication_module.py b/adf_core_python/core/component/communication/communication_module.py new file mode 100644 index 0000000..c1b957e --- /dev/null +++ b/adf_core_python/core/component/communication/communication_module.py @@ -0,0 +1,15 @@ +from abc import ABC, abstractmethod + +from rcrs_core.agents.agent import Agent + +from adf_core_python.core.agent.communication.message_manager import MessageManager + + +class CommunicationModule(ABC): + @abstractmethod + def receive(self, agent: Agent, message_manager: MessageManager) -> None: + pass + + @abstractmethod + def send(self, agent: Agent, message_manager: MessageManager) -> None: + pass diff --git a/adf_core_python/core/component/communication/message_coordinator.py b/adf_core_python/core/component/communication/message_coordinator.py new file mode 100644 index 0000000..d749050 --- /dev/null +++ b/adf_core_python/core/component/communication/message_coordinator.py @@ -0,0 +1,23 @@ +from abc import ABC, abstractmethod + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) + + +class MessageCoordinator(ABC): + @abstractmethod + def coordinate( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + message_manager: MessageManager, + send_message_list: list[CommunicationMessage], + channel_send_message_list: list[list[CommunicationMessage]], + ) -> None: + pass From e37bac5ad8696220027fd78ec660ead8a6171188 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 18 Oct 2024 20:31:14 +0900 Subject: [PATCH 114/249] feat: add standard message and priority classes --- adf_core_python/core/agent/agent.py | 70 +++++++- .../infomation/message_ambulance_team.py | 159 ++++++++++++++++++ .../standard/bundle/standard_message.py | 53 ++++++ .../bundle/standard_message_priority.py | 14 ++ 4 files changed, 291 insertions(+), 5 deletions(-) create mode 100644 adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/standard_message.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 50056da..805d29c 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -3,15 +3,28 @@ from typing import Any, NoReturn from rcrs_core.agents.agent import Agent as RCRSAgent +from rcrs_core.commands.Command import Command +from rcrs_core.config.config import Config as RCRSConfig from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.worldmodel.changeSet import ChangeSet from rcrs_core.worldmodel.worldmodel import WorldModel from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.standard_communication_module import ( + StandardCommunicationModule, +) from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.scenario_info import Mode +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -from adf_core_python.core.logger.logger import get_logger +from adf_core_python.core.component.communication.communication_module import ( + CommunicationModule, +) +from adf_core_python.core.config.config import Config +from adf_core_python.core.launcher.config_key import ConfigKey +from adf_core_python.core.logger.logger import get_agent_logger, get_logger class Agent(RCRSAgent): @@ -21,7 +34,7 @@ def __init__( name: str, is_debug: bool, team_name: str, - deta_storage_name: str, + data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, ) -> None: @@ -41,13 +54,60 @@ def __init__( self.is_precompute = is_precompute if is_precompute: - # PrecomputeData.remove_date(deta_storage_name) + # PrecomputeData.remove_date(data_storage_name) self.mode = Mode.PRECOMPUTATION self.module_config = module_config self.develop_data = develop_data - self.precompute_data = PrecomputeData(deta_storage_name) + self.precompute_data = PrecomputeData(data_storage_name) self.message_manager: MessageManager = MessageManager() + self.communication_module: CommunicationModule = StandardCommunicationModule() + + def post_connect(self) -> None: + self.world_model.index_entities() + + config = Config() + if self.config is not None: + rcrc_config: RCRSConfig = self.config + for key, value in rcrc_config.data.items(): + config.set_value(key, value) + for key, value in rcrc_config.int_data.items(): + config.set_value(key, value) + for key, value in rcrc_config.float_data.items(): + config.set_value(key, value) + for key, value in rcrc_config.boolean_data.items(): + config.set_value(key, value) + for key, value in rcrc_config.array_data.items(): + config.set_value(key, value) + + if self.is_precompute: + self._mode = Mode.PRECOMPUTATION + else: + # if self._precompute_data.is_ready(): + # self._mode = Mode.PRECOMPUTED + # else: + # self._mode = Mode.NON_PRECOMPUTE + self._mode = Mode.NON_PRECOMPUTE + + config.set_value(ConfigKey.KEY_DEBUG_FLAG, self.is_debug) + config.set_value( + ConfigKey.KEY_DEVELOP_FLAG, self.develop_data.is_develop_mode() + ) + self.ignore_time = config.get_value("kernel.agents.ignoreuntil", 3) + self.scenario_info: ScenarioInfo = ScenarioInfo(config, self._mode) + self.world_info: WorldInfo = WorldInfo(self.world_model) + self.agent_info = AgentInfo(self, self.world_model) + self.logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self.agent_info, + ) + + def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: + self.agent_info.record_think_start_time() + self.agent_info.set_time(time) + + # if time == 1: + # self.message_manager.register_message_class() def handle_connect_error(self, msg: Any) -> NoReturn: self.logger.error( diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py new file mode 100644 index 0000000..3c11291 --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py @@ -0,0 +1,159 @@ +from typing import TYPE_CHECKING, Optional + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) + +if TYPE_CHECKING: + from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity + + +class MessageAmbulanceTeam(StandardMessage): + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_RESCUE: int = 2 + ACTION_LOAD: int = 3 + ACTION_UNLOAD: int = 4 + + SIZE_AMBULANCE_TEAM_ENTITY_ID: int = 32 + SIZE_AMBULANCE_TEAM_HP: int = 14 + SIZE_AMBULANCE_TEAM_BURIEDNESS: int = 13 + SIZE_AMBULANCE_TEAM_DAMAGE: int = 14 + SIZE_AMBULANCE_TEAM_POSITION: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + sender_id: int, + ttl: int, + priority: StandardMessagePriority, + ambulance_team: AmbulanceTeamEntity, + action: int, + target_entity_id: EntityID, + ): + super().__init__(is_wireless_message, sender_id, ttl, priority) + self._ambulance_team_entity_id: Optional[EntityID] = ambulance_team.get_id() + self._ambulance_team_hp: Optional[int] = ambulance_team.get_hp() or -1 + self._ambulance_team_buriedness: Optional[int] = ( + ambulance_team.get_buriedness() or -1 + ) + self._ambulance_team_damage: Optional[int] = ambulance_team.get_damage() or -1 + self._ambulance_team_position: Optional[EntityID] = ( + ambulance_team.get_position() or EntityID(-1) + ) + self._target_entity_id: Optional[EntityID] = target_entity_id + self._action: Optional[int] = action + + def get_byte_size(self) -> int: + return self.to_bytes().__len__() + + def to_bytes(self) -> bytes: + byte_array = bytearray() + self.write_with_exist_flag( + byte_array, + self._ambulance_team_entity_id.get_value() + if self._ambulance_team_entity_id + else None, + self.SIZE_AMBULANCE_TEAM_ENTITY_ID, + ) + self.write_with_exist_flag( + byte_array, self._ambulance_team_hp, self.SIZE_AMBULANCE_TEAM_HP + ) + self.write_with_exist_flag( + byte_array, + self._ambulance_team_buriedness, + self.SIZE_AMBULANCE_TEAM_BURIEDNESS, + ) + self.write_with_exist_flag( + byte_array, self._ambulance_team_damage, self.SIZE_AMBULANCE_TEAM_DAMAGE + ) + self.write_with_exist_flag( + byte_array, + self._ambulance_team_position.get_value() + if self._ambulance_team_position + else None, + self.SIZE_AMBULANCE_TEAM_POSITION, + ) + self.write_with_exist_flag( + byte_array, + self._target_entity_id.get_value() if self._target_entity_id else None, + self.SIZE_TARGET_ENTITY_ID, + ) + self.write_with_exist_flag(byte_array, self._action, self.SIZE_ACTION) + return bytes(byte_array) + + def from_bytes(self, bytes: bytes) -> None: + byte_array = bytearray(bytes) + raw_ambulance_team_entity_id = self.read_with_exist_flag( + byte_array, self.SIZE_AMBULANCE_TEAM_ENTITY_ID + ) + self._ambulance_team_entity_id = ( + EntityID(raw_ambulance_team_entity_id) + if raw_ambulance_team_entity_id + else None + ) + self._ambulance_team_hp = self.read_with_exist_flag( + byte_array, self.SIZE_AMBULANCE_TEAM_HP + ) + self._ambulance_team_buriedness = self.read_with_exist_flag( + byte_array, self.SIZE_AMBULANCE_TEAM_BURIEDNESS + ) + self._ambulance_team_damage = self.read_with_exist_flag( + byte_array, self.SIZE_AMBULANCE_TEAM_DAMAGE + ) + raw_ambulance_team_position = self.read_with_exist_flag( + byte_array, self.SIZE_AMBULANCE_TEAM_POSITION + ) + self._ambulance_team_position = ( + EntityID(raw_ambulance_team_position) + if raw_ambulance_team_position + else None + ) + raw_target_entity_id = self.read_with_exist_flag( + byte_array, self.SIZE_TARGET_ENTITY_ID + ) + self._target_entity_id = ( + EntityID(raw_target_entity_id) if raw_target_entity_id else None + ) + self._action = self.read_with_exist_flag(byte_array, self.SIZE_ACTION) + + def get_check_key(self) -> str: + target_id_value: str = ( + str(self._target_entity_id.get_value()) + if self._target_entity_id + else "None" + ) + ambulance_team_id_value: str = ( + str(self._ambulance_team_entity_id.get_value()) + if self._ambulance_team_entity_id + else "None" + ) + return f"{self.__class__.__name__} > agent: {ambulance_team_id_value}, target: {target_id_value}, action: {self._action}" + + def get_ambulance_team_entity_id(self) -> Optional[EntityID]: + return self._ambulance_team_entity_id + + def get_ambulance_team_hp(self) -> Optional[int]: + return self._ambulance_team_hp + + def get_ambulance_team_buriedness(self) -> Optional[int]: + return self._ambulance_team_buriedness + + def get_ambulance_team_damage(self) -> Optional[int]: + return self._ambulance_team_damage + + def get_ambulance_team_position(self) -> Optional[EntityID]: + return self._ambulance_team_position + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py new file mode 100644 index 0000000..db6c8dd --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py @@ -0,0 +1,53 @@ +from typing import Optional + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) + + +class StandardMessage(CommunicationMessage): + def __init__( + self, + is_wireless_message: bool, + sender_id: int, + ttl: int, + priority: StandardMessagePriority, + ): + super().__init__(is_wireless_message) + self._sender_id = sender_id + self._ttl = ttl + self._priority = priority + + def get_sender_entity_id(self) -> EntityID: + return EntityID(self._sender_id) + + def get_ttl(self) -> int: + return self._ttl + + def get_priority(self) -> StandardMessagePriority: + return self._priority + + def write_with_exist_flag( + self, byte_array: bytearray, value: Optional[int], size: int + ) -> None: + if value is None: + byte_array.extend(b"\b0") + else: + byte_array.extend(b"\b1") + byte_array.extend(value.to_bytes(size, "big")) + + def read_with_exist_flag(self, byte_array: bytearray, size: int) -> Optional[int]: + exist_flag = byte_array.pop(0) + if exist_flag == 0: + return None + elif exist_flag == 1: + value = int.from_bytes(byte_array[:size], "big") + del byte_array[:size] + return value + else: + raise ValueError("Invalid exist flag") diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py new file mode 100644 index 0000000..1c6b17f --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py @@ -0,0 +1,14 @@ +from enum import Enum + + +class StandardMessagePriority(Enum): + """ + Standard message priorities. + """ + + LOW = 0 + NORMAL = 1 + HIGH = 2 + + def __str__(self) -> str: + return self.name.lower() From 48fa3b3ab3551bd17c504a52ecd0fdfd287ad664 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 21 Oct 2024 02:52:07 +0900 Subject: [PATCH 115/249] feat: add info message --- adf_core_python/core/agent/agent.py | 2 +- .../infomation/message_ambulance_team.py | 101 +++++--- .../bundle/infomation/message_building.py | 110 ++++++++ .../bundle/infomation/message_civilian.py | 123 +++++++++ .../bundle/infomation/message_fire_brigade.py | 185 ++++++++++++++ .../bundle/infomation/message_police_force.py | 169 ++++++++++++ .../bundle/infomation/message_road.py | 167 ++++++++++++ .../standard/bundle/standard_message.py | 25 +- poetry.lock | 240 ++++++++++++++---- pyproject.toml | 2 +- 10 files changed, 1023 insertions(+), 101 deletions(-) create mode 100644 adf_core_python/core/agent/communication/standard/bundle/infomation/message_building.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/infomation/message_civilian.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/infomation/message_fire_brigade.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/infomation/message_police_force.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/infomation/message_road.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 805d29c..2e86e21 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -115,7 +115,7 @@ def handle_connect_error(self, msg: Any) -> NoReturn: ) sys.exit(1) - def precompute(self): + def precompute(self) -> None: pass @abstractmethod diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py index 3c11291..6a462a2 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py +++ b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py @@ -1,5 +1,9 @@ -from typing import TYPE_CHECKING, Optional +from __future__ import annotations +from typing import Optional + +from bitarray import bitarray +from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( @@ -9,9 +13,6 @@ StandardMessagePriority, ) -if TYPE_CHECKING: - from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity - class MessageAmbulanceTeam(StandardMessage): ACTION_REST: int = 0 @@ -31,22 +32,22 @@ class MessageAmbulanceTeam(StandardMessage): def __init__( self, is_wireless_message: bool, - sender_id: int, - ttl: int, priority: StandardMessagePriority, ambulance_team: AmbulanceTeamEntity, action: int, target_entity_id: EntityID, + sender_id: int = -1, + ttl: int = -1, ): - super().__init__(is_wireless_message, sender_id, ttl, priority) + super().__init__(is_wireless_message, priority, sender_id, ttl) self._ambulance_team_entity_id: Optional[EntityID] = ambulance_team.get_id() - self._ambulance_team_hp: Optional[int] = ambulance_team.get_hp() or -1 + self._ambulance_team_hp: Optional[int] = ambulance_team.get_hp() or None self._ambulance_team_buriedness: Optional[int] = ( - ambulance_team.get_buriedness() or -1 + ambulance_team.get_buriedness() or None ) - self._ambulance_team_damage: Optional[int] = ambulance_team.get_damage() or -1 + self._ambulance_team_damage: Optional[int] = ambulance_team.get_damage() or None self._ambulance_team_position: Optional[EntityID] = ( - ambulance_team.get_position() or EntityID(-1) + ambulance_team.get_position() or None ) self._target_entity_id: Optional[EntityID] = target_entity_id self._action: Optional[int] = action @@ -55,74 +56,92 @@ def get_byte_size(self) -> int: return self.to_bytes().__len__() def to_bytes(self) -> bytes: - byte_array = bytearray() + bit_array = bitarray() self.write_with_exist_flag( - byte_array, + bit_array, self._ambulance_team_entity_id.get_value() if self._ambulance_team_entity_id else None, self.SIZE_AMBULANCE_TEAM_ENTITY_ID, ) self.write_with_exist_flag( - byte_array, self._ambulance_team_hp, self.SIZE_AMBULANCE_TEAM_HP + bit_array, self._ambulance_team_hp, self.SIZE_AMBULANCE_TEAM_HP ) self.write_with_exist_flag( - byte_array, + bit_array, self._ambulance_team_buriedness, self.SIZE_AMBULANCE_TEAM_BURIEDNESS, ) self.write_with_exist_flag( - byte_array, self._ambulance_team_damage, self.SIZE_AMBULANCE_TEAM_DAMAGE + bit_array, self._ambulance_team_damage, self.SIZE_AMBULANCE_TEAM_DAMAGE ) self.write_with_exist_flag( - byte_array, + bit_array, self._ambulance_team_position.get_value() if self._ambulance_team_position else None, self.SIZE_AMBULANCE_TEAM_POSITION, ) self.write_with_exist_flag( - byte_array, + bit_array, self._target_entity_id.get_value() if self._target_entity_id else None, self.SIZE_TARGET_ENTITY_ID, ) - self.write_with_exist_flag(byte_array, self._action, self.SIZE_ACTION) - return bytes(byte_array) + self.write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array.tobytes() - def from_bytes(self, bytes: bytes) -> None: - byte_array = bytearray(bytes) - raw_ambulance_team_entity_id = self.read_with_exist_flag( - byte_array, self.SIZE_AMBULANCE_TEAM_ENTITY_ID + @classmethod + def from_bytes(cls, bytes: bytes) -> MessageAmbulanceTeam: + bit_array = bitarray() + bit_array.frombytes(bytes) + raw_ambulance_team_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID ) - self._ambulance_team_entity_id = ( + ambulance_team_entity_id = ( EntityID(raw_ambulance_team_entity_id) - if raw_ambulance_team_entity_id + if raw_ambulance_team_entity_id is not None else None ) - self._ambulance_team_hp = self.read_with_exist_flag( - byte_array, self.SIZE_AMBULANCE_TEAM_HP + ambulance_team_hp = cls.read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_HP ) - self._ambulance_team_buriedness = self.read_with_exist_flag( - byte_array, self.SIZE_AMBULANCE_TEAM_BURIEDNESS + ambulance_team_buriedness = cls.read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_BURIEDNESS ) - self._ambulance_team_damage = self.read_with_exist_flag( - byte_array, self.SIZE_AMBULANCE_TEAM_DAMAGE + ambulance_team_damage = cls.read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_DAMAGE ) - raw_ambulance_team_position = self.read_with_exist_flag( - byte_array, self.SIZE_AMBULANCE_TEAM_POSITION + + raw_ambulance_team_position = cls.read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_POSITION ) - self._ambulance_team_position = ( + ambulance_team_position = ( EntityID(raw_ambulance_team_position) - if raw_ambulance_team_position + if raw_ambulance_team_position is not None else None ) - raw_target_entity_id = self.read_with_exist_flag( - byte_array, self.SIZE_TARGET_ENTITY_ID + + raw_target_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + target_entity_id = ( + EntityID(raw_target_entity_id) if raw_target_entity_id is not None else None + ) + action = cls.read_with_exist_flag(bit_array, cls.SIZE_ACTION) + ambulance_team = AmbulanceTeamEntity( + ambulance_team_entity_id, ) - self._target_entity_id = ( - EntityID(raw_target_entity_id) if raw_target_entity_id else None + ambulance_team.set_hp(ambulance_team_hp) + ambulance_team.set_buriedness(ambulance_team_buriedness) + ambulance_team.set_damage(ambulance_team_damage) + ambulance_team.set_position(ambulance_team_position) + return MessageAmbulanceTeam( + False, + StandardMessagePriority.NORMAL, + ambulance_team, + action or -1, + target_entity_id or EntityID(-1), ) - self._action = self.read_with_exist_flag(byte_array, self.SIZE_ACTION) def get_check_key(self) -> str: target_id_value: str = ( diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_building.py b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_building.py new file mode 100644 index 0000000..e26d00c --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_building.py @@ -0,0 +1,110 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.entities.building import Building +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) + + +class MessageBuilding(StandardMessage): + SIZE_BUILDING_ENTITY_ID: int = 32 + SIZE_BUILDING_BROKENNESS: int = 32 + SIZE_BUILDING_FIREYNESS: int = 32 + SIZE_BUILDING_TEMPERATURE: int = 32 + + def __init__( + self, + is_wireless_message: bool, + building: Building, + priority: StandardMessagePriority = StandardMessagePriority.NORMAL, + sender_id: int = -1, + ttl: int = -1, + ): + super().__init__(is_wireless_message, priority, sender_id, ttl) + self._building_entity_id: Optional[EntityID] = building.get_id() + self._building_brokenness: Optional[int] = building.get_brokenness() or None + self._building_fireyness: Optional[int] = building.get_fieryness() or None + self._building_temperature: Optional[int] = building.get_temperature() or None + + def get_byte_size(self) -> int: + return self.to_bytes().__len__() + + def to_bytes(self) -> bytes: + bit_array = bitarray() + self.write_with_exist_flag( + bit_array, + self._building_entity_id.get_value() if self._building_entity_id else None, + self.SIZE_BUILDING_ENTITY_ID, + ) + self.write_with_exist_flag( + bit_array, + self._building_brokenness, + self.SIZE_BUILDING_BROKENNESS, + ) + self.write_with_exist_flag( + bit_array, + self._building_fireyness, + self.SIZE_BUILDING_FIREYNESS, + ) + self.write_with_exist_flag( + bit_array, + self._building_temperature, + self.SIZE_BUILDING_TEMPERATURE, + ) + return bit_array.tobytes() + + @classmethod + def from_bytes(cls, bytes: bytes) -> MessageBuilding: + bit_array = bitarray() + bit_array.frombytes(bytes) + raw_building_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_BUILDING_ENTITY_ID + ) + building_entity_id = ( + EntityID(raw_building_entity_id) if raw_building_entity_id else None + ) + building_brokenness = cls.read_with_exist_flag( + bit_array, cls.SIZE_BUILDING_BROKENNESS + ) + building_fireyness = cls.read_with_exist_flag( + bit_array, cls.SIZE_BUILDING_FIREYNESS + ) + building_temperature = cls.read_with_exist_flag( + bit_array, cls.SIZE_BUILDING_TEMPERATURE + ) + building = Building( + building_entity_id.get_value() if building_entity_id else None + ) + building.set_brokenness(building_brokenness) + building.set_fieryness(building_fireyness) + building.set_temperature(building_temperature) + return MessageBuilding( + False, + building, + ) + + def get_check_key(self) -> str: + building_entity_id_value = ( + self._building_entity_id.get_value() if self._building_entity_id else None + ) + return f"{self.__class__.__name__} > building: {building_entity_id_value}" + + def get_building_entity_id(self) -> Optional[EntityID]: + return self._building_entity_id + + def get_building_brokenness(self) -> Optional[int]: + return self._building_brokenness + + def get_building_fireyness(self) -> Optional[int]: + return self._building_fireyness + + def get_building_temperature(self) -> Optional[int]: + return self._building_temperature diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_civilian.py b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_civilian.py new file mode 100644 index 0000000..bc3c73b --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_civilian.py @@ -0,0 +1,123 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.entities.civilian import Civilian +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) + + +class MessageCivilian(StandardMessage): + SIZE_CIVILIAN_ENTITY_ID: int = 32 + SIZE_CIVILIAN_HP: int = 14 + SIZE_CIVILIAN_BURIEDNESS: int = 13 + SIZE_CIVILIAN_DAMAGE: int = 14 + SIZE_CIVILIAN_POSITION: int = 32 + + def __init__( + self, + is_wireless_message: bool, + civilian: Civilian, + priority: StandardMessagePriority = StandardMessagePriority.NORMAL, + sender_id: int = -1, + ttl: int = -1, + ): + super().__init__(is_wireless_message, priority, sender_id, ttl) + self._civilian_entity_id: Optional[EntityID] = civilian.get_id() + self._civilian_hp: Optional[int] = civilian.get_hp() or None + self._civilian_buriedness: Optional[int] = civilian.get_buriedness() or None + self._civilian_damage: Optional[int] = civilian.get_damage() or None + self._civilian_position: Optional[EntityID] = civilian.get_position() or None + + def get_byte_size(self) -> int: + return self.to_bytes().__len__() + + def to_bytes(self) -> bytes: + bit_array = bitarray() + self.write_with_exist_flag( + bit_array, + self._civilian_entity_id.get_value() if self._civilian_entity_id else None, + self.SIZE_CIVILIAN_ENTITY_ID, + ) + self.write_with_exist_flag( + bit_array, + self._civilian_hp, + self.SIZE_CIVILIAN_HP, + ) + self.write_with_exist_flag( + bit_array, + self._civilian_buriedness, + self.SIZE_CIVILIAN_BURIEDNESS, + ) + self.write_with_exist_flag( + bit_array, + self._civilian_damage, + self.SIZE_CIVILIAN_DAMAGE, + ) + self.write_with_exist_flag( + bit_array, + self._civilian_position.get_value() if self._civilian_position else None, + self.SIZE_CIVILIAN_POSITION, + ) + return bit_array.tobytes() + + @classmethod + def from_bytes(cls, bytes: bytes) -> MessageCivilian: + bit_array = bitarray() + bit_array.frombytes(bytes) + raw_civilian_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_CIVILIAN_ENTITY_ID + ) + civilian_entity_id = ( + EntityID(raw_civilian_entity_id) if raw_civilian_entity_id else None + ) + civilian_hp = cls.read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_HP) + civilian_buriedness = cls.read_with_exist_flag( + bit_array, cls.SIZE_CIVILIAN_BURIEDNESS + ) + civilian_damage = cls.read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_DAMAGE) + raw_civilian_position = cls.read_with_exist_flag( + bit_array, cls.SIZE_CIVILIAN_POSITION + ) + civilian_position = ( + EntityID(raw_civilian_position) if raw_civilian_position else None + ) + civilian = Civilian( + civilian_entity_id.get_value() if civilian_entity_id else None + ) + civilian.set_hp(civilian_hp) + civilian.set_buriedness(civilian_buriedness) + civilian.set_damage(civilian_damage) + civilian.set_position(civilian_position) + return MessageCivilian( + False, + civilian, + ) + + def get_check_key(self) -> str: + civilian_entity_id_value = ( + self._civilian_entity_id.get_value() if self._civilian_entity_id else None + ) + return f"{self.__class__.__name__} > civilian: {civilian_entity_id_value}" + + def get_civilian_entity_id(self) -> Optional[EntityID]: + return self._civilian_entity_id + + def get_civilian_hp(self) -> Optional[int]: + return self._civilian_hp + + def get_civilian_buriedness(self) -> Optional[int]: + return self._civilian_buriedness + + def get_civilian_damage(self) -> Optional[int]: + return self._civilian_damage + + def get_civilian_position(self) -> Optional[EntityID]: + return self._civilian_position diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_fire_brigade.py b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_fire_brigade.py new file mode 100644 index 0000000..b2d9298 --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_fire_brigade.py @@ -0,0 +1,185 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) + + +class MessageFireBrigade(StandardMessage): + CTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_EXTINGUISH: int = 2 + ACTION_REFILL: int = 3 + ACTION_RESCUE: int = 4 + + SIZE_FIRE_BRIGADE_ENTITY_ID: int = 32 + SIZE_FIRE_BRIGADE_HP: int = 14 + SIZE_FIRE_BRIGADE_BURIEDNESS: int = 13 + SIZE_FIRE_BRIGADE_DAMAGE: int = 14 + SIZE_FIRE_BRIGADE_POSITION: int = 32 + SIZE_FIRE_BRIGADE_WATER: int = 14 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + fire_brigade: FireBrigadeEntity, + action: int, + target_entity_id: EntityID, + priority: StandardMessagePriority = StandardMessagePriority.NORMAL, + sender_id: int = -1, + ttl: int = -1, + ): + super().__init__(is_wireless_message, priority, sender_id, ttl) + self._fire_brigade_entity_id: Optional[EntityID] = fire_brigade.get_id() + self._fire_brigade_hp: Optional[int] = fire_brigade.get_hp() or None + self._fire_brigade_buriedness: Optional[int] = ( + fire_brigade.get_buriedness() or None + ) + self._fire_brigade_damage: Optional[int] = fire_brigade.get_damage() or None + self._fire_brigade_position: Optional[EntityID] = ( + fire_brigade.get_position() or None + ) + self._fire_brigade_water: Optional[int] = fire_brigade.get_water() or None + self._target_entity_id: Optional[EntityID] = target_entity_id + self._action: Optional[int] = action + + def get_byte_size(self) -> int: + return self.to_bytes().__len__() + + def to_bytes(self) -> bytes: + bit_array = bitarray() + self.write_with_exist_flag( + bit_array, + self._fire_brigade_entity_id.get_value() + if self._fire_brigade_entity_id + else None, + self.SIZE_FIRE_BRIGADE_ENTITY_ID, + ) + self.write_with_exist_flag( + bit_array, + self._fire_brigade_hp, + self.SIZE_FIRE_BRIGADE_HP, + ) + self.write_with_exist_flag( + bit_array, + self._fire_brigade_buriedness, + self.SIZE_FIRE_BRIGADE_BURIEDNESS, + ) + self.write_with_exist_flag( + bit_array, + self._fire_brigade_damage, + self.SIZE_FIRE_BRIGADE_DAMAGE, + ) + self.write_with_exist_flag( + bit_array, + self._fire_brigade_position.get_value() + if self._fire_brigade_position + else None, + self.SIZE_FIRE_BRIGADE_POSITION, + ) + self.write_with_exist_flag( + bit_array, + self._fire_brigade_water, + self.SIZE_FIRE_BRIGADE_WATER, + ) + self.write_with_exist_flag( + bit_array, + self._target_entity_id.get_value() if self._target_entity_id else None, + self.SIZE_TARGET_ENTITY_ID, + ) + self.write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array.tobytes() + + @classmethod + def from_bytes(cls, bytes: bytes) -> MessageFireBrigade: + bit_array = bitarray() + bit_array.frombytes(bytes) + raw_fire_brigade_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID + ) + fire_brigade_entity_id = ( + EntityID(raw_fire_brigade_entity_id) if raw_fire_brigade_entity_id else None + ) + fire_brigade_hp = cls.read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_HP) + fire_brigade_buriedness = cls.read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_BURIEDNESS + ) + fire_brigade_damage = cls.read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_DAMAGE + ) + raw_fire_brigade_position = cls.read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_POSITION + ) + fire_brigade_position = ( + EntityID(raw_fire_brigade_position) if raw_fire_brigade_position else None + ) + fire_brigade_water = cls.read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_WATER + ) + raw_target_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + target_entity_id = ( + EntityID(raw_target_entity_id) if raw_target_entity_id else None + ) + action = cls.read_with_exist_flag(bit_array, cls.SIZE_ACTION) + fire_brigade = FireBrigadeEntity( + fire_brigade_entity_id.get_value() if fire_brigade_entity_id else None + ) + fire_brigade.set_hp(fire_brigade_hp) + fire_brigade.set_buriedness(fire_brigade_buriedness) + fire_brigade.set_damage(fire_brigade_damage) + fire_brigade.set_position(fire_brigade_position) + fire_brigade.set_water(fire_brigade_water) + return MessageFireBrigade( + False, + fire_brigade, + action or -1, + target_entity_id or EntityID(-1), + ) + + def get_check_key(self) -> str: + fire_brigade_entity_id_value = ( + self._fire_brigade_entity_id.get_value() + if self._fire_brigade_entity_id + else None + ) + target_entity_id_value = ( + self._target_entity_id.get_value() if self._target_entity_id else None + ) + return f"{self.__class__.__name__} > fire brigade: {fire_brigade_entity_id_value} > target: {target_entity_id_value} > action: {self._action}" + + def get_fire_brigade_entity_id(self) -> Optional[EntityID]: + return self._fire_brigade_entity_id + + def get_fire_brigade_hp(self) -> Optional[int]: + return self._fire_brigade_hp + + def get_fire_brigade_buriedness(self) -> Optional[int]: + return self._fire_brigade_buriedness + + def get_fire_brigade_damage(self) -> Optional[int]: + return self._fire_brigade_damage + + def get_fire_brigade_position(self) -> Optional[EntityID]: + return self._fire_brigade_position + + def get_fire_brigade_water(self) -> Optional[int]: + return self._fire_brigade_water + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_police_force.py b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_police_force.py new file mode 100644 index 0000000..6f3c43c --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_police_force.py @@ -0,0 +1,169 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) + + +class MessagePoliceForce(StandardMessage): + CTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_CLEAR: int = 2 + + SIZE_POLICE_FORCE_ENTITY_ID: int = 32 + SIZE_POLICE_FORCE_HP: int = 14 + SIZE_POLICE_FORCE_BURIEDNESS: int = 13 + SIZE_POLICE_FORCE_DAMAGE: int = 14 + SIZE_POLICE_FORCE_POSITION: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + police_force: PoliceForceEntity, + action: int, + target_entity_id: EntityID, + priority: StandardMessagePriority = StandardMessagePriority.NORMAL, + sender_id: int = -1, + ttl: int = -1, + ): + super().__init__(is_wireless_message, priority, sender_id, ttl) + self._police_force_entity_id: Optional[EntityID] = police_force.get_id() + self._police_force_hp: Optional[int] = police_force.get_hp() or None + self._police_force_buriedness: Optional[int] = ( + police_force.get_buriedness() or None + ) + self._police_force_damage: Optional[int] = police_force.get_damage() or None + self._police_force_position: Optional[EntityID] = ( + police_force.get_position() or None + ) + self._target_entity_id: Optional[EntityID] = target_entity_id + self._action: Optional[int] = action + + def get_byte_size(self) -> int: + return self.to_bytes().__len__() + + def to_bytes(self) -> bytes: + bit_array = bitarray() + self.write_with_exist_flag( + bit_array, + self._police_force_entity_id.get_value() + if self._police_force_entity_id + else None, + self.SIZE_POLICE_FORCE_ENTITY_ID, + ) + self.write_with_exist_flag( + bit_array, + self._police_force_hp, + self.SIZE_POLICE_FORCE_HP, + ) + self.write_with_exist_flag( + bit_array, + self._police_force_buriedness, + self.SIZE_POLICE_FORCE_BURIEDNESS, + ) + self.write_with_exist_flag( + bit_array, + self._police_force_damage, + self.SIZE_POLICE_FORCE_DAMAGE, + ) + self.write_with_exist_flag( + bit_array, + self._police_force_position.get_value() + if self._police_force_position + else None, + self.SIZE_POLICE_FORCE_POSITION, + ) + self.write_with_exist_flag( + bit_array, + self._target_entity_id.get_value() if self._target_entity_id else None, + self.SIZE_TARGET_ENTITY_ID, + ) + self.write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array.tobytes() + + @classmethod + def from_bytes(cls, bytes: bytes) -> MessagePoliceForce: + bit_array = bitarray() + bit_array.frombytes(bytes) + raw_police_force_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID + ) + police_force_entity_id = ( + EntityID(raw_police_force_entity_id) if raw_police_force_entity_id else None + ) + police_force_hp = cls.read_with_exist_flag(bit_array, cls.SIZE_POLICE_FORCE_HP) + police_force_buriedness = cls.read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_BURIEDNESS + ) + police_force_damage = cls.read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_DAMAGE + ) + raw_police_force_position = cls.read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_POSITION + ) + police_force_position = ( + EntityID(raw_police_force_position) if raw_police_force_position else None + ) + raw_target_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + target_entity_id = ( + EntityID(raw_target_entity_id) if raw_target_entity_id else None + ) + action = cls.read_with_exist_flag(bit_array, cls.SIZE_ACTION) + police_force = PoliceForceEntity( + police_force_entity_id.get_value() if police_force_entity_id else None + ) + police_force.set_hp(police_force_hp) + police_force.set_buriedness(police_force_buriedness) + police_force.set_damage(police_force_damage) + police_force.set_position(police_force_position) + return MessagePoliceForce( + False, + police_force, + action or -1, + target_entity_id or EntityID(-1), + ) + + def get_check_key(self) -> str: + police_force_entity_id_value = ( + self._police_force_entity_id.get_value() + if self._police_force_entity_id + else None + ) + target_entity_id_value = ( + self._target_entity_id.get_value() if self._target_entity_id else None + ) + return f"{self.__class__.__name__} > police force: {police_force_entity_id_value} > target: {target_entity_id_value} > action: {self._action}" + + def get_police_force_entity_id(self) -> Optional[EntityID]: + return self._police_force_entity_id + + def get_police_force_hp(self) -> Optional[int]: + return self._police_force_hp + + def get_police_force_buriedness(self) -> Optional[int]: + return self._police_force_buriedness + + def get_police_force_damage(self) -> Optional[int]: + return self._police_force_damage + + def get_police_force_position(self) -> Optional[EntityID]: + return self._police_force_position + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_road.py b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_road.py new file mode 100644 index 0000000..89a2863 --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/infomation/message_road.py @@ -0,0 +1,167 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.entities.blockade import Blockade +from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) + + +class MessageRoad(StandardMessage): + CTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_CLEAR: int = 2 + + SIZE_ROAD_ENTITY_ID: int = 32 + SIZE_ROAD_BLOCKADE_ENTITY_ID: int = 32 + SIZE_ROAD_BLOCKADE_REPAIR_COST: int = 32 + SIZE_ROAD_BLOCKADE_X: int = 32 + SIZE_ROAD_BLOCKADE_Y: int = 32 + SIZE_PASSABLE: int = 1 + + def __init__( + self, + is_wireless_message: bool, + road: Road, + is_send_blockade_location: bool, + is_passable: Optional[bool], + blockade: Optional[Blockade], + priority: StandardMessagePriority = StandardMessagePriority.NORMAL, + sender_id: int = -1, + ttl: int = -1, + ): + super().__init__(is_wireless_message, priority, sender_id, ttl) + self._road_entity_id: Optional[EntityID] = road.get_id() + self._road_blockade_entity_id: Optional[EntityID] = None + self._road_blockade_repair_cost: Optional[int] = None + self._road_blockade_x: Optional[int] = None + self._road_blockade_y: Optional[int] = None + + if blockade: + self._road_blockade_entity_id = blockade.get_id() + self._road_blockade_repair_cost = blockade.get_repaire_cost() + if is_send_blockade_location: + self._road_blockade_x = blockade.get_x() or None + self._road_blockade_y = blockade.get_y() or None + + self._is_passable: Optional[bool] = is_passable + self._is_send_blockade_location: bool = is_send_blockade_location + + def get_byte_size(self) -> int: + return self.to_bytes().__len__() + + def to_bytes(self) -> bytes: + bit_array = bitarray() + self.write_with_exist_flag( + bit_array, + self._road_entity_id.get_value() if self._road_entity_id else None, + self.SIZE_ROAD_ENTITY_ID, + ) + self.write_with_exist_flag( + bit_array, + self._road_blockade_entity_id.get_value() + if self._road_blockade_entity_id + else None, + self.SIZE_ROAD_BLOCKADE_ENTITY_ID, + ) + self.write_with_exist_flag( + bit_array, + self._road_blockade_repair_cost + if self._road_blockade_repair_cost + else None, + self.SIZE_ROAD_BLOCKADE_REPAIR_COST, + ) + if self._is_send_blockade_location: + self.write_with_exist_flag( + bit_array, + self._road_blockade_x if self._road_blockade_x else None, + self.SIZE_ROAD_BLOCKADE_X, + ) + self.write_with_exist_flag( + bit_array, + self._road_blockade_y if self._road_blockade_y else None, + self.SIZE_ROAD_BLOCKADE_Y, + ) + else: + self.write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_X) + self.write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_Y) + self.write_with_exist_flag( + bit_array, + self._is_passable if self._is_passable else None, + self.SIZE_PASSABLE, + ) + return bit_array.tobytes() + + @classmethod + def from_bytes(cls, bytes: bytes) -> MessageRoad: + bit_array = bitarray() + bit_array.frombytes(bytes) + raw_road_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_ROAD_ENTITY_ID + ) + road_entity_id = EntityID(raw_road_entity_id) if raw_road_entity_id else None + raw_road_blockade_entity_id = cls.read_with_exist_flag( + bit_array, cls.SIZE_ROAD_BLOCKADE_ENTITY_ID + ) + road_blockade_entity_id = ( + EntityID(raw_road_blockade_entity_id) + if raw_road_blockade_entity_id + else None + ) + road_blockade_repair_cost = cls.read_with_exist_flag( + bit_array, cls.SIZE_ROAD_BLOCKADE_REPAIR_COST + ) + road_blockade_x = cls.read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_X) + road_blockade_y = cls.read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_Y) + is_passable = ( + True if cls.read_with_exist_flag(bit_array, cls.SIZE_PASSABLE) else False + ) + road = Road(road_entity_id.get_value() if road_entity_id else None) + blockade = Blockade( + road_blockade_entity_id.get_value() if road_blockade_entity_id else None + ) + blockade.set_repaire_cost(road_blockade_repair_cost) + blockade.set_x(road_blockade_x) + blockade.set_y(road_blockade_y) + return MessageRoad( + False, + road, + False, + is_passable, + blockade, + ) + + def get_check_key(self) -> str: + road_entity_id_value = ( + self._road_entity_id.get_value() if self._road_entity_id else None + ) + return f"{self.__class__.__name__} > road: {road_entity_id_value}" + + def get_road_entity_id(self) -> Optional[EntityID]: + return self._road_entity_id + + def get_road_blockade_entity_id(self) -> Optional[EntityID]: + return self._road_blockade_entity_id + + def get_road_blockade_repair_cost(self) -> Optional[int]: + return self._road_blockade_repair_cost + + def get_road_blockade_x(self) -> Optional[int]: + return self._road_blockade_x + + def get_road_blockade_y(self) -> Optional[int]: + return self._road_blockade_y + + def get_is_passable(self) -> Optional[bool]: + return self._is_passable + + def get_is_send_blockade_location(self) -> bool: + return self._is_send_blockade_location diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py index db6c8dd..c66f66a 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py @@ -1,5 +1,6 @@ from typing import Optional +from bitarray import bitarray from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( @@ -14,14 +15,14 @@ class StandardMessage(CommunicationMessage): def __init__( self, is_wireless_message: bool, - sender_id: int, - ttl: int, priority: StandardMessagePriority, + sender_id: int = -1, + ttl: int = -1, ): super().__init__(is_wireless_message) + self._priority = priority self._sender_id = sender_id self._ttl = ttl - self._priority = priority def get_sender_entity_id(self) -> EntityID: return EntityID(self._sender_id) @@ -32,22 +33,24 @@ def get_ttl(self) -> int: def get_priority(self) -> StandardMessagePriority: return self._priority + @staticmethod def write_with_exist_flag( - self, byte_array: bytearray, value: Optional[int], size: int + bit_array: bitarray, value: Optional[int], size: int ) -> None: if value is None: - byte_array.extend(b"\b0") + bit_array.extend([False]) else: - byte_array.extend(b"\b1") - byte_array.extend(value.to_bytes(size, "big")) + bit_array.extend([True]) + bit_array.frombytes(value.to_bytes(size, "big")) - def read_with_exist_flag(self, byte_array: bytearray, size: int) -> Optional[int]: - exist_flag = byte_array.pop(0) + @staticmethod + def read_with_exist_flag(bit_array: bitarray, size: int) -> Optional[int]: + exist_flag = bit_array.pop(0) if exist_flag == 0: return None elif exist_flag == 1: - value = int.from_bytes(byte_array[:size], "big") - del byte_array[:size] + value = int.from_bytes(bit_array.tobytes()[:size], "big") + del bit_array[:size] return value else: raise ValueError("Invalid exist flag") diff --git a/poetry.lock b/poetry.lock index a96b272..50ac978 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,5 +1,151 @@ # This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. 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56a70d59a5a8b48efc10ff2af4eef2af3ddc59f8 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 30 Oct 2024 02:19:02 +0900 Subject: [PATCH 117/249] feat: standard messages WIP WIP WIP WIP WIP WIP WIP WIP WIP feat: standard messages --- adf_core_python/core/agent/agent.py | 289 ++++++++++++--- adf_core_python/core/agent/command_factory.py | 44 +++ .../agent/communication/message_manager.py | 134 ++++++- .../agent/communication/standard/__init__.py | 0 .../communication/standard/bundle/__init__.py | 0 .../standard/bundle/centralized/__init__.py | 0 .../bundle/centralized/command_ambulance.py | 135 +++++++ .../bundle/centralized/command_fire.py | 136 +++++++ .../bundle/centralized/command_police.py | 134 +++++++ .../bundle/centralized/command_scout.py | 129 +++++++ .../bundle/centralized/message_report.py | 88 +++++ .../standard/bundle/information/__init__.py | 0 .../message_ambulance_team.py | 162 +++++---- .../message_building.py | 96 ++--- .../message_civilian.py | 107 +++--- .../message_fire_brigade.py | 159 +++++---- .../message_police_force.py | 150 ++++---- .../message_road.py | 138 ++++---- .../standard/bundle/standard_message.py | 71 ++-- .../bundle/standard_message_priority.py | 8 + .../standard/standard_communication_module.py | 168 ++++++++- .../standard/utility/__init__.py | 0 .../standard/utility/apply_to_world_info.py | 335 ++++++++++++++++++ .../utility/bitarray_with_exits_flag.py | 72 ++++ adf_core_python/core/agent/info/agent_info.py | 19 +- .../core/agent/info/scenario_info.py | 21 +- adf_core_python/core/agent/info/world_info.py | 11 + .../core/agent/module/module_manager.py | 58 +++ adf_core_python/core/agent/platoon/platoon.py | 85 ++--- .../core/component/communication/__init__.py | 0 .../communication/channel_subscriber.py | 21 +- .../communication/communication_message.py | 12 +- .../communication/communication_module.py | 9 +- .../communication/message_coordinator.py | 18 +- .../launcher/connect/component_launcher.py | 15 +- .../connect/connector_ambulance_centre.py | 4 +- .../connect/connector_ambulance_team.py | 4 +- .../connect/connector_fire_brigade.py | 4 +- .../connect/connector_fire_station.py | 5 +- .../connect/connector_police_force.py | 4 +- .../connect/connector_police_office.py | 6 +- .../default_channel_subscriber.py | 101 ++++++ .../default_message_coordinator.py | 222 ++++++++++++ .../tactics/default_tactics_ambulance_team.py | 73 ++++ config/launcher.yaml | 6 +- config/module.yaml | 11 +- poetry.lock | 178 +++++++--- pyproject.toml | 1 + pyrightconfig.json | 2 +- 49 files changed, 2820 insertions(+), 625 deletions(-) create mode 100644 adf_core_python/core/agent/command_factory.py create mode 100644 adf_core_python/core/agent/communication/standard/__init__.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/__init__.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/centralized/__init__.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py create mode 100644 adf_core_python/core/agent/communication/standard/bundle/information/__init__.py rename adf_core_python/core/agent/communication/standard/bundle/{infomation => information}/message_ambulance_team.py (61%) rename adf_core_python/core/agent/communication/standard/bundle/{infomation => information}/message_building.py (57%) rename adf_core_python/core/agent/communication/standard/bundle/{infomation => information}/message_civilian.py (58%) rename adf_core_python/core/agent/communication/standard/bundle/{infomation => information}/message_fire_brigade.py (63%) rename adf_core_python/core/agent/communication/standard/bundle/{infomation => information}/message_police_force.py (61%) rename adf_core_python/core/agent/communication/standard/bundle/{infomation => information}/message_road.py (60%) create mode 100644 adf_core_python/core/agent/communication/standard/utility/__init__.py create mode 100644 adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py create mode 100644 adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py create mode 100644 adf_core_python/core/component/communication/__init__.py create mode 100644 adf_core_python/implement/module/communication/default_channel_subscriber.py create mode 100644 adf_core_python/implement/module/communication/default_message_coordinator.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 2e86e21..51c9e98 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -2,14 +2,66 @@ from abc import abstractmethod from typing import Any, NoReturn -from rcrs_core.agents.agent import Agent as RCRSAgent +from bitarray import bitarray +from rcrs_core.commands.AKClear import AKClear +from rcrs_core.commands.AKClearArea import AKClearArea +from rcrs_core.commands.AKLoad import AKLoad +from rcrs_core.commands.AKMove import AKMove +from rcrs_core.commands.AKRescue import AKRescue +from rcrs_core.commands.AKRest import AKRest +from rcrs_core.commands.AKSay import AKSay +from rcrs_core.commands.AKSpeak import AKSpeak +from rcrs_core.commands.AKSubscribe import AKSubscribe +from rcrs_core.commands.AKTell import AKTell +from rcrs_core.commands.AKUnload import AKUnload from rcrs_core.commands.Command import Command from rcrs_core.config.config import Config as RCRSConfig from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.messages.AKAcknowledge import AKAcknowledge +from rcrs_core.messages.AKConnect import AKConnect +from rcrs_core.messages.controlMessageFactory import ControlMessageFactory +from rcrs_core.messages.KAConnectError import KAConnectError +from rcrs_core.messages.KAConnectOK import KAConnectOK +from rcrs_core.messages.KASense import KASense from rcrs_core.worldmodel.changeSet import ChangeSet +from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel +from adf_core_python.core.agent.command_factory import CommandFactory from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( + CommandFire, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( + CommandPolice, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + CommandReport, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( + MessageAmbulanceTeam, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_building import ( + MessageBuilding, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_civilian import ( + MessageCivilian, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade import ( + MessageFireBrigade, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_police_force import ( + MessagePoliceForce, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_road import ( + MessageRoad, +) from adf_core_python.core.agent.communication.standard.standard_communication_module import ( StandardCommunicationModule, ) @@ -27,7 +79,7 @@ from adf_core_python.core.logger.logger import get_agent_logger, get_logger -class Agent(RCRSAgent): +class Agent: def __init__( self, is_precompute: bool, @@ -41,9 +93,9 @@ def __init__( self.name = name self.connect_request_id = None self.world_model = WorldModel() - self.config = None + self.config: Config self.random = None - self.agent_id = None + self.agent_id: EntityID self.precompute_flag = is_precompute self.logger = get_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}" @@ -57,29 +109,19 @@ def __init__( # PrecomputeData.remove_date(data_storage_name) self.mode = Mode.PRECOMPUTATION - self.module_config = module_config - self.develop_data = develop_data - self.precompute_data = PrecomputeData(data_storage_name) - self.message_manager: MessageManager = MessageManager() - self.communication_module: CommunicationModule = StandardCommunicationModule() + self._module_config = module_config + self._develop_data = develop_data + self._precompute_data = PrecomputeData(data_storage_name) + self._message_manager: MessageManager = MessageManager() + self._communication_module: CommunicationModule = StandardCommunicationModule() - def post_connect(self) -> None: - self.world_model.index_entities() - - config = Config() - if self.config is not None: - rcrc_config: RCRSConfig = self.config - for key, value in rcrc_config.data.items(): - config.set_value(key, value) - for key, value in rcrc_config.int_data.items(): - config.set_value(key, value) - for key, value in rcrc_config.float_data.items(): - config.set_value(key, value) - for key, value in rcrc_config.boolean_data.items(): - config.set_value(key, value) - for key, value in rcrc_config.array_data.items(): - config.set_value(key, value) + def get_entity_id(self) -> EntityID: + return self.agent_id + + def set_send_msg(self, connection_send_func): + self.send_msg = connection_send_func + def post_connect(self) -> None: if self.is_precompute: self._mode = Mode.PRECOMPUTATION else: @@ -89,35 +131,198 @@ def post_connect(self) -> None: # self._mode = Mode.NON_PRECOMPUTE self._mode = Mode.NON_PRECOMPUTE - config.set_value(ConfigKey.KEY_DEBUG_FLAG, self.is_debug) - config.set_value( - ConfigKey.KEY_DEVELOP_FLAG, self.develop_data.is_develop_mode() + self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, self.is_debug) + self.config.set_value( + ConfigKey.KEY_DEVELOP_FLAG, self._develop_data.is_develop_mode() ) - self.ignore_time = config.get_value("kernel.agents.ignoreuntil", 3) - self.scenario_info: ScenarioInfo = ScenarioInfo(config, self._mode) - self.world_info: WorldInfo = WorldInfo(self.world_model) - self.agent_info = AgentInfo(self, self.world_model) + self._ignore_time: int = int( + self.config.get_value("kernel.agents.ignoreuntil", 3) + ) + self._scenario_info: ScenarioInfo = ScenarioInfo(self.config, self._mode) + self._world_info: WorldInfo = WorldInfo(self.world_model) + self._agent_info = AgentInfo(self, self.world_model) self.logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self.agent_info, + self._agent_info, ) - def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: - self.agent_info.record_think_start_time() - self.agent_info.set_time(time) + self.logger.info(f"config: {self.config}") - # if time == 1: - # self.message_manager.register_message_class() + def update_step_info( + self, time: int, change_set: ChangeSet, hear: list[Command] + ) -> None: + self._agent_info.record_think_start_time() + self._agent_info.set_time(time) - def handle_connect_error(self, msg: Any) -> NoReturn: - self.logger.error( - "Failed to connect agent: %s(request_id: %s)", msg.reason, msg.request_id + if time == 1: + self._message_manager.register_message_class(0, MessageAmbulanceTeam) + self._message_manager.register_message_class(1, MessageFireBrigade) + self._message_manager.register_message_class(2, MessagePoliceForce) + self._message_manager.register_message_class(3, MessageBuilding) + self._message_manager.register_message_class(4, MessageCivilian) + self._message_manager.register_message_class(5, MessageRoad) + self._message_manager.register_message_class(6, CommandAmbulance) + self._message_manager.register_message_class(7, CommandFire) + self._message_manager.register_message_class(8, CommandPolice) + self._message_manager.register_message_class(9, CommandScout) + self._message_manager.register_message_class(10, CommandReport) + + if time > self._ignore_time: + self._message_manager.subscribe( + self._agent_info, self._world_info, self._scenario_info + ) + if not self._message_manager.get_is_subscribed(): + subscribed_channels = self._message_manager.get_subscribed_channels() + if subscribed_channels: + self.logger.debug( + f"Subscribed channels: {subscribed_channels}", + message_manager=self._message_manager, + ) + self.send_subscribe(time, subscribed_channels) + self._message_manager.set_is_subscribed(True) + + self._agent_info.set_heard_commands(hear) + self._agent_info.set_change_set(change_set) + self._world_info.set_change_set(change_set) + + self._message_manager.refresh() + self._communication_module.receive(self, self._message_manager) + + self.think() + + self.logger.debug( + f"send messages: {self._message_manager.get_send_message_list()}", + message_manager=self._message_manager, ) - sys.exit(1) + self._message_manager.coordinate_message( + self._agent_info, self._world_info, self._scenario_info + ) + self._communication_module.send(self, self._message_manager) + + @abstractmethod + def think(self) -> None: + pass + + @abstractmethod def precompute(self) -> None: pass @abstractmethod def get_requested_entities(self) -> list[EntityURN]: pass + + def start_up(self, request_id): + ak_connect = AKConnect() + self.send_msg(ak_connect.write(request_id, self)) + + def message_received(self, msg): + c_msg = ControlMessageFactory().make_message(msg) + if isinstance(c_msg, KASense): + self.handler_sense(c_msg) + elif isinstance(c_msg, KAConnectOK): + self.handle_connect_ok(c_msg) + elif isinstance(c_msg, KAConnectError): + self.handle_connect_error(c_msg) + + def handle_connect_error(self, msg: Any) -> NoReturn: + self.logger.error( + "Failed to connect agent: %s(request_id: %s)", msg.reason, msg.request_id + ) + sys.exit(1) + + def handle_connect_ok(self, msg): + self.agent_id = EntityID(msg.agent_id) + self.world_model.add_entities(msg.world) + config: RCRSConfig = msg.config + self.config = Config() + if config is not None: + for key, value in config.data.items(): + self.config.set_value(key, value) + for key, value in config.int_data.items(): + self.config.set_value(key, value) + for key, value in config.float_data.items(): + self.config.set_value(key, value) + for key, value in config.boolean_data.items(): + self.config.set_value(key, value) + for key, value in config.array_data.items(): + self.config.set_value(key, value) + self.send_acknowledge(msg.request_id) + self.post_connect() + if self.precompute_flag: + print("self.precompute_flag: ", self.precompute_flag) + self.precompute() + + def handler_sense(self, msg): + _id = EntityID(msg.agent_id) + time = msg.time + change_set = msg.change_set + hear = msg.hear.commands + + if _id != self.get_entity_id(): + self.logger.error("Agent ID mismatch: %s != %s", _id, self.get_entity_id()) + return + + hear_commands = [CommandFactory.create_command(cmd) for cmd in hear] + + self.world_model.merge(change_set) + self.update_step_info(time, change_set, hear_commands) + + def send_acknowledge(self, request_id): + ak_ack = AKAcknowledge() + self.send_msg(ak_ack.write(request_id, self.agent_id)) + + def send_clear(self, time, target): + cmd = AKClear(self.get_entity_id(), time, target) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_clear_area(self, time, x=-1, y=-1): + cmd = AKClearArea(self.get_entity_id(), time, x, y) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_load(self, time, target): + cmd = AKLoad(self.get_entity_id(), time, target) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_move(self, time, path, x=-1, y=-1): + cmd = AKMove(self.get_entity_id(), time, path[:], x, y) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_rescue(self, time, target): + cmd = AKRescue(self.get_entity_id(), time, target) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_rest(self, time_step): + cmd = AKRest(self.get_entity_id(), time_step) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_say(self, time_step: int, message: str): + cmd = AKSay(self.get_entity_id(), time_step, message) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_speak(self, time_step: int, message: bitarray, channel: int): + cmd = AKSpeak(self.get_entity_id(), time_step, bytes(message), channel) # type: ignore + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_subscribe(self, time, channel): + cmd = AKSubscribe(self.get_entity_id(), time, channel) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_tell(self, time_step: int, message: str): + cmd = AKTell(self.get_entity_id(), time_step, message) + msg = cmd.prepare_cmd() + self.send_msg(msg) + + def send_unload(self, time): + cmd = AKUnload(self.get_entity_id(), time) + msg = cmd.prepare_cmd() + self.send_msg(msg) diff --git a/adf_core_python/core/agent/command_factory.py b/adf_core_python/core/agent/command_factory.py new file mode 100644 index 0000000..33c5253 --- /dev/null +++ b/adf_core_python/core/agent/command_factory.py @@ -0,0 +1,44 @@ +from rcrs_core.commands.AKClear import AKClear +from rcrs_core.commands.AKClearArea import AKClearArea +from rcrs_core.commands.AKExtinguish import AKExtinguish +from rcrs_core.commands.AKLoad import AKLoad +from rcrs_core.commands.AKMove import AKMove +from rcrs_core.commands.AKRescue import AKRescue +from rcrs_core.commands.AKRest import AKRest +from rcrs_core.commands.AKSay import AKSay +from rcrs_core.commands.AKSpeak import AKSpeak +from rcrs_core.commands.AKSubscribe import AKSubscribe +from rcrs_core.commands.AKTell import AKTell +from rcrs_core.commands.AKUnload import AKUnload +from rcrs_core.commands.Command import Command +from rcrs_core.connection.URN import Command as CommandURN +from rcrs_core.connection.URN import ComponentCommand as ComponentCommandMessageID +from rcrs_core.connection.URN import ComponentControlMSG as ComponentControlMessageID + + +class CommandFactory: + @staticmethod + def create_command(herad_command) -> Command: + if herad_command.urn == CommandURN.AK_SPEAK: + return AKSpeak( + herad_command.components[ComponentControlMessageID.AgentID].entityID, + herad_command.components[ComponentControlMessageID.Time].intValue, + herad_command.components[ComponentCommandMessageID.Message].rawData, + herad_command.components[ComponentCommandMessageID.Channel].intValue, + ) + return herad_command + # if herad_command.urn == CommandURN.AK_CLEAR: + # return AKClear( + # herad_command.agent_id, herad_command.time, herad_command.target + # ) + # elif herad_command.urn == CommandURN.AK_CLEAR_AREA: + # return AKClearArea( + # herad_command.agent_id, + # herad_command.time, + # herad_command.x, + # herad_command.y, + # ) + # elif herad_command.urn == CommandURN.AK_EXTINGUISH: + # return AKExtinguish( + # herad_command.agent_id, herad_command.time, herad_command.target + # ) diff --git a/adf_core_python/core/agent/communication/message_manager.py b/adf_core_python/core/agent/communication/message_manager.py index e873664..53c8f43 100644 --- a/adf_core_python/core/agent/communication/message_manager.py +++ b/adf_core_python/core/agent/communication/message_manager.py @@ -1,15 +1,21 @@ -from adf_core_python.core.agent.info.agent_info import AgentInfo +from __future__ import annotations + +from typing import TYPE_CHECKING + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, ScenarioInfoKeys from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.component.communication.channel_subscriber import ( - ChannelSubscriber, -) -from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, -) -from adf_core_python.core.component.communication.message_coordinator import ( - MessageCoordinator, -) + +if TYPE_CHECKING: + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.component.communication.channel_subscriber import ( + ChannelSubscriber, + ) + from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, + ) + from adf_core_python.core.component.communication.message_coordinator import ( + MessageCoordinator, + ) class MessageManager: @@ -34,7 +40,7 @@ def __init__(self) -> None: """ self.__standard_message_class_count = 0b0000_0001 self.__custom_message_class_count = 0b0001_0000 - self.__message_classes: dict[int, CommunicationMessage] = {} + self.__message_classes: dict[int, type[CommunicationMessage]] = {} self.__send_message_list: list[CommunicationMessage] = [] self.__received_message_list: list[CommunicationMessage] = [] self.__channel_send_message_list: list[list[CommunicationMessage]] = [] @@ -106,6 +112,18 @@ def set_channel_subscriber(self, channel_subscriber: ChannelSubscriber) -> None: """ self.__channel_subscriber = channel_subscriber + def set_message_coordinator(self, message_coordinator: MessageCoordinator) -> None: + """ + Set the message coordinator. + + Parameters + ---------- + message_coordinator : MessageCoordinator + The message coordinator. + + """ + self.__message_coordinator = message_coordinator + def get_channel_subscriber(self) -> ChannelSubscriber: """ Get the channel subscriber. @@ -161,6 +179,18 @@ def get_received_message_list(self) -> list[CommunicationMessage]: """ return self.__received_message_list + def get_channel_send_message_list(self) -> list[list[CommunicationMessage]]: + """ + Get the channel send message list. + + Returns + ------- + list[list[CommunicationMessage]] + The channel send message list. + + """ + return self.__channel_send_message_list + def subscribe( self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo ) -> None: @@ -185,10 +215,13 @@ def subscribe( if self.__channel_subscriber is None: raise ValueError("ChannelSubscriber is not set.") - self.__channel_subscriber.subscribe(agent_info, world_info, scenario_info, self) + if agent_info.get_time() == 1: + self.__subscribed_channels = self.__channel_subscriber.subscribe( + agent_info, world_info, scenario_info + ) def register_message_class( - self, index: int, message_class: CommunicationMessage + self, index: int, message_class: type[CommunicationMessage] ) -> None: """ Register the message class. @@ -205,6 +238,43 @@ def register_message_class( ) self.__message_classes[index] = message_class + def get_message_class(self, index: int) -> type[CommunicationMessage]: + """ + Get the message class. + + Parameters + ---------- + index : int + The index. + + Returns + ------- + type[CommunicationMessage] + The message class. + + """ + return self.__message_classes[index] + + def get_message_class_index(self, message_class: type[CommunicationMessage]) -> int: + """ + Get the message class index. + + Parameters + ---------- + message_class : type[CommunicationMessage] + The message class. + + Returns + ------- + int + The message class index. + + """ + for index, cls in self.__message_classes.items(): + if cls == message_class: + return index + return -1 + def add_message( self, message: CommunicationMessage, check_duplicate: bool = True ) -> None: @@ -217,7 +287,7 @@ def add_message( The message. """ - check_key = message.get_check_key() + check_key = message.__hash__() # TODO:両方同じコードになっているが、なぜなのか調査する if check_duplicate and check_key not in self.__check_duplicate_cache: self.__send_message_list.append(message) @@ -226,6 +296,18 @@ def add_message( self.__send_message_list.append(message) self.__check_duplicate_cache.add(check_key) + def get_send_message_list(self) -> list[CommunicationMessage]: + """ + Get the send message list. + + Returns + ------- + list[CommunicationMessage] + The send message list. + + """ + return self.__send_message_list + def coordinate_message( self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo ) -> None: @@ -248,7 +330,11 @@ def coordinate_message( self.__channel_send_message_list = [ [] for _ in range( - scenario_info.get_value(ScenarioInfoKeys.COMMS_CHANNELS_COUNT, 1) + int( + scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1 + ) + ) ) ] @@ -267,5 +353,23 @@ def refresh(self) -> None: """ self.__send_message_list = [] + self.__received_message_list = [] self.__check_duplicate_cache = set() self.__heard_agent_help_message_count = 0 + + def __str__(self) -> str: + return ( + f"MessageManager(" + f"standard_message_class_count={self.__standard_message_class_count}, " + f"custom_message_class_count={self.__custom_message_class_count}, " + f"message_classes={self.__message_classes}, " + f"send_message_list={self.__send_message_list}, " + f"received_message_list={self.__received_message_list}, " + f"channel_send_message_list={self.__channel_send_message_list}, " + f"check_duplicate_cache={self.__check_duplicate_cache}, " + f"message_coordinator={self.__message_coordinator}, " + f"channel_subscriber={self.__channel_subscriber}, " + f"heard_agent_help_message_count={self.__heard_agent_help_message_count}, " + f"subscribed_channels={self.__subscribed_channels}, " + f"is_subscribed={self.__is_subscribed})" + ) diff --git a/adf_core_python/core/agent/communication/standard/__init__.py b/adf_core_python/core/agent/communication/standard/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/communication/standard/bundle/__init__.py b/adf_core_python/core/agent/communication/standard/bundle/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/__init__.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py new file mode 100644 index 0000000..ff28ab8 --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py @@ -0,0 +1,135 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) + + +class CommandAmbulance(StandardMessage): + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_RESCUE: int = 2 + ACTION_LOAD: int = 3 + ACTION_UNLOAD: int = 4 + ACTION_AUTONOMY: int = 5 + + SIZE_AMBULANCE_TEAM_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + execute_action: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._execute_action: Optional[int] = execute_action + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_execute_action(self) -> Optional[int]: + return self._execute_action + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_AMBULANCE_TEAM_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandAmbulance: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id + ) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + execute_action if execute_action is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._execute_action, + ) + ) + + def __str__(self) -> str: + return f"CommandAmbulance(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py new file mode 100644 index 0000000..5927a2e --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py @@ -0,0 +1,136 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) + + +class CommandFire(StandardMessage): + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_EXTINGUISH: int = 2 + ACTION_REFILL: int = 3 + ACTION_RESCUE: int = 4 + ACTION_AUTONOMY: int = 5 + + SIZE_FIRE_BRIGADE_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + execute_action: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._execute_action: Optional[int] = execute_action + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_execute_action(self) -> Optional[int]: + return self._execute_action + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_FIRE_BRIGADE_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) + + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandFire: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id + ) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + execute_action if execute_action is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._execute_action, + ) + ) + + def __str__(self) -> str: + return f"CommandFire(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py new file mode 100644 index 0000000..cf3cc4d --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py @@ -0,0 +1,134 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) + + +class CommandPolice(StandardMessage): + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_CLEAR: int = 2 + ACTION_AUTONOMY: int = 3 + + SIZE_POLICE_FORCE_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + execute_action: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._execute_action: Optional[int] = execute_action + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_execute_action(self) -> Optional[int]: + return self._execute_action + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_POLICE_FORCE_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) + + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandPolice: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id + ) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + execute_action if execute_action is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._execute_action, + ) + ) + + def __str__(self) -> str: + return f"CommandPolice(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py new file mode 100644 index 0000000..253883b --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py @@ -0,0 +1,129 @@ +from __future__ import annotations + +from typing import Optional + +from bitarray import bitarray +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) + + +class CommandScout(StandardMessage): + SIZE_AGENT_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_SCOUT_RANGE: int = 32 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + scout_range: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._scout_range: Optional[int] = scout_range + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_scout_range(self) -> Optional[int]: + return self._scout_range + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_AGENT_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._scout_range, self.SIZE_SCOUT_RANGE) + + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandScout: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id + ) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_AGENT_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + scout_range = read_with_exist_flag(bit_array, cls.SIZE_SCOUT_RANGE) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + scout_range if scout_range is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._scout_range, + ) + ) + + def __str__(self) -> str: + return f"CommandScout(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, scout_range={self._scout_range})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py new file mode 100644 index 0000000..2971bb5 --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py @@ -0,0 +1,88 @@ +from __future__ import annotations + +from bitarray import bitarray +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) + + +class CommandReport(StandardMessage): + SIZE_DONE: int = 1 + SIZE_BLOADCAST: int = 1 + + def __init__( + self, + is_wireless_message: bool, + is_done: bool, + is_bloadcast: bool, + sender_entity_id: EntityID, + priority: StandardMessagePriority, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._is_done: bool = is_done + self._is_bloadcast: bool = is_bloadcast + + def is_done(self) -> bool: + return self._is_done + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._is_done, + self.SIZE_DONE, + ) + write_with_exist_flag( + bit_array, + self._is_bloadcast, + self.SIZE_BLOADCAST, + ) + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandReport: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id + ) + is_done = read_with_exist_flag(bit_array, cls.SIZE_DONE) == 1 + is_bloadcast = read_with_exist_flag(bit_array, cls.SIZE_BLOADCAST) == 1 + return cls( + is_wireless_message, + is_done, + is_bloadcast, + std_message.get_sender_entity_id(), + std_message.get_priority(), + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._is_done, + self._is_bloadcast, + ) + ) + + def __str__(self) -> str: + return f"CommandReport(done={self._is_done}, broadcast={self._is_bloadcast})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/__init__.py b/adf_core_python/core/agent/communication/standard/bundle/information/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py similarity index 61% rename from adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py rename to adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py index 6a462a2..7f495f7 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_ambulance_team.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py @@ -12,6 +12,10 @@ from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) class MessageAmbulanceTeam(StandardMessage): @@ -32,14 +36,14 @@ class MessageAmbulanceTeam(StandardMessage): def __init__( self, is_wireless_message: bool, - priority: StandardMessagePriority, ambulance_team: AmbulanceTeamEntity, action: int, target_entity_id: EntityID, - sender_id: int = -1, - ttl: int = -1, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, ): - super().__init__(is_wireless_message, priority, sender_id, ttl) + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) self._ambulance_team_entity_id: Optional[EntityID] = ambulance_team.get_id() self._ambulance_team_hp: Optional[int] = ambulance_team.get_hp() or None self._ambulance_team_buriedness: Optional[int] = ( @@ -52,67 +56,86 @@ def __init__( self._target_entity_id: Optional[EntityID] = target_entity_id self._action: Optional[int] = action - def get_byte_size(self) -> int: - return self.to_bytes().__len__() + def get_ambulance_team_entity_id(self) -> Optional[EntityID]: + return self._ambulance_team_entity_id + + def get_ambulance_team_hp(self) -> Optional[int]: + return self._ambulance_team_hp + + def get_ambulance_team_buriedness(self) -> Optional[int]: + return self._ambulance_team_buriedness + + def get_ambulance_team_damage(self) -> Optional[int]: + return self._ambulance_team_damage + + def get_ambulance_team_position(self) -> Optional[EntityID]: + return self._ambulance_team_position + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action - def to_bytes(self) -> bytes: - bit_array = bitarray() - self.write_with_exist_flag( + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( bit_array, self._ambulance_team_entity_id.get_value() if self._ambulance_team_entity_id else None, self.SIZE_AMBULANCE_TEAM_ENTITY_ID, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._ambulance_team_hp, self.SIZE_AMBULANCE_TEAM_HP ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._ambulance_team_buriedness, self.SIZE_AMBULANCE_TEAM_BURIEDNESS, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._ambulance_team_damage, self.SIZE_AMBULANCE_TEAM_DAMAGE ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._ambulance_team_position.get_value() if self._ambulance_team_position else None, self.SIZE_AMBULANCE_TEAM_POSITION, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._target_entity_id.get_value() if self._target_entity_id else None, self.SIZE_TARGET_ENTITY_ID, ) - self.write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) - return bit_array.tobytes() + write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array @classmethod - def from_bytes(cls, bytes: bytes) -> MessageAmbulanceTeam: - bit_array = bitarray() - bit_array.frombytes(bytes) - raw_ambulance_team_entity_id = cls.read_with_exist_flag( - bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID - ) - ambulance_team_entity_id = ( - EntityID(raw_ambulance_team_entity_id) - if raw_ambulance_team_entity_id is not None - else None + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> MessageAmbulanceTeam: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id ) - ambulance_team_hp = cls.read_with_exist_flag( - bit_array, cls.SIZE_AMBULANCE_TEAM_HP + ambulance_team_id = read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID ) - ambulance_team_buriedness = cls.read_with_exist_flag( + ambulance_team_hp = read_with_exist_flag(bit_array, cls.SIZE_AMBULANCE_TEAM_HP) + ambulance_team_buriedness = read_with_exist_flag( bit_array, cls.SIZE_AMBULANCE_TEAM_BURIEDNESS ) - ambulance_team_damage = cls.read_with_exist_flag( + ambulance_team_damage = read_with_exist_flag( bit_array, cls.SIZE_AMBULANCE_TEAM_DAMAGE ) - - raw_ambulance_team_position = cls.read_with_exist_flag( + raw_ambulance_team_position = read_with_exist_flag( bit_array, cls.SIZE_AMBULANCE_TEAM_POSITION ) ambulance_team_position = ( @@ -120,59 +143,44 @@ def from_bytes(cls, bytes: bytes) -> MessageAmbulanceTeam: if raw_ambulance_team_position is not None else None ) - - raw_target_entity_id = cls.read_with_exist_flag( + raw_target_entity_id = read_with_exist_flag( bit_array, cls.SIZE_TARGET_ENTITY_ID ) target_entity_id = ( - EntityID(raw_target_entity_id) if raw_target_entity_id is not None else None - ) - action = cls.read_with_exist_flag(bit_array, cls.SIZE_ACTION) - ambulance_team = AmbulanceTeamEntity( - ambulance_team_entity_id, + EntityID(raw_target_entity_id) + if raw_target_entity_id is not None + else EntityID(-1) ) + action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + ambulance_team = AmbulanceTeamEntity(ambulance_team_id or -1) ambulance_team.set_hp(ambulance_team_hp) ambulance_team.set_buriedness(ambulance_team_buriedness) ambulance_team.set_damage(ambulance_team_damage) ambulance_team.set_position(ambulance_team_position) return MessageAmbulanceTeam( False, - StandardMessagePriority.NORMAL, ambulance_team, - action or -1, - target_entity_id or EntityID(-1), - ) - - def get_check_key(self) -> str: - target_id_value: str = ( - str(self._target_entity_id.get_value()) - if self._target_entity_id - else "None" - ) - ambulance_team_id_value: str = ( - str(self._ambulance_team_entity_id.get_value()) - if self._ambulance_team_entity_id - else "None" - ) - return f"{self.__class__.__name__} > agent: {ambulance_team_id_value}, target: {target_id_value}, action: {self._action}" - - def get_ambulance_team_entity_id(self) -> Optional[EntityID]: - return self._ambulance_team_entity_id - - def get_ambulance_team_hp(self) -> Optional[int]: - return self._ambulance_team_hp - - def get_ambulance_team_buriedness(self) -> Optional[int]: - return self._ambulance_team_buriedness - - def get_ambulance_team_damage(self) -> Optional[int]: - return self._ambulance_team_damage - - def get_ambulance_team_position(self) -> Optional[EntityID]: - return self._ambulance_team_position - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._target_entity_id - - def get_action(self) -> Optional[int]: - return self._action + action if action is not None else -1, + target_entity_id, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._ambulance_team_entity_id, + self._ambulance_team_hp, + self._ambulance_team_buriedness, + self._ambulance_team_damage, + self._ambulance_team_position, + self._target_entity_id, + self._action, + ) + ) + + def __str__(self) -> str: + return f"MessageAmbulanceTeam(ambulance_team_entity_id={self._ambulance_team_entity_id}, ambulance_team_hp={self._ambulance_team_hp}, ambulance_team_buriedness={self._ambulance_team_buriedness}, ambulance_team_damage={self._ambulance_team_damage}, ambulance_team_position={self._ambulance_team_position}, target_entity_id={self._target_entity_id}, action={self._action}, ttl={self._ttl})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_building.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py similarity index 57% rename from adf_core_python/core/agent/communication/standard/bundle/infomation/message_building.py rename to adf_core_python/core/agent/communication/standard/bundle/information/message_building.py index e26d00c..3363e92 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_building.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py @@ -12,6 +12,10 @@ from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) class MessageBuilding(StandardMessage): @@ -24,87 +28,95 @@ def __init__( self, is_wireless_message: bool, building: Building, - priority: StandardMessagePriority = StandardMessagePriority.NORMAL, - sender_id: int = -1, - ttl: int = -1, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, ): - super().__init__(is_wireless_message, priority, sender_id, ttl) + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) self._building_entity_id: Optional[EntityID] = building.get_id() self._building_brokenness: Optional[int] = building.get_brokenness() or None self._building_fireyness: Optional[int] = building.get_fieryness() or None self._building_temperature: Optional[int] = building.get_temperature() or None - def get_byte_size(self) -> int: - return self.to_bytes().__len__() + def get_building_entity_id(self) -> Optional[EntityID]: + return self._building_entity_id + + def get_building_brokenness(self) -> Optional[int]: + return self._building_brokenness + + def get_building_fireyness(self) -> Optional[int]: + return self._building_fireyness + + def get_building_temperature(self) -> Optional[int]: + return self._building_temperature + + def get_bit_size(self) -> int: + return self.to_bits().__len__() - def to_bytes(self) -> bytes: - bit_array = bitarray() - self.write_with_exist_flag( + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( bit_array, self._building_entity_id.get_value() if self._building_entity_id else None, self.SIZE_BUILDING_ENTITY_ID, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._building_brokenness, self.SIZE_BUILDING_BROKENNESS, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._building_fireyness, self.SIZE_BUILDING_FIREYNESS, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._building_temperature, self.SIZE_BUILDING_TEMPERATURE, ) - return bit_array.tobytes() + return bit_array @classmethod - def from_bytes(cls, bytes: bytes) -> MessageBuilding: - bit_array = bitarray() - bit_array.frombytes(bytes) - raw_building_entity_id = cls.read_with_exist_flag( - bit_array, cls.SIZE_BUILDING_ENTITY_ID + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageBuilding: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id ) - building_entity_id = ( - EntityID(raw_building_entity_id) if raw_building_entity_id else None - ) - building_brokenness = cls.read_with_exist_flag( + building_id = read_with_exist_flag(bit_array, cls.SIZE_BUILDING_ENTITY_ID) + building_brokenness = read_with_exist_flag( bit_array, cls.SIZE_BUILDING_BROKENNESS ) - building_fireyness = cls.read_with_exist_flag( + building_fireyness = read_with_exist_flag( bit_array, cls.SIZE_BUILDING_FIREYNESS ) - building_temperature = cls.read_with_exist_flag( + building_temperature = read_with_exist_flag( bit_array, cls.SIZE_BUILDING_TEMPERATURE ) - building = Building( - building_entity_id.get_value() if building_entity_id else None - ) + building = Building(building_id or -1) building.set_brokenness(building_brokenness) building.set_fieryness(building_fireyness) building.set_temperature(building_temperature) return MessageBuilding( False, building, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), ) - def get_check_key(self) -> str: - building_entity_id_value = ( - self._building_entity_id.get_value() if self._building_entity_id else None + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._building_entity_id, + self._building_brokenness, + self._building_fireyness, + self._building_temperature, + ) ) - return f"{self.__class__.__name__} > building: {building_entity_id_value}" - def get_building_entity_id(self) -> Optional[EntityID]: - return self._building_entity_id - - def get_building_brokenness(self) -> Optional[int]: - return self._building_brokenness - - def get_building_fireyness(self) -> Optional[int]: - return self._building_fireyness - - def get_building_temperature(self) -> Optional[int]: - return self._building_temperature + def __str__(self): + return f"MessageBuilding(building_entity_id={self._building_entity_id}, building_brokenness={self._building_brokenness}, building_fireyness={self._building_fireyness}, building_temperature={self._building_temperature})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_civilian.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py similarity index 58% rename from adf_core_python/core/agent/communication/standard/bundle/infomation/message_civilian.py rename to adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py index bc3c73b..ac29847 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_civilian.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py @@ -12,6 +12,10 @@ from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) class MessageCivilian(StandardMessage): @@ -25,73 +29,84 @@ def __init__( self, is_wireless_message: bool, civilian: Civilian, - priority: StandardMessagePriority = StandardMessagePriority.NORMAL, - sender_id: int = -1, - ttl: int = -1, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, ): - super().__init__(is_wireless_message, priority, sender_id, ttl) + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) self._civilian_entity_id: Optional[EntityID] = civilian.get_id() self._civilian_hp: Optional[int] = civilian.get_hp() or None self._civilian_buriedness: Optional[int] = civilian.get_buriedness() or None self._civilian_damage: Optional[int] = civilian.get_damage() or None self._civilian_position: Optional[EntityID] = civilian.get_position() or None - def get_byte_size(self) -> int: - return self.to_bytes().__len__() + def get_civilian_entity_id(self) -> Optional[EntityID]: + return self._civilian_entity_id + + def get_civilian_hp(self) -> Optional[int]: + return self._civilian_hp + + def get_civilian_buriedness(self) -> Optional[int]: + return self._civilian_buriedness + + def get_civilian_damage(self) -> Optional[int]: + return self._civilian_damage + + def get_civilian_position(self) -> Optional[EntityID]: + return self._civilian_position + + def get_bit_size(self) -> int: + return self.to_bits().__len__() - def to_bytes(self) -> bytes: - bit_array = bitarray() - self.write_with_exist_flag( + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( bit_array, self._civilian_entity_id.get_value() if self._civilian_entity_id else None, self.SIZE_CIVILIAN_ENTITY_ID, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._civilian_hp, self.SIZE_CIVILIAN_HP, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._civilian_buriedness, self.SIZE_CIVILIAN_BURIEDNESS, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._civilian_damage, self.SIZE_CIVILIAN_DAMAGE, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._civilian_position.get_value() if self._civilian_position else None, self.SIZE_CIVILIAN_POSITION, ) - return bit_array.tobytes() + return bit_array @classmethod - def from_bytes(cls, bytes: bytes) -> MessageCivilian: - bit_array = bitarray() - bit_array.frombytes(bytes) - raw_civilian_entity_id = cls.read_with_exist_flag( - bit_array, cls.SIZE_CIVILIAN_ENTITY_ID + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageCivilian: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id ) - civilian_entity_id = ( - EntityID(raw_civilian_entity_id) if raw_civilian_entity_id else None - ) - civilian_hp = cls.read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_HP) - civilian_buriedness = cls.read_with_exist_flag( + civilian_id = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_ENTITY_ID) + civilian_hp = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_HP) + civilian_buriedness = read_with_exist_flag( bit_array, cls.SIZE_CIVILIAN_BURIEDNESS ) - civilian_damage = cls.read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_DAMAGE) - raw_civilian_position = cls.read_with_exist_flag( + civilian_damage = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_DAMAGE) + raw_civilian_position = read_with_exist_flag( bit_array, cls.SIZE_CIVILIAN_POSITION ) civilian_position = ( EntityID(raw_civilian_position) if raw_civilian_position else None ) - civilian = Civilian( - civilian_entity_id.get_value() if civilian_entity_id else None - ) + civilian = Civilian(civilian_id or -1) civilian.set_hp(civilian_hp) civilian.set_buriedness(civilian_buriedness) civilian.set_damage(civilian_damage) @@ -99,25 +114,23 @@ def from_bytes(cls, bytes: bytes) -> MessageCivilian: return MessageCivilian( False, civilian, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), ) - def get_check_key(self) -> str: - civilian_entity_id_value = ( - self._civilian_entity_id.get_value() if self._civilian_entity_id else None + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._civilian_entity_id, + self._civilian_hp, + self._civilian_buriedness, + self._civilian_damage, + self._civilian_position, + ) ) - return f"{self.__class__.__name__} > civilian: {civilian_entity_id_value}" - - def get_civilian_entity_id(self) -> Optional[EntityID]: - return self._civilian_entity_id - - def get_civilian_hp(self) -> Optional[int]: - return self._civilian_hp - def get_civilian_buriedness(self) -> Optional[int]: - return self._civilian_buriedness - - def get_civilian_damage(self) -> Optional[int]: - return self._civilian_damage - - def get_civilian_position(self) -> Optional[EntityID]: - return self._civilian_position + def __str__(self): + return f"MessageCivilian(civilian_entity_id={self._civilian_entity_id}, civilian_hp={self._civilian_hp}, civilian_buriedness={self._civilian_buriedness}, civilian_damage={self._civilian_damage}, civilian_position={self._civilian_position})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_fire_brigade.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py similarity index 63% rename from adf_core_python/core/agent/communication/standard/bundle/infomation/message_fire_brigade.py rename to adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py index b2d9298..11742d5 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_fire_brigade.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py @@ -12,10 +12,14 @@ from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) class MessageFireBrigade(StandardMessage): - CTION_REST: int = 0 + ACTION_REST: int = 0 ACTION_MOVE: int = 1 ACTION_EXTINGUISH: int = 2 ACTION_REFILL: int = 3 @@ -36,11 +40,11 @@ def __init__( fire_brigade: FireBrigadeEntity, action: int, target_entity_id: EntityID, - priority: StandardMessagePriority = StandardMessagePriority.NORMAL, - sender_id: int = -1, - ttl: int = -1, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, ): - super().__init__(is_wireless_message, priority, sender_id, ttl) + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) self._fire_brigade_entity_id: Optional[EntityID] = fire_brigade.get_id() self._fire_brigade_hp: Optional[int] = fire_brigade.get_hp() or None self._fire_brigade_buriedness: Optional[int] = ( @@ -54,88 +58,112 @@ def __init__( self._target_entity_id: Optional[EntityID] = target_entity_id self._action: Optional[int] = action - def get_byte_size(self) -> int: - return self.to_bytes().__len__() + def get_fire_brigade_entity_id(self) -> Optional[EntityID]: + return self._fire_brigade_entity_id + + def get_fire_brigade_hp(self) -> Optional[int]: + return self._fire_brigade_hp + + def get_fire_brigade_buriedness(self) -> Optional[int]: + return self._fire_brigade_buriedness + + def get_fire_brigade_damage(self) -> Optional[int]: + return self._fire_brigade_damage + + def get_fire_brigade_position(self) -> Optional[EntityID]: + return self._fire_brigade_position - def to_bytes(self) -> bytes: - bit_array = bitarray() - self.write_with_exist_flag( + def get_fire_brigade_water(self) -> Optional[int]: + return self._fire_brigade_water + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( bit_array, self._fire_brigade_entity_id.get_value() if self._fire_brigade_entity_id else None, self.SIZE_FIRE_BRIGADE_ENTITY_ID, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._fire_brigade_hp, self.SIZE_FIRE_BRIGADE_HP, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._fire_brigade_buriedness, self.SIZE_FIRE_BRIGADE_BURIEDNESS, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._fire_brigade_damage, self.SIZE_FIRE_BRIGADE_DAMAGE, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._fire_brigade_position.get_value() if self._fire_brigade_position else None, self.SIZE_FIRE_BRIGADE_POSITION, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._fire_brigade_water, self.SIZE_FIRE_BRIGADE_WATER, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._target_entity_id.get_value() if self._target_entity_id else None, self.SIZE_TARGET_ENTITY_ID, ) - self.write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) - return bit_array.tobytes() + write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array @classmethod - def from_bytes(cls, bytes: bytes) -> MessageFireBrigade: - bit_array = bitarray() - bit_array.frombytes(bytes) - raw_fire_brigade_entity_id = cls.read_with_exist_flag( - bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageFireBrigade: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id ) - fire_brigade_entity_id = ( - EntityID(raw_fire_brigade_entity_id) if raw_fire_brigade_entity_id else None + fire_brigade_id = read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID ) - fire_brigade_hp = cls.read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_HP) - fire_brigade_buriedness = cls.read_with_exist_flag( + fire_brigade_hp = read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_HP) + fire_brigade_buriedness = read_with_exist_flag( bit_array, cls.SIZE_FIRE_BRIGADE_BURIEDNESS ) - fire_brigade_damage = cls.read_with_exist_flag( + fire_brigade_damage = read_with_exist_flag( bit_array, cls.SIZE_FIRE_BRIGADE_DAMAGE ) - raw_fire_brigade_position = cls.read_with_exist_flag( + raw_fire_brigade_position = read_with_exist_flag( bit_array, cls.SIZE_FIRE_BRIGADE_POSITION ) fire_brigade_position = ( EntityID(raw_fire_brigade_position) if raw_fire_brigade_position else None ) - fire_brigade_water = cls.read_with_exist_flag( + fire_brigade_water = read_with_exist_flag( bit_array, cls.SIZE_FIRE_BRIGADE_WATER ) - raw_target_entity_id = cls.read_with_exist_flag( + raw_target_entity_id = read_with_exist_flag( bit_array, cls.SIZE_TARGET_ENTITY_ID ) target_entity_id = ( - EntityID(raw_target_entity_id) if raw_target_entity_id else None + EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) ) - action = cls.read_with_exist_flag(bit_array, cls.SIZE_ACTION) + action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) fire_brigade = FireBrigadeEntity( - fire_brigade_entity_id.get_value() if fire_brigade_entity_id else None + fire_brigade_id or -1, ) fire_brigade.set_hp(fire_brigade_hp) fire_brigade.set_buriedness(fire_brigade_buriedness) @@ -145,41 +173,28 @@ def from_bytes(cls, bytes: bytes) -> MessageFireBrigade: return MessageFireBrigade( False, fire_brigade, - action or -1, - target_entity_id or EntityID(-1), - ) - - def get_check_key(self) -> str: - fire_brigade_entity_id_value = ( - self._fire_brigade_entity_id.get_value() - if self._fire_brigade_entity_id - else None - ) - target_entity_id_value = ( - self._target_entity_id.get_value() if self._target_entity_id else None - ) - return f"{self.__class__.__name__} > fire brigade: {fire_brigade_entity_id_value} > target: {target_entity_id_value} > action: {self._action}" - - def get_fire_brigade_entity_id(self) -> Optional[EntityID]: - return self._fire_brigade_entity_id - - def get_fire_brigade_hp(self) -> Optional[int]: - return self._fire_brigade_hp - - def get_fire_brigade_buriedness(self) -> Optional[int]: - return self._fire_brigade_buriedness - - def get_fire_brigade_damage(self) -> Optional[int]: - return self._fire_brigade_damage - - def get_fire_brigade_position(self) -> Optional[EntityID]: - return self._fire_brigade_position - - def get_fire_brigade_water(self) -> Optional[int]: - return self._fire_brigade_water - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._target_entity_id - - def get_action(self) -> Optional[int]: - return self._action + action if action is not None else -1, + target_entity_id, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._fire_brigade_entity_id, + self._fire_brigade_hp, + self._fire_brigade_buriedness, + self._fire_brigade_damage, + self._fire_brigade_position, + self._fire_brigade_water, + self._target_entity_id, + self._action, + ) + ) + + def __str__(self): + return f"MessageFireBrigade(fire_brigade_entity_id={self._fire_brigade_entity_id}, fire_brigade_hp={self._fire_brigade_hp}, fire_brigade_buriedness={self._fire_brigade_buriedness}, fire_brigade_damage={self._fire_brigade_damage}, fire_brigade_position={self._fire_brigade_position}, fire_brigade_water={self._fire_brigade_water}, target_entity_id={self._target_entity_id}, action={self._action})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_police_force.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py similarity index 61% rename from adf_core_python/core/agent/communication/standard/bundle/infomation/message_police_force.py rename to adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py index 6f3c43c..8280184 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_police_force.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py @@ -12,10 +12,14 @@ from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) class MessagePoliceForce(StandardMessage): - CTION_REST: int = 0 + ACTION_REST: int = 0 ACTION_MOVE: int = 1 ACTION_CLEAR: int = 2 @@ -33,11 +37,11 @@ def __init__( police_force: PoliceForceEntity, action: int, target_entity_id: EntityID, - priority: StandardMessagePriority = StandardMessagePriority.NORMAL, - sender_id: int = -1, - ttl: int = -1, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, ): - super().__init__(is_wireless_message, priority, sender_id, ttl) + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) self._police_force_entity_id: Optional[EntityID] = police_force.get_id() self._police_force_hp: Optional[int] = police_force.get_hp() or None self._police_force_buriedness: Optional[int] = ( @@ -50,81 +54,100 @@ def __init__( self._target_entity_id: Optional[EntityID] = target_entity_id self._action: Optional[int] = action - def get_byte_size(self) -> int: - return self.to_bytes().__len__() + def get_police_force_entity_id(self) -> Optional[EntityID]: + return self._police_force_entity_id + + def get_police_force_hp(self) -> Optional[int]: + return self._police_force_hp + + def get_police_force_buriedness(self) -> Optional[int]: + return self._police_force_buriedness + + def get_police_force_damage(self) -> Optional[int]: + return self._police_force_damage + + def get_police_force_position(self) -> Optional[EntityID]: + return self._police_force_position - def to_bytes(self) -> bytes: - bit_array = bitarray() - self.write_with_exist_flag( + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( bit_array, self._police_force_entity_id.get_value() if self._police_force_entity_id else None, self.SIZE_POLICE_FORCE_ENTITY_ID, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._police_force_hp, self.SIZE_POLICE_FORCE_HP, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._police_force_buriedness, self.SIZE_POLICE_FORCE_BURIEDNESS, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._police_force_damage, self.SIZE_POLICE_FORCE_DAMAGE, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._police_force_position.get_value() if self._police_force_position else None, self.SIZE_POLICE_FORCE_POSITION, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._target_entity_id.get_value() if self._target_entity_id else None, self.SIZE_TARGET_ENTITY_ID, ) - self.write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) - return bit_array.tobytes() + write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array @classmethod - def from_bytes(cls, bytes: bytes) -> MessagePoliceForce: - bit_array = bitarray() - bit_array.frombytes(bytes) - raw_police_force_entity_id = cls.read_with_exist_flag( - bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessagePoliceForce: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id ) - police_force_entity_id = ( - EntityID(raw_police_force_entity_id) if raw_police_force_entity_id else None + police_force_id = read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID ) - police_force_hp = cls.read_with_exist_flag(bit_array, cls.SIZE_POLICE_FORCE_HP) - police_force_buriedness = cls.read_with_exist_flag( + police_force_hp = read_with_exist_flag(bit_array, cls.SIZE_POLICE_FORCE_HP) + police_force_buriedness = read_with_exist_flag( bit_array, cls.SIZE_POLICE_FORCE_BURIEDNESS ) - police_force_damage = cls.read_with_exist_flag( + police_force_damage = read_with_exist_flag( bit_array, cls.SIZE_POLICE_FORCE_DAMAGE ) - raw_police_force_position = cls.read_with_exist_flag( + raw_police_force_position = read_with_exist_flag( bit_array, cls.SIZE_POLICE_FORCE_POSITION ) police_force_position = ( EntityID(raw_police_force_position) if raw_police_force_position else None ) - raw_target_entity_id = cls.read_with_exist_flag( + raw_target_entity_id = read_with_exist_flag( bit_array, cls.SIZE_TARGET_ENTITY_ID ) target_entity_id = ( - EntityID(raw_target_entity_id) if raw_target_entity_id else None - ) - action = cls.read_with_exist_flag(bit_array, cls.SIZE_ACTION) - police_force = PoliceForceEntity( - police_force_entity_id.get_value() if police_force_entity_id else None + EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) ) + action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + police_force = PoliceForceEntity(police_force_id or -1) police_force.set_hp(police_force_hp) police_force.set_buriedness(police_force_buriedness) police_force.set_damage(police_force_damage) @@ -132,38 +155,27 @@ def from_bytes(cls, bytes: bytes) -> MessagePoliceForce: return MessagePoliceForce( False, police_force, - action or -1, - target_entity_id or EntityID(-1), - ) - - def get_check_key(self) -> str: - police_force_entity_id_value = ( - self._police_force_entity_id.get_value() - if self._police_force_entity_id - else None - ) - target_entity_id_value = ( - self._target_entity_id.get_value() if self._target_entity_id else None - ) - return f"{self.__class__.__name__} > police force: {police_force_entity_id_value} > target: {target_entity_id_value} > action: {self._action}" - - def get_police_force_entity_id(self) -> Optional[EntityID]: - return self._police_force_entity_id - - def get_police_force_hp(self) -> Optional[int]: - return self._police_force_hp - - def get_police_force_buriedness(self) -> Optional[int]: - return self._police_force_buriedness - - def get_police_force_damage(self) -> Optional[int]: - return self._police_force_damage - - def get_police_force_position(self) -> Optional[EntityID]: - return self._police_force_position - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._target_entity_id - - def get_action(self) -> Optional[int]: - return self._action + action if action is not None else -1, + target_entity_id, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._police_force_entity_id, + self._police_force_hp, + self._police_force_buriedness, + self._police_force_damage, + self._police_force_position, + self._target_entity_id, + self._action, + ) + ) + + def __str__(self): + return f"MessagePoliceForce(police_force_entity_id={self._police_force_entity_id}, police_force_hp={self._police_force_hp}, police_force_buriedness={self._police_force_buriedness}, police_force_damage={self._police_force_damage}, police_force_position={self._police_force_position}, target_entity_id={self._target_entity_id}, action={self._action})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_road.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py similarity index 60% rename from adf_core_python/core/agent/communication/standard/bundle/infomation/message_road.py rename to adf_core_python/core/agent/communication/standard/bundle/information/message_road.py index 89a2863..9023973 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/infomation/message_road.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py @@ -13,10 +13,14 @@ from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) class MessageRoad(StandardMessage): - CTION_REST: int = 0 + ACTION_REST: int = 0 ACTION_MOVE: int = 1 ACTION_CLEAR: int = 2 @@ -34,11 +38,11 @@ def __init__( is_send_blockade_location: bool, is_passable: Optional[bool], blockade: Optional[Blockade], - priority: StandardMessagePriority = StandardMessagePriority.NORMAL, - sender_id: int = -1, - ttl: int = -1, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, ): - super().__init__(is_wireless_message, priority, sender_id, ttl) + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) self._road_entity_id: Optional[EntityID] = road.get_id() self._road_blockade_entity_id: Optional[EntityID] = None self._road_blockade_repair_cost: Optional[int] = None @@ -55,24 +59,45 @@ def __init__( self._is_passable: Optional[bool] = is_passable self._is_send_blockade_location: bool = is_send_blockade_location - def get_byte_size(self) -> int: - return self.to_bytes().__len__() + def get_road_entity_id(self) -> Optional[EntityID]: + return self._road_entity_id + + def get_road_blockade_entity_id(self) -> Optional[EntityID]: + return self._road_blockade_entity_id + + def get_road_blockade_repair_cost(self) -> Optional[int]: + return self._road_blockade_repair_cost + + def get_road_blockade_x(self) -> Optional[int]: + return self._road_blockade_x - def to_bytes(self) -> bytes: - bit_array = bitarray() - self.write_with_exist_flag( + def get_road_blockade_y(self) -> Optional[int]: + return self._road_blockade_y + + def get_is_passable(self) -> Optional[bool]: + return self._is_passable + + def get_is_send_blockade_location(self) -> bool: + return self._is_send_blockade_location + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( bit_array, self._road_entity_id.get_value() if self._road_entity_id else None, self.SIZE_ROAD_ENTITY_ID, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._road_blockade_entity_id.get_value() if self._road_blockade_entity_id else None, self.SIZE_ROAD_BLOCKADE_ENTITY_ID, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._road_blockade_repair_cost if self._road_blockade_repair_cost @@ -80,88 +105,75 @@ def to_bytes(self) -> bytes: self.SIZE_ROAD_BLOCKADE_REPAIR_COST, ) if self._is_send_blockade_location: - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._road_blockade_x if self._road_blockade_x else None, self.SIZE_ROAD_BLOCKADE_X, ) - self.write_with_exist_flag( + write_with_exist_flag( bit_array, self._road_blockade_y if self._road_blockade_y else None, self.SIZE_ROAD_BLOCKADE_Y, ) else: - self.write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_X) - self.write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_Y) - self.write_with_exist_flag( + write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_X) + write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_Y) + write_with_exist_flag( bit_array, self._is_passable if self._is_passable else None, self.SIZE_PASSABLE, ) - return bit_array.tobytes() + return bit_array @classmethod - def from_bytes(cls, bytes: bytes) -> MessageRoad: - bit_array = bitarray() - bit_array.frombytes(bytes) - raw_road_entity_id = cls.read_with_exist_flag( - bit_array, cls.SIZE_ROAD_ENTITY_ID + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageRoad: + std_message = super().from_bits( + bit_array, is_wireless_message, sender_entity_id ) - road_entity_id = EntityID(raw_road_entity_id) if raw_road_entity_id else None - raw_road_blockade_entity_id = cls.read_with_exist_flag( + road_id = read_with_exist_flag(bit_array, cls.SIZE_ROAD_ENTITY_ID) + road_blockade_id = read_with_exist_flag( bit_array, cls.SIZE_ROAD_BLOCKADE_ENTITY_ID ) - road_blockade_entity_id = ( - EntityID(raw_road_blockade_entity_id) - if raw_road_blockade_entity_id - else None - ) - road_blockade_repair_cost = cls.read_with_exist_flag( + road_blockade_repair_cost = read_with_exist_flag( bit_array, cls.SIZE_ROAD_BLOCKADE_REPAIR_COST ) - road_blockade_x = cls.read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_X) - road_blockade_y = cls.read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_Y) + road_blockade_x = read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_X) + road_blockade_y = read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_Y) is_passable = ( - True if cls.read_with_exist_flag(bit_array, cls.SIZE_PASSABLE) else False - ) - road = Road(road_entity_id.get_value() if road_entity_id else None) - blockade = Blockade( - road_blockade_entity_id.get_value() if road_blockade_entity_id else None + True if read_with_exist_flag(bit_array, cls.SIZE_PASSABLE) else False ) + road = Road(road_id or -1) + blockade = Blockade(road_blockade_id or -1) blockade.set_repaire_cost(road_blockade_repair_cost) blockade.set_x(road_blockade_x) blockade.set_y(road_blockade_y) return MessageRoad( - False, + is_wireless_message, road, False, is_passable, blockade, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), ) - def get_check_key(self) -> str: - road_entity_id_value = ( - self._road_entity_id.get_value() if self._road_entity_id else None + def __hash__(self): + h = super().__hash__() + return hash( + ( + h, + self._road_entity_id, + self._road_blockade_entity_id, + self._road_blockade_repair_cost, + self._road_blockade_x, + self._road_blockade_y, + self._is_passable, + self._is_send_blockade_location, + ) ) - return f"{self.__class__.__name__} > road: {road_entity_id_value}" - - def get_road_entity_id(self) -> Optional[EntityID]: - return self._road_entity_id - - def get_road_blockade_entity_id(self) -> Optional[EntityID]: - return self._road_blockade_entity_id - - def get_road_blockade_repair_cost(self) -> Optional[int]: - return self._road_blockade_repair_cost - def get_road_blockade_x(self) -> Optional[int]: - return self._road_blockade_x - - def get_road_blockade_y(self) -> Optional[int]: - return self._road_blockade_y - - def get_is_passable(self) -> Optional[bool]: - return self._is_passable - - def get_is_send_blockade_location(self) -> bool: - return self._is_send_blockade_location + def __str__(self): + return f"MessageRoad(road_entity_id={self._road_entity_id}, road_blockade_entity_id={self._road_blockade_entity_id}, road_blockade_repair_cost={self._road_blockade_repair_cost}, road_blockade_x={self._road_blockade_x}, road_blockade_y={self._road_blockade_y}, is_passable={self._is_passable}, is_send_blockade_location={self._is_send_blockade_location})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py index c66f66a..490f367 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py @@ -1,3 +1,5 @@ +from __future__ import annotations + from typing import Optional from bitarray import bitarray @@ -6,51 +8,64 @@ from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) from adf_core_python.core.component.communication.communication_message import ( CommunicationMessage, ) class StandardMessage(CommunicationMessage): + SIZE_TTL: int = 3 + def __init__( self, is_wireless_message: bool, priority: StandardMessagePriority, - sender_id: int = -1, - ttl: int = -1, + sender_entity_id: EntityID, + ttl: Optional[int] = None, ): super().__init__(is_wireless_message) self._priority = priority - self._sender_id = sender_id + self._sender_entity_id = sender_entity_id self._ttl = ttl def get_sender_entity_id(self) -> EntityID: - return EntityID(self._sender_id) - - def get_ttl(self) -> int: - return self._ttl + return self._sender_entity_id def get_priority(self) -> StandardMessagePriority: return self._priority - @staticmethod - def write_with_exist_flag( - bit_array: bitarray, value: Optional[int], size: int - ) -> None: - if value is None: - bit_array.extend([False]) - else: - bit_array.extend([True]) - bit_array.frombytes(value.to_bytes(size, "big")) - - @staticmethod - def read_with_exist_flag(bit_array: bitarray, size: int) -> Optional[int]: - exist_flag = bit_array.pop(0) - if exist_flag == 0: - return None - elif exist_flag == 1: - value = int.from_bytes(bit_array.tobytes()[:size], "big") - del bit_array[:size] - return value - else: - raise ValueError("Invalid exist flag") + def get_ttl(self) -> Optional[int]: + return self._ttl + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> StandardMessage: + ttl = read_with_exist_flag(bit_array, cls.SIZE_TTL) + return StandardMessage( + is_wireless_message, + StandardMessagePriority.NORMAL, + sender_entity_id, + ttl, + ) + + def to_bits(self) -> bitarray: + bit_array = bitarray() + write_with_exist_flag(bit_array, self._ttl, self.SIZE_TTL) + return bit_array + + def get_bit_size(self) -> int: + raise NotImplementedError + + def __hash__(self): + return hash((self._sender_entity_id, self._priority, self._ttl)) + + def __str__(self) -> str: + return f"StandardMessage(sender_entity_id={self._sender_entity_id}, priority={self._priority}, ttl={self._ttl})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py index 1c6b17f..e8e2e25 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py @@ -12,3 +12,11 @@ class StandardMessagePriority(Enum): def __str__(self) -> str: return self.name.lower() + + def __lt__(self, other): + if isinstance(other, StandardMessagePriority): + return self.value < other.value + + def __le__(self, other): + if isinstance(other, StandardMessagePriority): + return self.value <= other.value diff --git a/adf_core_python/core/agent/communication/standard/standard_communication_module.py b/adf_core_python/core/agent/communication/standard/standard_communication_module.py index 057930d..3fdffb3 100644 --- a/adf_core_python/core/agent/communication/standard/standard_communication_module.py +++ b/adf_core_python/core/agent/communication/standard/standard_communication_module.py @@ -1,14 +1,176 @@ -from rcrs_core.agents.agent import Agent +from __future__ import annotations + +from typing import TYPE_CHECKING + +from bitarray import bitarray +from rcrs_core.commands.AKSpeak import AKSpeak +from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( + read_with_exist_flag, + write_with_exist_flag, +) from adf_core_python.core.component.communication.communication_module import ( CommunicationModule, ) +from adf_core_python.core.logger.logger import get_logger + +if TYPE_CHECKING: + from adf_core_python.core.agent.agent import Agent class StandardCommunicationModule(CommunicationModule): + ESCAPE_CHAR = bitarray("11111111") + SIZE_ID: int = 5 + SIZE_TTL: int = 3 + def receive(self, agent: Agent, message_manager: MessageManager) -> None: - raise NotImplementedError + heard_commands = agent._agent_info.get_heard_commands() + for command in heard_commands: + if isinstance(command, AKSpeak): + sender_entity_id = command.agent_id + if sender_entity_id == agent.get_entity_id(): + continue + data = command.message + is_wireless_message = command.channel != 0 + + if len(data) == 0: + continue + + if is_wireless_message: + bit_array = bitarray() + bit_array.frombytes(data) + self.add_received_message( + message_manager, + is_wireless_message, + sender_entity_id, + bit_array, + ) + else: + try: + voice_message = data.decode("utf-8") + if voice_message.startswith("Help") or voice_message.startswith( + "Ouch" + ): + message_manager.add_heard_agent_help_message_count() + continue + except UnicodeDecodeError: + pass + + escape_char = self.ESCAPE_CHAR.tobytes()[0] + i = 0 + bit_array = bitarray() + a = bitarray() + a.frombytes(data) + while i < len(data): + if data[i] == escape_char: + if (i + 1) >= len(data): + self.add_received_message( + message_manager, + False, + sender_entity_id, + bit_array, + ) + break + elif data[i + 1] != escape_char: + self.add_received_message( + message_manager, + False, + sender_entity_id, + bit_array, + ) + bit_array.clear() + i += 1 # Skip the next character + continue + i += 1 # Skip the escaped character + bits = bitarray() + bits.frombytes(data[i].to_bytes(1, "big")) + bit_array.extend(bits) + i += 1 def send(self, agent: Agent, message_manager: MessageManager) -> None: - raise NotImplementedError + voice_message_limit_bytes = agent._scenario_info.get_value( + "comms.channels.0.messages.size", 256 + ) + left_voice_message_limit_bits = voice_message_limit_bytes * 8 + voice_message_bit_array = bitarray() + + send_messages = message_manager.get_channel_send_message_list() + + for channel in range(len(send_messages)): + for message in send_messages[channel]: + message_class_index = message_manager.get_message_class_index( + type(message) + ) + bit_array = bitarray() + + write_with_exist_flag(bit_array, message_class_index, self.SIZE_ID) + + bit_array.extend(message.to_bits()) + + if channel > 0: + agent.send_speak( + agent._agent_info.get_time(), + bit_array, + channel, + ) + else: + # bit_arrayを8bitごとに区切れるようにして、エスケープ処理を行う + if len(bit_array) % 8 != 0: + bit_array.extend([False] * (8 - len(bit_array) % 8)) + message_bit_size = len(bit_array) + if message_bit_size <= left_voice_message_limit_bits: + esceped_message_data = bitarray() + for i in range(len(bit_array) // 8): + if bit_array[(i * 8) : ((i + 1) * 8)] == self.ESCAPE_CHAR: + esceped_message_data.extend(self.ESCAPE_CHAR) + esceped_message_data.extend( + bit_array[(i * 8) : ((i + 1) * 8)] + ) + esceped_message_data.extend(self.ESCAPE_CHAR) + if len(esceped_message_data) <= voice_message_limit_bytes: + left_voice_message_limit_bits -= len(esceped_message_data) + voice_message_bit_array.extend(esceped_message_data) + + if len(voice_message_bit_array) > 0: + agent.send_speak( + agent._agent_info.get_time(), + voice_message_bit_array, + 0, + ) + + def add_received_message( + self, + message_manager: MessageManager, + is_wireless_message: bool, + sender_entity_id: EntityID, + data: bitarray, + ) -> None: + message_class_index = read_with_exist_flag(data, self.SIZE_ID) + if message_class_index is None or message_class_index < 0: + get_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}" + ).warning(f"Invalid message class index: {message_class_index}") + return + + message = message_manager.get_message_class(message_class_index) + if message is None: + get_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}" + ).warning(f"Invalid message class index: {message_class_index}") + return + + if issubclass(message, StandardMessage): + message_instance = message.from_bits( + data, is_wireless_message, sender_entity_id + ) + message_manager.add_received_message(message_instance) + else: + get_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}" + ).warning(f"Invalid message class: {message}") + return diff --git a/adf_core_python/core/agent/communication/standard/utility/__init__.py b/adf_core_python/core/agent/communication/standard/utility/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py b/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py new file mode 100644 index 0000000..811c152 --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py @@ -0,0 +1,335 @@ +from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.blockade import Blockade +from rcrs_core.entities.building import Building +from rcrs_core.entities.civilian import Civilian +from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.road import Road + +from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( + MessageAmbulanceTeam, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_building import ( + MessageBuilding, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_civilian import ( + MessageCivilian, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade import ( + MessageFireBrigade, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_police_force import ( + MessagePoliceForce, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_road import ( + MessageRoad, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.info.world_info import WorldInfo + + +def apply_to_world_info( + world_info: WorldInfo, + standard_message: StandardMessage, +) -> None: + """ + Apply to world info. + + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + + if isinstance(standard_message, MessageAmbulanceTeam): + _apply_to_world_info_ambulance_team(world_info, standard_message) + elif isinstance(standard_message, MessageFireBrigade): + _apply_to_world_info_fire_brigade(world_info, standard_message) + elif isinstance(standard_message, MessagePoliceForce): + _apply_to_world_info_police_force(world_info, standard_message) + elif isinstance(standard_message, MessageCivilian): + _apply_to_world_info_civilian(world_info, standard_message) + elif isinstance(standard_message, MessageBuilding): + _apply_to_world_info_building(world_info, standard_message) + elif isinstance(standard_message, MessageRoad): + _apply_to_world_info_road(world_info, standard_message) + else: + return + + +def _apply_to_world_info_ambulance_team( + world_info: WorldInfo, + message_ambulance_team: MessageAmbulanceTeam, +) -> None: + """ + Apply to world info for ambulance team. + + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_ambulance_team.get_ambulance_team_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + ambulance = AmbulanceTeamEntity(entity_id.get_value()) + if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: + ambulance.set_hp(hp) + if (damege := message_ambulance_team.get_ambulance_team_damage()) is not None: + ambulance.set_damage(damege) + if ( + buriedness := message_ambulance_team.get_ambulance_team_buriedness() + ) is not None: + ambulance.set_buriedness(buriedness) + if ( + position := message_ambulance_team.get_ambulance_team_position() + ) is not None: + ambulance.set_position(position) + world_info.add_entity(ambulance) + else: + if isinstance(entity, AmbulanceTeamEntity): + if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: + entity.set_hp(hp) + if ( + damege := message_ambulance_team.get_ambulance_team_damage() + ) is not None: + entity.set_damage(damege) + if ( + buriedness := message_ambulance_team.get_ambulance_team_buriedness() + ) is not None: + entity.set_buriedness(buriedness) + if ( + position := message_ambulance_team.get_ambulance_team_position() + ) is not None: + entity.set_position(position) + + +def _apply_to_world_info_fire_brigade( + world_info: WorldInfo, + message_fire_brigade: MessageFireBrigade, +) -> None: + """ + Apply to world info for fire brigade. + + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_fire_brigade.get_fire_brigade_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + fire_brigade = FireBrigadeEntity(entity_id.get_value()) + if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: + fire_brigade.set_hp(hp) + if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: + fire_brigade.set_damage(damage) + if ( + buriedness := message_fire_brigade.get_fire_brigade_buriedness() + ) is not None: + fire_brigade.set_buriedness(buriedness) + if (position := message_fire_brigade.get_fire_brigade_position()) is not None: + fire_brigade.set_position(position) + if (water := message_fire_brigade.get_fire_brigade_water()) is not None: + fire_brigade.set_water(water) + world_info.add_entity(fire_brigade) + else: + if isinstance(entity, FireBrigadeEntity): + if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: + entity.set_hp(hp) + if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: + entity.set_damage(damage) + if ( + buriedness := message_fire_brigade.get_fire_brigade_buriedness() + ) is not None: + entity.set_buriedness(buriedness) + if ( + position := message_fire_brigade.get_fire_brigade_position() + ) is not None: + entity.set_position(position) + if (water := message_fire_brigade.get_fire_brigade_water()) is not None: + entity.set_water(water) + + +def _apply_to_world_info_police_force( + world_info: WorldInfo, + message_police_force: MessagePoliceForce, +) -> None: + """ + Apply to world info for police force. + + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_police_force.get_police_force_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + police_force = PoliceForceEntity(entity_id.get_value()) + if (hp := message_police_force.get_police_force_hp()) is not None: + police_force.set_hp(hp) + if (damage := message_police_force.get_police_force_damage()) is not None: + police_force.set_damage(damage) + if ( + buriedness := message_police_force.get_police_force_buriedness() + ) is not None: + police_force.set_buriedness(buriedness) + if (position := message_police_force.get_police_force_position()) is not None: + police_force.set_position(position) + world_info.add_entity(police_force) + else: + if isinstance(entity, PoliceForceEntity): + if (hp := message_police_force.get_police_force_hp()) is not None: + entity.set_hp(hp) + if (damage := message_police_force.get_police_force_damage()) is not None: + entity.set_damage(damage) + if ( + buriedness := message_police_force.get_police_force_buriedness() + ) is not None: + entity.set_buriedness(buriedness) + if ( + position := message_police_force.get_police_force_position() + ) is not None: + entity.set_position(position) + + +def _apply_to_world_info_civilian( + world_info: WorldInfo, + message_civilian: MessageCivilian, +) -> None: + """ + Apply to world info for civilian. + + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_civilian.get_civilian_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + civilian = Civilian(entity_id.get_value()) + if (hp := message_civilian.get_civilian_hp()) is not None: + civilian.set_hp(hp) + if (damage := message_civilian.get_civilian_damage()) is not None: + civilian.set_damage(damage) + if (buriedness := message_civilian.get_civilian_buriedness()) is not None: + civilian.set_buriedness(buriedness) + if (position := message_civilian.get_civilian_position()) is not None: + civilian.set_position(position) + world_info.add_entity(civilian) + else: + if isinstance(entity, Civilian): + if (hp := message_civilian.get_civilian_hp()) is not None: + entity.set_hp(hp) + if (damage := message_civilian.get_civilian_damage()) is not None: + entity.set_damage(damage) + if (buriedness := message_civilian.get_civilian_buriedness()) is not None: + entity.set_buriedness(buriedness) + if (position := message_civilian.get_civilian_position()) is not None: + entity.set_position(position) + + +def _apply_to_world_info_building( + world_info: WorldInfo, + message_building: MessageBuilding, +) -> None: + """ + Apply to world info for building. + + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_building.get_building_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + building = Building(entity_id.get_value()) + if (fieryness := message_building.get_building_fireyness()) is not None: + building.set_fieryness(fieryness) + if (brokenness := message_building.get_building_brokenness()) is not None: + building.set_brokenness(brokenness) + if (temperature := message_building.get_building_temperature()) is not None: + building.set_temperature(temperature) + world_info.add_entity(building) + else: + if isinstance(entity, Building): + if (fieryness := message_building.get_building_fireyness()) is not None: + entity.set_fieryness(fieryness) + if (brokenness := message_building.get_building_brokenness()) is not None: + entity.set_brokenness(brokenness) + if (temperature := message_building.get_building_temperature()) is not None: + entity.set_temperature(temperature) + + +def _apply_to_world_info_road( + world_info: WorldInfo, + message_road: MessageRoad, +) -> None: + """ + Apply to world info for road. + + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_road.get_road_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if not isinstance(entity, Road): + return + + blockade_entity_id = message_road.get_road_blockade_entity_id() + if blockade_entity_id is None: + return + + blockade = world_info.get_entity(blockade_entity_id) + if blockade is None: + road_blockade = Blockade(blockade_entity_id.get_value()) + if (repair_cost := message_road.get_road_blockade_repair_cost()) is not None: + road_blockade.set_repaire_cost(repair_cost) + if (x := message_road.get_road_blockade_x()) is not None: + road_blockade.set_x(x) + if (y := message_road.get_road_blockade_y()) is not None: + road_blockade.set_y(y) + world_info.add_entity(road_blockade) + else: + if isinstance(blockade, Blockade): + if ( + repair_cost := message_road.get_road_blockade_repair_cost() + ) is not None: + blockade.set_repaire_cost(repair_cost) + if (x := message_road.get_road_blockade_x()) is not None: + blockade.set_x(x) + if (y := message_road.get_road_blockade_y()) is not None: + blockade.set_y(y) diff --git a/adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py b/adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py new file mode 100644 index 0000000..64ab01b --- /dev/null +++ b/adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py @@ -0,0 +1,72 @@ +from typing import Optional + +from bitarray import bitarray + +IS_EXIST_FLAG = 1 +IS_NOT_EXIST_FLAG = 0 + + +def write_with_exist_flag( + bit_array: bitarray, value: Optional[int], bit_size: int +) -> None: + """ + Write value to bit_array with an exist flag. + If value is None, write IS_NOT_EXIST_FLAG to bit_array. + If value is not None, write IS_EXIST_FLAG to bit_array and then write value to bit_array. + + PARAMETERS + ---------- + bit_array: bitarray + The bitarray to write to. + value: Optional[int] + The value to write. + bit_size: int + The number of bits to use to write value. + + RAISES + ------ + ValueError + If value is too large to fit into bit_size bits. + """ + if value is None: + bit_array.extend([IS_NOT_EXIST_FLAG]) + else: + bit_array.extend([IS_EXIST_FLAG]) + bit_value = bitarray(f"{value:0{bit_size}b}") + if len(bit_value) > bit_size: + raise ValueError(f"Value {value} is too large to fit into {bit_size} bits") + bit_array.extend(bit_value) + + +def read_with_exist_flag(bit_array: bitarray, size: int) -> Optional[int]: + """ + Read value from bit_array with an exist flag. + If the first bit is IS_NOT_EXIST_FLAG, return None. + If the first bit is IS_EXIST_FLAG, read and return value from bit_array. + + PARAMETERS + ---------- + bit_array: bitarray + The bitarray to read from. + size: int + The number of bits to read to get value. + + RETURNS + ------- + Optional[int] + The value read from bit_array. + + RAISES + ------ + ValueError + If the first bit is not IS_EXIST_FLAG or IS_NOT_EXIST_FLAG. + """ + exist_flag = bit_array.pop(0) + if exist_flag == IS_NOT_EXIST_FLAG: + return None + elif exist_flag == IS_EXIST_FLAG: + value = int(bit_array[:size].to01(), 2) + del bit_array[:size] + return value + else: + raise ValueError("Invalid exist flag") diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py index 79e8cf2..b3e78ee 100644 --- a/adf_core_python/core/agent/info/agent_info.py +++ b/adf_core_python/core/agent/info/agent_info.py @@ -1,7 +1,9 @@ +from __future__ import annotations + from time import time -from typing import Any +from typing import TYPE_CHECKING, Any -from rcrs_core.agents.agent import Agent +from rcrs_core.commands.Command import Command from rcrs_core.entities.civilian import Civilian from rcrs_core.entities.entity import Entity from rcrs_core.entities.human import Human @@ -11,6 +13,9 @@ from adf_core_python.core.agent.action.action import Action +if TYPE_CHECKING: + from adf_core_python.core.agent.agent import Agent + class AgentInfo: # TODO: Replace Any with the actual type @@ -45,24 +50,24 @@ def get_time(self) -> int: """ return self._time - def set_heard_commands(self, heard_commands: list[Any]) -> None: + def set_heard_commands(self, heard_commands: list[Command]) -> None: """ Set the heard commands Parameters ---------- - heard_commands : list[Any] + heard_commands : list[Command] Heard commands """ self._heard_commands = heard_commands - def get_heard_commands(self) -> list[Any]: + def get_heard_commands(self) -> list[Command]: """ Get the heard commands Returns ------- - list[Any] + list[Command] Heard commands """ return self._heard_commands @@ -77,7 +82,7 @@ def get_entity_id(self) -> EntityID: Entity ID of the agent """ # TODO: Agent class should return EntityID instead of EntityID | None - return self._agent.get_id() # type: ignore + return self._agent.get_entity_id() def get_myself(self) -> Entity: """ diff --git a/adf_core_python/core/agent/info/scenario_info.py b/adf_core_python/core/agent/info/scenario_info.py index f8d35fa..85bf7da 100644 --- a/adf_core_python/core/agent/info/scenario_info.py +++ b/adf_core_python/core/agent/info/scenario_info.py @@ -1,8 +1,10 @@ from enum import Enum -from typing import Any +from typing import TypeVar from adf_core_python.core.config.config import Config +T = TypeVar("T") + class Mode(Enum): NON_PRECOMPUTE = 0 @@ -21,7 +23,7 @@ class ScenarioInfoKeys: FIRE_TANK_REFILL_RATE = "fire.tank.refill_rate" KERNEL_TIMESTEPS = "kernel.timesteps" FIRE_EXTINGUISH_MAX_SUM = "fire.extinguish.max-sum" - COMMS_CHANNELS_MAX_PLATOON = "comms.channels.max.platoon" + COMMUNICATION_CHANNELS_MAX_PLATOON = "comms.channels.max.platoon" KERNEL_AGENTS_THINK_TIME = "kernel.agents.think-time" FIRE_TANK_MAXIMUM = "fire.tank.maximum" CLEAR_REPAIR_RATE = "clear.repair.rate" @@ -34,11 +36,11 @@ class ScenarioInfoKeys: KERNEL_COMMUNICATION_MODEL = "kernel.communication-model" PERCEPTION_LOS_PRECISION_DAMAGE = "perception.los.precision.damage" SCENARIO_AGENTS_AC = "scenario.agents.ac" - COMMS_CHANNELS_MAX_OFFICE = "comms.channels.max.centre" + COMMUNICATION_CHANNELS_MAX_OFFICE = "comms.channels.max.centre" FIRE_EXTINGUISH_MAX_DISTANCE = "fire.extinguish.max-distance" KERNEL_AGENTS_IGNOREUNTIL = "kernel.agents.ignoreuntil" CLEAR_REPAIR_DISTANCE = "clear.repair.distance" - COMMS_CHANNELS_COUNT = "comms.channels.count" + COMMUNICATION_CHANNELS_COUNT = "comms.channels.count" class ScenarioInfo: @@ -89,7 +91,7 @@ def get_mode(self) -> Mode: """ return self._mode - def get_value(self, key: str, default: Any) -> Any: + def get_value(self, key: str, default: T) -> T: """ Get the value of the configuration @@ -105,4 +107,11 @@ def get_value(self, key: str, default: Any) -> Any: Any Value of the configuration """ - return self._config.get_value(key, default) + value = self._config.get_value(key, default) + if not isinstance(value, type(default)): + try: + return type(default)(value) # type: ignore + except (ValueError, TypeError): + # 型変換に失敗した場合はそのままデフォルト値を返す + return default + return value diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 223bfb1..5bd6676 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -171,3 +171,14 @@ def get_bloackades(self, area: Area) -> set[Blockade]: if isinstance(bloackde_entity, Blockade): bloakcades.add(cast(Blockade, bloackde_entity)) return bloakcades + + def add_entity(self, entity: Entity) -> None: + """ + Add the entity + + Parameters + ---------- + entity : Entity + Entity + """ + self._world_model.add_entity(entity) diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index b15dd8e..7609e62 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -4,6 +4,12 @@ from typing import TYPE_CHECKING, Any from adf_core_python.core.component.action.extend_action import ExtendAction +from adf_core_python.core.component.communication.channel_subscriber import ( + ChannelSubscriber, +) +from adf_core_python.core.component.communication.message_coordinator import ( + MessageCoordinator, +) from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: @@ -92,6 +98,58 @@ def get_extend_action( raise RuntimeError(f"Action {class_name} is not a subclass of ExtendAction") + def get_channel_subscriber( + self, channel_subscriber_name: str, default_channel_subscriber_name: str + ) -> ChannelSubscriber: + class_name = self._module_config.get_value_or_default( + channel_subscriber_name, default_channel_subscriber_name + ) + + try: + channel_subscriber_class: type = self._load_module(class_name) + except (ImportError, AttributeError) as e: + raise RuntimeError(f"Failed to load channel subscriber {class_name}") from e + + instance = self._channel_subscribers.get(channel_subscriber_name) + if instance is not None: + return instance + + if issubclass(channel_subscriber_class, ChannelSubscriber): + instance = channel_subscriber_class() + self._channel_subscribers[channel_subscriber_name] = instance + return instance + + raise RuntimeError( + f"Channel subscriber {class_name} is not a subclass of ChannelSubscriber" + ) + + def get_message_coordinator( + self, message_coordinator_name: str, default_message_coordinator_name: str + ) -> MessageCoordinator: + class_name = self._module_config.get_value_or_default( + message_coordinator_name, default_message_coordinator_name + ) + + try: + message_coordinator_class: type = self._load_module(class_name) + except (ImportError, AttributeError) as e: + raise RuntimeError( + f"Failed to load message coordinator {class_name}" + ) from e + + instance = self._message_coordinators.get(message_coordinator_name) + if instance is not None: + return instance + + if issubclass(message_coordinator_class, MessageCoordinator): + instance = message_coordinator_class() + self._message_coordinators[message_coordinator_name] = instance + return instance + + raise RuntimeError( + f"Message coordinator {class_name} is not a subclass of MessageCoordinator" + ) + def _load_module(self, class_name: str) -> type: module_name, module_class_name = class_name.rsplit(".", 1) module = importlib.import_module(module_name) diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 6ffcd02..098945f 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,20 +1,12 @@ -# from rcrs_core.agents.agent import Agent -from rcrs_core.commands.Command import Command -from rcrs_core.config.config import Config as RCRSConfig -from rcrs_core.worldmodel.changeSet import ChangeSet - from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.agent import Agent from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.info.scenario_info import Mode from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent -from adf_core_python.core.config.config import Config from adf_core_python.core.logger.logger import get_agent_logger @@ -29,7 +21,15 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, ) -> None: - super().__init__(is_precompute, self.__class__.__qualname__) + super().__init__( + is_precompute, + self.__class__.__qualname__, + is_debug, + team_name, + data_storage_name, + module_config, + develop_data, + ) self._tactics_agent = tactics_agent self._team_name = team_name self._is_precompute = is_precompute @@ -39,39 +39,14 @@ def __init__( self._develop_data = develop_data def post_connect(self) -> None: - self._agent_info: AgentInfo = AgentInfo(self, self.world_model) - self._world_info: WorldInfo = WorldInfo(self.world_model) - self._precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) + super().post_connect() + self.precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) self._logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", self._agent_info, ) - if self._is_precompute: - self._mode = Mode.PRECOMPUTATION - else: - # if self._precompute_data.is_ready(): - # self._mode = Mode.PRECOMPUTED - # else: - # self._mode = Mode.NON_PRECOMPUTE - self._mode = Mode.NON_PRECOMPUTE - - config = Config() - if self.config is not None: - rcrc_config: RCRSConfig = self.config - for key, value in rcrc_config.data.items(): # type: ignore - config.set_value(key, value) - for key, value in rcrc_config.int_data.items(): # type: ignore - config.set_value(key, value) - for key, value in rcrc_config.float_data.items(): # type: ignore - config.set_value(key, value) - for key, value in rcrc_config.boolean_data.items(): # type: ignore - config.set_value(key, value) - for key, value in rcrc_config.array_data.items(): # type: ignore - config.set_value(key, value) - - self._scenario_info: ScenarioInfo = ScenarioInfo(config, self._mode) self._module_manager: ModuleManager = ModuleManager( self._agent_info, self._world_info, @@ -80,17 +55,30 @@ def post_connect(self) -> None: self._develop_data, ) + self._message_manager.set_channel_subscriber( + self._module_manager.get_channel_subscriber( + "MessageManager.PlatoonChannelSubscriber", + "adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber", + ) + ) + self._message_manager.set_message_coordinator( + self._module_manager.get_message_coordinator( + "MessageManager.PlatoonMessageCoordinator", + "adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator", + ) + ) + self._tactics_agent.initialize( self._agent_info, self._world_info, self._scenario_info, self._module_manager, self._precompute_data, - MessageManager(), + self._message_manager, self._develop_data, ) - match self._mode: + match self._scenario_info.get_mode(): case Mode.PRECOMPUTATION: pass case Mode.PRECOMPUTED: @@ -101,25 +89,24 @@ def post_connect(self) -> None: self._world_info, self._scenario_info, self._module_manager, - self._precompute_data, + self.precompute_data, self._develop_data, ) - def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: - self._agent_info.set_change_set(change_set) - self._world_info.set_change_set(change_set) - self._agent_info.set_time(time) - self._agent_info.set_heard_commands(hear) - + def think(self) -> None: action: Action = self._tactics_agent.think( self._agent_info, self._world_info, self._scenario_info, self._module_manager, self._precompute_data, - MessageManager(), + self._message_manager, self._develop_data, ) if action is not None and self.agent_id is not None: - self._agent_info.set_executed_action(time, action) - self.send_msg(action.get_command(self.agent_id, time).prepare_cmd()) + self._agent_info.set_executed_action(self._agent_info.get_time(), action) + self.send_msg( + action.get_command( + self.agent_id, self._agent_info.get_time() + ).prepare_cmd() + ) diff --git a/adf_core_python/core/component/communication/__init__.py b/adf_core_python/core/component/communication/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/communication/channel_subscriber.py b/adf_core_python/core/component/communication/channel_subscriber.py index 7b4ee89..d2da83f 100644 --- a/adf_core_python/core/component/communication/channel_subscriber.py +++ b/adf_core_python/core/component/communication/channel_subscriber.py @@ -1,9 +1,12 @@ +from __future__ import annotations + from abc import ABC, abstractmethod +from typing import TYPE_CHECKING -from adf_core_python.core.agent.communication.message_manager import MessageManager -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo +if TYPE_CHECKING: + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo class ChannelSubscriber(ABC): @@ -13,8 +16,7 @@ def subscribe( agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo, - message_manager: MessageManager, - ) -> None: + ) -> list[int]: """ Subscribe to the channel. @@ -26,7 +28,10 @@ def subscribe( The world info. scenario_info : ScenarioInfo The scenario info. - message_manager : MessageManager - The message manager. + + Returns + ------- + list[int] + The list of subscribed channels. """ pass diff --git a/adf_core_python/core/component/communication/communication_message.py b/adf_core_python/core/component/communication/communication_message.py index a6cd25d..0760ac0 100644 --- a/adf_core_python/core/component/communication/communication_message.py +++ b/adf_core_python/core/component/communication/communication_message.py @@ -1,5 +1,9 @@ +from __future__ import annotations + from abc import ABC, abstractmethod +from bitarray import bitarray + class CommunicationMessage(ABC): def __init__(self, is_wireless_message: bool) -> None: @@ -9,15 +13,13 @@ def is_wireless_message(self) -> bool: return self._is_wireless_message @abstractmethod - def get_byte_size(self) -> int: + def get_bit_size(self) -> int: raise NotImplementedError @abstractmethod - def to_bytes(self) -> bytes: + def to_bits(self) -> bitarray: raise NotImplementedError @abstractmethod - def get_check_key(self) -> str: + def __hash__(self): raise NotImplementedError - - # TODO: Implement the toBitOutputStream and getCheckKey methods diff --git a/adf_core_python/core/component/communication/communication_module.py b/adf_core_python/core/component/communication/communication_module.py index c1b957e..2e87e31 100644 --- a/adf_core_python/core/component/communication/communication_module.py +++ b/adf_core_python/core/component/communication/communication_module.py @@ -1,8 +1,11 @@ -from abc import ABC, abstractmethod +from __future__ import annotations -from rcrs_core.agents.agent import Agent +from abc import ABC, abstractmethod +from typing import TYPE_CHECKING -from adf_core_python.core.agent.communication.message_manager import MessageManager +if TYPE_CHECKING: + from adf_core_python.core.agent.agent import Agent + from adf_core_python.core.agent.communication.message_manager import MessageManager class CommunicationModule(ABC): diff --git a/adf_core_python/core/component/communication/message_coordinator.py b/adf_core_python/core/component/communication/message_coordinator.py index d749050..9d8cb1b 100644 --- a/adf_core_python/core/component/communication/message_coordinator.py +++ b/adf_core_python/core/component/communication/message_coordinator.py @@ -1,12 +1,16 @@ +from __future__ import annotations + from abc import ABC, abstractmethod +from typing import TYPE_CHECKING -from adf_core_python.core.agent.communication.message_manager import MessageManager -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, -) +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, + ) class MessageCoordinator(ABC): diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index 027bb85..56a142c 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -1,8 +1,8 @@ import socket -from rcrs_core.agents.agent import Agent from structlog import BoundLogger +from adf_core_python.core.agent.agent import Agent from adf_core_python.core.launcher.connect.connection import Connection @@ -17,7 +17,7 @@ def make_connection(self) -> Connection: return Connection(self.host, self.port) def connect(self, agent: Agent, _request_id: int) -> None: - self.logger.bind(agent_id=agent.get_id()) + # self.logger.bind(agent_id=agent.get_id()) self.logger.info( f"{agent.__class__.__name__} connecting to {self.host}:{self.port} request_id: {_request_id}" @@ -33,8 +33,10 @@ def connect(self, agent: Agent, _request_id: int) -> None: except socket.timeout: self.logger.warning(f"Connection to {self.host}:{self.port} timed out") return - except socket.error: - self.logger.error(f"Failed to connect to {self.host}:{self.port}") + except socket.error as e: + self.logger.exception( + f"Failed to connect to {self.host}:{self.port}", exception=str(e) + ) return connection.message_received(agent.message_received) @@ -44,7 +46,10 @@ def connect(self, agent: Agent, _request_id: int) -> None: try: connection.parse_message_from_kernel() except Exception as e: - self.logger.error(f"Failed to connect agent: {self.host}:{self.port} {e}") + self.logger.exception( + f"Failed to connect agent: {self.host}:{self.port} {e}", + exception=str(e), + ) def generate_request_id(self) -> int: self.request_id += 1 diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py index 0194918..8004fb9 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_centre.py @@ -52,6 +52,7 @@ def connect( ), ) + request_id: int = component_launcher.generate_request_id() # TODO: component_launcher.generate_request_ID can cause race condition thread = threading.Thread( target=component_launcher.connect, @@ -59,8 +60,9 @@ def connect( AmbulanceCenterAgent( config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore - component_launcher.generate_request_id(), + request_id, ), + name=f"AmbulanceCentreAgent-{request_id}", ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 15da390..350d6bd 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -53,6 +53,7 @@ def connect( ), ) + request_id: int = component_launcher.generate_request_id() thread = threading.Thread( target=component_launcher.connect, args=( @@ -65,8 +66,9 @@ def connect( module_config, develop_data, ), - component_launcher.generate_request_id(), + request_id, ), + name=f"AmbulanceTeam-{request_id}", ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index fab7095..9fc24aa 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -51,6 +51,7 @@ def connect( ), ) + request_id: int = component_launcher.generate_request_id() thread = threading.Thread( target=component_launcher.connect, args=( @@ -63,8 +64,9 @@ def connect( module_config, develop_data, ), - component_launcher.generate_request_id(), + request_id, ), + name=f"FireBrigadeAgent-{request_id}", ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 49bd190..cd5632e 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -52,15 +52,16 @@ def connect( ), ) - # TODO: component_launcher.generate_request_ID can cause race condition + request_id: int = component_launcher.generate_request_id() thread = threading.Thread( target=component_launcher.connect, args=( FireStationAgent( config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore - component_launcher.generate_request_id(), + request_id, ), + name=f"FireStationAgent-{request_id}", ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index bbf9359..2b3a905 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -51,6 +51,7 @@ def connect( ), ) + request_id: int = component_launcher.generate_request_id() thread = threading.Thread( target=component_launcher.connect, args=( @@ -63,8 +64,9 @@ def connect( module_config, develop_data, ), - component_launcher.generate_request_id(), + request_id, ), + name=f"PoliceForceAgent-{request_id}", ) threads.append(thread) diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 32e9060..561b987 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -1,3 +1,4 @@ +import re import threading from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent @@ -52,15 +53,16 @@ def connect( ), ) - # TODO: component_launcher.generate_request_ID can cause race condition + request_id: int = component_launcher.generate_request_id() thread = threading.Thread( target=component_launcher.connect, args=( PoliceOfficeAgent( config.get_value(ConfigKey.KEY_PRECOMPUTE, False), ), # type: ignore - component_launcher.generate_request_id(), + request_id, ), + name=f"PoliceOfficeAgent-{request_id}", ) threads.append(thread) diff --git a/adf_core_python/implement/module/communication/default_channel_subscriber.py b/adf_core_python/implement/module/communication/default_channel_subscriber.py new file mode 100644 index 0000000..d195c9a --- /dev/null +++ b/adf_core_python/implement/module/communication/default_channel_subscriber.py @@ -0,0 +1,101 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from rcrs_core.connection.URN import Entity as EntityURN + +from adf_core_python.core.agent.info.scenario_info import ScenarioInfoKeys +from adf_core_python.core.component.communication.channel_subscriber import ( + ChannelSubscriber, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + + +class DefaultChannelSubscriber(ChannelSubscriber): + def subscribe( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + ) -> list[int]: + agent = world_info.get_entity(agent_info.get_entity_id()) + if agent is None: + return [] + + agent_type = agent.get_urn() + + number_of_channels: int = ( + scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) + - 1 + ) + + is_platoon: bool = ( + agent_type == EntityURN.FIRE_BRIGADE + or agent_type == EntityURN.POLICE_FORCE + or agent_type == EntityURN.AMBULANCE_TEAM + ) + + max_channel_count: int = ( + scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_PLATOON, 1 + ) + if is_platoon + else scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_OFFICE, 1 + ) + ) + + channels = [ + self.get_channel_number(agent_type, i, number_of_channels) + for i in range(max_channel_count) + ] + return channels + + @staticmethod + def get_channel_number( + agent_type: EntityURN, channel_index: int, number_of_channels: int + ) -> int: + agent_index = 0 + if agent_type == EntityURN.FIRE_BRIGADE or agent_type == EntityURN.FIRE_STATION: + agent_index = 1 + elif ( + agent_type == EntityURN.POLICE_FORCE + or agent_type == EntityURN.POLICE_OFFICE + ): + agent_index = 2 + elif ( + agent_type == EntityURN.AMBULANCE_TEAM + or agent_type == EntityURN.AMBULANCE_CENTRE + ): + agent_index = 3 + + index = (3 * channel_index) + agent_index + if (index % number_of_channels) == 0: + index = number_of_channels + else: + index = index % number_of_channels + return index + + +if __name__ == "__main__": + num_channels = 1 + max_channels = 2 + + for i in range(max_channels): + print( + f"FIREBRIGADE-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.FIRE_BRIGADE, i, num_channels)}" + ) + + for i in range(max_channels): + print( + f"POLICE-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.POLICE_OFFICE, i, num_channels)}" + ) + + for i in range(max_channels): + print( + f"AMB-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.AMBULANCE_CENTRE, i, num_channels)}" + ) diff --git a/adf_core_python/implement/module/communication/default_message_coordinator.py b/adf_core_python/implement/module/communication/default_message_coordinator.py new file mode 100644 index 0000000..2e61264 --- /dev/null +++ b/adf_core_python/implement/module/communication/default_message_coordinator.py @@ -0,0 +1,222 @@ +from rcrs_core.connection.URN import Entity as EntityURN + +from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( + MessageAmbulanceTeam, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_building import ( + MessageBuilding, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_civilian import ( + MessageCivilian, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade import ( + MessageFireBrigade, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_police_force import ( + MessagePoliceForce, +) +from adf_core_python.core.agent.communication.standard.bundle.information.message_road import ( + MessageRoad, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, ScenarioInfoKeys +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.component.communication.message_coordinator import ( + MessageCoordinator, +) +from adf_core_python.implement.module.communication.default_channel_subscriber import ( + DefaultChannelSubscriber, +) + + +class DefaultMessageCoordinator(MessageCoordinator): + def coordinate( + self, + agent_info, + world_info, + scenario_info, + message_manager, + send_message_list, + channel_send_message_list, + ): + police_messages = [] + ambulance_messages = [] + fire_brigade_messages = [] + voice_messages = [] + + agent_type = self.get_agent_type(agent_info, world_info) + + for msg in send_message_list: + if isinstance(msg, StandardMessage) and not msg.is_wireless_message(): + voice_messages.append(msg) + else: + if isinstance(msg, MessageBuilding): + fire_brigade_messages.append(msg) + elif isinstance(msg, MessageCivilian): + ambulance_messages.append(msg) + elif isinstance(msg, MessageRoad): + fire_brigade_messages.append(msg) + ambulance_messages.append(msg) + police_messages.append(msg) + # elif isinstance(msg, CommandAmbulance): + # ambulance_messages.append(msg) + # elif isinstance(msg, CommandFire): + # fire_brigade_messages.append(msg) + # elif isinstance(msg, CommandPolice): + # police_messages.append(msg) + # elif isinstance(msg, CommandScout): + # if agent_type == EntityURN.FIRE_STATION: + # fire_brigade_messages.append(msg) + # elif agent_type == EntityURN.POLICE_OFFICE: + # police_messages.append(msg) + # elif agent_type == EntityURN.AMBULANCE_CENTRE: + # ambulance_messages.append(msg) + # elif isinstance(msg, MessageReport): + # if agent_type == EntityURN.FIRE_BRIGADE: + # fire_brigade_messages.append(msg) + # elif agent_type == EntityURN.POLICE_FORCE: + # police_messages.append(msg) + # elif agent_type == EntityURN.AMBULANCE_TEAM: + # ambulance_messages.append(msg) + elif isinstance(msg, MessageFireBrigade): + fire_brigade_messages.append(msg) + ambulance_messages.append(msg) + police_messages.append(msg) + elif isinstance(msg, MessagePoliceForce): + ambulance_messages.append(msg) + police_messages.append(msg) + elif isinstance(msg, MessageAmbulanceTeam): + ambulance_messages.append(msg) + police_messages.append(msg) + + if int(scenario_info.get_value("comms.channels.count", 1)) > 1: + channel_size = [0] * ( + int(scenario_info.get_value("comms.channels.count", 1)) + ) + self.set_send_messages( + scenario_info, + EntityURN.POLICE_FORCE, + agent_info, + world_info, + police_messages, + channel_send_message_list, + channel_size, + ) + self.set_send_messages( + scenario_info, + EntityURN.AMBULANCE_TEAM, + agent_info, + world_info, + ambulance_messages, + channel_send_message_list, + channel_size, + ) + self.set_send_messages( + scenario_info, + EntityURN.FIRE_BRIGADE, + agent_info, + world_info, + fire_brigade_messages, + channel_send_message_list, + channel_size, + ) + + voice_message_low_list = [] + voice_message_normal_list = [] + voice_message_high_list = [] + + for msg in voice_messages: + if isinstance(msg, StandardMessage): + if msg.get_priority() == StandardMessagePriority.LOW: + voice_message_low_list.append(msg) + elif msg.get_priority() == StandardMessagePriority.NORMAL: + voice_message_normal_list.append(msg) + elif msg.get_priority() == StandardMessagePriority.HIGH: + voice_message_high_list.append(msg) + + channel_send_message_list[0].extend(voice_message_high_list) + channel_send_message_list[0].extend(voice_message_normal_list) + channel_send_message_list[0].extend(voice_message_low_list) + + def get_channels_by_agent_type( + self, + agent_type, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + ): + num_channels = ( + scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) + - 1 + ) + max_channel_count = int( + # scenario_info.get_comms_channels_max_platoon() + scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_PLATOON, 1 + ) + if self.is_platoon_agent(agent_info, world_info) + else scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_OFFICE, 1 + ) + ) + channels = [ + DefaultChannelSubscriber.get_channel_number(agent_type, i, num_channels) + for i in range(max_channel_count) + ] + return channels + + def is_platoon_agent(self, agent_info, world_info): + agent_type = self.get_agent_type(agent_info, world_info) + return agent_type in [ + EntityURN.FIRE_BRIGADE, + EntityURN.POLICE_FORCE, + EntityURN.AMBULANCE_TEAM, + ] + + def get_agent_type(self, agent_info: AgentInfo, world_info: WorldInfo): + entity = world_info.get_entity(agent_info.get_entity_id()) + if entity is None: + return None + return entity.get_urn() + + def set_send_messages( + self, + scenario_info: ScenarioInfo, + agent_type: EntityURN, + agent_info: AgentInfo, + world_info: WorldInfo, + messages: list[StandardMessage], + channel_send_message_list, + channel_size, + ): + channels = self.get_channels_by_agent_type( + agent_type, agent_info, world_info, scenario_info + ) + channel_capacities = [ + scenario_info.get_value("comms.channels." + str(channel) + ".bandwidth", 0) + for channel in range( + scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1 + ) + ) + ] + + sorted_messages = sorted( + messages, key=lambda x: x.get_priority().value, reverse=True + ) + + for message in sorted_messages: + for channel in channels: + if message not in channel_send_message_list[channel] and ( + (channel_size[channel] + message.get_bit_size()) + <= channel_capacities[channel] + ): + channel_size[channel] += message.get_bit_size() + channel_send_message_list[channel].append(message) + break diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 3154107..7a30dee 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -5,6 +5,24 @@ from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( + CommandFire, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( + CommandPolice, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + CommandReport, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo @@ -119,6 +137,61 @@ def think( agent: AmbulanceTeamEntity = cast(AmbulanceTeamEntity, agent_info.get_myself()) # noqa: F841 entity_id = agent_info.get_entity_id() # noqa: F841 + message_manager.add_message( + CommandAmbulance( + False, + entity_id, + entity_id, + CommandAmbulance.ACTION_REST, + StandardMessagePriority.NORMAL, + entity_id, + ) + ) + message_manager.add_message( + CommandFire( + False, + entity_id, + entity_id, + CommandFire.ACTION_REST, + StandardMessagePriority.NORMAL, + entity_id, + ) + ) + message_manager.add_message( + CommandPolice( + False, + entity_id, + entity_id, + CommandPolice.ACTION_REST, + StandardMessagePriority.NORMAL, + entity_id, + ) + ) + message_manager.add_message( + CommandScout( + False, + entity_id, + entity_id, + 20000, + StandardMessagePriority.NORMAL, + entity_id, + ) + ) + message_manager.add_message( + CommandReport( + False, + True, + True, + entity_id, + StandardMessagePriority.NORMAL, + ) + ) + + self._logger.debug( + f"received messages: {[str(message) for message in message_manager.get_received_message_list()]}, help: {message_manager.get_heard_agent_help_message_count()}", + message_manager=message_manager, + ) + target_entity_id = self._human_detector.calculate().get_target_entity_id() self._logger.debug( f"human detector target_entity_id: {target_entity_id}", diff --git a/config/launcher.yaml b/config/launcher.yaml index 3d64272..d69a51b 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -21,11 +21,11 @@ adf: team: platoon: ambulance: - count: 100 + count: 1 fire: - count: 100 + count: 0 police: - count: 100 + count: 0 office: ambulance: count: -1 diff --git a/config/module.yaml b/config/module.yaml index a265bde..b4fbba1 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -106,11 +106,10 @@ SampleSearch: # ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear # ## MessageManager -# MessageManager: -# PlatoonChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber -# CenterChannelSubscriber: adf_core_python.implement.module.comm.DefaultChannelSubscriber -# PlatoonMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator -# CenterMessageCoordinator: adf_core_python.implement.module.comm.DefaultMessageCoordinator - +MessageManager: + PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber + CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber + PlatoonMessageCoordinator: 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From d24537638ab923eaaefc4ad203016a44083a5ed8 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 14 Nov 2024 02:32:45 +0900 Subject: [PATCH 118/249] refactor: update hash methods to include return type annotations and clean up imports --- adf_core_python/core/agent/agent.py | 74 +++++++++----- adf_core_python/core/agent/command_factory.py | 44 --------- .../agent/communication/message_manager.py | 2 +- .../bundle/centralized/command_ambulance.py | 2 +- .../bundle/centralized/command_fire.py | 2 +- .../bundle/centralized/command_police.py | 2 +- .../bundle/centralized/command_scout.py | 2 +- .../bundle/centralized/message_report.py | 6 +- .../information/message_ambulance_team.py | 2 +- .../bundle/information/message_building.py | 4 +- .../bundle/information/message_civilian.py | 4 +- .../information/message_fire_brigade.py | 4 +- .../information/message_police_force.py | 4 +- .../bundle/information/message_road.py | 4 +- .../standard/bundle/standard_message.py | 2 +- .../bundle/standard_message_priority.py | 6 +- adf_core_python/core/agent/platoon/platoon.py | 1 - .../communication/communication_message.py | 2 +- .../connect/connector_police_office.py | 1 - .../action/default_extend_action_rescue.py | 24 +++-- .../default_message_coordinator.py | 99 ++++++++++++------- .../tactics/default_tactics_ambulance_team.py | 4 +- 22 files changed, 152 insertions(+), 143 deletions(-) delete mode 100644 adf_core_python/core/agent/command_factory.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 51c9e98..4d41918 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -1,6 +1,6 @@ import sys from abc import abstractmethod -from typing import Any, NoReturn +from typing import Any, Callable, NoReturn from bitarray import bitarray from rcrs_core.commands.AKClear import AKClear @@ -16,6 +16,9 @@ from rcrs_core.commands.AKUnload import AKUnload from rcrs_core.commands.Command import Command from rcrs_core.config.config import Config as RCRSConfig +from rcrs_core.connection.URN import Command as CommandURN +from rcrs_core.connection.URN import ComponentCommand as ComponentCommandMessageID +from rcrs_core.connection.URN import ComponentControlMSG as ComponentControlMessageID from rcrs_core.connection.URN import Entity as EntityURN from rcrs_core.messages.AKAcknowledge import AKAcknowledge from rcrs_core.messages.AKConnect import AKConnect @@ -27,7 +30,6 @@ from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel -from adf_core_python.core.agent.command_factory import CommandFactory from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( CommandAmbulance, @@ -42,7 +44,7 @@ CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - CommandReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( MessageAmbulanceTeam, @@ -118,7 +120,7 @@ def __init__( def get_entity_id(self) -> EntityID: return self.agent_id - def set_send_msg(self, connection_send_func): + def set_send_msg(self, connection_send_func: Callable) -> None: self.send_msg = connection_send_func def post_connect(self) -> None: @@ -165,7 +167,7 @@ def update_step_info( self._message_manager.register_message_class(7, CommandFire) self._message_manager.register_message_class(8, CommandPolice) self._message_manager.register_message_class(9, CommandScout) - self._message_manager.register_message_class(10, CommandReport) + self._message_manager.register_message_class(10, MessageReport) if time > self._ignore_time: self._message_manager.subscribe( @@ -212,11 +214,11 @@ def precompute(self) -> None: def get_requested_entities(self) -> list[EntityURN]: pass - def start_up(self, request_id): + def start_up(self, request_id: int) -> None: ak_connect = AKConnect() self.send_msg(ak_connect.write(request_id, self)) - def message_received(self, msg): + def message_received(self, msg: Any) -> None: c_msg = ControlMessageFactory().make_message(msg) if isinstance(c_msg, KASense): self.handler_sense(c_msg) @@ -231,7 +233,7 @@ def handle_connect_error(self, msg: Any) -> NoReturn: ) sys.exit(1) - def handle_connect_ok(self, msg): + def handle_connect_ok(self, msg: Any) -> None: self.agent_id = EntityID(msg.agent_id) self.world_model.add_entities(msg.world) config: RCRSConfig = msg.config @@ -253,76 +255,94 @@ def handle_connect_ok(self, msg): print("self.precompute_flag: ", self.precompute_flag) self.precompute() - def handler_sense(self, msg): + def handler_sense(self, msg: Any) -> None: _id = EntityID(msg.agent_id) time = msg.time change_set = msg.change_set - hear = msg.hear.commands + heard = msg.hear.commands if _id != self.get_entity_id(): self.logger.error("Agent ID mismatch: %s != %s", _id, self.get_entity_id()) return - hear_commands = [CommandFactory.create_command(cmd) for cmd in hear] + heard_commands: list[Command] = [] + for herad_command in heard: + if herad_command.urn == CommandURN.AK_SPEAK: + heard_commands.append( + AKSpeak( + herad_command.components[ + ComponentControlMessageID.AgentID + ].entityID, + herad_command.components[ + ComponentControlMessageID.Time + ].intValue, + herad_command.components[ + ComponentCommandMessageID.Message + ].rawData, + herad_command.components[ + ComponentCommandMessageID.Channel + ].intValue, + ) + ) self.world_model.merge(change_set) - self.update_step_info(time, change_set, hear_commands) + self.update_step_info(time, change_set, heard_commands) - def send_acknowledge(self, request_id): + def send_acknowledge(self, request_id: int) -> None: ak_ack = AKAcknowledge() self.send_msg(ak_ack.write(request_id, self.agent_id)) - def send_clear(self, time, target): + def send_clear(self, time: int, target: EntityID) -> None: cmd = AKClear(self.get_entity_id(), time, target) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_clear_area(self, time, x=-1, y=-1): + def send_clear_area(self, time: int, x: int = -1, y: int = -1) -> None: cmd = AKClearArea(self.get_entity_id(), time, x, y) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_load(self, time, target): + def send_load(self, time: int, target: EntityID) -> None: cmd = AKLoad(self.get_entity_id(), time, target) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_move(self, time, path, x=-1, y=-1): + def send_move(self, time: int, path: list[int], x: int = -1, y: int = -1) -> None: cmd = AKMove(self.get_entity_id(), time, path[:], x, y) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_rescue(self, time, target): + def send_rescue(self, time: int, target: EntityID) -> None: cmd = AKRescue(self.get_entity_id(), time, target) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_rest(self, time_step): - cmd = AKRest(self.get_entity_id(), time_step) + def send_rest(self, time: int) -> None: + cmd = AKRest(self.get_entity_id(), time) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_say(self, time_step: int, message: str): + def send_say(self, time_step: int, message: str) -> None: cmd = AKSay(self.get_entity_id(), time_step, message) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_speak(self, time_step: int, message: bitarray, channel: int): + def send_speak(self, time_step: int, message: bitarray, channel: int) -> None: cmd = AKSpeak(self.get_entity_id(), time_step, bytes(message), channel) # type: ignore msg = cmd.prepare_cmd() self.send_msg(msg) - def send_subscribe(self, time, channel): - cmd = AKSubscribe(self.get_entity_id(), time, channel) + def send_subscribe(self, time: int, channels: list[int]) -> None: + cmd = AKSubscribe(self.get_entity_id(), time, channels) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_tell(self, time_step: int, message: str): - cmd = AKTell(self.get_entity_id(), time_step, message) + def send_tell(self, time: int, message: str) -> None: + cmd = AKTell(self.get_entity_id(), time, message) msg = cmd.prepare_cmd() self.send_msg(msg) - def send_unload(self, time): + def send_unload(self, time: int) -> None: cmd = AKUnload(self.get_entity_id(), time) msg = cmd.prepare_cmd() self.send_msg(msg) diff --git a/adf_core_python/core/agent/command_factory.py b/adf_core_python/core/agent/command_factory.py deleted file mode 100644 index 33c5253..0000000 --- a/adf_core_python/core/agent/command_factory.py +++ /dev/null @@ -1,44 +0,0 @@ -from rcrs_core.commands.AKClear import AKClear -from rcrs_core.commands.AKClearArea import AKClearArea -from rcrs_core.commands.AKExtinguish import AKExtinguish -from rcrs_core.commands.AKLoad import AKLoad -from rcrs_core.commands.AKMove import AKMove -from rcrs_core.commands.AKRescue import AKRescue -from rcrs_core.commands.AKRest import AKRest -from rcrs_core.commands.AKSay import AKSay -from rcrs_core.commands.AKSpeak import AKSpeak -from rcrs_core.commands.AKSubscribe import AKSubscribe -from rcrs_core.commands.AKTell import AKTell -from rcrs_core.commands.AKUnload import AKUnload -from rcrs_core.commands.Command import Command -from rcrs_core.connection.URN import Command as CommandURN -from rcrs_core.connection.URN import ComponentCommand as ComponentCommandMessageID -from rcrs_core.connection.URN import ComponentControlMSG as ComponentControlMessageID - - -class CommandFactory: - @staticmethod - def create_command(herad_command) -> Command: - if herad_command.urn == CommandURN.AK_SPEAK: - return AKSpeak( - herad_command.components[ComponentControlMessageID.AgentID].entityID, - herad_command.components[ComponentControlMessageID.Time].intValue, - herad_command.components[ComponentCommandMessageID.Message].rawData, - herad_command.components[ComponentCommandMessageID.Channel].intValue, - ) - return herad_command - # if herad_command.urn == CommandURN.AK_CLEAR: - # return AKClear( - # herad_command.agent_id, herad_command.time, herad_command.target - # ) - # elif herad_command.urn == CommandURN.AK_CLEAR_AREA: - # return AKClearArea( - # herad_command.agent_id, - # herad_command.time, - # herad_command.x, - # herad_command.y, - # ) - # elif herad_command.urn == CommandURN.AK_EXTINGUISH: - # return AKExtinguish( - # herad_command.agent_id, herad_command.time, herad_command.target - # ) diff --git a/adf_core_python/core/agent/communication/message_manager.py b/adf_core_python/core/agent/communication/message_manager.py index 53c8f43..f318b1a 100644 --- a/adf_core_python/core/agent/communication/message_manager.py +++ b/adf_core_python/core/agent/communication/message_manager.py @@ -44,7 +44,7 @@ def __init__(self) -> None: self.__send_message_list: list[CommunicationMessage] = [] self.__received_message_list: list[CommunicationMessage] = [] self.__channel_send_message_list: list[list[CommunicationMessage]] = [] - self.__check_duplicate_cache: set[str] = set() + self.__check_duplicate_cache: set[int] = set() self.__message_coordinator: MessageCoordinator self.__channel_subscriber: ChannelSubscriber self.__heard_agent_help_message_count: int = 0 diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py index ff28ab8..a5d6984 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py @@ -120,7 +120,7 @@ def from_bits( command_target_id, ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py index 5927a2e..cf61131 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py @@ -121,7 +121,7 @@ def from_bits( command_target_id, ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py index cf3cc4d..64b8e34 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py @@ -119,7 +119,7 @@ def from_bits( command_target_id, ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py index 253883b..138a1dd 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py @@ -114,7 +114,7 @@ def from_bits( command_target_id, ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py index 2971bb5..55f8907 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py @@ -15,7 +15,7 @@ ) -class CommandReport(StandardMessage): +class MessageReport(StandardMessage): SIZE_DONE: int = 1 SIZE_BLOADCAST: int = 1 @@ -60,7 +60,7 @@ def from_bits( bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID, - ) -> CommandReport: + ) -> MessageReport: std_message = super().from_bits( bit_array, is_wireless_message, sender_entity_id ) @@ -74,7 +74,7 @@ def from_bits( std_message.get_priority(), ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py index 7f495f7..6c73a95 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py @@ -167,7 +167,7 @@ def from_bits( std_message.get_ttl(), ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py index 3363e92..be9f911 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py @@ -106,7 +106,7 @@ def from_bits( std_message.get_ttl(), ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( @@ -118,5 +118,5 @@ def __hash__(self): ) ) - def __str__(self): + def __str__(self) -> str: return f"MessageBuilding(building_entity_id={self._building_entity_id}, building_brokenness={self._building_brokenness}, building_fireyness={self._building_fireyness}, building_temperature={self._building_temperature})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py index ac29847..a5a62b4 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py @@ -119,7 +119,7 @@ def from_bits( std_message.get_ttl(), ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( @@ -132,5 +132,5 @@ def __hash__(self): ) ) - def __str__(self): + def __str__(self) -> str: return f"MessageCivilian(civilian_entity_id={self._civilian_entity_id}, civilian_hp={self._civilian_hp}, civilian_buriedness={self._civilian_buriedness}, civilian_damage={self._civilian_damage}, civilian_position={self._civilian_position})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py index 11742d5..a7c4cee 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py @@ -180,7 +180,7 @@ def from_bits( std_message.get_ttl(), ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( @@ -196,5 +196,5 @@ def __hash__(self): ) ) - def __str__(self): + def __str__(self) -> str: return f"MessageFireBrigade(fire_brigade_entity_id={self._fire_brigade_entity_id}, fire_brigade_hp={self._fire_brigade_hp}, fire_brigade_buriedness={self._fire_brigade_buriedness}, fire_brigade_damage={self._fire_brigade_damage}, fire_brigade_position={self._fire_brigade_position}, fire_brigade_water={self._fire_brigade_water}, target_entity_id={self._target_entity_id}, action={self._action})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py index 8280184..45116f3 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py @@ -162,7 +162,7 @@ def from_bits( std_message.get_ttl(), ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( @@ -177,5 +177,5 @@ def __hash__(self): ) ) - def __str__(self): + def __str__(self) -> str: return f"MessagePoliceForce(police_force_entity_id={self._police_force_entity_id}, police_force_hp={self._police_force_hp}, police_force_buriedness={self._police_force_buriedness}, police_force_damage={self._police_force_damage}, police_force_position={self._police_force_position}, target_entity_id={self._target_entity_id}, action={self._action})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py index 9023973..474421c 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py @@ -160,7 +160,7 @@ def from_bits( std_message.get_ttl(), ) - def __hash__(self): + def __hash__(self) -> int: h = super().__hash__() return hash( ( @@ -175,5 +175,5 @@ def __hash__(self): ) ) - def __str__(self): + def __str__(self) -> str: return f"MessageRoad(road_entity_id={self._road_entity_id}, road_blockade_entity_id={self._road_blockade_entity_id}, road_blockade_repair_cost={self._road_blockade_repair_cost}, road_blockade_x={self._road_blockade_x}, road_blockade_y={self._road_blockade_y}, is_passable={self._is_passable}, is_send_blockade_location={self._is_send_blockade_location})" diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py index 490f367..bdec11b 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py @@ -64,7 +64,7 @@ def to_bits(self) -> bitarray: def get_bit_size(self) -> int: raise NotImplementedError - def __hash__(self): + def __hash__(self) -> int: return hash((self._sender_entity_id, self._priority, self._ttl)) def __str__(self) -> str: diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py index e8e2e25..9e45154 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py @@ -13,10 +13,12 @@ class StandardMessagePriority(Enum): def __str__(self) -> str: return self.name.lower() - def __lt__(self, other): + def __lt__(self, other: object) -> bool: if isinstance(other, StandardMessagePriority): return self.value < other.value + return NotImplemented - def __le__(self, other): + def __le__(self, other: object) -> bool: if isinstance(other, StandardMessagePriority): return self.value <= other.value + return NotImplemented diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 098945f..01babaa 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,6 +1,5 @@ from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.agent import Agent -from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.scenario_info import Mode diff --git a/adf_core_python/core/component/communication/communication_message.py b/adf_core_python/core/component/communication/communication_message.py index 0760ac0..60972ff 100644 --- a/adf_core_python/core/component/communication/communication_message.py +++ b/adf_core_python/core/component/communication/communication_message.py @@ -21,5 +21,5 @@ def to_bits(self) -> bitarray: raise NotImplementedError @abstractmethod - def __hash__(self): + def __hash__(self) -> int: raise NotImplementedError diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 561b987..b20da2e 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -1,4 +1,3 @@ -import re import threading from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py index 845ad18..67f4ff3 100644 --- a/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -1,4 +1,4 @@ -from typing import cast, Optional +from typing import Optional, cast from rcrs_core.entities.area import Area from rcrs_core.entities.blockade import Blockade @@ -12,7 +12,11 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, Mode +from adf_core_python.core.agent.info.scenario_info import ( + Mode, + ScenarioInfo, + ScenarioInfoKeys, +) from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData @@ -32,8 +36,8 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._kernel_time = None - self._target_entity_id = None + self._kernel_time: int = -1 + self._target_entity_id: Optional[EntityID] = None self._threshold_rest = develop_data.get_value( "adf_core_python.implement.action.DefaultExtendActionRescue.rest", 100 ) @@ -57,7 +61,9 @@ def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: if self.get_count_precompute() >= 2: return self self._path_planning.precompute(precompute_data) - self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + self._kernel_time = self.scenario_info.get_value( + ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 + ) return self def resume(self, precompute_data: PrecomputeData) -> ExtendAction: @@ -65,7 +71,9 @@ def resume(self, precompute_data: PrecomputeData) -> ExtendAction: if self.get_count_resume() >= 2: return self self._path_planning.resume(precompute_data) - self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + self._kernel_time = self.scenario_info.get_value( + ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 + ) return self def prepare(self) -> ExtendAction: @@ -73,7 +81,9 @@ def prepare(self) -> ExtendAction: if self.get_count_prepare() >= 2: return self self._path_planning.prepare() - self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + self._kernel_time = self.scenario_info.get_value( + ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 + ) return self def update_info(self, message_manager: MessageManager) -> ExtendAction: diff --git a/adf_core_python/implement/module/communication/default_message_coordinator.py b/adf_core_python/implement/module/communication/default_message_coordinator.py index 2e61264..92e1555 100644 --- a/adf_core_python/implement/module/communication/default_message_coordinator.py +++ b/adf_core_python/implement/module/communication/default_message_coordinator.py @@ -1,5 +1,23 @@ +from typing import Optional + from rcrs_core.connection.URN import Entity as EntityURN +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( + CommandFire, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( + CommandPolice, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + MessageReport, +) from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( MessageAmbulanceTeam, ) @@ -27,6 +45,9 @@ from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, ScenarioInfoKeys from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) from adf_core_python.core.component.communication.message_coordinator import ( MessageCoordinator, ) @@ -38,17 +59,17 @@ class DefaultMessageCoordinator(MessageCoordinator): def coordinate( self, - agent_info, - world_info, - scenario_info, - message_manager, - send_message_list, - channel_send_message_list, - ): - police_messages = [] - ambulance_messages = [] - fire_brigade_messages = [] - voice_messages = [] + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + message_manager: MessageManager, + send_message_list: list[CommunicationMessage], + channel_send_message_list: list[list[CommunicationMessage]], + ) -> None: + police_messages: list[StandardMessage] = [] + ambulance_messages: list[StandardMessage] = [] + fire_brigade_messages: list[StandardMessage] = [] + voice_messages: list[StandardMessage] = [] agent_type = self.get_agent_type(agent_info, world_info) @@ -64,26 +85,26 @@ def coordinate( fire_brigade_messages.append(msg) ambulance_messages.append(msg) police_messages.append(msg) - # elif isinstance(msg, CommandAmbulance): - # ambulance_messages.append(msg) - # elif isinstance(msg, CommandFire): - # fire_brigade_messages.append(msg) - # elif isinstance(msg, CommandPolice): - # police_messages.append(msg) - # elif isinstance(msg, CommandScout): - # if agent_type == EntityURN.FIRE_STATION: - # fire_brigade_messages.append(msg) - # elif agent_type == EntityURN.POLICE_OFFICE: - # police_messages.append(msg) - # elif agent_type == EntityURN.AMBULANCE_CENTRE: - # ambulance_messages.append(msg) - # elif isinstance(msg, MessageReport): - # if agent_type == EntityURN.FIRE_BRIGADE: - # fire_brigade_messages.append(msg) - # elif agent_type == EntityURN.POLICE_FORCE: - # police_messages.append(msg) - # elif agent_type == EntityURN.AMBULANCE_TEAM: - # ambulance_messages.append(msg) + elif isinstance(msg, CommandAmbulance): + ambulance_messages.append(msg) + elif isinstance(msg, CommandFire): + fire_brigade_messages.append(msg) + elif isinstance(msg, CommandPolice): + police_messages.append(msg) + elif isinstance(msg, CommandScout): + if agent_type == EntityURN.FIRE_STATION: + fire_brigade_messages.append(msg) + elif agent_type == EntityURN.POLICE_OFFICE: + police_messages.append(msg) + elif agent_type == EntityURN.AMBULANCE_CENTRE: + ambulance_messages.append(msg) + elif isinstance(msg, MessageReport): + if agent_type == EntityURN.FIRE_BRIGADE: + fire_brigade_messages.append(msg) + elif agent_type == EntityURN.POLICE_FORCE: + police_messages.append(msg) + elif agent_type == EntityURN.AMBULANCE_TEAM: + ambulance_messages.append(msg) elif isinstance(msg, MessageFireBrigade): fire_brigade_messages.append(msg) ambulance_messages.append(msg) @@ -146,11 +167,11 @@ def coordinate( def get_channels_by_agent_type( self, - agent_type, + agent_type: EntityURN, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo, - ): + ) -> list[int]: num_channels = ( scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) - 1 @@ -171,7 +192,7 @@ def get_channels_by_agent_type( ] return channels - def is_platoon_agent(self, agent_info, world_info): + def is_platoon_agent(self, agent_info: AgentInfo, world_info: WorldInfo) -> bool: agent_type = self.get_agent_type(agent_info, world_info) return agent_type in [ EntityURN.FIRE_BRIGADE, @@ -179,7 +200,9 @@ def is_platoon_agent(self, agent_info, world_info): EntityURN.AMBULANCE_TEAM, ] - def get_agent_type(self, agent_info: AgentInfo, world_info: WorldInfo): + def get_agent_type( + self, agent_info: AgentInfo, world_info: WorldInfo + ) -> Optional[EntityURN]: entity = world_info.get_entity(agent_info.get_entity_id()) if entity is None: return None @@ -192,9 +215,9 @@ def set_send_messages( agent_info: AgentInfo, world_info: WorldInfo, messages: list[StandardMessage], - channel_send_message_list, - channel_size, - ): + channel_send_message_list: list[list[CommunicationMessage]], + channel_size: list[int], + ) -> None: channels = self.get_channels_by_agent_type( agent_type, agent_info, world_info, scenario_info ) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 7a30dee..f2ebf21 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -18,7 +18,7 @@ CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - CommandReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, @@ -178,7 +178,7 @@ def think( ) ) message_manager.add_message( - CommandReport( + MessageReport( False, True, True, From ae093ef703ce23db6e0b566368732b6657ed34d6 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 14 Nov 2024 02:46:32 +0900 Subject: [PATCH 119/249] add: __init__ file --- adf_core_python/core/agent/__init__.py | 0 adf_core_python/core/agent/action/__init__.py | 0 adf_core_python/core/agent/action/ambulance/__init__.py | 0 adf_core_python/core/agent/action/common/__init__.py | 0 adf_core_python/core/agent/action/fire/__init__.py | 0 adf_core_python/core/agent/action/police/__init__.py | 0 adf_core_python/core/agent/info/__init__.py | 0 adf_core_python/core/agent/platoon/__init__.py | 0 adf_core_python/core/agent/precompute/__init__.py | 0 adf_core_python/core/component/action/__init__.py | 0 adf_core_python/core/component/module/__init__.py | 0 adf_core_python/core/component/module/algorithm/__init__.py | 0 adf_core_python/core/component/module/complex/__init__.py | 0 adf_core_python/core/component/tactics/__init__.py | 0 adf_core_python/core/config/__init__.py | 0 adf_core_python/core/launcher/__init__.py | 0 adf_core_python/core/launcher/connect/__init__.py | 0 adf_core_python/core/logger/__init__.py | 0 adf_core_python/implement/__init__.py | 0 adf_core_python/implement/action/__init__.py | 0 adf_core_python/implement/module/communication/__init__.py | 0 adf_core_python/implement/tactics/__init__.py | 0 22 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 adf_core_python/core/agent/__init__.py create mode 100644 adf_core_python/core/agent/action/__init__.py create mode 100644 adf_core_python/core/agent/action/ambulance/__init__.py create mode 100644 adf_core_python/core/agent/action/common/__init__.py create mode 100644 adf_core_python/core/agent/action/fire/__init__.py create mode 100644 adf_core_python/core/agent/action/police/__init__.py create mode 100644 adf_core_python/core/agent/info/__init__.py create mode 100644 adf_core_python/core/agent/platoon/__init__.py create mode 100644 adf_core_python/core/agent/precompute/__init__.py create mode 100644 adf_core_python/core/component/action/__init__.py create mode 100644 adf_core_python/core/component/module/__init__.py create mode 100644 adf_core_python/core/component/module/algorithm/__init__.py create mode 100644 adf_core_python/core/component/module/complex/__init__.py create mode 100644 adf_core_python/core/component/tactics/__init__.py create mode 100644 adf_core_python/core/config/__init__.py create mode 100644 adf_core_python/core/launcher/__init__.py create mode 100644 adf_core_python/core/launcher/connect/__init__.py create mode 100644 adf_core_python/core/logger/__init__.py create mode 100644 adf_core_python/implement/__init__.py create mode 100644 adf_core_python/implement/action/__init__.py create mode 100644 adf_core_python/implement/module/communication/__init__.py create mode 100644 adf_core_python/implement/tactics/__init__.py diff --git a/adf_core_python/core/agent/__init__.py b/adf_core_python/core/agent/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/action/__init__.py b/adf_core_python/core/agent/action/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/action/ambulance/__init__.py b/adf_core_python/core/agent/action/ambulance/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/action/common/__init__.py b/adf_core_python/core/agent/action/common/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/action/fire/__init__.py b/adf_core_python/core/agent/action/fire/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/action/police/__init__.py b/adf_core_python/core/agent/action/police/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/info/__init__.py b/adf_core_python/core/agent/info/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/platoon/__init__.py b/adf_core_python/core/agent/platoon/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/agent/precompute/__init__.py b/adf_core_python/core/agent/precompute/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/action/__init__.py b/adf_core_python/core/component/action/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/module/__init__.py b/adf_core_python/core/component/module/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/module/algorithm/__init__.py b/adf_core_python/core/component/module/algorithm/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/module/complex/__init__.py b/adf_core_python/core/component/module/complex/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/tactics/__init__.py b/adf_core_python/core/component/tactics/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/config/__init__.py b/adf_core_python/core/config/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/launcher/__init__.py b/adf_core_python/core/launcher/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/launcher/connect/__init__.py b/adf_core_python/core/launcher/connect/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/logger/__init__.py b/adf_core_python/core/logger/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/__init__.py b/adf_core_python/implement/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/action/__init__.py b/adf_core_python/implement/action/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/module/communication/__init__.py b/adf_core_python/implement/module/communication/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/implement/tactics/__init__.py b/adf_core_python/implement/tactics/__init__.py new file mode 100644 index 0000000..e69de29 From 86f1c2770fa805ef1cb9a0d3360e4f1525e5580a Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 14 Nov 2024 02:48:15 +0900 Subject: [PATCH 120/249] refactor: remove unused command imports and message additions from DefaultTacticsAmbulanceTeam --- .../tactics/default_tactics_ambulance_team.py | 68 ------------------- 1 file changed, 68 deletions(-) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index f2ebf21..857d724 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -5,24 +5,6 @@ from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager -from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, -) -from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( - CommandFire, -) -from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( - CommandPolice, -) -from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, -) -from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, -) -from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, -) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo @@ -137,56 +119,6 @@ def think( agent: AmbulanceTeamEntity = cast(AmbulanceTeamEntity, agent_info.get_myself()) # noqa: F841 entity_id = agent_info.get_entity_id() # noqa: F841 - message_manager.add_message( - CommandAmbulance( - False, - entity_id, - entity_id, - CommandAmbulance.ACTION_REST, - StandardMessagePriority.NORMAL, - entity_id, - ) - ) - message_manager.add_message( - CommandFire( - False, - entity_id, - entity_id, - CommandFire.ACTION_REST, - StandardMessagePriority.NORMAL, - entity_id, - ) - ) - message_manager.add_message( - CommandPolice( - False, - entity_id, - entity_id, - CommandPolice.ACTION_REST, - StandardMessagePriority.NORMAL, - entity_id, - ) - ) - message_manager.add_message( - CommandScout( - False, - entity_id, - entity_id, - 20000, - StandardMessagePriority.NORMAL, - entity_id, - ) - ) - message_manager.add_message( - MessageReport( - False, - True, - True, - entity_id, - StandardMessagePriority.NORMAL, - ) - ) - self._logger.debug( f"received messages: {[str(message) for message in message_manager.get_received_message_list()]}, help: {message_manager.get_heard_agent_help_message_count()}", message_manager=message_manager, From 31abf3ad78169da9dca3faa2d0a45a24dfe1d752 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 20 Nov 2024 23:33:32 +0900 Subject: [PATCH 121/249] chore: update tomli version to 2.1.0 and resolve reference in poetry.lock --- poetry.lock | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/poetry.lock b/poetry.lock index 249bcc8..c1d9ac7 100644 --- a/poetry.lock +++ b/poetry.lock @@ -490,7 +490,7 @@ rtree = "*" type = "git" url = "https://github.com/adf-python/rcrs-core-python" reference = "HEAD" -resolved_reference = "c4ec7b2d32badb2f10fc1d03b962b465624a1ed5" +resolved_reference = "aa661b19c98f82d8d648317f386c2f9d2c26a8fc" [[package]] name = "rtree" @@ -737,13 +737,13 @@ files = [ [[package]] name = "tomli" -version = "2.0.2" +version = "2.1.0" description = "A lil' TOML parser" optional = false python-versions = ">=3.8" files = [ - {file = "tomli-2.0.2-py3-none-any.whl", hash = "sha256:2ebe24485c53d303f690b0ec092806a085f07af5a5aa1464f3931eec36caaa38"}, - {file = "tomli-2.0.2.tar.gz", hash = "sha256:d46d457a85337051c36524bc5349dd91b1877838e2979ac5ced3e710ed8a60ed"}, + {file = "tomli-2.1.0-py3-none-any.whl", hash = "sha256:a5c57c3d1c56f5ccdf89f6523458f60ef716e210fc47c4cfb188c5ba473e0391"}, + {file = "tomli-2.1.0.tar.gz", hash = "sha256:3f646cae2aec94e17d04973e4249548320197cfabdf130015d023de4b74d8ab8"}, ] [[package]] From 1581d1bad07c2a4a74ba7a5d6f23c8ab6d1cd8e2 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 20 Nov 2024 23:33:52 +0900 Subject: [PATCH 122/249] refactor: replace entity references with updated class names for ambulance team, police force, and fire brigade --- .../information/message_ambulance_team.py | 6 ++--- .../information/message_fire_brigade.py | 6 ++--- .../information/message_police_force.py | 6 ++--- .../standard/utility/apply_to_world_info.py | 18 +++++++------- .../action/default_extend_action_clear.py | 24 +++++++++---------- .../action/default_extend_action_rescue.py | 6 ++--- .../action/default_extend_action_transport.py | 10 ++++---- .../module/algorithm/k_means_clustering.py | 14 +++++------ .../default_ambulance_target_allocator.py | 14 ++++------- .../complex/default_fire_target_allocator.py | 10 ++++---- .../default_police_target_allocator.py | 10 ++++---- .../tactics/default_tactics_ambulance_team.py | 4 ++-- .../tactics/default_tactics_fire_brigade.py | 4 ++-- .../tactics/default_tactics_police_force.py | 4 ++-- 14 files changed, 64 insertions(+), 72 deletions(-) diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py index 6c73a95..3a74aba 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( @@ -36,7 +36,7 @@ class MessageAmbulanceTeam(StandardMessage): def __init__( self, is_wireless_message: bool, - ambulance_team: AmbulanceTeamEntity, + ambulance_team: AmbulanceTeam, action: int, target_entity_id: EntityID, priority: StandardMessagePriority, @@ -152,7 +152,7 @@ def from_bits( else EntityID(-1) ) action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - ambulance_team = AmbulanceTeamEntity(ambulance_team_id or -1) + ambulance_team = AmbulanceTeam(ambulance_team_id or -1) ambulance_team.set_hp(ambulance_team_hp) ambulance_team.set_buriedness(ambulance_team_buriedness) ambulance_team.set_damage(ambulance_team_damage) diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py index a7c4cee..feefd51 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.fireBrigade import FireBrigade from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( @@ -37,7 +37,7 @@ class MessageFireBrigade(StandardMessage): def __init__( self, is_wireless_message: bool, - fire_brigade: FireBrigadeEntity, + fire_brigade: FireBrigade, action: int, target_entity_id: EntityID, priority: StandardMessagePriority, @@ -162,7 +162,7 @@ def from_bits( EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) ) action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - fire_brigade = FireBrigadeEntity( + fire_brigade = FireBrigade( fire_brigade_id or -1, ) fire_brigade.set_hp(fire_brigade_hp) diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py index 45116f3..f37432d 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.policeForce import PoliceForce from rcrs_core.worldmodel.entityID import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( @@ -34,7 +34,7 @@ class MessagePoliceForce(StandardMessage): def __init__( self, is_wireless_message: bool, - police_force: PoliceForceEntity, + police_force: PoliceForce, action: int, target_entity_id: EntityID, priority: StandardMessagePriority, @@ -147,7 +147,7 @@ def from_bits( EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) ) action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - police_force = PoliceForceEntity(police_force_id or -1) + police_force = PoliceForce(police_force_id or -1) police_force.set_hp(police_force_hp) police_force.set_buriedness(police_force_buriedness) police_force.set_damage(police_force_damage) diff --git a/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py b/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py index 811c152..c1e7020 100644 --- a/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py +++ b/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py @@ -1,9 +1,9 @@ -from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam from rcrs_core.entities.blockade import Blockade from rcrs_core.entities.building import Building from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.fireBrigade import FireBrigadeEntity -from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.fireBrigade import FireBrigade +from rcrs_core.entities.policeForce import PoliceForce from rcrs_core.entities.road import Road from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( @@ -80,7 +80,7 @@ def _apply_to_world_info_ambulance_team( return entity = world_info.get_entity(entity_id) if entity is None: - ambulance = AmbulanceTeamEntity(entity_id.get_value()) + ambulance = AmbulanceTeam(entity_id.get_value()) if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: ambulance.set_hp(hp) if (damege := message_ambulance_team.get_ambulance_team_damage()) is not None: @@ -95,7 +95,7 @@ def _apply_to_world_info_ambulance_team( ambulance.set_position(position) world_info.add_entity(ambulance) else: - if isinstance(entity, AmbulanceTeamEntity): + if isinstance(entity, AmbulanceTeam): if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: entity.set_hp(hp) if ( @@ -131,7 +131,7 @@ def _apply_to_world_info_fire_brigade( return entity = world_info.get_entity(entity_id) if entity is None: - fire_brigade = FireBrigadeEntity(entity_id.get_value()) + fire_brigade = FireBrigade(entity_id.get_value()) if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: fire_brigade.set_hp(hp) if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: @@ -146,7 +146,7 @@ def _apply_to_world_info_fire_brigade( fire_brigade.set_water(water) world_info.add_entity(fire_brigade) else: - if isinstance(entity, FireBrigadeEntity): + if isinstance(entity, FireBrigade): if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: entity.set_hp(hp) if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: @@ -182,7 +182,7 @@ def _apply_to_world_info_police_force( return entity = world_info.get_entity(entity_id) if entity is None: - police_force = PoliceForceEntity(entity_id.get_value()) + police_force = PoliceForce(entity_id.get_value()) if (hp := message_police_force.get_police_force_hp()) is not None: police_force.set_hp(hp) if (damage := message_police_force.get_police_force_damage()) is not None: @@ -195,7 +195,7 @@ def _apply_to_world_info_police_force( police_force.set_position(position) world_info.add_entity(police_force) else: - if isinstance(entity, PoliceForceEntity): + if isinstance(entity, PoliceForce): if (hp := message_police_force.get_police_force_hp()) is not None: entity.set_hp(hp) if (damage := message_police_force.get_police_force_damage()) is not None: diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index 7b6731b..d24c408 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -2,13 +2,13 @@ import sys from typing import Optional, cast -from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam from rcrs_core.entities.area import Area from rcrs_core.entities.blockade import Blockade from rcrs_core.entities.building import Building -from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.fireBrigade import FireBrigade from rcrs_core.entities.human import Human -from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.policeForce import PoliceForce from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.road import Road from rcrs_core.worldmodel.entityID import EntityID @@ -122,7 +122,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: def calculate(self) -> ExtendAction: self.result = None - police_force = cast(PoliceForceEntity, self.agent_info.get_myself()) + police_force = cast(PoliceForce, self.agent_info.get_myself()) if self._need_rest(police_force): target_entity_ids: list[EntityID] = [] @@ -193,7 +193,7 @@ def calculate(self) -> ExtendAction: return self - def _need_rest(self, police_force: PoliceForceEntity) -> bool: + def _need_rest(self, police_force: PoliceForce) -> bool: hp = police_force.get_hp() damage = police_force.get_damage() @@ -210,7 +210,7 @@ def _need_rest(self, police_force: PoliceForceEntity) -> bool: def _calc_rest( self, - police_force: PoliceForceEntity, + police_force: PoliceForce, path_planning: PathPlanning, target_entity_ids: list[EntityID], ) -> Optional[Action]: @@ -246,7 +246,7 @@ def _calc_rest( return ActionMove(first_result) if first_result != [] else None def _get_rescue_action( - self, police_entity: PoliceForceEntity, road: Road + self, police_entity: PoliceForce, road: Road ) -> Optional[Action]: blockades = set( [] @@ -257,9 +257,7 @@ def _get_rescue_action( ] ) agent_entities = set( - self.world_info.get_entities_of_types( - [AmbulanceTeamEntity, FireBrigadeEntity] - ) + self.world_info.get_entities_of_types([AmbulanceTeam, FireBrigade]) ) police_x = police_entity.get_x() @@ -462,7 +460,7 @@ def _get_intersect_edge_action( return action_move action = self._get_area_clear_action( - cast(PoliceForceEntity, self.agent_info.get_myself()), road + cast(PoliceForce, self.agent_info.get_myself()), road ) if action is None: action = ActionMove([road.get_id()], int(point_x), int(point_y)) @@ -560,7 +558,7 @@ def _is_intersecting_blockades( return False def _get_area_clear_action( - self, police_entity: PoliceForceEntity, road: Road + self, police_entity: PoliceForce, road: Road ) -> Optional[Action]: if road.get_blockades() == []: return None @@ -631,7 +629,7 @@ def _index_of(self, list: list[EntityID], x: EntityID) -> int: return list.index(x) if x in list else -1 def _get_neighbour_position_action( - self, police_entity: PoliceForceEntity, target: Area + self, police_entity: PoliceForce, target: Area ) -> Optional[Action]: agent_x = police_entity.get_x() agent_y = police_entity.get_y() diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py index 67f4ff3..eb96543 100644 --- a/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -2,7 +2,7 @@ from rcrs_core.entities.area import Area from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.fireBrigade import FireBrigade from rcrs_core.entities.human import Human from rcrs_core.worldmodel.entityID import EntityID @@ -104,7 +104,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: def calculate(self) -> ExtendAction: self.result = None - agent = cast(FireBrigadeEntity, self.agent_info.get_myself()) + agent = cast(FireBrigade, self.agent_info.get_myself()) if self._target_entity_id is not None: self.result = self._calc_rescue( @@ -115,7 +115,7 @@ def calculate(self) -> ExtendAction: def _calc_rescue( self, - agent: FireBrigadeEntity, + agent: FireBrigade, path_planning: PathPlanning, target_entity_id: EntityID, ) -> Optional[Action]: diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py index a84b859..1ee2fd4 100644 --- a/adf_core_python/implement/action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -1,6 +1,6 @@ from typing import Optional, Union, cast -from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam from rcrs_core.entities.area import Area from rcrs_core.entities.civilian import Civilian from rcrs_core.entities.entity import Entity @@ -102,9 +102,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: def calculate(self) -> ExtendAction: self._result = None - agent: AmbulanceTeamEntity = cast( - AmbulanceTeamEntity, self.agent_info.get_myself() - ) + agent: AmbulanceTeam = cast(AmbulanceTeam, self.agent_info.get_myself()) transport_human: Optional[Human] = self.agent_info.some_one_on_board() if transport_human is not None: self._logger.debug(f"transport_human: {transport_human.get_id()}") @@ -123,7 +121,7 @@ def calculate(self) -> ExtendAction: def calc_rescue( self, - agent: AmbulanceTeamEntity, + agent: AmbulanceTeam, path_planning: PathPlanning, target_id: EntityID, ) -> Optional[Union[ActionMove, ActionLoad]]: @@ -158,7 +156,7 @@ def calc_rescue( def calc_unload( self, - agent: AmbulanceTeamEntity, + agent: AmbulanceTeam, path_planning: PathPlanning, transport_human: Optional[Human], target_id: Optional[EntityID], diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index 0a432cb..b40f7c4 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -1,12 +1,12 @@ import numpy as np from rcrs_core.connection.URN import Entity as EntityURN -from rcrs_core.entities.ambulanceCenter import AmbulanceCentreEntity +from rcrs_core.entities.ambulanceCenter import AmbulanceCentre from rcrs_core.entities.building import Building from rcrs_core.entities.entity import Entity -from rcrs_core.entities.fireStation import FireStationEntity -from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.fireStation import FireStation +from rcrs_core.entities.gasStation import GasStation from rcrs_core.entities.hydrant import Hydrant -from rcrs_core.entities.policeOffice import PoliceOfficeEntity +from rcrs_core.entities.policeOffice import PoliceOffice from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.road import Road from rcrs_core.worldmodel.entityID import EntityID @@ -72,11 +72,11 @@ def __init__( self.cluster_entities: list[list[Entity]] = [] self.entities: list[Entity] = world_info.get_entities_of_types( [ - AmbulanceCentreEntity, - FireStationEntity, + AmbulanceCentre, + FireStation, GasStation, Hydrant, - PoliceOfficeEntity, + PoliceOffice, Refuge, Road, Building, diff --git a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py index 1fc40f6..912638b 100644 --- a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py @@ -1,7 +1,7 @@ from functools import cmp_to_key from typing import Callable, Optional -from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam from rcrs_core.entities.entity import Entity from rcrs_core.entities.human import Human from rcrs_core.worldmodel.entityID import EntityID @@ -40,9 +40,7 @@ def resume(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: super().resume(precompute_data) if self.get_count_resume() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_types( - [AmbulanceTeamEntity] - ): + for entity_id in self._world_info.get_entity_ids_of_types([AmbulanceTeam]): self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) return self @@ -50,9 +48,7 @@ def prepare(self) -> AmbulanceTargetAllocator: super().prepare() if self.get_count_prepare() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_types( - [AmbulanceTeamEntity] - ): + for entity_id in self._world_info.get_entity_ids_of_types([AmbulanceTeam]): self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) return self @@ -113,9 +109,9 @@ def get_result(self) -> dict[EntityID, EntityID]: def _get_action_agents( self, info_map: dict[EntityID, "DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo"], - ) -> list[AmbulanceTeamEntity]: + ) -> list[AmbulanceTeam]: result = [] - for entity in self._world_info.get_entities_of_types([AmbulanceTeamEntity]): + for entity in self._world_info.get_entities_of_types([AmbulanceTeam]): info = info_map[entity.get_id()] if info is not None and info._can_new_action: result.append(entity) diff --git a/adf_core_python/implement/module/complex/default_fire_target_allocator.py b/adf_core_python/implement/module/complex/default_fire_target_allocator.py index aaf96b3..56711c1 100644 --- a/adf_core_python/implement/module/complex/default_fire_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_fire_target_allocator.py @@ -2,7 +2,7 @@ from typing import Callable, Optional from rcrs_core.entities.entity import Entity -from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.fireBrigade import FireBrigade from rcrs_core.entities.human import Human from rcrs_core.worldmodel.entityID import EntityID @@ -40,7 +40,7 @@ def resume(self, precompute_data: PrecomputeData) -> FireTargetAllocator: super().resume(precompute_data) if self.get_count_resume() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_types([FireBrigadeEntity]): + for entity_id in self._world_info.get_entity_ids_of_types([FireBrigade]): self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) return self @@ -48,7 +48,7 @@ def prepare(self) -> FireTargetAllocator: super().prepare() if self.get_count_prepare() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_types([FireBrigadeEntity]): + for entity_id in self._world_info.get_entity_ids_of_types([FireBrigade]): self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) return self @@ -108,9 +108,9 @@ def get_result(self) -> dict[EntityID, EntityID]: def _get_action_agents( self, info_map: dict[EntityID, "DefaultFireTargetAllocator.FireBrigadeInfo"] - ) -> list[FireBrigadeEntity]: + ) -> list[FireBrigade]: result = [] - for entity in self._world_info.get_entities_of_types([FireBrigadeEntity]): + for entity in self._world_info.get_entities_of_types([FireBrigade]): info = info_map[entity.get_id()] if info is not None and info._can_new_action: result.append(entity) diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/adf_core_python/implement/module/complex/default_police_target_allocator.py index 72e65e1..d88e545 100644 --- a/adf_core_python/implement/module/complex/default_police_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -4,7 +4,7 @@ from rcrs_core.entities.building import Building from rcrs_core.entities.entity import Entity from rcrs_core.entities.gassStation import GasStation -from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.policeForce import PoliceForce from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.road import Road from rcrs_core.worldmodel.entityID import EntityID @@ -44,7 +44,7 @@ def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: if self.get_count_resume() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_types([PoliceForceEntity]): + for entity_id in self._world_info.get_entity_ids_of_types([PoliceForce]): self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) for entity in self._world_info.get_entities_of_types( [Refuge, Building, GasStation] @@ -68,7 +68,7 @@ def prepare(self) -> PoliceTargetAllocator: if self.get_count_prepare() >= 2: return self - for entity_id in self._world_info.get_entity_ids_of_types([PoliceForceEntity]): + for entity_id in self._world_info.get_entity_ids_of_types([PoliceForce]): self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) for entity in self._world_info.get_entities_of_types( @@ -143,9 +143,9 @@ def get_result(self) -> dict[EntityID, EntityID]: def _get_action_agents( self, info_map: dict[EntityID, "DefaultPoliceTargetAllocator.PoliceForceInfo"] - ) -> list[PoliceForceEntity]: + ) -> list[PoliceForce]: result = [] - for entity in self._world_info.get_entities_of_types([PoliceForceEntity]): + for entity in self._world_info.get_entities_of_types([PoliceForce]): info = info_map[entity.get_id()] if info is not None and info._can_new_action: result.append(entity) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 857d724..888caf2 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -1,6 +1,6 @@ from typing import cast -from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest @@ -116,7 +116,7 @@ def think( self.reset_count() self.module_update_info(message_manager) - agent: AmbulanceTeamEntity = cast(AmbulanceTeamEntity, agent_info.get_myself()) # noqa: F841 + agent: AmbulanceTeam = cast(AmbulanceTeam, agent_info.get_myself()) # noqa: F841 entity_id = agent_info.get_entity_id() # noqa: F841 self._logger.debug( diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index d421ac6..4247b48 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -1,6 +1,6 @@ from typing import cast -from rcrs_core.entities.fireBrigade import FireBrigadeEntity +from rcrs_core.entities.fireBrigade import FireBrigade from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest @@ -117,7 +117,7 @@ def think( self.reset_count() self.module_update_info(message_manager) - agent: FireBrigadeEntity = cast(FireBrigadeEntity, agent_info.get_myself()) # noqa: F841 + agent: FireBrigade = cast(FireBrigade, agent_info.get_myself()) # noqa: F841 entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._human_detector.calculate().get_target_entity_id() diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 4f8bb89..d605cba 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -1,6 +1,6 @@ from typing import cast -from rcrs_core.entities.policeForce import PoliceForceEntity +from rcrs_core.entities.policeForce import PoliceForce from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest @@ -120,7 +120,7 @@ def think( self.reset_count() self.module_update_info(message_manager) - agent: PoliceForceEntity = cast(PoliceForceEntity, agent_info.get_myself()) # noqa: F841 + agent: PoliceForce = cast(PoliceForce, agent_info.get_myself()) # noqa: F841 entity_id = agent_info.get_entity_id() # noqa: F841 target_entity_id = self._road_detector.calculate().get_target_entity_id() From da037c0ce7dcd4b855b5af7fd3eab467cc62e3f6 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 15 Nov 2024 18:09:34 +0900 Subject: [PATCH 123/249] feat: add CLI template and configuration files for agent team setup --- adf_core_python/cli/__init__.py | 0 adf_core_python/cli/cli.py | 53 ++++++ .../cli/template/config/development.json | 3 + .../cli/template/config/launcher.yaml | 35 ++++ .../cli/template/config/module.yaml | 113 +++++++++++++ .../cli/template/src//__init__.py | 0 .../src//module/__init__.py | 0 .../complex/_human_detector.py | 149 +++++++++++++++++ .../complex/_road_detector.py | 158 ++++++++++++++++++ .../module/complex/_search.py | 106 ++++++++++++ ...//module/complex/__init__.py | 0 config/module.yaml | 2 - poetry.lock | 16 +- pyproject.toml | 18 +- 14 files changed, 643 insertions(+), 10 deletions(-) create mode 100644 adf_core_python/cli/__init__.py create mode 100644 adf_core_python/cli/cli.py create mode 100644 adf_core_python/cli/template/config/development.json create mode 100644 adf_core_python/cli/template/config/launcher.yaml create mode 100644 adf_core_python/cli/template/config/module.yaml create mode 100644 adf_core_python/cli/template/src//__init__.py create mode 100644 adf_core_python/cli/template/src//module/__init__.py create mode 100644 adf_core_python/cli/template/src//module/complex/_human_detector.py create mode 100644 adf_core_python/cli/template/src//module/complex/_road_detector.py create mode 100644 adf_core_python/cli/template/src//module/complex/_search.py create mode 100644 adf_core_python/cli/template/src//module/complex/__init__.py diff --git a/adf_core_python/cli/__init__.py b/adf_core_python/cli/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py new file mode 100644 index 0000000..acf3c48 --- /dev/null +++ b/adf_core_python/cli/cli.py @@ -0,0 +1,53 @@ +import os + +import click + +LOWER_NAME_PLACEHOLDER = "" +UPPER_NAME_PLACEHOLDER = "" + + +@click.command() +@click.option( + "--name", prompt="Your agent team name", help="The name of your agent team" +) +def main(name): + # load template dir and create a new agent team + click.echo(f"Creating a new agent team with name: {name}") + lower_name = name.lower() + upper_name = name.upper() + # 自身がいるディレクトリを取得 + template_dir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "template") + click.echo(f"Current file path: {template_dir}") + # コマンドラインのカレントディレクトリを取得 + current_dir = os.getcwd() + click.echo(f"Current directory: {current_dir}") + + _copy_template(template_dir, current_dir, lower_name, upper_name) + + +def _copy_template(src, dest, lower_name, upper_name): + if os.path.isdir(src): + if not os.path.exists(dest): + os.makedirs(dest) + for item in os.listdir(src): + s = os.path.join(src, item) + d = os.path.join( + dest, + item.replace(LOWER_NAME_PLACEHOLDER, lower_name).replace( + UPPER_NAME_PLACEHOLDER, upper_name + ), + ) + _copy_template(s, d, lower_name, upper_name) + else: + with open(src, "r") as f: + content = f.read() + with open(dest, "w") as f: + f.write( + content.replace(LOWER_NAME_PLACEHOLDER, lower_name).replace( + UPPER_NAME_PLACEHOLDER, upper_name + ) + ) + + +if __name__ == "__main__": + main() diff --git a/adf_core_python/cli/template/config/development.json b/adf_core_python/cli/template/config/development.json new file mode 100644 index 0000000..d0ae716 --- /dev/null +++ b/adf_core_python/cli/template/config/development.json @@ -0,0 +1,3 @@ +{ + "test": "test" +} diff --git a/adf_core_python/cli/template/config/launcher.yaml b/adf_core_python/cli/template/config/launcher.yaml new file mode 100644 index 0000000..35fbb75 --- /dev/null +++ b/adf_core_python/cli/template/config/launcher.yaml @@ -0,0 +1,35 @@ +kernel: + host: localhost + port: 27931 + +team: + name: + +adf: + launcher: + precompute: 0 + debug: + flag: 0 + agent: + moduleconfig: + filename: config/module.yaml + + develop: + flag: 1 + filename: config/development.json + + team: + platoon: + ambulance: + count: 1 + fire: + count: 0 + police: + count: 0 + office: + ambulance: + count: -1 + fire: + count: -1 + police: + count: -1 diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml new file mode 100644 index 0000000..dd85c56 --- /dev/null +++ b/adf_core_python/cli/template/config/module.yaml @@ -0,0 +1,113 @@ +## DefaultTacticsAmbulanceTeam +DefaultTacticsAmbulanceTeam: + HumanDetector: .module.complex._human_detector.HumanDetector + Search: .module.complex._search.Search + ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove + CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout + +# ## DefaultTacticsFireBrigade +DefaultTacticsFireBrigade: + HumanDetector: .module.complex._human_detector.HumanDetector + Search: .module.complex._search.Search + ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove + CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout + +# ## DefaultTacticsPoliceForce +DefaultTacticsPoliceForce: + RoadDetector: .module.complex._road_detector.RoadDetector + Search: .module.complex._search.Search + ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove + CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice + CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice + +# ## DefaultTacticsAmbulanceCentre +# DefaultTacticsAmbulanceCentre: +# TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator +# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance + +# ## DefaultTacticsFireStation +# DefaultTacticsFireStation: +# TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator +# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire + +# ## DefaultTacticsPoliceOffice +# DefaultTacticsPoliceOffice: +# TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator +# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice + +## SampleSearch +SampleSearch: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering + +# ## SampleBuildDetector +# SampleBuildingDetector: +# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering + +# ## SampleRoadDetector +# SampleRoadDetector: +# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + +# ## SampleHumanDetector +# SampleHumanDetector: +# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering + +# ## DefaultExtendActionClear +# DefaultExtendActionClear: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtendActionFireFighting +# DefaultExtendActionFireFighting: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtendActionRescue +# DefaultExtendActionRescue: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtendActionMove +# DefaultExtendActionMove: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + +# ## DefaultExtendActionTransport +# DefaultExtendActionTransport: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# ## DefaultCommandExecutorAmbulance +# DefaultCommandExecutorAmbulance: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + +# ## DefaultCommandExecutorFire +# DefaultCommandExecutorFire: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue +# EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + +# ## DefaultCommandExecutorPolice +# DefaultCommandExecutorPolice: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear +# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove + +# ## DefaultCommandExecutorScout +# DefaultCommandExecutorScout: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning + +# ## DefaultCommandExecutorScoutPolice +# DefaultCommandExecutorScoutPolice: +# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear + +# ## MessageManager +MessageManager: + PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber + CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber + PlatoonMessageCoordinator: adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator + CenterMessageCoordinator: adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator diff --git a/adf_core_python/cli/template/src//__init__.py b/adf_core_python/cli/template/src//__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/cli/template/src//module/__init__.py b/adf_core_python/cli/template/src//module/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/cli/template/src//module/complex/_human_detector.py b/adf_core_python/cli/template/src//module/complex/_human_detector.py new file mode 100644 index 0000000..4720226 --- /dev/null +++ b/adf_core_python/cli/template/src//module/complex/_human_detector.py @@ -0,0 +1,149 @@ +from typing import Optional, cast + +from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.entities.civilian import Civilian +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.clustering import Clustering +from adf_core_python.core.component.module.complex.human_detector import HumanDetector +from adf_core_python.core.logger.logger import get_agent_logger + + +class DefaultHumanDetector(HumanDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "DefaultHumanDetector.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + self.register_sub_module(self._clustering) + + self._result: Optional[EntityID] = None + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + def calculate(self) -> HumanDetector: + transport_human: Optional[Human] = self._agent_info.some_one_on_board() + if transport_human is not None: + self._result = transport_human.get_id() + return self + + if self._result is not None: + if not self._is_valid_human(self._result): + self._result = None + + if self._result is None: + self._result = self._select_target() + + return self + + def _select_target(self) -> Optional[EntityID]: + if self._result is not None and self._is_valid_human(self._result): + return self._result + + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + + cluster_valid_human_entities: list[Entity] = [ + entity + for entity in cluster_entities + if self._is_valid_human(entity.get_id()) and isinstance(entity, Civilian) + ] + if len(cluster_valid_human_entities) != 0: + nearest_human_entity = cluster_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + nearest_human_entity.get_id(), + ) + for entity in cluster_valid_human_entities: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_id(), + ) + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_id() + + world_valid_human_entities: list[Entity] = [ + entity + for entity in self._world_info.get_entities_of_types([Civilian]) + if self._is_valid_human(entity.get_id()) + ] + if len(world_valid_human_entities) != 0: + nearest_human_entity = world_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + nearest_human_entity.get_id(), + ) + for entity in world_valid_human_entities: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_id(), + ) + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_id() + + return None + + def _is_valid_human(self, target_entity_id: EntityID) -> bool: + target: Optional[Entity] = self._world_info.get_entity(target_entity_id) + if target is None: + return False + if not isinstance(target, Human): + return False + hp: Optional[int] = target.get_hp() + if hp is None or hp <= 0: + return False + buriedness: Optional[int] = target.get_buriedness() + if buriedness is None: + return False + myself = self._agent_info.get_myself() + if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: + return False + if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: + return False + damage: Optional[int] = target.get_damage() + if damage is None or damage == 0: + return False + position_entity_id: Optional[EntityID] = target.get_position() + if position_entity_id is None: + return False + position: Optional[Entity] = self._world_info.get_entity(position_entity_id) + if position is None: + return False + urn: EntityURN = position.get_urn() + if urn == EntityURN.REFUGE or urn == EntityURN.AMBULANCE_TEAM: + return False + + return True + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result diff --git a/adf_core_python/cli/template/src//module/complex/_road_detector.py b/adf_core_python/cli/template/src//module/complex/_road_detector.py new file mode 100644 index 0000000..adad2d8 --- /dev/null +++ b/adf_core_python/cli/template/src//module/complex/_road_detector.py @@ -0,0 +1,158 @@ +from typing import Optional, cast + +from rcrs_core.entities.building import Building +from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.refuge import Refuge +from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.algorithm.path_planning import ( + PathPlanning, +) +from adf_core_python.core.component.module.complex.road_detector import RoadDetector + + +class DefaultRoadDetector(RoadDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + match scenario_info.get_mode(): + case Mode.NON_PRECOMPUTE: + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultRoadDetector.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self.register_sub_module(self._path_planning) + self._result = None + + def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> RoadDetector: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + + self._target_areas: set[EntityID] = set() + entities = self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] + ) + for entity in entities: + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbours(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_types([Refuge]): + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbours(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_roads.add(entity_id) + + return self + + def prepare(self) -> RoadDetector: + super().prepare() + if self.get_count_prepare() >= 2: + return self + + self._target_areas = set() + entities = self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] + ) + for entity in entities: + building: Building = cast(Building, entity) + for entity_id in building.get_neighbours(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_types([Refuge]): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbours(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_roads.add(entity_id) + + return self + + def update_info(self, message_manager: MessageManager) -> RoadDetector: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + if self._result is not None: + if self._agent_info.get_position_entity_id == self._result: + entity = self._world_info.get_entity(self._result) + if isinstance(entity, Building): + self._result = None + elif isinstance(entity, Road): + road: Road = cast(Road, entity) + if road.get_blockades() == []: + self._target_areas.remove(self._result) + self._result = None + + return self + + def calculate(self) -> RoadDetector: + if self._result is None: + position_entity_id: EntityID = self._agent_info.get_position_entity_id() + if position_entity_id in self._target_areas: + self._result = position_entity_id + return self + remove_list = [] + for entity_id in self._priority_roads: + if entity_id not in self._target_areas: + remove_list.append(entity_id) + + self._priority_roads = self._priority_roads - set(remove_list) + if len(self._priority_roads) > 0: + _nearest_target_area = self._agent_info.get_position_entity_id() + _nearest_distance = float("inf") + for target_area in self._target_areas: + if ( + self._world_info.get_distance( + self._agent_info.get_position_entity_id(), target_area + ) + < _nearest_distance + ): + _nearest_target_area = target_area + _nearest_distance = self._world_info.get_distance( + self._agent_info.get_position_entity_id(), target_area + ) + path: list[EntityID] = self._path_planning.get_path( + self._agent_info.get_position_entity_id(), _nearest_target_area + ) + if path is not None and len(path) > 0: + self._result = path[-1] + + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result diff --git a/adf_core_python/cli/template/src//module/complex/_search.py b/adf_core_python/cli/template/src//module/complex/_search.py new file mode 100644 index 0000000..05d7c88 --- /dev/null +++ b/adf_core_python/cli/template/src//module/complex/_search.py @@ -0,0 +1,106 @@ +from typing import Optional, cast + +from rcrs_core.entities.building import Building +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.refuge import Refuge +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.clustering import Clustering +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning +from adf_core_python.core.component.module.complex.search import Search +from adf_core_python.core.logger.logger import get_agent_logger + + +class DefaultSearch(Search): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._unreached_building_ids: set[EntityID] = set() + self._result: Optional[EntityID] = None + + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "DefaultSearch.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultSearch.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + self.register_sub_module(self._clustering) + self.register_sub_module(self._path_planning) + + def update_info(self, message_manager: MessageManager) -> Search: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + + self._logger.debug( + f"unreached_building_ids: {[str(id) for id in self._unreached_building_ids]}" + ) + + searched_building_id = self._agent_info.get_position_entity_id() + self._unreached_building_ids.discard(searched_building_id) + + if len(self._unreached_building_ids) == 0: + self._unreached_building_ids = self._get_search_targets() + + return self + + def calculate(self) -> Search: + nearest_building_id: Optional[EntityID] = None + nearest_distance: Optional[float] = None + for building_id in self._unreached_building_ids: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), building_id + ) + if nearest_distance is None or distance < nearest_distance: + nearest_building_id = building_id + nearest_distance = distance + self._result = nearest_building_id + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result + + def _get_search_targets(self) -> set[EntityID]: + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + building_entity_ids: list[EntityID] = [ + entity.get_id() + for entity in cluster_entities + if isinstance(entity, Building) and not isinstance(entity, Refuge) + ] + + return set(building_entity_ids) diff --git a/adf_core_python/cli/template/src//module/complex/__init__.py b/adf_core_python/cli/template/src//module/complex/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/config/module.yaml b/config/module.yaml index b4fbba1..958fbc7 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -111,5 +111,3 @@ MessageManager: CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber PlatoonMessageCoordinator: adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator CenterMessageCoordinator: adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator -# ## VisualDebug -# VisualDebug: true diff --git a/poetry.lock b/poetry.lock index c1d9ac7..d30279b 100644 --- a/poetry.lock +++ b/poetry.lock @@ -146,6 +146,20 @@ files = [ {file = "bitarray-3.0.0.tar.gz", hash = "sha256:a2083dc20f0d828a7cdf7a16b20dae56aab0f43dc4f347a3b3039f6577992b03"}, ] +[[package]] +name = "click" +version = "8.1.7" +description = "Composable command line interface toolkit" +optional = false +python-versions = ">=3.7" +files = [ + {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"}, + {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"}, +] + +[package.dependencies] +colorama = {version = "*", markers = "platform_system == \"Windows\""} + [[package]] name = "colorama" version = "0.4.6" @@ -782,4 +796,4 @@ files = [ [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "6e8244db0f75c542b50338580672c5e11b1cdfe38b0a62d01b757b31d4eddaf0" +content-hash = "62d5fde0d4a35f29aa7f21a31f5c1f4679c7a576c0f57c0363ec0b0cd6dc9e91" diff --git a/pyproject.toml b/pyproject.toml index 35dee4b..ba652af 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -5,13 +5,13 @@ description = "Agent Development Framework for Python" authors = [ "Haruki Uehara ", "Yuki Shimada ", - ] +] readme = "README.md" package-mode = true [tool.poetry.dependencies] python = "^3.12" -rcrs_core = {git = "https://github.com/adf-python/rcrs-core-python"} +rcrs_core = { git = "https://github.com/adf-python/rcrs-core-python" } pyyaml = "^6.0.2" pytest = "^8.3.2" types-pyyaml = "^6.0.12.20240808" @@ -19,6 +19,7 @@ scikit-learn = "^1.5.2" structlog = "^24.4.0" bitarray = "^3.0.0" shapely = "^2.0.6" +click = "^8.1.7" [tool.poetry.group.dev.dependencies] @@ -31,6 +32,9 @@ ruff = "^0.4.4" requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" +[tool.script] +adf-core-python = "adf_core_python.cli.cli:main" + [tool.taskipy.tasks] format = "ruff format ." lint = "ruff check ." @@ -120,9 +124,9 @@ docstring-code-line-length = "dynamic" [tool.mypy] ignore_missing_imports = true -show_error_context = true # エラー時のメッセージを詳細表示 -show_column_numbers = true # エラー発生箇所の行数/列数を表示 +show_error_context = true # エラー時のメッセージを詳細表示 +show_column_numbers = true # エラー発生箇所の行数/列数を表示 disallow_untyped_defs = true # 関数定義の引数/戻り値に型アノテーション必須 -no_implicit_optional = true # デフォルト引数に None を取る場合型アノテーションに Optional 必須 -check_untyped_defs = true # 型注釈がない関数やメソッドに対して型チェックを行う -warn_redundant_casts = true # 冗長なキャストに警告 +no_implicit_optional = true # デフォルト引数に None を取る場合型アノテーションに Optional 必須 +check_untyped_defs = true # 型注釈がない関数やメソッドに対して型チェックを行う +warn_redundant_casts = true # 冗長なキャストに警告 From 68f2be064d32f2ded650454a5b9844d2f4e7414e Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 15 Nov 2024 18:20:16 +0900 Subject: [PATCH 124/249] refactor: rename main function to cli and update script entry point in pyproject.toml --- adf_core_python/cli/cli.py | 6 +----- pyproject.toml | 4 ++-- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index acf3c48..23a5146 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -10,7 +10,7 @@ @click.option( "--name", prompt="Your agent team name", help="The name of your agent team" ) -def main(name): +def cli(name): # load template dir and create a new agent team click.echo(f"Creating a new agent team with name: {name}") lower_name = name.lower() @@ -47,7 +47,3 @@ def _copy_template(src, dest, lower_name, upper_name): UPPER_NAME_PLACEHOLDER, upper_name ) ) - - -if __name__ == "__main__": - main() diff --git a/pyproject.toml b/pyproject.toml index ba652af..71f60d0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,8 +32,8 @@ ruff = "^0.4.4" requires = ["poetry-core"] build-backend = "poetry.core.masonry.api" -[tool.script] -adf-core-python = "adf_core_python.cli.cli:main" +[tool.poetry.scripts] +adf-core-python = "adf_core_python.cli.cli:cli" [tool.taskipy.tasks] format = "ruff format ." From 89b9fbbd91753f8e38db05831db41a0cf03b9bcf Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 15 Nov 2024 18:27:00 +0900 Subject: [PATCH 125/249] refactor: update placeholder names and file structure for team templates --- adf_core_python/cli/cli.py | 9 +++++++-- adf_core_python/cli/template/config/launcher.yaml | 2 +- adf_core_python/cli/template/config/module.yaml | 12 ++++++------ .../src/{ => team_name}/__init__.py | 0 .../{ => team_name}/module/__init__.py | 0 .../module/complex/__init__.py | 0 .../module/complex/team_name_human_detector.py} | 2 +- .../module/complex/team_name_road_detector.py} | 2 +- .../module/complex/team_name_search.py} | 2 +- 9 files changed, 17 insertions(+), 12 deletions(-) rename adf_core_python/cli/template/src/{ => team_name}/__init__.py (100%) rename adf_core_python/cli/template/src/{ => team_name}/module/__init__.py (100%) rename adf_core_python/cli/template/src/{ => team_name}/module/complex/__init__.py (100%) rename adf_core_python/cli/template/src/{/module/complex/_human_detector.py => team_name/module/complex/team_name_human_detector.py} (99%) rename adf_core_python/cli/template/src/{/module/complex/_road_detector.py => team_name/module/complex/team_name_road_detector.py} (99%) rename adf_core_python/cli/template/src/{/module/complex/_search.py => team_name/module/complex/team_name_search.py} (99%) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index 23a5146..1031fa2 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -2,8 +2,8 @@ import click -LOWER_NAME_PLACEHOLDER = "" -UPPER_NAME_PLACEHOLDER = "" +LOWER_NAME_PLACEHOLDER = "team_name" +UPPER_NAME_PLACEHOLDER = "TeamName" @click.command() @@ -47,3 +47,8 @@ def _copy_template(src, dest, lower_name, upper_name): UPPER_NAME_PLACEHOLDER, upper_name ) ) + new_dest = dest.replace(LOWER_NAME_PLACEHOLDER, lower_name).replace( + UPPER_NAME_PLACEHOLDER, upper_name + ) + if new_dest != dest: + os.rename(dest, new_dest) diff --git a/adf_core_python/cli/template/config/launcher.yaml b/adf_core_python/cli/template/config/launcher.yaml index 35fbb75..4252585 100644 --- a/adf_core_python/cli/template/config/launcher.yaml +++ b/adf_core_python/cli/template/config/launcher.yaml @@ -3,7 +3,7 @@ kernel: port: 27931 team: - name: + name: team_name adf: launcher: diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml index dd85c56..3f7467a 100644 --- a/adf_core_python/cli/template/config/module.yaml +++ b/adf_core_python/cli/template/config/module.yaml @@ -1,7 +1,7 @@ ## DefaultTacticsAmbulanceTeam DefaultTacticsAmbulanceTeam: - HumanDetector: .module.complex._human_detector.HumanDetector - Search: .module.complex._search.Search + HumanDetector: team_name.module.complex.team_name_human_detector.TeamNameHumanDetector + Search: team_name.module.complex.team_name_search.TeamNameSearch ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance @@ -9,8 +9,8 @@ DefaultTacticsAmbulanceTeam: # ## DefaultTacticsFireBrigade DefaultTacticsFireBrigade: - HumanDetector: .module.complex._human_detector.HumanDetector - Search: .module.complex._search.Search + HumanDetector: team_name.module.complex.team_name_human_detector.TeamNameHumanDetector + Search: team_name.module.complex.team_name_search.TeamNameSearch ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire @@ -18,8 +18,8 @@ DefaultTacticsFireBrigade: # ## DefaultTacticsPoliceForce DefaultTacticsPoliceForce: - RoadDetector: .module.complex._road_detector.RoadDetector - Search: .module.complex._search.Search + RoadDetector: team_name.module.complex.team_name_road_detector.TeamNameRoadDetector + Search: team_name.module.complex.team_name_search.TeamNameSearch ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice diff --git a/adf_core_python/cli/template/src//__init__.py b/adf_core_python/cli/template/src/team_name/__init__.py similarity index 100% rename from adf_core_python/cli/template/src//__init__.py rename to adf_core_python/cli/template/src/team_name/__init__.py diff --git a/adf_core_python/cli/template/src//module/__init__.py b/adf_core_python/cli/template/src/team_name/module/__init__.py similarity index 100% rename from adf_core_python/cli/template/src//module/__init__.py rename to adf_core_python/cli/template/src/team_name/module/__init__.py diff --git a/adf_core_python/cli/template/src//module/complex/__init__.py b/adf_core_python/cli/template/src/team_name/module/complex/__init__.py similarity index 100% rename from adf_core_python/cli/template/src//module/complex/__init__.py rename to adf_core_python/cli/template/src/team_name/module/complex/__init__.py diff --git a/adf_core_python/cli/template/src//module/complex/_human_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/team_name_human_detector.py similarity index 99% rename from adf_core_python/cli/template/src//module/complex/_human_detector.py rename to adf_core_python/cli/template/src/team_name/module/complex/team_name_human_detector.py index 4720226..4cacc73 100644 --- a/adf_core_python/cli/template/src//module/complex/_human_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/team_name_human_detector.py @@ -16,7 +16,7 @@ from adf_core_python.core.logger.logger import get_agent_logger -class DefaultHumanDetector(HumanDetector): +class TeamNameHumanDetector(HumanDetector): def __init__( self, agent_info: AgentInfo, diff --git a/adf_core_python/cli/template/src//module/complex/_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/team_name_road_detector.py similarity index 99% rename from adf_core_python/cli/template/src//module/complex/_road_detector.py rename to adf_core_python/cli/template/src/team_name/module/complex/team_name_road_detector.py index adad2d8..222d717 100644 --- a/adf_core_python/cli/template/src//module/complex/_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/team_name_road_detector.py @@ -19,7 +19,7 @@ from adf_core_python.core.component.module.complex.road_detector import RoadDetector -class DefaultRoadDetector(RoadDetector): +class TeamNameRoadDetector(RoadDetector): def __init__( self, agent_info: AgentInfo, diff --git a/adf_core_python/cli/template/src//module/complex/_search.py b/adf_core_python/cli/template/src/team_name/module/complex/team_name_search.py similarity index 99% rename from adf_core_python/cli/template/src//module/complex/_search.py rename to adf_core_python/cli/template/src/team_name/module/complex/team_name_search.py index 05d7c88..286cde1 100644 --- a/adf_core_python/cli/template/src//module/complex/_search.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/team_name_search.py @@ -17,7 +17,7 @@ from adf_core_python.core.logger.logger import get_agent_logger -class DefaultSearch(Search): +class TeamNameSearch(Search): def __init__( self, agent_info: AgentInfo, From 04565526f0e1e3c2169e3e3844a4b1542ace9969 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 20 Nov 2024 23:58:13 +0900 Subject: [PATCH 126/249] refactor: update placeholder names and class references in CLI templates --- adf_core_python/cli/cli.py | 37 ++++++++++--------- .../cli/template/config/module.yaml | 12 +++--- ...n_detector.py => sample_human_detector.py} | 2 +- ...ad_detector.py => sample_road_detector.py} | 2 +- .../{team_name_search.py => sample_search.py} | 2 +- 5 files changed, 28 insertions(+), 27 deletions(-) rename adf_core_python/cli/template/src/team_name/module/complex/{team_name_human_detector.py => sample_human_detector.py} (99%) rename adf_core_python/cli/template/src/team_name/module/complex/{team_name_road_detector.py => sample_road_detector.py} (99%) rename adf_core_python/cli/template/src/team_name/module/complex/{team_name_search.py => sample_search.py} (99%) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index 1031fa2..853e360 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -2,8 +2,7 @@ import click -LOWER_NAME_PLACEHOLDER = "team_name" -UPPER_NAME_PLACEHOLDER = "TeamName" +NAME_PLACEHOLDER = "team_name" @click.command() @@ -13,8 +12,6 @@ def cli(name): # load template dir and create a new agent team click.echo(f"Creating a new agent team with name: {name}") - lower_name = name.lower() - upper_name = name.upper() # 自身がいるディレクトリを取得 template_dir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "template") click.echo(f"Current file path: {template_dir}") @@ -22,10 +19,18 @@ def cli(name): current_dir = os.getcwd() click.echo(f"Current directory: {current_dir}") - _copy_template(template_dir, current_dir, lower_name, upper_name) + _copy_template( + template_dir, + current_dir, + name, + ) -def _copy_template(src, dest, lower_name, upper_name): +def _copy_template( + src, + dest, + name, +): if os.path.isdir(src): if not os.path.exists(dest): os.makedirs(dest) @@ -33,22 +38,18 @@ def _copy_template(src, dest, lower_name, upper_name): s = os.path.join(src, item) d = os.path.join( dest, - item.replace(LOWER_NAME_PLACEHOLDER, lower_name).replace( - UPPER_NAME_PLACEHOLDER, upper_name - ), + item.replace(NAME_PLACEHOLDER, name), ) - _copy_template(s, d, lower_name, upper_name) + _copy_template(s, d, name) else: with open(src, "r") as f: content = f.read() with open(dest, "w") as f: - f.write( - content.replace(LOWER_NAME_PLACEHOLDER, lower_name).replace( - UPPER_NAME_PLACEHOLDER, upper_name - ) - ) - new_dest = dest.replace(LOWER_NAME_PLACEHOLDER, lower_name).replace( - UPPER_NAME_PLACEHOLDER, upper_name - ) + f.write(content.replace(NAME_PLACEHOLDER, name)) + new_dest = dest.replace(NAME_PLACEHOLDER, name) if new_dest != dest: os.rename(dest, new_dest) + + +if __name__ == "__main__": + cli() diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml index 3f7467a..80a7b35 100644 --- a/adf_core_python/cli/template/config/module.yaml +++ b/adf_core_python/cli/template/config/module.yaml @@ -1,7 +1,7 @@ ## DefaultTacticsAmbulanceTeam DefaultTacticsAmbulanceTeam: - HumanDetector: team_name.module.complex.team_name_human_detector.TeamNameHumanDetector - Search: team_name.module.complex.team_name_search.TeamNameSearch + HumanDetector: team_name.module.complex.sample_human_detector.SampleHumanDetector + Search: team_name.module.complex.sample_search.SampleSearch ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance @@ -9,8 +9,8 @@ DefaultTacticsAmbulanceTeam: # ## DefaultTacticsFireBrigade DefaultTacticsFireBrigade: - HumanDetector: team_name.module.complex.team_name_human_detector.TeamNameHumanDetector - Search: team_name.module.complex.team_name_search.TeamNameSearch + HumanDetector: team_name.module.complex.sample_human_detector.SampleHumanDetector + Search: team_name.module.complex.sample_search.SampleSearch ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire @@ -18,8 +18,8 @@ DefaultTacticsFireBrigade: # ## DefaultTacticsPoliceForce DefaultTacticsPoliceForce: - RoadDetector: team_name.module.complex.team_name_road_detector.TeamNameRoadDetector - Search: team_name.module.complex.team_name_search.TeamNameSearch + RoadDetector: team_name.module.complex.sample_road_detector.SampleRoadDetector + Search: team_name.module.complex.sample_search.SampleSearch ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice diff --git a/adf_core_python/cli/template/src/team_name/module/complex/team_name_human_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py similarity index 99% rename from adf_core_python/cli/template/src/team_name/module/complex/team_name_human_detector.py rename to adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py index 4cacc73..c3b9587 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/team_name_human_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py @@ -16,7 +16,7 @@ from adf_core_python.core.logger.logger import get_agent_logger -class TeamNameHumanDetector(HumanDetector): +class SampleHumanDetector(HumanDetector): def __init__( self, agent_info: AgentInfo, diff --git a/adf_core_python/cli/template/src/team_name/module/complex/team_name_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py similarity index 99% rename from adf_core_python/cli/template/src/team_name/module/complex/team_name_road_detector.py rename to adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index 222d717..a46e67e 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/team_name_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -19,7 +19,7 @@ from adf_core_python.core.component.module.complex.road_detector import RoadDetector -class TeamNameRoadDetector(RoadDetector): +class SampleRoadDetector(RoadDetector): def __init__( self, agent_info: AgentInfo, diff --git a/adf_core_python/cli/template/src/team_name/module/complex/team_name_search.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py similarity index 99% rename from adf_core_python/cli/template/src/team_name/module/complex/team_name_search.py rename to adf_core_python/cli/template/src/team_name/module/complex/sample_search.py index 286cde1..d1bbe04 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/team_name_search.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py @@ -17,7 +17,7 @@ from adf_core_python.core.logger.logger import get_agent_logger -class TeamNameSearch(Search): +class SampleSearch(Search): def __init__( self, agent_info: AgentInfo, From a17f233a2d9f0ea99c70e9cbf507328eaec08a5f Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 21 Nov 2024 11:47:27 +0900 Subject: [PATCH 127/249] feat: update team configuration and add main launcher script for CLI --- adf_core_python/cli/template/config/launcher.yaml | 6 +++--- adf_core_python/cli/template/config/module.yaml | 12 ++++++------ adf_core_python/cli/template/main.py | 5 +++++ 3 files changed, 14 insertions(+), 9 deletions(-) create mode 100644 adf_core_python/cli/template/main.py diff --git a/adf_core_python/cli/template/config/launcher.yaml b/adf_core_python/cli/template/config/launcher.yaml index 4252585..6782672 100644 --- a/adf_core_python/cli/template/config/launcher.yaml +++ b/adf_core_python/cli/template/config/launcher.yaml @@ -21,11 +21,11 @@ adf: team: platoon: ambulance: - count: 1 + count: 100 fire: - count: 0 + count: 100 police: - count: 0 + count: 100 office: ambulance: count: -1 diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml index 80a7b35..dbf215b 100644 --- a/adf_core_python/cli/template/config/module.yaml +++ b/adf_core_python/cli/template/config/module.yaml @@ -1,7 +1,7 @@ ## DefaultTacticsAmbulanceTeam DefaultTacticsAmbulanceTeam: - HumanDetector: team_name.module.complex.sample_human_detector.SampleHumanDetector - Search: team_name.module.complex.sample_search.SampleSearch + HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector + Search: src.team_name.module.complex.sample_search.SampleSearch ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance @@ -9,8 +9,8 @@ DefaultTacticsAmbulanceTeam: # ## DefaultTacticsFireBrigade DefaultTacticsFireBrigade: - HumanDetector: team_name.module.complex.sample_human_detector.SampleHumanDetector - Search: team_name.module.complex.sample_search.SampleSearch + HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector + Search: src.team_name.module.complex.sample_search.SampleSearch ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire @@ -18,8 +18,8 @@ DefaultTacticsFireBrigade: # ## DefaultTacticsPoliceForce DefaultTacticsPoliceForce: - RoadDetector: team_name.module.complex.sample_road_detector.SampleRoadDetector - Search: team_name.module.complex.sample_search.SampleSearch + RoadDetector: src.team_name.module.complex.sample_road_detector.SampleRoadDetector + Search: src.team_name.module.complex.sample_search.SampleSearch ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice diff --git a/adf_core_python/cli/template/main.py b/adf_core_python/cli/template/main.py new file mode 100644 index 0000000..82ce430 --- /dev/null +++ b/adf_core_python/cli/template/main.py @@ -0,0 +1,5 @@ +from adf_core_python.launcher import Launcher + +if __name__ == "__main__": + launcher = Launcher("./config/launcher.yaml") + launcher.launch() From b80f8ce0ffcca6bd3267bdb9ad90d2f52d9ca2a1 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 21 Nov 2024 12:20:32 +0900 Subject: [PATCH 128/249] refactor: add type hints to CLI function and update parameter definitions --- adf_core_python/cli/cli.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index 853e360..fe2b343 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -9,15 +9,13 @@ @click.option( "--name", prompt="Your agent team name", help="The name of your agent team" ) -def cli(name): +def cli(name: str) -> None: # load template dir and create a new agent team click.echo(f"Creating a new agent team with name: {name}") # 自身がいるディレクトリを取得 template_dir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "template") - click.echo(f"Current file path: {template_dir}") # コマンドラインのカレントディレクトリを取得 current_dir = os.getcwd() - click.echo(f"Current directory: {current_dir}") _copy_template( template_dir, @@ -27,10 +25,10 @@ def cli(name): def _copy_template( - src, - dest, - name, -): + src: str, + dest: str, + name: str, +) -> None: if os.path.isdir(src): if not os.path.exists(dest): os.makedirs(dest) From c3e4a537855540c114dace737207f13daf3a6fe0 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 21 Nov 2024 19:00:45 +0900 Subject: [PATCH 129/249] docs: add documentation section with link to ADF Core Python documentation --- README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/README.md b/README.md index 0125315..da12692 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,9 @@ # adf-core-python +## Documentation + +[ADF Core Python Documentation](https://adf-python.github.io/adf-core-python/) + ## Development Environment ### Prerequisites From 331326073de859e1acc9c54a48f1ecd72d270279 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 22 Nov 2024 15:31:59 +0900 Subject: [PATCH 130/249] feat: add logging for missing module keys in ModuleManager --- adf_core_python/core/agent/module/module_manager.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index 7609e62..9a6d35d 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -11,6 +11,7 @@ MessageCoordinator, ) from adf_core_python.core.component.module.abstract_module import AbstractModule +from adf_core_python.core.logger.logger import get_logger if TYPE_CHECKING: from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -43,9 +44,12 @@ def __init__( self._message_coordinators: dict[str, Any] = {} def get_module(self, module_name: str, default_module_name: str) -> AbstractModule: - class_name = self._module_config.get_value_or_default( - module_name, default_module_name - ) + class_name = self._module_config.get_value(module_name) + if class_name is None: + get_logger("ModuleManager").warning( + f"Module key {module_name} not found in config, using default module {default_module_name}" + ) + class_name = default_module_name try: module_class: type = self._load_module(class_name) From 0c902cd0b166a5b348ca0b17cb28857364d3d86a Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 23 Nov 2024 19:42:13 +0900 Subject: [PATCH 131/249] feat: update launcher configuration and refactor module references for human and road detectors --- .../cli/template/config/module.yaml | 61 ++++++------------- .../module/complex/sample_human_detector.py | 2 +- .../module/complex/sample_road_detector.py | 2 +- .../team_name/module/complex/sample_search.py | 4 +- .../action/default_extend_action_rescue.py | 2 +- .../module/complex/default_human_detector.py | 2 +- .../module/complex/default_road_detector.py | 2 +- .../module/complex/default_search.py | 4 +- config/launcher.yaml | 12 ++-- config/module.yaml | 61 ++++++------------- 10 files changed, 49 insertions(+), 103 deletions(-) diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml index dbf215b..280129b 100644 --- a/adf_core_python/cli/template/config/module.yaml +++ b/adf_core_python/cli/template/config/module.yaml @@ -1,4 +1,3 @@ -## DefaultTacticsAmbulanceTeam DefaultTacticsAmbulanceTeam: HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector Search: src.team_name.module.complex.sample_search.SampleSearch @@ -7,7 +6,6 @@ DefaultTacticsAmbulanceTeam: CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout -# ## DefaultTacticsFireBrigade DefaultTacticsFireBrigade: HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector Search: src.team_name.module.complex.sample_search.SampleSearch @@ -16,7 +14,6 @@ DefaultTacticsFireBrigade: CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout -# ## DefaultTacticsPoliceForce DefaultTacticsPoliceForce: RoadDetector: src.team_name.module.complex.sample_road_detector.SampleRoadDetector Search: src.team_name.module.complex.sample_search.SampleSearch @@ -25,87 +22,63 @@ DefaultTacticsPoliceForce: CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice -# ## DefaultTacticsAmbulanceCentre # DefaultTacticsAmbulanceCentre: # TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance -# ## DefaultTacticsFireStation # DefaultTacticsFireStation: # TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire -# ## DefaultTacticsPoliceOffice # DefaultTacticsPoliceOffice: # TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice -## SampleSearch SampleSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering -# ## SampleBuildDetector -# SampleBuildingDetector: -# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering - -# ## SampleRoadDetector -# SampleRoadDetector: -# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +SampleRoadDetector: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## SampleHumanDetector -# SampleHumanDetector: -# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering +SampleHumanDetector: + Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering -# ## DefaultExtendActionClear -# DefaultExtendActionClear: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionClear: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionFireFighting -# DefaultExtendActionFireFighting: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionRescue: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionRescue -# DefaultExtendActionRescue: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionMove: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionMove -# DefaultExtendActionMove: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionTransport: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionTransport -# DefaultExtendActionTransport: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -# ## DefaultCommandExecutorAmbulance # DefaultCommandExecutorAmbulance: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport # ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# ## DefaultCommandExecutorFire # DefaultCommandExecutorFire: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue # EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting # ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# ## DefaultCommandExecutorPolice # DefaultCommandExecutorPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear # ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# ## DefaultCommandExecutorScout # DefaultCommandExecutorScout: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultCommandExecutorScoutPolice # DefaultCommandExecutorScoutPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear -# ## MessageManager MessageManager: PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py index c3b9587..8b44545 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py @@ -31,7 +31,7 @@ def __init__( self._clustering: Clustering = cast( Clustering, module_manager.get_module( - "DefaultHumanDetector.Clustering", + "SampleHumanDetector.Clustering", "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index a46e67e..7a560fc 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -36,7 +36,7 @@ def __init__( self._path_planning: PathPlanning = cast( PathPlanning, module_manager.get_module( - "DefaultRoadDetector.PathPlanning", + "SampleRoadDetector.PathPlanning", "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py index d1bbe04..d495c49 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py @@ -36,7 +36,7 @@ def __init__( self._clustering: Clustering = cast( Clustering, module_manager.get_module( - "DefaultSearch.Clustering", + "SampleSearch.Clustering", "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) @@ -44,7 +44,7 @@ def __init__( self._path_planning: PathPlanning = cast( PathPlanning, module_manager.get_module( - "DefaultSearch.PathPlanning", + "SampleSearch.PathPlanning", "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py index eb96543..640d088 100644 --- a/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -47,7 +47,7 @@ def __init__( self._path_planning = cast( PathPlanning, self.module_manager.get_module( - "DefaultExtendActionMove.PathPlanning", + "DefaultExtendActionRescue.PathPlanning", "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index 4720226..f607fa1 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -31,7 +31,7 @@ def __init__( self._clustering: Clustering = cast( Clustering, module_manager.get_module( - "DefaultHumanDetector.Clustering", + "SampleHumanDetector.Clustering", "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index adad2d8..a2b9b1a 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -36,7 +36,7 @@ def __init__( self._path_planning: PathPlanning = cast( PathPlanning, module_manager.get_module( - "DefaultRoadDetector.PathPlanning", + "SampleRoadDetector.PathPlanning", "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) diff --git a/adf_core_python/implement/module/complex/default_search.py b/adf_core_python/implement/module/complex/default_search.py index 05d7c88..972b8ae 100644 --- a/adf_core_python/implement/module/complex/default_search.py +++ b/adf_core_python/implement/module/complex/default_search.py @@ -36,7 +36,7 @@ def __init__( self._clustering: Clustering = cast( Clustering, module_manager.get_module( - "DefaultSearch.Clustering", + "SampleSearch.Clustering", "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) @@ -44,7 +44,7 @@ def __init__( self._path_planning: PathPlanning = cast( PathPlanning, module_manager.get_module( - "DefaultSearch.PathPlanning", + "SampleSearch.PathPlanning", "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) diff --git a/config/launcher.yaml b/config/launcher.yaml index d69a51b..07de1ca 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -7,25 +7,25 @@ team: adf: launcher: - precompute: 0 + precompute: false debug: - flag: 0 + flag: false agent: moduleconfig: filename: config/module.yaml develop: - flag: 1 + flag: true filename: config/development.json team: platoon: ambulance: - count: 1 + count: 100 fire: - count: 0 + count: 100 police: - count: 0 + count: 100 office: ambulance: count: -1 diff --git a/config/module.yaml b/config/module.yaml index 958fbc7..da21aa5 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -1,4 +1,3 @@ -## DefaultTacticsAmbulanceTeam DefaultTacticsAmbulanceTeam: HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector Search: adf_core_python.implement.module.complex.default_search.DefaultSearch @@ -7,7 +6,6 @@ DefaultTacticsAmbulanceTeam: CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout -# ## DefaultTacticsFireBrigade DefaultTacticsFireBrigade: HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector Search: adf_core_python.implement.module.complex.default_search.DefaultSearch @@ -16,7 +14,6 @@ DefaultTacticsFireBrigade: CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout -# ## DefaultTacticsPoliceForce DefaultTacticsPoliceForce: RoadDetector: adf_core_python.implement.module.complex.default_road_detector.DefaultRoadDetector Search: adf_core_python.implement.module.complex.default_search.DefaultSearch @@ -25,87 +22,63 @@ DefaultTacticsPoliceForce: CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice -# ## DefaultTacticsAmbulanceCentre # DefaultTacticsAmbulanceCentre: # TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance -# ## DefaultTacticsFireStation # DefaultTacticsFireStation: # TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire -# ## DefaultTacticsPoliceOffice # DefaultTacticsPoliceOffice: # TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice -## SampleSearch SampleSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering -# ## SampleBuildDetector -# SampleBuildingDetector: -# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering - -# ## SampleRoadDetector -# SampleRoadDetector: -# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +SampleRoadDetector: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## SampleHumanDetector -# SampleHumanDetector: -# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering +SampleHumanDetector: + Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering -# ## DefaultExtendActionClear -# DefaultExtendActionClear: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionClear: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionFireFighting -# DefaultExtendActionFireFighting: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionRescue: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionRescue -# DefaultExtendActionRescue: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionMove: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionMove -# DefaultExtendActionMove: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +DefaultExtendActionTransport: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultExtendActionTransport -# DefaultExtendActionTransport: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning -# ## DefaultCommandExecutorAmbulance # DefaultCommandExecutorAmbulance: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport # ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# ## DefaultCommandExecutorFire # DefaultCommandExecutorFire: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue # EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting # ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# ## DefaultCommandExecutorPolice # DefaultCommandExecutorPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear # ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove -# ## DefaultCommandExecutorScout # DefaultCommandExecutorScout: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ## DefaultCommandExecutorScoutPolice # DefaultCommandExecutorScoutPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning +# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning # ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear -# ## MessageManager MessageManager: PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber From 78490e34015f59b3467a731ddba5b8854e39fe7a Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 23 Nov 2024 20:33:04 +0900 Subject: [PATCH 132/249] fix: improve error handling in agent connection and update logging messages --- adf_core_python/core/agent/agent.py | 17 ++++++++++++++--- .../core/launcher/connect/component_launcher.py | 2 +- 2 files changed, 15 insertions(+), 4 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 4d41918..6ed82cf 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -197,6 +197,8 @@ def update_step_info( message_manager=self._message_manager, ) + a = 1 / 0 + self._message_manager.coordinate_message( self._agent_info, self._world_info, self._scenario_info ) @@ -228,9 +230,18 @@ def message_received(self, msg: Any) -> None: self.handle_connect_error(c_msg) def handle_connect_error(self, msg: Any) -> NoReturn: - self.logger.error( - "Failed to connect agent: %s(request_id: %s)", msg.reason, msg.request_id - ) + if msg.reason.startswith("No more agents"): + self.logger.debug( + "Agent already connected: %s(request_id: %s)", + msg.reason, + msg.request_id, + ) + else: + self.logger.error( + "Failed to connect agent: %s(request_id: %s)", + msg.reason, + msg.request_id, + ) sys.exit(1) def handle_connect_ok(self, msg: Any) -> None: diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index 56a142c..d4f6ffd 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -47,7 +47,7 @@ def connect(self, agent: Agent, _request_id: int) -> None: connection.parse_message_from_kernel() except Exception as e: self.logger.exception( - f"Failed to connect agent: {self.host}:{self.port} {e}", + f"Agent threw an exception {e}", exception=str(e), ) From 70c1f0f980abb7b2c022c26b527c96dc802009b7 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 23 Nov 2024 20:33:25 +0900 Subject: [PATCH 133/249] fix: remove intentional division by zero in agent.py --- adf_core_python/core/agent/agent.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 6ed82cf..a5bbee6 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -197,8 +197,6 @@ def update_step_info( message_manager=self._message_manager, ) - a = 1 / 0 - self._message_manager.coordinate_message( self._agent_info, self._world_info, self._scenario_info ) From c10472ee07e65e9c3772d1ffdd57415eb5c5ae37 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sun, 24 Nov 2024 14:44:55 +0900 Subject: [PATCH 134/249] fix: set logging levels for stdout and file handlers in logger configuration --- adf_core_python/core/logger/logger.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/adf_core_python/core/logger/logger.py b/adf_core_python/core/logger/logger.py index 84f857a..440cef0 100644 --- a/adf_core_python/core/logger/logger.py +++ b/adf_core_python/core/logger/logger.py @@ -69,6 +69,7 @@ def configure_logger() -> None: handler_stdout.setFormatter( structlog.stdlib.ProcessorFormatter(processor=ConsoleRenderer()) ) + handler_stdout.setLevel(logging.INFO) handler_file = RotatingFileHandler( "agent.log", maxBytes=10 * 1024 * 1024, backupCount=5 @@ -77,6 +78,7 @@ def configure_logger() -> None: handler_file.setFormatter( structlog.stdlib.ProcessorFormatter(processor=JSONRenderer()) ) + handler_file.setLevel(logging.DEBUG) root_logger = logging.getLogger() root_logger.addHandler(handler_stdout) From 4a2e00e8fa6f01fccb3e72b9cf882d4ace640de3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sun, 24 Nov 2024 14:57:59 +0900 Subject: [PATCH 135/249] fix: update module references from Sample to Default for human and road detectors --- .../implement/module/complex/default_human_detector.py | 2 +- .../implement/module/complex/default_road_detector.py | 2 +- adf_core_python/implement/module/complex/default_search.py | 4 ++-- config/module.yaml | 6 +++--- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index f607fa1..4720226 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -31,7 +31,7 @@ def __init__( self._clustering: Clustering = cast( Clustering, module_manager.get_module( - "SampleHumanDetector.Clustering", + "DefaultHumanDetector.Clustering", "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index a2b9b1a..adad2d8 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -36,7 +36,7 @@ def __init__( self._path_planning: PathPlanning = cast( PathPlanning, module_manager.get_module( - "SampleRoadDetector.PathPlanning", + "DefaultRoadDetector.PathPlanning", "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) diff --git a/adf_core_python/implement/module/complex/default_search.py b/adf_core_python/implement/module/complex/default_search.py index 972b8ae..05d7c88 100644 --- a/adf_core_python/implement/module/complex/default_search.py +++ b/adf_core_python/implement/module/complex/default_search.py @@ -36,7 +36,7 @@ def __init__( self._clustering: Clustering = cast( Clustering, module_manager.get_module( - "SampleSearch.Clustering", + "DefaultSearch.Clustering", "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) @@ -44,7 +44,7 @@ def __init__( self._path_planning: PathPlanning = cast( PathPlanning, module_manager.get_module( - "SampleSearch.PathPlanning", + "DefaultSearch.PathPlanning", "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", ), ) diff --git a/config/module.yaml b/config/module.yaml index da21aa5..2697130 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -34,14 +34,14 @@ DefaultTacticsPoliceForce: # TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice -SampleSearch: +DefaultSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering -SampleRoadDetector: +DefaultRoadDetector: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -SampleHumanDetector: +DefaultHumanDetector: Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering DefaultExtendActionClear: From 2f0943a69f20834bd38c4fd1307b101abe3417f1 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 12:23:08 +0900 Subject: [PATCH 136/249] fix: refactor template copying to use shutil and replace placeholders in files and directories --- adf_core_python/cli/cli.py | 38 +++++++++++++++++++------------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index fe2b343..74ca0de 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -1,4 +1,5 @@ import os +import shutil import click @@ -29,25 +30,24 @@ def _copy_template( dest: str, name: str, ) -> None: - if os.path.isdir(src): - if not os.path.exists(dest): - os.makedirs(dest) - for item in os.listdir(src): - s = os.path.join(src, item) - d = os.path.join( - dest, - item.replace(NAME_PLACEHOLDER, name), - ) - _copy_template(s, d, name) - else: - with open(src, "r") as f: - content = f.read() - with open(dest, "w") as f: - f.write(content.replace(NAME_PLACEHOLDER, name)) - new_dest = dest.replace(NAME_PLACEHOLDER, name) - if new_dest != dest: - os.rename(dest, new_dest) - + dest = os.path.join(dest, name) + shutil.copytree(src, dest) + + # dest以下のファイル内のNAME_PLACEHOLDERをnameに置換 + for root, dirs, files in os.walk(dest): + for file in files: + file_path = os.path.join(root, file) + with open(file_path, "r") as f: + content = f.read() + with open(file_path, "w") as f: + f.write(content.replace(NAME_PLACEHOLDER, name)) + + # ディレクトリ名のNAME_PLACEHOLDERをnameに置換 + for root, dirs, files in os.walk(dest): + for dir in dirs: + dir_path = os.path.join(root, dir) + new_dir_path = dir_path.replace(NAME_PLACEHOLDER, name) + os.rename(dir_path, new_dir_path) if __name__ == "__main__": cli() From 30dc90469ef612bd6f4fea90e0637880cfdf76b7 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 12:38:38 +0900 Subject: [PATCH 137/249] fix: remove unnecessary blank lines in template copying function --- adf_core_python/cli/cli.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index 74ca0de..232bd1b 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -32,7 +32,7 @@ def _copy_template( ) -> None: dest = os.path.join(dest, name) shutil.copytree(src, dest) - + # dest以下のファイル内のNAME_PLACEHOLDERをnameに置換 for root, dirs, files in os.walk(dest): for file in files: @@ -49,5 +49,6 @@ def _copy_template( new_dir_path = dir_path.replace(NAME_PLACEHOLDER, name) os.rename(dir_path, new_dir_path) + if __name__ == "__main__": cli() From 02a029bd9718a97023f4e78487d9e15a55c3c28e Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 14 Nov 2024 17:42:27 +0900 Subject: [PATCH 138/249] feat: add Sphinx documentation structure and configuration --- .github/workflows/document.yaml | 56 ++ docs/Makefile | 20 + docs/README.md | 9 + docs/make.bat | 35 ++ docs/source/conf.py | 37 ++ docs/source/examples/example_index.rst | 14 + docs/source/index.rst | 28 + docs/source/installation/installation.rst | 43 ++ docs/source/introduction/introduction.rst | 44 ++ docs/source/usage/usage_index.rst | 37 ++ poetry.lock | 645 +++++++++++++++++++++- pyproject.toml | 3 + 12 files changed, 962 insertions(+), 9 deletions(-) create mode 100644 .github/workflows/document.yaml create mode 100644 docs/Makefile create mode 100644 docs/README.md create mode 100644 docs/make.bat create mode 100644 docs/source/conf.py create mode 100644 docs/source/examples/example_index.rst create mode 100644 docs/source/index.rst create mode 100644 docs/source/installation/installation.rst create mode 100644 docs/source/introduction/introduction.rst create mode 100644 docs/source/usage/usage_index.rst diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml new file mode 100644 index 0000000..a413184 --- /dev/null +++ b/.github/workflows/document.yaml @@ -0,0 +1,56 @@ +name: document + +on: + workflow_dispatch: + push: + branches: + - main + - develop + paths: + - 'docs/**' + +concurrency: + group: 'pages' + cancel-in-progress: true + +jobs: + deploy: + runs-on: ubuntu-latest + steps: + - name: Checkout code + uses: actions/checkout@v4 + + - name: Set up Python + uses: actions/setup-python@v5 + with: + python-version: 3.12 + + - name: Cache virtual environment + id: cached-virtualenv + uses: actions/cache@v4 + with: + path: .venv + key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + + - name: Install dependencies + if: steps.cached-virtualenv.outputs.cache-hit != 'true' + run: | + python -m venv .venv + source .venv/bin/activate + pip install --upgrade pip + pip install poetry + poetry install + + - name: Build documentation + run: | + source .venv/bin/activate + sphinx-apidoc -f -o ./docs/source ./adf_core_python + cd docs + make html + ls build/html + + - name: Deploy documentation + uses: peaceiris/actions-gh-pages@v4 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + publish_dir: ./docs/build/html diff --git a/docs/Makefile b/docs/Makefile new file mode 100644 index 0000000..d0c3cbf --- /dev/null +++ b/docs/Makefile @@ -0,0 +1,20 @@ +# Minimal makefile for Sphinx documentation +# + +# You can set these variables from the command line, and also +# from the environment for the first two. +SPHINXOPTS ?= +SPHINXBUILD ?= sphinx-build +SOURCEDIR = source +BUILDDIR = build + +# Put it first so that "make" without argument is like "make help". +help: + @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) + +.PHONY: help Makefile + +# Catch-all target: route all unknown targets to Sphinx using the new +# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). +%: Makefile + @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/README.md b/docs/README.md new file mode 100644 index 0000000..32c5368 --- /dev/null +++ b/docs/README.md @@ -0,0 +1,9 @@ +# sqhinx-documentation + +## Generate documentation + +```bash +sphinx-apidoc -f -o ./docs/source ./adf_core_python +cd docs +make html +``` diff --git a/docs/make.bat b/docs/make.bat new file mode 100644 index 0000000..747ffb7 --- /dev/null +++ b/docs/make.bat @@ -0,0 +1,35 @@ +@ECHO OFF + +pushd %~dp0 + +REM Command file for Sphinx documentation + +if "%SPHINXBUILD%" == "" ( + set SPHINXBUILD=sphinx-build +) +set SOURCEDIR=source +set BUILDDIR=build + +%SPHINXBUILD% >NUL 2>NUL +if errorlevel 9009 ( + echo. + echo.The 'sphinx-build' command was not found. Make sure you have Sphinx + echo.installed, then set the SPHINXBUILD environment variable to point + echo.to the full path of the 'sphinx-build' executable. Alternatively you + echo.may add the Sphinx directory to PATH. + echo. + echo.If you don't have Sphinx installed, grab it from + echo.https://www.sphinx-doc.org/ + exit /b 1 +) + +if "%1" == "" goto help + +%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% +goto end + +:help +%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O% + +:end +popd diff --git a/docs/source/conf.py b/docs/source/conf.py new file mode 100644 index 0000000..9e1cff1 --- /dev/null +++ b/docs/source/conf.py @@ -0,0 +1,37 @@ +# Configuration file for the Sphinx documentation builder. +# +# For the full list of built-in configuration values, see the documentation: +# https://www.sphinx-doc.org/en/master/usage/configuration.html + +import os +import sys + +sys.path.insert(0, os.path.abspath("../../")) + +# -- Project information ----------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information + +project = "adf-core-python" +copyright = "2024, Haruki Uehara, Yuki Shimada" +author = "Haruki Uehara, Yuki Shimada" +release = "0.1.0" + +# -- General configuration --------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration + +extensions = [ + "sphinx.ext.autodoc", + "sphinx.ext.napoleon", + "sphinx.ext.autosummary", + "myst_parser", +] + +templates_path = ["_templates"] +exclude_patterns = [] + + +# -- Options for HTML output ------------------------------------------------- +# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output + +html_theme = "sphinx_book_theme" +html_static_path = ["_static"] diff --git a/docs/source/examples/example_index.rst b/docs/source/examples/example_index.rst new file mode 100644 index 0000000..cbb5995 --- /dev/null +++ b/docs/source/examples/example_index.rst @@ -0,0 +1,14 @@ +.. _example_index: + +Example Index +============= + +Welcome to the example index for the ADF Core Python documentation. This section provides various examples to help you understand how to use the library effectively. + +.. toctree:: + :maxdepth: 2 + :caption: Examples + + example1 + example2 + example3 diff --git a/docs/source/index.rst b/docs/source/index.rst new file mode 100644 index 0000000..4e2bb29 --- /dev/null +++ b/docs/source/index.rst @@ -0,0 +1,28 @@ +.. adf-core-python documentation master file, created by + sphinx-quickstart on Mon Oct 14 00:15:07 2024. + You can adapt this file completely to your liking, but it should at least + contain the root `toctree` directive. + +Welcome to adf-core-python's documentation! +============================================ + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + introduction/introduction + installation/installation + usage/usage_index + examples/example_index + +.. automodule:: adf_core_python + :members: + :undoc-members: + :show-inheritance: + +Indices and tables +================== + +* :ref:`genindex` +* :ref:`modindex` +* :ref:`search` diff --git a/docs/source/installation/installation.rst b/docs/source/installation/installation.rst new file mode 100644 index 0000000..26c731c --- /dev/null +++ b/docs/source/installation/installation.rst @@ -0,0 +1,43 @@ +.. _installation: + +Installation +============ + +This section provides instructions on how to install the package. + +.. contents:: Table of Contents + :depth: 2 + :local: + +Prerequisites +------------- + +Before installing, ensure you have the following prerequisites: + +- Python 3.6 or higher +- pip + +Installing the Package +---------------------- + +To install the package, run the following command: + +.. code-block:: bash + + pip install your-package-name + +Verifying the Installation +-------------------------- + +To verify the installation, you can run: + +.. code-block:: bash + + python -c "import your_package_name; print(your_package_name.__version__)" + +If the package is installed correctly, this should print the version number of the package. + +Troubleshooting +--------------- + +If you encounter any issues during installation, please refer to the troubleshooting section or contact support. diff --git a/docs/source/introduction/introduction.rst b/docs/source/introduction/introduction.rst new file mode 100644 index 0000000..9293e19 --- /dev/null +++ b/docs/source/introduction/introduction.rst @@ -0,0 +1,44 @@ +.. _introduction: + +Introduction +============ + +Welcome to the ADF Core Python Documentation + +.. contents:: Table of Contents + :depth: 2 + :local: + +-------------------------------------------- + +This documentation is built using the `Sphinx `_ documentation generator and the `sphinx_book_theme `_. + +Features +-------- + +- **Easy to navigate**: The theme provides a clean and modern interface for your documentation. +- **Responsive design**: Works well on both desktop and mobile devices. +- **Search functionality**: Quickly find the information you need. + +Getting Started +--------------- + +To get started with ADF Core Python, follow the installation instructions and explore the examples provided in this documentation. + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + installation + usage + examples + +Contributing +------------ + +We welcome contributions! Please read our `contributing guide <../contributing.rst>`_ to learn how you can help. + +Contact +------- + +If you have any questions or feedback, please reach out to us at `support@example.com `_. diff --git a/docs/source/usage/usage_index.rst b/docs/source/usage/usage_index.rst new file mode 100644 index 0000000..ee39535 --- /dev/null +++ b/docs/source/usage/usage_index.rst @@ -0,0 +1,37 @@ +.. _usage_index: + +Usage +===== + +This section provides an overview of how to use the `adf-core-python` library. + +.. toctree:: + :maxdepth: 2 + :caption: Contents: + + installation + quickstart + examples + +.. note:: + This documentation is built using the `sphinx_book_theme`. + +Getting Started +--------------- + +To get started with `adf-core-python`, follow the instructions in the sections below. + +Installation +------------ + +.. include:: installation.rst + +Quickstart +---------- + +.. include:: quickstart.rst + +Examples +-------- + +.. include:: examples.rst diff --git a/poetry.lock b/poetry.lock index d30279b..58faa1d 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,5 +1,69 @@ # This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +[[package]] +name = "accessible-pygments" +version = "0.0.5" +description = "A collection of accessible pygments styles" +optional = false +python-versions = ">=3.9" +files = [ + {file = "accessible_pygments-0.0.5-py3-none-any.whl", hash = "sha256:88ae3211e68a1d0b011504b2ffc1691feafce124b845bd072ab6f9f66f34d4b7"}, + {file = "accessible_pygments-0.0.5.tar.gz", hash = "sha256:40918d3e6a2b619ad424cb91e556bd3bd8865443d9f22f1dcdf79e33c8046872"}, +] + +[package.dependencies] +pygments = ">=1.5" + +[package.extras] +dev = ["pillow", "pkginfo (>=1.10)", "playwright", "pre-commit", "setuptools", "twine (>=5.0)"] +tests = ["hypothesis", "pytest"] + +[[package]] +name = "alabaster" +version = "1.0.0" +description = "A light, configurable Sphinx theme" +optional = false +python-versions = ">=3.10" +files = [ + {file = "alabaster-1.0.0-py3-none-any.whl", hash = "sha256:fc6786402dc3fcb2de3cabd5fe455a2db534b371124f1f21de8731783dec828b"}, + {file = "alabaster-1.0.0.tar.gz", hash = "sha256:c00dca57bca26fa62a6d7d0a9fcce65f3e026e9bfe33e9c538fd3fbb2144fd9e"}, +] + +[[package]] +name = "babel" +version = "2.16.0" +description = "Internationalization utilities" +optional = false +python-versions = ">=3.8" +files = [ + {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"}, + {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"}, +] + +[package.extras] +dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"] + +[[package]] +name = "beautifulsoup4" +version = "4.12.3" +description = "Screen-scraping library" +optional = false +python-versions = ">=3.6.0" +files = [ + {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"}, + {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"}, +] + +[package.dependencies] +soupsieve = ">1.2" + +[package.extras] +cchardet = ["cchardet"] +chardet = ["chardet"] +charset-normalizer = ["charset-normalizer"] +html5lib = ["html5lib"] +lxml = ["lxml"] + [[package]] name = "bitarray" version = "3.0.0" @@ -147,18 +211,129 @@ files = [ ] [[package]] -name = "click" -version = "8.1.7" -description = "Composable command line interface toolkit" +name = "certifi" +version = "2024.8.30" +description = "Python package for providing Mozilla's CA Bundle." optional = false -python-versions = ">=3.7" +python-versions = ">=3.6" files = [ - {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"}, - {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"}, + {file = "certifi-2024.8.30-py3-none-any.whl", hash = "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8"}, + {file = "certifi-2024.8.30.tar.gz", hash = "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9"}, ] -[package.dependencies] -colorama = {version = "*", markers = "platform_system == \"Windows\""} +[[package]] +name = "charset-normalizer" +version = "3.4.0" +description = "The Real First Universal Charset Detector. 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pooling, file post, and more." +optional = false +python-versions = ">=3.8" +files = [ + {file = "urllib3-2.2.3-py3-none-any.whl", hash = "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac"}, + {file = "urllib3-2.2.3.tar.gz", hash = "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9"}, +] + +[package.extras] +brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"] +h2 = ["h2 (>=4,<5)"] +socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"] +zstd = ["zstandard (>=0.18.0)"] + [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "62d5fde0d4a35f29aa7f21a31f5c1f4679c7a576c0f57c0363ec0b0cd6dc9e91" +content-hash = "dede3d08af33fe3c124b63b82aad441e9fb9a8eba7f069ffb30945006c60efb1" diff --git a/pyproject.toml b/pyproject.toml index 71f60d0..04bdb98 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -27,6 +27,9 @@ taskipy = "^1.12.2" mypy = "^1.9.0" types-protobuf = "^4.25.0.20240410" ruff = "^0.4.4" +sphinx = "^8.1.3" +myst-parser = "^4.0.0" +sphinx-book-theme = "^1.1.3" [build-system] requires = ["poetry-core"] From ea1e4287c8389e449c0c40ef98ce907091d2277c Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 14 Nov 2024 17:49:08 +0900 Subject: [PATCH 139/249] feat: update GitHub Actions workflow and configuration files to include documentation paths and adjust type checking settings --- .github/workflows/document.yaml | 6 ++++++ pyproject.toml | 2 ++ pyrightconfig.json | 2 +- 3 files changed, 9 insertions(+), 1 deletion(-) diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml index a413184..ae46f13 100644 --- a/.github/workflows/document.yaml +++ b/.github/workflows/document.yaml @@ -8,6 +8,12 @@ on: - develop paths: - 'docs/**' + pull_request: + branches: + - main + - develop + paths: + - 'docs/**' concurrency: group: 'pages' diff --git a/pyproject.toml b/pyproject.toml index 04bdb98..2d244cb 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -75,6 +75,7 @@ exclude = [ "site-packages", "venv", "pb2", + "docs", ] # Same as Black. @@ -133,3 +134,4 @@ disallow_untyped_defs = true # 関数定義の引数/戻り値に型アノテ no_implicit_optional = true # デフォルト引数に None を取る場合型アノテーションに Optional 必須 check_untyped_defs = true # 型注釈がない関数やメソッドに対して型チェックを行う warn_redundant_casts = true # 冗長なキャストに警告 +exclude = ["docs/*"] diff --git a/pyrightconfig.json b/pyrightconfig.json index 8c19fca..972999c 100644 --- a/pyrightconfig.json +++ b/pyrightconfig.json @@ -1,4 +1,4 @@ { "typeCheckingMode": "standard", - "exclude": [".venv", ".git"] + "include": ["adf_core_python"] } From d5f84b82e796fcaa92ecf13d261cb2929a9dc4f7 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 14 Nov 2024 18:04:45 +0900 Subject: [PATCH 140/249] feat: update GitHub Actions workflow to add permissions for contents and pull requests --- .github/workflows/document.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml index ae46f13..bccc46d 100644 --- a/.github/workflows/document.yaml +++ b/.github/workflows/document.yaml @@ -19,6 +19,10 @@ concurrency: group: 'pages' cancel-in-progress: true +permissions: + contents: write + pull-requests: write + jobs: deploy: runs-on: ubuntu-latest From a5379f325ba8dce77a8f0c3eac02cd8f7d2b602e Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 15 Nov 2024 16:37:36 +0900 Subject: [PATCH 141/249] feat: add Japanese localization and update documentation structure --- docs/.gitignore | 1 + docs/source/conf.py | 1 + docs/source/examples/example_index.rst | 7 ++-- docs/source/index.rst | 2 +- docs/source/installation/installation.rst | 38 ++++++++++---------- docs/source/introduction/introduction.rst | 42 +++++++---------------- docs/source/modules.rst | 7 ++++ docs/source/usage/usage_index.rst | 27 +++++++-------- 8 files changed, 58 insertions(+), 67 deletions(-) create mode 100644 docs/.gitignore create mode 100644 docs/source/modules.rst diff --git a/docs/.gitignore b/docs/.gitignore new file mode 100644 index 0000000..b9913b1 --- /dev/null +++ b/docs/.gitignore @@ -0,0 +1 @@ +source/adf_core_python.* diff --git a/docs/source/conf.py b/docs/source/conf.py index 9e1cff1..b3427dc 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -29,6 +29,7 @@ templates_path = ["_templates"] exclude_patterns = [] +language = "ja" # -- Options for HTML output ------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output diff --git a/docs/source/examples/example_index.rst b/docs/source/examples/example_index.rst index cbb5995..06f21bb 100644 --- a/docs/source/examples/example_index.rst +++ b/docs/source/examples/example_index.rst @@ -1,14 +1,15 @@ .. _example_index: -Example Index +例 ============= -Welcome to the example index for the ADF Core Python documentation. This section provides various examples to help you understand how to use the library effectively. +ADF Core Python ドキュメントの例のインデックスへようこそ。このセクションでは、ライブラリの効果的な使用方法を理解するためのさまざまな例を提供します。 .. toctree:: :maxdepth: 2 - :caption: Examples + :caption: 例 example1 example2 example3 + diff --git a/docs/source/index.rst b/docs/source/index.rst index 4e2bb29..bffe1f4 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -7,7 +7,7 @@ Welcome to adf-core-python's documentation! ============================================ .. toctree:: - :maxdepth: 2 + :maxdepth: 3 :caption: Contents: introduction/introduction diff --git a/docs/source/installation/installation.rst b/docs/source/installation/installation.rst index 26c731c..06e4870 100644 --- a/docs/source/installation/installation.rst +++ b/docs/source/installation/installation.rst @@ -1,43 +1,43 @@ .. _installation: -Installation +インストール ============ -This section provides instructions on how to install the package. +このセクションでは、パッケージのインストール方法について説明します。 -.. contents:: Table of Contents +.. contents:: 目次 :depth: 2 :local: -Prerequisites -------------- +前提条件 +-------- -Before installing, ensure you have the following prerequisites: +インストールする前に、以下の前提条件を確認してください： -- Python 3.6 or higher +- Python 3.12 以上 - pip -Installing the Package ----------------------- +パッケージのインストール +-------------------------- -To install the package, run the following command: +パッケージをインストールするには、次のコマンドを実行します： .. code-block:: bash - pip install your-package-name + pip install adf_core_python -Verifying the Installation --------------------------- +インストールの確認 +------------------ -To verify the installation, you can run: +インストールを確認するには、次のコマンドを実行します： .. code-block:: bash - python -c "import your_package_name; print(your_package_name.__version__)" + python -c "import adf_core_python; print(adf_core_python.__version__)" -If the package is installed correctly, this should print the version number of the package. +パッケージが正しくインストールされている場合、パッケージのバージョン番号が表示されます。 -Troubleshooting ---------------- +トラブルシューティング +----------------------- -If you encounter any issues during installation, please refer to the troubleshooting section or contact support. +インストール中に問題が発生した場合は、トラブルシューティングセクションを参照するか、サポートに連絡してください。 diff --git a/docs/source/introduction/introduction.rst b/docs/source/introduction/introduction.rst index 9293e19..455fd61 100644 --- a/docs/source/introduction/introduction.rst +++ b/docs/source/introduction/introduction.rst @@ -1,44 +1,26 @@ .. _introduction: -Introduction -============ +イントロダクション +================== -Welcome to the ADF Core Python Documentation +ADF Core Python ドキュメントへようこそ -.. contents:: Table of Contents +.. contents:: 目次 :depth: 2 :local: -------------------------------------------- -This documentation is built using the `Sphinx `_ documentation generator and the `sphinx_book_theme `_. +特徴 +---- -Features --------- - -- **Easy to navigate**: The theme provides a clean and modern interface for your documentation. -- **Responsive design**: Works well on both desktop and mobile devices. -- **Search functionality**: Quickly find the information you need. - -Getting Started ---------------- - -To get started with ADF Core Python, follow the installation instructions and explore the examples provided in this documentation. +- **モジュール単位での開発**: モジュール単位でエージェント開発を行い、モジュールの入れ替えが容易です。 +- **モジュールの再利用**: 他のエージェントで使用されているモジュールを再利用することができます。 +- **エージェントの開発に集中**: シミュレーションサーバーとの通信やログ出力などの共通処理をライブラリが提供します。 -.. toctree:: - :maxdepth: 2 - :caption: Contents: - - installation - usage - examples - -Contributing ------------- +はじめに +-------- -We welcome contributions! Please read our `contributing guide <../contributing.rst>`_ to learn how you can help. +ADF Core Python を始めるには、インストール手順に従い、このドキュメントに記載されている例を参照してください。 -Contact -------- -If you have any questions or feedback, please reach out to us at `support@example.com `_. diff --git a/docs/source/modules.rst b/docs/source/modules.rst new file mode 100644 index 0000000..d0160b5 --- /dev/null +++ b/docs/source/modules.rst @@ -0,0 +1,7 @@ +adf_core_python +=============== + +.. toctree:: + :maxdepth: 4 + + adf_core_python diff --git a/docs/source/usage/usage_index.rst b/docs/source/usage/usage_index.rst index ee39535..195d806 100644 --- a/docs/source/usage/usage_index.rst +++ b/docs/source/usage/usage_index.rst @@ -1,37 +1,36 @@ .. _usage_index: -Usage -===== +使用方法 +======== -This section provides an overview of how to use the `adf-core-python` library. +このセクションでは、`adf-core-python` ライブラリの使用方法の概要を提供します。 .. toctree:: :maxdepth: 2 - :caption: Contents: + :caption: 目次: installation quickstart examples -.. note:: - This documentation is built using the `sphinx_book_theme`. -Getting Started ---------------- +はじめに +-------- -To get started with `adf-core-python`, follow the instructions in the sections below. +`adf-core-python` を始めるには、以下のセクションの指示に従ってください。 -Installation +インストール ------------ .. include:: installation.rst -Quickstart ----------- +クイックスタート +---------------- .. include:: quickstart.rst -Examples --------- +例 +-- .. include:: examples.rst + From d40a902c968a960cb4a716a1cb224e0f52eccbd3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 18 Nov 2024 19:49:59 +0900 Subject: [PATCH 142/249] fix: update README to correct Sphinx build command --- docs/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/README.md b/docs/README.md index 32c5368..7f41356 100644 --- a/docs/README.md +++ b/docs/README.md @@ -4,6 +4,6 @@ ```bash sphinx-apidoc -f -o ./docs/source ./adf_core_python -cd docs +sphinx-build -M html ./docs/source ./docs/build make html ``` From 72ea86b69b55f3cfc2773bb63cab90ba91278616 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 21 Nov 2024 14:50:05 +0900 Subject: [PATCH 143/249] feat: add click package and update dependencies in poetry.lock --- poetry.lock | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index 58faa1d..93141fb 100644 --- a/poetry.lock +++ b/poetry.lock @@ -335,6 +335,20 @@ files = [ {file = "charset_normalizer-3.4.0.tar.gz", hash = "sha256:223217c3d4f82c3ac5e29032b3f1c2eb0fb591b72161f86d93f5719079dae93e"}, ] +[[package]] +name = "click" +version = "8.1.7" +description = "Composable command line interface toolkit" +optional = false +python-versions = ">=3.7" +files = [ + {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"}, + {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"}, +] + +[package.dependencies] +colorama = {version = "*", markers = "platform_system == \"Windows\""} + [[package]] name = "colorama" version = "0.4.6" @@ -1423,4 +1437,4 @@ zstd = ["zstandard (>=0.18.0)"] [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "dede3d08af33fe3c124b63b82aad441e9fb9a8eba7f069ffb30945006c60efb1" +content-hash = "48245d641990d81a38f747cc5e2846dd7722e3189a99b3f5081e800bf253b142" From ba09c8ef49eb98fea73f0726e3443aba52185dbe Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 21 Nov 2024 18:44:30 +0900 Subject: [PATCH 144/249] fix: remove obsolete make command from README --- docs/README.md | 1 - 1 file changed, 1 deletion(-) diff --git a/docs/README.md b/docs/README.md index 7f41356..8095940 100644 --- a/docs/README.md +++ b/docs/README.md @@ -5,5 +5,4 @@ ```bash sphinx-apidoc -f -o ./docs/source ./adf_core_python sphinx-build -M html ./docs/source ./docs/build -make html ``` From 0a3970dcdd721d3f0365114cb19731d51e38ce48 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 21 Nov 2024 18:44:43 +0900 Subject: [PATCH 145/249] feat: add Japanese documentation for clustering module and quickstart guide --- docs/source/hands-on/clustering.rst | 43 +++++++++++ docs/source/images/clustering_image.jpg | Bin 0 -> 550610 bytes docs/source/index.rst | 51 ++++++++++--- docs/source/quickstart/quickstart.rst | 70 +++++++++++++++++ docs/source/usage/agent/agent.rst | 59 +++++++++++++++ docs/source/usage/config/config.rst | 24 ++++++ docs/source/usage/module/clustering.rst | 0 docs/source/usage/module/module.rst | 95 ++++++++++++++++++++++++ docs/source/usage/module/search.rst | 3 + docs/source/usage/usage_index.rst | 36 --------- 10 files changed, 336 insertions(+), 45 deletions(-) create mode 100644 docs/source/hands-on/clustering.rst create mode 100644 docs/source/images/clustering_image.jpg create mode 100644 docs/source/quickstart/quickstart.rst create mode 100644 docs/source/usage/agent/agent.rst create mode 100644 docs/source/usage/config/config.rst create mode 100644 docs/source/usage/module/clustering.rst create mode 100644 docs/source/usage/module/module.rst create mode 100644 docs/source/usage/module/search.rst delete mode 100644 docs/source/usage/usage_index.rst diff --git a/docs/source/hands-on/clustering.rst b/docs/source/hands-on/clustering.rst new file mode 100644 index 0000000..e2f6f34 --- /dev/null +++ b/docs/source/hands-on/clustering.rst @@ -0,0 +1,43 @@ +.. _clustering: + +クラスタリングモジュール +======================= + +.. contents:: 目次 + :depth: 2 + :local: + +クラスタリングモジュールの目的 +-------------------------------- + +複数のエージェントを動かす場合は、それらのエージェントにどのように協調させるかが重要になります。 RRSでは多くのチームが、エージェントに各々の担当地域を持たせ役割分担をおこなう協調を取り入れています(他の手段による協調も取り入れています)。 担当地域を割り振るためには、地図上のオブジェクトをいくつかのグループに分ける必要があります。 このようなグループ分けをしてそれらを管理する場合には、クラスタリングモジュールと呼ばれるモジュールを用います。 + +本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いた クラスタリングモジュールの実装をおこないます。 + +開発するクラスタリングモジュールの概要 +---------------------------------------- + +本資料で開発するモジュールは下の画像のように、 + +#. k-means++アルゴリズムによって地図上のオブジェクトをエージェント数分の区画に分けます。 +#. Hungarianアルゴリズムによってそれらの区画とエージェントを (間の距離の総和が最も小さくなるように)1対1で結びつけます。 + +.. image:: ./../images/clustering_image.jpg + :width: 600px + :align: center + +クラスタリングモジュールの実装 +-------------------------------- + +.. note:: + 以降の作業では、カレントディレクトリがプロジェクトのルートディレクトリであることを前提としています。 + +まず、クラスタリングモジュールを記述するためのファイルを作成します。 + +.. code-block:: bash + + mkdir -p src//module/algorithm + touch src//module/algorithm/k_means_pp_clustering.py + +次に、クラスタリングモジュールの実装を行います。 以下のコードを `k_means_pp_clustering.py` に記述してください。 + diff --git a/docs/source/images/clustering_image.jpg b/docs/source/images/clustering_image.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6fb37ebd113b568de3b21e4bfaa985dca7b0d91c GIT binary patch literal 550610 zcmeEv1zc3yy7(SaN`#?H1f@ZTp`!VHl7u zK{^at{cpfH=XmaW=bn4+d*{BtiywP^d+oJXeEVBptZ%I~pI?0*CuLVUbH?P{d36OP zRe1mc0RYki02uJVtAnGv>v_e~?7DjT>^o^+gQ>Zj^Qm*^RKMQ;7_asKU`YUg75wqp zf15&j(ZbCf%(V^v`9&cVMeMcyKq* z9=yDpN9+6v^o)yB%&o&ARv2p@yNfbZYpoyIPXA#|3(y0M0dv3_Z~$BZFTfAD0t5k}z%3vehy#*= zhd?Hf3p@defeN4oXarh-mjDhJ07ijHU=COYR)H-D1VRj4&O`Jd7a&#;M~DZ+4{{9>3b_M`gFJv_Lh>P{kQ&GfNGGHZG6tD}yoGGy;p36x z(crP-ap4`slfXNLr-G-2XM|^k=Yn?$?>b%t9vUwNFB`82uLiFL4~I93H;4BDAHXNW zr^7#lFNiOJe+FM2UmxER-xWUqAB7)-pMsx@Uxwd=kHsIwpU2-IAR>SguoDOpND-VR zKoXb}xDW&ogb~CMWDpb))DvI{#t4=PJ`qw7vJmnUN)jp&>JnNJdJzT@#t^0v77{iP z;s_@RSBZ#-=!m$9#EH%l=@Hoy`4WW@B@*QkJtOKQnjrc>Oiav3%ug&stWIo7>`oj+ z97~){Tut0XJW0I1k8Iz;eZu<`_UZ3)+;??f%s$M%s(oGi-t5~VIY4rRM3O|E6pqxKIa)9f=nFFQ=0uICHB4FZU(qQspN@8kYnrEhAmSQ$%MlnBO z?q|Vc;bS?^;>(iC(#rCIm5o)A)tNPxwT^Y3jgIXkn=M-uTNT^PLFhr*gEj}F4ptwW zWv697#ct1zX0K;oKE!h9>>-as4-T~-+T!5mKyqB=$m1B|B;}OgwB(H9tmRxjeDE;h zu;1aV!~I7{jz}D_K639!(~&hUZY~|Jn_R_Q)7%W)O5B&Yv$zL&D0oirxbUR#bn_DN zO7Pn8Ci1@I!{Za>v*wHE>)^-Z7vs0#Pvq|uAQU(*;3$wH&?`tTcuLSyFiUVuh)zgV z=&De$(Bjd1o2)88i{ifVG_@e6COW({POXN z;~SDQ@p2aPi3E4Jbmo6>*>PNYiA_S_@8+uhcBlnhmvcTrdfnxk5=I-stkeph|y9QQewbLARD8s{|PHKxwP&ikEj(u8W7Xks*1wN7hAY7HQH zkRHfdZAxuJ?M&@89XXvlI-|Nrb^Uc)^qBN)^h)%J^|kfW^gkHL8$=sS8j2bQ8TJ@) z8+jYOFlI8gH?B0HG%+v5B);u{~>>Y`bQsZkKNN*LUYe&-r5t=}QPD}H1Cr~DrTKmyDHYA~@@W94`KJd|m=eLP)||;>EY?_-rbiNwGSisSLeoB`JEo6joX@Dw6wl1WuwWvy z@UlFzX0i>lU*^c=l;jHLKFFiX3w;bc_INy-e<8o;iOQ4O0*Qj$r$?S96haG8MUWz& zqUB=i;?WYllFm})(%Leqvchtq^7M*B74em{m627XRoAONS6{0B@XYzye2rDjM6F5f zK%H(~cfCe^dxJ{D^G1cnx~5Z2)z4*~SGP5#Eu!QL)j=F}bnUan1383G<1$*KV)3C$CRYOvSu8_$G5&c)DUnVdmwm z!R+Lm^W4^a&;r#$!XnS&)1{M3t;@R0lPj((pWlYPV|R~=Tj)==w= z>lqso8%>)!n{T$fwu!gVA9+8PeNy=}_}Ss}=bswlPYv;__Wx5u{HY=S)DVAah(9&N zpBmy%4e_Uj_(ek;0L}pWh=_=Z2={?=7bGP6NXcm^$jQja8L6R^G^|Vq*;tuaSlAB> zakFy>aI&!Qi1P{@gNcZU9OOPOBOxp;1Q!wh3>E?*At50rBWIwXU=Rk)Y2kl5e0~N{ z?PI>MUlSj~0pL+V@Tnl5>j4&UnhZj?Gqd?E5JB(>2#N9bflmz%fKT!8Aw-n>2?+7= z2q7dpw*-V#M8wpGU@o_zG_-WWa1qf{8k$ zd@6h@-~_NV`mJ|Afxi|5_!HS9jHs|VR;rLnDu&SHt-C9aZemNSB`eqORK~B(9sCfQ z9H*;x-8#GaORD?g(e}K6!`bAaAEiRyWsQVztBr5Zu8k`{Bm4h5;jjHL|5r=HTVTkR zFXKQR9ZExwqwLVZ`jE@%E&(3CD~D$WO%jc_m304;6FzXg#`U_n2_%)xVle5ccA{zp zCnmJx4oThKrhokz@Zao(T9B?kGD`%Qo&c2L@PLozpYq+_sgT6~YOn!2{+^%Vufzal zMlt95(HEb#KIC#eS9^V#aO1>CKw*8~=_+2`^pix{f%p@uBh|W}fo#L=u3F2fkDE;& z&E8DKKp!yigHEBJ;jhI2{;c5hPh@W|SADb#c>*mxSQDVWHj?8ab}kR4&HECP#SW}v z#g}?c%+a3^c^q3>9gzPS&@J6~bbVR@^^835uWiiF(tyoS*ArK_lb5RX$L+5#DlVJc z{kS$~h=}4Jk4Cuzw$A}sk+!W5k(&)2Z30}5P9xcudxQdPOeLvO9^Nc*?F^6!xyq=EM{ zNdFIBvJkX7TAHe=tt%&KI*}goBK55uSLs(I$kq1q#;>NKvqEob-Q#|dS&OC5!{+ow z>`Q)Igia95Hi|9uOf)-(yu{&p{kEc8QrLEjV0mCA3Y&bwDf;7@Vz~EXdaz|oi5o%0H z;Q@(`tQlJ%bfIk<3( zvmwL))bbb>bBuuz+JZezaeL24B*uGn=^Ov2#0m8G6TE8$E?NW7cuY8vTl zRaL8fT*83G@8JD^5*hz>UAJzXgWUQd3vsu>_ZgFm+}~}J2PQPxn)mUwPeNAGzF8q~ zw{P<(FT-gA8Gk75O9Cx$;U7KvA4%7avn)%AGqbd+0W=Xv91RurQ zNZ5I2?LGrZCT0-MV+^0pffr~#B_a#9K68MiE z{STzGWu#<9W94Bvnv!yOQCLxsD41H?Z^c~flQy*pT`O_yAXjYA;d(Js+ex3NP@Iku znFkl@6}v57@7B2I7s!5guZ;yEbp{Q(7~J!oxCi9m2aomtI6sGk)*jqZwIn6DCv!9y55-q%B%;ZL)0#N|(u9nJK5z9U4vl@={>hBD_NYlruIbMPn2oz13cqx}yC-FV_`?HJxBwj)P_?1CPR(y-rob2&&Gb=$o zJ$e@gJG9+h`DSsh2If{e~_durJ!<=I}$~9-wx3jYRIYLc7)4!DrwATxx^@| zu0|K2PIromyl!Y5&6yBbvJFP1 zqVlK(L+T9cj4?ya?p>N{5N7dEjq5Lg?}eWMEPwPtU*>Zx+LM{?_uh{ z>k=t;PwhtT*kxbnamOwz1u2j&DIBCg91E2!{;s{>394JRpuLap`b)#?#~SEBy?f78 z!}2&<#0)(%PPB(6o{tzj2$Vzt6I2grcLdbX`89Oa61!UohyNV zYmNLrgiY@8$nH)#b@JtokdTDfV>>)EU!JBtZn-@{NgGP+L~Q3H=e%yI%C>)af6v

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zNcLcC@s*>i?`z7SW7Cy#M+Co`IqfgyDK?4S>H7h4z1a7vwcQ-10V|?ggg-#87kjM@ z{x`p1=X>E;vf6qF87>T`Bw`+cm{4+DsuhP)RJl6#1IV>I&>CBXxpe7=o<9%O|0tqw z1)oSGI?l)82**%&FI-GF4pJcIf&gciiSqIYs18CN2xy`y%?K`KXwvnL^_DJ*KCL+= zae^+_J76&h_Q^?BeQsLOGj53n);k^UqCL=UhD2O~=hIBO5gj&h1NdwFV&1GVf z6l}5(0K>FN3N}f>CMnn?1)HQ`bMyFqU%k0O_`){`nN$y?xeb1 None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + # クラスタリングモジュールの取得 + self._clustering: Clustering = cast( + # モジュールの型を指定 + Clustering, + # モジュールの取得 + module_manager.get_module( + # モジュールの名前 + "DefaultSearch.Clustering", + # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + # パスプランニングモジュールの取得 + self._path_planning: PathPlanning = cast( + # モジュールの型を指定 + PathPlanning, + # モジュールの取得 + module_manager.get_module( + # モジュールの名前 + "DefaultSearch.PathPlanning", + # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + # モジュールの登録(これをしないと、モジュール内のシュミレーション環境の情報が更新されません) + self.register_sub_module(self._clustering) + self.register_sub_module(self._path_planning) + +モジュールの種類について +-------------------------------- + +adf-core-pythonでは、以下のモジュールが提供されています。 + +==================== =========================== +クラス 役割 +==================== =========================== +TacticsFireBrigade 消防隊用のモジュール呼び出し (競技では変更不可) +TacticsPoliceForce 土木隊用のモジュール呼び出し (競技では変更不可) +TacticsAmbulanceTeam 救急隊用のモジュール呼び出し (競技では変更不可) +BuildingDetector 消防隊の活動対象の選択 +RoadDetector 土木隊の活動対象の選択 +HumanDetector 救急隊の活動対象の選択 +Search 情報探索に向けた活動対象の選択 +PathPlanning 経路探索 +DynamicClustering シミュレーションの進行によってクラスタが変化するクラスタリング +StaticClustering シミュレーション開始時にクラスタが定まるクラスタリング +ExtAction 活動対象決定後のエージェントの動作決定 +MessageCoordinator 通信でメッセージ(情報)を送信する経路である，チャンネルへのメッセージの分配 +ChannelSubscriber 通信によってメッセージを受け取るチャンネルの選択 +==================== =========================== + +自分で上記の役割以外のモジュールを作成する際は、`AbstractModule` を継承してください。 diff --git a/docs/source/usage/module/search.rst b/docs/source/usage/module/search.rst new file mode 100644 index 0000000..e10ee49 --- /dev/null +++ b/docs/source/usage/module/search.rst @@ -0,0 +1,3 @@ +.. _search: + + diff --git a/docs/source/usage/usage_index.rst b/docs/source/usage/usage_index.rst deleted file mode 100644 index 195d806..0000000 --- a/docs/source/usage/usage_index.rst +++ /dev/null @@ -1,36 +0,0 @@ -.. _usage_index: - -使用方法 -======== - -このセクションでは、`adf-core-python` ライブラリの使用方法の概要を提供します。 - -.. toctree:: - :maxdepth: 2 - :caption: 目次: - - installation - quickstart - examples - - -はじめに --------- - -`adf-core-python` を始めるには、以下のセクションの指示に従ってください。 - -インストール ------------- - -.. include:: installation.rst - -クイックスタート ----------------- - -.. include:: quickstart.rst - -例 --- - -.. include:: examples.rst - From c355188f703e62fbed393993822cfaf11a2461c6 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 22 Nov 2024 12:12:06 +0900 Subject: [PATCH 146/249] fix: update Sphinx build command to include the '-a' option for all files --- docs/README.md | 2 +- docs/source/_static/.gitkeep | 0 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 docs/source/_static/.gitkeep diff --git a/docs/README.md b/docs/README.md index 8095940..fa006f8 100644 --- a/docs/README.md +++ b/docs/README.md @@ -4,5 +4,5 @@ ```bash sphinx-apidoc -f -o ./docs/source ./adf_core_python -sphinx-build -M html ./docs/source ./docs/build +sphinx-build -M html ./docs/source ./docs/build -a ``` diff --git a/docs/source/_static/.gitkeep b/docs/source/_static/.gitkeep new file mode 100644 index 0000000..e69de29 From 5c68d2122c7f122fe9a7e8220c0da4f0da0f97e0 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 22 Nov 2024 15:15:16 +0900 Subject: [PATCH 147/249] feat: add sphinx-copybutton package to poetry.lock and pyproject.toml --- poetry.lock | 20 +++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 20 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index 93141fb..b74b187 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1234,6 +1234,24 @@ code-style = ["pre-commit"] doc = ["ablog", "folium", "ipywidgets", "matplotlib", "myst-nb", "nbclient", "numpy", "numpydoc", "pandas", "plotly", "sphinx-copybutton", "sphinx-design", "sphinx-examples", "sphinx-tabs", "sphinx-thebe", "sphinx-togglebutton", "sphinxcontrib-bibtex", "sphinxcontrib-youtube", "sphinxext-opengraph"] test = ["beautifulsoup4", "coverage", "defusedxml", "myst-nb", "pytest", "pytest-cov", "pytest-regressions", "sphinx_thebe"] +[[package]] +name = "sphinx-copybutton" +version = "0.5.2" +description = "Add a copy button to each of your code cells." +optional = false +python-versions = ">=3.7" +files = [ + {file = "sphinx-copybutton-0.5.2.tar.gz", hash = "sha256:4cf17c82fb9646d1bc9ca92ac280813a3b605d8c421225fd9913154103ee1fbd"}, + {file = "sphinx_copybutton-0.5.2-py3-none-any.whl", hash = "sha256:fb543fd386d917746c9a2c50360c7905b605726b9355cd26e9974857afeae06e"}, +] + +[package.dependencies] +sphinx = ">=1.8" + +[package.extras] +code-style = ["pre-commit (==2.12.1)"] +rtd = ["ipython", "myst-nb", "sphinx", "sphinx-book-theme", "sphinx-examples"] + [[package]] name = "sphinxcontrib-applehelp" version = "2.0.0" @@ -1437,4 +1455,4 @@ zstd = ["zstandard (>=0.18.0)"] [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "48245d641990d81a38f747cc5e2846dd7722e3189a99b3f5081e800bf253b142" +content-hash = "5cebed177aa550b84d919cc51f4f2512e26a9399959395f81696b0397071a0ab" diff --git a/pyproject.toml b/pyproject.toml index 2d244cb..b313439 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -30,6 +30,7 @@ ruff = "^0.4.4" sphinx = "^8.1.3" myst-parser = "^4.0.0" sphinx-book-theme = "^1.1.3" +sphinx-copybutton = "^0.5.2" [build-system] requires = ["poetry-core"] From 0a2186d50205a80bc76e66440cdbaf7c5af94eb2 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 22 Nov 2024 15:15:29 +0900 Subject: [PATCH 148/249] feat: rst to markdown --- docs/source/conf.py | 1 + docs/source/installation/installation.md | 29 ++++++ docs/source/installation/installation.rst | 43 --------- docs/source/quickstart/quickstart.md | 62 ++++++++++++ docs/source/quickstart/quickstart.rst | 70 -------------- docs/source/usage/agent/agent.md | 49 ++++++++++ docs/source/usage/agent/agent.rst | 59 ------------ .../usage/config/{config.rst => config.md} | 16 ++-- .../module/{clustering.rst => clustering.md} | 0 docs/source/usage/module/module.md | 88 +++++++++++++++++ docs/source/usage/module/module.rst | 95 ------------------- .../usage/module/{search.rst => search.md} | 0 12 files changed, 235 insertions(+), 277 deletions(-) create mode 100644 docs/source/installation/installation.md delete mode 100644 docs/source/installation/installation.rst create mode 100644 docs/source/quickstart/quickstart.md delete mode 100644 docs/source/quickstart/quickstart.rst create mode 100644 docs/source/usage/agent/agent.md delete mode 100644 docs/source/usage/agent/agent.rst rename docs/source/usage/config/{config.rst => config.md} (80%) rename docs/source/usage/module/{clustering.rst => clustering.md} (100%) create mode 100644 docs/source/usage/module/module.md delete mode 100644 docs/source/usage/module/module.rst rename docs/source/usage/module/{search.rst => search.md} (100%) diff --git a/docs/source/conf.py b/docs/source/conf.py index b3427dc..380ea3b 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -23,6 +23,7 @@ "sphinx.ext.autodoc", "sphinx.ext.napoleon", "sphinx.ext.autosummary", + "sphinx_copybutton", "myst_parser", ] diff --git a/docs/source/installation/installation.md b/docs/source/installation/installation.md new file mode 100644 index 0000000..54a055f --- /dev/null +++ b/docs/source/installation/installation.md @@ -0,0 +1,29 @@ +# インストール + +このセクションでは、パッケージのインストール方法について説明します。 + + +## 前提条件 + +インストールする前に、以下の前提条件を確認してください： + +- Python 3.12 以上 +- pip + +## パッケージのインストール + +パッケージをインストールするには、次のコマンドを実行します： + +```bash +pip install adf_core_python +``` + +## インストールの確認 + +インストールを確認するには、次のコマンドを実行します： + +```bash +python -c "import adf_core_python; print(adf_core_python.__version__)" +``` + +パッケージが正しくインストールされている場合、パッケージのバージョン番号が表示されます。 diff --git a/docs/source/installation/installation.rst b/docs/source/installation/installation.rst deleted file mode 100644 index 06e4870..0000000 --- a/docs/source/installation/installation.rst +++ /dev/null @@ -1,43 +0,0 @@ -.. _installation: - -インストール -============ - -このセクションでは、パッケージのインストール方法について説明します。 - -.. contents:: 目次 - :depth: 2 - :local: - -前提条件 --------- - -インストールする前に、以下の前提条件を確認してください： - -- Python 3.12 以上 -- pip - -パッケージのインストール --------------------------- - -パッケージをインストールするには、次のコマンドを実行します： - -.. code-block:: bash - - pip install adf_core_python - -インストールの確認 ------------------- - -インストールを確認するには、次のコマンドを実行します： - -.. code-block:: bash - - python -c "import adf_core_python; print(adf_core_python.__version__)" - -パッケージが正しくインストールされている場合、パッケージのバージョン番号が表示されます。 - -トラブルシューティング ------------------------ - -インストール中に問題が発生した場合は、トラブルシューティングセクションを参照するか、サポートに連絡してください。 diff --git a/docs/source/quickstart/quickstart.md b/docs/source/quickstart/quickstart.md new file mode 100644 index 0000000..4142999 --- /dev/null +++ b/docs/source/quickstart/quickstart.md @@ -0,0 +1,62 @@ +# クイックスタート + +## 前提条件 + +インストールする前に、以下の前提条件を確認してください： + +- Python 3.12 以上 +- pip + +## パッケージのインストール + +パッケージをインストールするには、次のコマンドを実行します： + +```bash +pip install adf_core_python +``` + +## 新規エージェントの作成 + +新規エージェントを作成するには、次のコマンドを実行します： + +```bash +adf-core-python +``` + +実行すると、下記のような対話形式のプロンプトが表示されます： + +```bash +Your agent team name: my-agent +Creating a new agent team with name: my-agent +``` + +入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。 + +```bash +. +├── config +│ ├── development.json +│ ├── launcher.yaml +│ └── module.yaml +├── main.py +└── src + └── my-agent + ├── __init__.py + └── module + ├── __init__.py + └── complex + ├── __init__.py + ├── sample_human_detector.py + ├── sample_road_detector.py + └── sample_search.py +``` + +## エージェントを実行する + +エージェントを実行するには、シミュレーションサーバーを起動し、次のコマンドを実行します： + +```bash +python main.py +``` + +エージェントの実行が開始され、シミュレーションサーバーとの通信が開始されます。 diff --git a/docs/source/quickstart/quickstart.rst b/docs/source/quickstart/quickstart.rst deleted file mode 100644 index 6f6aec9..0000000 --- a/docs/source/quickstart/quickstart.rst +++ /dev/null @@ -1,70 +0,0 @@ -.. _quickstart: - -クイックスタート -============= - -前提条件 --------- - -インストールする前に、以下の前提条件を確認してください： - -- Python 3.12 以上 -- pip - -パッケージのインストール --------------------------- - -パッケージをインストールするには、次のコマンドを実行します： - -.. code-block:: bash - - pip install adf_core_python - -新規エージェントの作成 ----------------- - -新規エージェントを作成するには、次のコマンドを実行します： - -.. code-block:: bash - - adf-core-python - -実行すると、下記のような対話形式のプロンプトが表示されます： - -.. code-block:: bash - - Your agent team name: my-agent - Creating a new agent team with name: my-agent - - -入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。 - -.. code-block:: bash - - . - ├── config - │ ├── development.json - │ ├── launcher.yaml - │ └── module.yaml - ├── main.py - └── src - └── my-agent - ├── __init__.py - └── module - ├── __init__.py - └── complex - ├── __init__.py - ├── sample_human_detector.py - ├── sample_road_detector.py - └── sample_search.py - -エージェントを実行する ----------------- - -エージェントを実行するには、シミュレーションサーバーを起動し、次のコマンドを実行します： - -.. code-block:: bash - - python main.py - -エージェントの実行が開始され、シミュレーションサーバーとの通信が開始されます。 diff --git a/docs/source/usage/agent/agent.md b/docs/source/usage/agent/agent.md new file mode 100644 index 0000000..50e4467 --- /dev/null +++ b/docs/source/usage/agent/agent.md @@ -0,0 +1,49 @@ +# エージェントの作成 + +このセクションでは、`adf-core-python` ライブラリの使用方法の概要を提供します。 + +## 新規エージェントの作成 + +新規エージェントを作成するには、次のコマンドを実行します： + +```bash +adf-core-python +``` + +実行すると、下記のような対話形式のプロンプトが表示されます： + +```bash +Your agent team name: my-agent +Creating a new agent team with name: my-agent +``` + +入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。 + +```bash +. +├── config +│ ├── development.json +│ ├── launcher.yaml +│ └── module.yaml +├── main.py +└── src + └── my-agent + ├── __init__.py + └── module + ├── __init__.py + └── complex + ├── __init__.py + ├── sample_human_detector.py + ├── sample_road_detector.py + └── sample_search.py +``` + +## エージェントを実行する + +エージェントを実行するには、シミュレーションサーバーを起動し、次のコマンドを実行します： + +```bash +python main.py +``` + +エージェントの実行が開始され、シミュレーションサーバーとの通信が開始されます。 diff --git a/docs/source/usage/agent/agent.rst b/docs/source/usage/agent/agent.rst deleted file mode 100644 index 0acf6a6..0000000 --- a/docs/source/usage/agent/agent.rst +++ /dev/null @@ -1,59 +0,0 @@ -.. _agent: - -エージェントの作成 -======== - -このセクションでは、`adf-core-python` ライブラリの使用方法の概要を提供します。 - -.. contents:: 目次 - :depth: 2 - :local: - -新規エージェントの作成 ----------------- - -新規エージェントを作成するには、次のコマンドを実行します： - -.. code-block:: bash - - adf-core-python - -実行すると、下記のような対話形式のプロンプトが表示されます： - -.. code-block:: bash - - Your agent team name: my-agent - Creating a new agent team with name: my-agent - -入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。 - -.. code-block:: bash - - . - ├── config - │ ├── development.json - │ ├── launcher.yaml - │ └── module.yaml - ├── main.py - └── src - └── my-agent - ├── __init__.py - └── module - ├── __init__.py - └── complex - ├── __init__.py - ├── sample_human_detector.py - ├── sample_road_detector.py - └── sample_search.py - -エージェントを実行する ----------------- - -エージェントを実行するには、シミュレーションサーバーを起動し、次のコマンドを実行します： - -.. code-block:: bash - - python main.py - -エージェントの実行が開始され、シミュレーションサーバーとの通信が開始されます。 - diff --git a/docs/source/usage/config/config.rst b/docs/source/usage/config/config.md similarity index 80% rename from docs/source/usage/config/config.rst rename to docs/source/usage/config/config.md index 36eb65f..827ba24 100644 --- a/docs/source/usage/config/config.rst +++ b/docs/source/usage/config/config.md @@ -1,24 +1,20 @@ -コンフィグについて -================= +# コンフィグについて -コンフィグについての説明 ----------------- +## コンフィグについての説明 + +### launcher.yaml -launcher.yaml -^^^^^^^^^^^^^ launcher.yaml は、エージェントの起動時に読み込まれる設定ファイルです。 シミュレーションサーバーの指定や読み込むモジュールが記述されたファイルの指定などが記述されています。 +### module.yaml -module.yaml -^^^^^^^^^^^ module.yaml は、エージェントが読み込むモジュールの設定ファイルです。 読み込むモジュールのパスなどが記述されています。 パスを指定する際は、プロジェクトのmain.pyからの相対パスで指定してください。 +### development.json -development.json -^^^^^^^^^^^^^^^^^ development.json は、開発時に使用する設定ファイルです。 エージェントの開発時に外部から値を取得する際に使用します。 そのため、競技時には使用することができません。 diff --git a/docs/source/usage/module/clustering.rst b/docs/source/usage/module/clustering.md similarity index 100% rename from docs/source/usage/module/clustering.rst rename to docs/source/usage/module/clustering.md diff --git a/docs/source/usage/module/module.md b/docs/source/usage/module/module.md new file mode 100644 index 0000000..6614d27 --- /dev/null +++ b/docs/source/usage/module/module.md @@ -0,0 +1,88 @@ +# モジュールについて + +## モジュールの指定方法 + +モジュールを指定するには、module.yamlにモジュールの名前とパスを記述します。 + +例えば、以下のように記述します： + +```yaml +SampleSearch: + PathPlanning: src.my-agent.module.complex.sample_search.SampleSearch + Clustering: src.my-agent.module.complex.sample_search.SampleClustering +``` + +この場合、`SampleSearch` というモジュールで使用される、`PathPlanning` と `Clustering` というモジュールを指定しています。 + +## モジュールの読み込み方法 + +モジュール内で、他のモジュールを読み込む場合は、次のように記述します： + +```python +from adf_core_python.core.agent.module.module_manager import ModuleManager + +class SampleSearch(Search): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + # クラスタリングモジュールの取得 + self._clustering: Clustering = cast( + # モジュールの型を指定 + Clustering, + # モジュールの取得 + module_manager.get_module( + # モジュールの名前 + "DefaultSearch.Clustering", + # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + # パスプランニングモジュールの取得 + self._path_planning: PathPlanning = cast( + # モジュールの型を指定 + PathPlanning, + # モジュールの取得 + module_manager.get_module( + # モジュールの名前 + "DefaultSearch.PathPlanning", + # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + # モジュールの登録(これをしないと、モジュール内のシュミレーション環境の情報が更新されません) + self.register_sub_module(self._clustering) + self.register_sub_module(self._path_planning) +``` + +## モジュールの種類について + +adf-core-pythonでは、以下のモジュールが提供されています。 + +| クラス | 役割 | +| -------------------- | -------------------------------------------------------------------------- | +| TacticsFireBrigade | 消防隊用のモジュール呼び出し (競技では変更不可) | +| TacticsPoliceForce | 土木隊用のモジュール呼び出し (競技では変更不可) | +| TacticsAmbulanceTeam | 救急隊用のモジュール呼び出し (競技では変更不可) | +| BuildingDetector | 消防隊の活動対象の選択 | +| RoadDetector | 土木隊の活動対象の選択 | +| HumanDetector | 救急隊の活動対象の選択 | +| Search | 情報探索に向けた活動対象の選択 | +| PathPlanning | 経路探索 | +| DynamicClustering | シミュレーションの進行によってクラスタが変化するクラスタリング | +| StaticClustering | シミュレーション開始時にクラスタが定まるクラスタリング | +| ExtAction | 活動対象決定後のエージェントの動作決定 | +| MessageCoordinator | 通信でメッセージ(情報)を送信する経路である，チャンネルへのメッセージの分配 | +| ChannelSubscriber | 通信によってメッセージを受け取るチャンネルの選択 | + +自分で上記の役割以外のモジュールを作成する際は、`AbstractModule` を継承してください。 diff --git a/docs/source/usage/module/module.rst b/docs/source/usage/module/module.rst deleted file mode 100644 index 3d14783..0000000 --- a/docs/source/usage/module/module.rst +++ /dev/null @@ -1,95 +0,0 @@ -.. _module: - -モジュールについて -==================== - -モジュールの指定方法 --------------------- -モジュールを指定するには、module.yamlにモジュールの名前とパスを記述します。 - -例えば、以下のように記述します： - -.. code-block:: yaml - - SampleSearch: - PathPlanning: src.my-agent.module.complex.sample_search.SampleSearch - Clustering: src.my-agent.module.complex.sample_search.SampleClustering - -この場合、`SampleSearch` というモジュールで使用される、`PathPlanning` と `Clustering` というモジュールを指定しています。 - - -モジュールの読み込み方法 ----------------------------- -モジュール内で、他のモジュールを読み込む場合は、次のように記述します： - -.. code-block:: python - - from adf_core_python.core.agent.module.module_manager import ModuleManager - - class SampleSearch(Search): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - # クラスタリングモジュールの取得 - self._clustering: Clustering = cast( - # モジュールの型を指定 - Clustering, - # モジュールの取得 - module_manager.get_module( - # モジュールの名前 - "DefaultSearch.Clustering", - # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス - "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", - ), - ) - - # パスプランニングモジュールの取得 - self._path_planning: PathPlanning = cast( - # モジュールの型を指定 - PathPlanning, - # モジュールの取得 - module_manager.get_module( - # モジュールの名前 - "DefaultSearch.PathPlanning", - # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - # モジュールの登録(これをしないと、モジュール内のシュミレーション環境の情報が更新されません) - self.register_sub_module(self._clustering) - self.register_sub_module(self._path_planning) - -モジュールの種類について --------------------------------- - -adf-core-pythonでは、以下のモジュールが提供されています。 - -==================== =========================== -クラス 役割 -==================== =========================== -TacticsFireBrigade 消防隊用のモジュール呼び出し (競技では変更不可) -TacticsPoliceForce 土木隊用のモジュール呼び出し (競技では変更不可) -TacticsAmbulanceTeam 救急隊用のモジュール呼び出し (競技では変更不可) -BuildingDetector 消防隊の活動対象の選択 -RoadDetector 土木隊の活動対象の選択 -HumanDetector 救急隊の活動対象の選択 -Search 情報探索に向けた活動対象の選択 -PathPlanning 経路探索 -DynamicClustering シミュレーションの進行によってクラスタが変化するクラスタリング -StaticClustering シミュレーション開始時にクラスタが定まるクラスタリング -ExtAction 活動対象決定後のエージェントの動作決定 -MessageCoordinator 通信でメッセージ(情報)を送信する経路である，チャンネルへのメッセージの分配 -ChannelSubscriber 通信によってメッセージを受け取るチャンネルの選択 -==================== =========================== - -自分で上記の役割以外のモジュールを作成する際は、`AbstractModule` を継承してください。 diff --git a/docs/source/usage/module/search.rst b/docs/source/usage/module/search.md similarity index 100% rename from docs/source/usage/module/search.rst rename to docs/source/usage/module/search.md From d7d24294cc0227f25d18299fb675ecb99098c038 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 22 Nov 2024 15:27:32 +0900 Subject: [PATCH 149/249] fix: remove obsolete example and search documentation files --- docs/source/examples/example_index.rst | 15 --------------- docs/source/hands-on/clustering.rst | 4 ++-- docs/source/usage/module/clustering.md | 0 docs/source/usage/module/search.md | 3 --- 4 files changed, 2 insertions(+), 20 deletions(-) delete mode 100644 docs/source/examples/example_index.rst delete mode 100644 docs/source/usage/module/clustering.md delete mode 100644 docs/source/usage/module/search.md diff --git a/docs/source/examples/example_index.rst b/docs/source/examples/example_index.rst deleted file mode 100644 index 06f21bb..0000000 --- a/docs/source/examples/example_index.rst +++ /dev/null @@ -1,15 +0,0 @@ -.. _example_index: - -例 -============= - -ADF Core Python ドキュメントの例のインデックスへようこそ。このセクションでは、ライブラリの効果的な使用方法を理解するためのさまざまな例を提供します。 - -.. toctree:: - :maxdepth: 2 - :caption: 例 - - example1 - example2 - example3 - diff --git a/docs/source/hands-on/clustering.rst b/docs/source/hands-on/clustering.rst index e2f6f34..197fe97 100644 --- a/docs/source/hands-on/clustering.rst +++ b/docs/source/hands-on/clustering.rst @@ -10,9 +10,9 @@ クラスタリングモジュールの目的 -------------------------------- -複数のエージェントを動かす場合は、それらのエージェントにどのように協調させるかが重要になります。 RRSでは多くのチームが、エージェントに各々の担当地域を持たせ役割分担をおこなう協調を取り入れています(他の手段による協調も取り入れています)。 担当地域を割り振るためには、地図上のオブジェクトをいくつかのグループに分ける必要があります。 このようなグループ分けをしてそれらを管理する場合には、クラスタリングモジュールと呼ばれるモジュールを用います。 +複数のエージェントを動かす場合は、それらのエージェントにどのように協調させるかが重要になります。RRSでは多くのチームが、エージェントに各々の担当地域を持たせ役割分担をおこなう協調を取り入れています(他の手段による協調も取り入れています)。担当地域を割り振るためには、地図上のオブジェクトをいくつかのグループに分ける必要があります。このようなグループ分けをしてそれらを管理する場合には、クラスタリングモジュールと呼ばれるモジュールを用います。 -本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いた クラスタリングモジュールの実装をおこないます。 +本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いたクラスタリングモジュールの実装をおこないます。 開発するクラスタリングモジュールの概要 ---------------------------------------- diff --git a/docs/source/usage/module/clustering.md b/docs/source/usage/module/clustering.md deleted file mode 100644 index e69de29..0000000 diff --git a/docs/source/usage/module/search.md b/docs/source/usage/module/search.md deleted file mode 100644 index e10ee49..0000000 --- a/docs/source/usage/module/search.md +++ /dev/null @@ -1,3 +0,0 @@ -.. _search: - - From 9d717fc8f140aaabe8dd2ec6ddb8ba0caa2690ad Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 25 Nov 2024 13:24:39 +0900 Subject: [PATCH 150/249] feat: add Japanese documentation for clustering module and remove obsolete rst file --- docs/source/hands-on/clustering.md | 303 ++++++++++++++++++++++++++++ docs/source/hands-on/clustering.rst | 43 ---- 2 files changed, 303 insertions(+), 43 deletions(-) create mode 100644 docs/source/hands-on/clustering.md delete mode 100644 docs/source/hands-on/clustering.rst diff --git a/docs/source/hands-on/clustering.md b/docs/source/hands-on/clustering.md new file mode 100644 index 0000000..6e34228 --- /dev/null +++ b/docs/source/hands-on/clustering.md @@ -0,0 +1,303 @@ +# クラスタリングモジュール + + +## クラスタリングモジュールの目的 + +複数のエージェントを動かす場合は、それらのエージェントにどのように協調させるかが重要になります。RRSでは多くのチームが、エージェントに各々の担当地域を持たせ役割分担をおこなう協調を取り入れています(他の手段による協調も取り入れています)。担当地域を割り振るためには、地図上のオブジェクトをいくつかのグループに分ける必要があります。このようなグループ分けをしてそれらを管理する場合には、クラスタリングモジュールと呼ばれるモジュールを用います。 + +本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いたクラスタリングモジュールの実装をおこないます。 + +## 開発するクラスタリングモジュールの概要 + +本資料で開発するモジュールは下の画像のように、 + +1. k-means++アルゴリズムによって地図上のオブジェクトをエージェント数分の区画に分けます。 +1. Hungarianアルゴリズムによってそれらの区画とエージェントを (間の距離の総和が最も小さくなるように)1対1で結びつけます。 + + +![クラスタリングの画像](./../images/clustering_image.jpg) + +## クラスタリングモジュールの実装 + +:::{note} +以降の作業では、カレントディレクトリがプロジェクトのルートディレクトリであることを前提としています。 +::: + +まず、クラスタリングモジュールを記述するためのファイルを作成します。 + +```bash +mkdir -p src//module/algorithm +touch src//module/algorithm/k_means_pp_clustering.py +``` + +次に、クラスタリングモジュールの実装を行います。 以下のコードを `k_means_pp_clustering.py` に記述してください。 + +```python +import numpy as np +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, ScenarioInfoKeys +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.clustering import Clustering +from adf_core_python.core.logger.logger import get_logger +from rcrs_core.connection.URN import Entity as EntityURN +from rcrs_core.entities.ambulanceCenter import AmbulanceCentre +from rcrs_core.entities.building import Building +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.fireStation import FireStation +from rcrs_core.entities.gasStation import GasStation +from rcrs_core.entities.hydrant import Hydrant +from rcrs_core.entities.policeOffice import PoliceOffice +from rcrs_core.entities.refuge import Refuge +from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID +from scipy.optimize import linear_sum_assignment +from sklearn.cluster import KMeans + +# クラスタリングのシード値 +SEED = 42 + + +class KMeansPPClustering(Clustering): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._logger = get_logger(f"{self.__class__.__name__}") + + # クラスター数の設定 + self._cluster_number: int = 1 + match agent_info.get_myself().get_urn(): + case EntityURN.AMBULANCE_TEAM: + self._cluster_number = scenario_info.get_value( + ScenarioInfoKeys.SCENARIO_AGENTS_AT, + 1, + ) + case EntityURN.POLICE_FORCE: + self._cluster_number = scenario_info.get_value( + ScenarioInfoKeys.SCENARIO_AGENTS_PF, + 1, + ) + case EntityURN.FIRE_BRIGADE: + self._cluster_number = scenario_info.get_value( + ScenarioInfoKeys.SCENARIO_AGENTS_FB, + 1, + ) + + # 自分と同じクラスのエージェントのリストを取得 + self._agents: list[Entity] = world_info.get_entities_of_types( + [ + agent_info.get_myself().__class__, + ] + ) + + # クラスタリング結果を保持する変数 + self._cluster_entities: list[list[Entity]] = [] + + # クラスタリング対象のエンティティのリストを取得 + self._entities: list[Entity] = world_info.get_entities_of_types( + [ + AmbulanceCentre, + FireStation, + GasStation, + Hydrant, + PoliceOffice, + Refuge, + Road, + Building, + ] + ) + + def calculate(self) -> Clustering: + return self + + def get_cluster_number(self) -> int: + """ + クラスター数を取得する + + Returns + ------- + int + クラスター数 + """ + return self._cluster_number + + def get_cluster_index(self, entity_id: EntityID) -> int: + """ + エージェントに割り当てられたクラスターのインデックスを取得する + + Parameters + ---------- + entity_id : EntityID + エージェントのID + + Returns + ------- + int + クラスターのインデックス + """ + return self._agent_cluster_indices.get(entity_id, 0) + + def get_cluster_entities(self, cluster_index: int) -> list[Entity]: + """ + クラスターのエンティティのリストを取得する + + Parameters + ---------- + cluster_index : int + クラスターのインデックス + + Returns + ------- + list[Entity] + クラスターのエンティティのリスト + """ + if cluster_index >= len(self._cluster_entities): + return [] + return self._cluster_entities[cluster_index] + + def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: + """ + クラスターのエンティティのIDのリストを取得する + + Parameters + ---------- + cluster_index : int + クラスターのインデックス + + Returns + ------- + list[EntityID] + クラスターのエンティティのIDのリスト + """ + if cluster_index >= len(self._cluster_entities): + return [] + return [entity.get_id() for entity in self._cluster_entities[cluster_index]] + + def prepare(self) -> Clustering: + """ + エージェントの起動時に一回のみ実行される処理 + """ + super().prepare() + if self.get_count_prepare() > 1: + return self + + # クラスタリングを実行 + kmeans_pp = self._perform_kmeans_pp(self._entities, self._cluster_number) + + # クラスタリング結果を保持 + self._cluster_entities = [[] for _ in range(self._cluster_number)] + for entity, cluster_index in zip(self._entities, kmeans_pp.labels_): + self._cluster_entities[cluster_index].append(entity) + + # エージェントとクラスターのエンティティの距離を計算し、最も全体の合計の距離が短くなるようにエージェントとクラスターを対応付ける + agent_cluster_indices = self._agent_cluster_assignment( + self._agents, kmeans_pp.cluster_centers_ + ) + + # エージェントとクラスターの対応付け結果を保持 + self._agent_cluster_indices = { + entity.get_id(): cluster_index + for entity, cluster_index in zip(self._agents, agent_cluster_indices) + } + + # デバッグ用のログ出力 + self._logger.info( + f"Clustered entities: {[[entity.get_id().get_value() for entity in cluster] for cluster in self._cluster_entities]}" + ) + + self._logger.info( + f"Agent cluster indices: {[([self._world_info.get_entity(entity_id).get_x(), self._world_info.get_entity(entity_id).get_y()], int(cluster_index)) for entity_id, cluster_index in self._agent_cluster_indices.items()]}" + ) + + return self + + def _perform_kmeans_pp(self, entities: list[Entity], n_clusters: int = 1) -> KMeans: + """ + K-means++法によるクラスタリングを実行する + + Parameters + ---------- + entities : list[Entity] + クラスタリング対象のエンティティのリスト + + n_clusters : int, optional + クラスター数, by default 1 + + Returns + ------- + KMeans + クラスタリング結果 + """ + entity_positions: np.ndarray = np.array( + [ + [entity.get_x(), entity.get_y()] + for entity in entities + if entity.get_x() is not None and entity.get_y() is not None + ] + ) + + entity_positions = entity_positions.reshape(-1, 2) + kmeans_pp = KMeans( + n_clusters=n_clusters, + init="k-means++", + random_state=SEED, + ) + kmeans_pp.fit(entity_positions) + return kmeans_pp + + def _agent_cluster_assignment( + self, agents: list[Entity], cluster_positions: np.ndarray + ) -> np.ndarray: + """ + エージェントとクラスターの対応付けを行う + + Parameters + ---------- + agents : list[Entity] + エージェントのリスト + + cluster_positions : np.ndarray + クラスターの位置のリスト + + Returns + ------- + np.ndarray + エージェントとクラスターの対応付け結果 + """ + agent_positions = np.array( + [ + [agent.get_x(), agent.get_y()] + for agent in agents + if agent.get_x() is not None and agent.get_y() is not None + ] + ) + + agent_positions = agent_positions.reshape(-1, 2) + cost_matrix = np.linalg.norm( + agent_positions[:, np.newaxis] - cluster_positions, axis=2 + ) + _, col_ind = linear_sum_assignment(cost_matrix) + return col_ind +``` + +次に、作成したモジュールを登録します。`config/module.yaml` を以下のように編集してください。 + +```yaml +SampleSearch: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + Clustering: src.test-agent.module.algorithm.k_means_pp_clustering.KMeansPPClustering + +SampleHumanDetector: + Clustering: src.test-agent.module.algorithm.k_means_pp_clustering.KMeansPPClustering +``` + + diff --git a/docs/source/hands-on/clustering.rst b/docs/source/hands-on/clustering.rst deleted file mode 100644 index 197fe97..0000000 --- a/docs/source/hands-on/clustering.rst +++ /dev/null @@ -1,43 +0,0 @@ -.. _clustering: - -クラスタリングモジュール -======================= - -.. contents:: 目次 - :depth: 2 - :local: - -クラスタリングモジュールの目的 --------------------------------- - -複数のエージェントを動かす場合は、それらのエージェントにどのように協調させるかが重要になります。RRSでは多くのチームが、エージェントに各々の担当地域を持たせ役割分担をおこなう協調を取り入れています(他の手段による協調も取り入れています)。担当地域を割り振るためには、地図上のオブジェクトをいくつかのグループに分ける必要があります。このようなグループ分けをしてそれらを管理する場合には、クラスタリングモジュールと呼ばれるモジュールを用います。 - -本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いたクラスタリングモジュールの実装をおこないます。 - -開発するクラスタリングモジュールの概要 ----------------------------------------- - -本資料で開発するモジュールは下の画像のように、 - -#. k-means++アルゴリズムによって地図上のオブジェクトをエージェント数分の区画に分けます。 -#. Hungarianアルゴリズムによってそれらの区画とエージェントを (間の距離の総和が最も小さくなるように)1対1で結びつけます。 - -.. image:: ./../images/clustering_image.jpg - :width: 600px - :align: center - -クラスタリングモジュールの実装 --------------------------------- - -.. note:: - 以降の作業では、カレントディレクトリがプロジェクトのルートディレクトリであることを前提としています。 - -まず、クラスタリングモジュールを記述するためのファイルを作成します。 - -.. code-block:: bash - - mkdir -p src//module/algorithm - touch src//module/algorithm/k_means_pp_clustering.py - -次に、クラスタリングモジュールの実装を行います。 以下のコードを `k_means_pp_clustering.py` に記述してください。 - From fb72dac95326926bc7fdc3b123ff145a8a992ed6 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 25 Nov 2024 13:56:55 +0900 Subject: [PATCH 151/249] docs: add warning about package availability in index.rst --- docs/source/index.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/docs/source/index.rst b/docs/source/index.rst index 3b6d6f3..14f3e68 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -10,6 +10,11 @@ adf-core-pythonのドキュメント 現在このパッケージは開発中です。破壊的な変更が行われる可能性があります。 +.. warning:: + + パッケージとしてまだ公開していないので、pip でインストールすることはできません。 + + .. contents:: 目次 :depth: 2 :local: From 83b77d8c222d7aca52d7b7edda892017910a803a Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 27 Nov 2024 01:04:24 +0900 Subject: [PATCH 152/249] feat: update Japanese documentation for clustering module and add new tutorial sections --- docs/source/hands-on/clustering.md | 4 +- docs/source/index.rst | 9 +-- docs/source/introduction/introduction.rst | 26 -------- docs/source/tutorial/agent/agent.md | 63 +++++++++++++++++++ .../{usage => tutorial}/config/config.md | 0 .../tutorial/environment/environment.md | 37 +++++++++++ .../tutorial/environment/windows/install.md | 20 ++++++ .../install/install.md} | 0 .../{usage => tutorial}/module/module.md | 0 docs/source/usage/agent/agent.md | 49 --------------- 10 files changed, 127 insertions(+), 81 deletions(-) delete mode 100644 docs/source/introduction/introduction.rst create mode 100644 docs/source/tutorial/agent/agent.md rename docs/source/{usage => tutorial}/config/config.md (100%) create mode 100644 docs/source/tutorial/environment/environment.md create mode 100644 docs/source/tutorial/environment/windows/install.md rename docs/source/{installation/installation.md => tutorial/install/install.md} (100%) rename docs/source/{usage => tutorial}/module/module.md (100%) delete mode 100644 docs/source/usage/agent/agent.md diff --git a/docs/source/hands-on/clustering.md b/docs/source/hands-on/clustering.md index 6e34228..af1affb 100644 --- a/docs/source/hands-on/clustering.md +++ b/docs/source/hands-on/clustering.md @@ -19,9 +19,9 @@ ## クラスタリングモジュールの実装 -:::{note} +```{note} 以降の作業では、カレントディレクトリがプロジェクトのルートディレクトリであることを前提としています。 -::: +``` まず、クラスタリングモジュールを記述するためのファイルを作成します。 diff --git a/docs/source/index.rst b/docs/source/index.rst index 14f3e68..8195724 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -35,10 +35,11 @@ ADF Core Python を始めるには、インストール手順に従い、この :maxdepth: 1 :caption: チュートリアル: - installation/installation - usage/agent/agent - usage/config/config - usage/module/module + tutorial/environment/environment + tutorial/install/install + tutorial/agent/agent + tutorial/config/config + tutorial/module/module .. toctree:: :maxdepth: 1 diff --git a/docs/source/introduction/introduction.rst b/docs/source/introduction/introduction.rst deleted file mode 100644 index 455fd61..0000000 --- a/docs/source/introduction/introduction.rst +++ /dev/null @@ -1,26 +0,0 @@ -.. _introduction: - -イントロダクション -================== - -ADF Core Python ドキュメントへようこそ - -.. contents:: 目次 - :depth: 2 - :local: - --------------------------------------------- - -特徴 ----- - -- **モジュール単位での開発**: モジュール単位でエージェント開発を行い、モジュールの入れ替えが容易です。 -- **モジュールの再利用**: 他のエージェントで使用されているモジュールを再利用することができます。 -- **エージェントの開発に集中**: シミュレーションサーバーとの通信やログ出力などの共通処理をライブラリが提供します。 - -はじめに --------- - -ADF Core Python を始めるには、インストール手順に従い、このドキュメントに記載されている例を参照してください。 - - diff --git a/docs/source/tutorial/agent/agent.md b/docs/source/tutorial/agent/agent.md new file mode 100644 index 0000000..1beb851 --- /dev/null +++ b/docs/source/tutorial/agent/agent.md @@ -0,0 +1,63 @@ +# エージェントの作成 + +このセクションでは、`adf-core-python` ライブラリの使用方法の概要を提供します。 + +## 新規エージェントの作成 + +新規エージェントを作成するには、次のコマンドを実行します： + +```bash +adf-core-python +``` + +実行すると、下記のような対話形式のプロンプトが表示されます： + +```bash +Your agent team name: my-agent +Creating a new agent team with name: my-agent +``` + +入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。 + +```bash +. +└── my-agent + ├── config + │ ├── development.json + │ ├── launcher.yaml + │ └── module.yaml + ├── main.py + └── src + └── my-agent + ├── __init__.py + └── module + ├── __init__.py + └── complex + ├── __init__.py + ├── sample_human_detector.py + ├── sample_road_detector.py + └── sample_search.py +``` + +## シミュレーションを実行する + +シミュレーションサーバーを以下のコマンドで起動します： + +```bash +cd WORKING_DIR/rcrs-server/scripts +./start-comprun.sh -m ../maps/test/map -c ../maps/test/config +``` + +その後、エージェントを起動します： + +```bash +cd WORKING_DIR/my-agent +python main.py +``` + +エージェントが正常に起動すると、シミュレーションサーバーに接続され、エージェントがシミュレーションに参加し、エージェントが動き出します。 +途中で止めたい場合は、それぞれのコマンドラインで `Ctrl + C` を押してください。 + +```{warning} +シミュレーションサーバーを停止させたあとは、プロセスが残ってしまう場合があるので`./kill.sh` を実行してください。 +``` diff --git a/docs/source/usage/config/config.md b/docs/source/tutorial/config/config.md similarity index 100% rename from docs/source/usage/config/config.md rename to docs/source/tutorial/config/config.md diff --git a/docs/source/tutorial/environment/environment.md b/docs/source/tutorial/environment/environment.md new file mode 100644 index 0000000..db0cd93 --- /dev/null +++ b/docs/source/tutorial/environment/environment.md @@ -0,0 +1,37 @@ +# 環境構築 + +## 必要なもの + +- Git +- Python 3.12 以上 +- OpenJDK 17 + +[Windowsでの必要なもののインストール方法](./windows/install.md) + +## シミュレーションサーバーのインストール + +```{note} +WORKING_DIR は任意のディレクトリを指定してください。 +``` + +```bash +cd WORKING_DIR +git clone https://github.com/roborescue/rcrs-server.git +cd rcrs-server +./gradlew completeBuild +``` +ビルドした際に以下のようなメッセージが表示されたら成功です。 + +```bash +BUILD SUCCESSFUL in ... +``` + +## シュミレーションサーバーの動作確認 + +```bash +cd WORKING_DIR/rcrs-server/scripts +./start-comprun.sh -m ../maps/test/map -c ../maps/test/config +``` + +何個かのウィンドウが表示されたら成功です。 +コマンドラインで `Ctrl + C` を押すとシミュレーションサーバーが終了します。 diff --git a/docs/source/tutorial/environment/windows/install.md b/docs/source/tutorial/environment/windows/install.md new file mode 100644 index 0000000..ce36a29 --- /dev/null +++ b/docs/source/tutorial/environment/windows/install.md @@ -0,0 +1,20 @@ +# Windowsでの環境構築 + +## 1. Gitのインストール + +1. [Git for Windows](https://gitforwindows.org/)の公式サイトにアクセスします。 +2. ダウンロードページから最新のバージョンをダウンロードします。 +3. ダウンロードしたファイルを開き、インストールを開始します。 + +## 2. Pythonのインストール + +1. [Python](https://www.python.org/downloads/)の公式サイトにアクセスします。 +2. ダウンロードページから最新のバージョンをダウンロードします。 +3. ダウンロードしたファイルを開き、インストールを開始します。 +4. インストール時に「Add python.exe to PATH」にチェックを入れてください。 + +## 3. OpenJDKのインストール + +1. [OpenJDK](https://jdk.java.net/archive/)の公式サイトにアクセスします。 +2. ダウンロードページから17.0.2のバージョンをダウンロードします。 +3. ダウンロードしたファイルを開き、インストールを開始します。 diff --git a/docs/source/installation/installation.md b/docs/source/tutorial/install/install.md similarity index 100% rename from docs/source/installation/installation.md rename to docs/source/tutorial/install/install.md diff --git a/docs/source/usage/module/module.md b/docs/source/tutorial/module/module.md similarity index 100% rename from docs/source/usage/module/module.md rename to docs/source/tutorial/module/module.md diff --git a/docs/source/usage/agent/agent.md b/docs/source/usage/agent/agent.md deleted file mode 100644 index 50e4467..0000000 --- a/docs/source/usage/agent/agent.md +++ /dev/null @@ -1,49 +0,0 @@ -# エージェントの作成 - -このセクションでは、`adf-core-python` ライブラリの使用方法の概要を提供します。 - -## 新規エージェントの作成 - -新規エージェントを作成するには、次のコマンドを実行します： - -```bash -adf-core-python -``` - -実行すると、下記のような対話形式のプロンプトが表示されます： - -```bash -Your agent team name: my-agent -Creating a new agent team with name: my-agent -``` - -入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。 - -```bash -. -├── config -│ ├── development.json -│ ├── launcher.yaml -│ └── module.yaml -├── main.py -└── src - └── my-agent - ├── __init__.py - └── module - ├── __init__.py - └── complex - ├── __init__.py - ├── sample_human_detector.py - ├── sample_road_detector.py - └── sample_search.py -``` - -## エージェントを実行する - -エージェントを実行するには、シミュレーションサーバーを起動し、次のコマンドを実行します： - -```bash -python main.py -``` - -エージェントの実行が開始され、シミュレーションサーバーとの通信が開始されます。 From d900ab5594f72ad4689633506bd5207bc4a48ad8 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 27 Nov 2024 13:10:24 +0900 Subject: [PATCH 153/249] feat: update dependencies and add sphinxcontrib-mermaid package --- poetry.lock | 68 ++++++++++++++++++++++++++++++++------------------ pyproject.toml | 1 + 2 files changed, 45 insertions(+), 24 deletions(-) diff --git a/poetry.lock b/poetry.lock index b74b187..357088b 100644 --- a/poetry.lock +++ b/poetry.lock @@ -771,31 +771,33 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sphinx-book-theme = "^1.1.3" sphinx-copybutton = "^0.5.2" +sphinxcontrib-mermaid = "^1.0.0" [build-system] requires = ["poetry-core"] From ae6adaad483d1baec7240f48a325d49aa1678de7 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 27 Nov 2024 13:10:34 +0900 Subject: [PATCH 154/249] feat: add agent control tutorial and integrate sphinxcontrib-mermaid extension --- docs/source/conf.py | 1 + docs/source/images/agent_control.jpg | Bin 0 -> 39621 bytes docs/source/images/agent_flow.png | Bin 0 -> 642060 bytes docs/source/images/entity.png | Bin 0 -> 40652 bytes docs/source/images/human_detector_flow.png | Bin 0 -> 77097 bytes docs/source/index.rst | 1 + docs/source/tutorial/agent/agent_control.md | 285 ++++++++++++++++++++ 7 files changed, 287 insertions(+) create mode 100644 docs/source/images/agent_control.jpg create mode 100644 docs/source/images/agent_flow.png create mode 100644 docs/source/images/entity.png create mode 100644 docs/source/images/human_detector_flow.png create mode 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z@^GScmwacR8pte(s&L;FvJYb!--;m!8rzPtf4;_kn#hnGZRxnoVeRbr6&0G-oozg? zB9vI=so6xny?zdR_{Mmdw4de;%l%<+fP08@OS0jt`ofQ!Cc1Ii&azu~kIBkO zOJrlDbFq06X5}sO@WO_x%S$j{og3zMa{_G-Rp^C+@F8hmB(FgH8N9;CSAP*_=5toZy^<9g;#IB&Na2Ug7 zbf{~5kdyQlgGJbakNbary>^5_l84+cJ+dMaz)4K>3&7?+qw-eeTz8DJqh>t|;a6$s zvsVxno5}viX|iMo<+y5xi`iKkH3Z#xY5oxSm0b9AFC%r#ikRrOZ)y?f1#(7Cs6Zkm z-!GiYj<|;yq5A}?BGP9AF;-i*ZRX0&+AoRL3DnpHqHs8F4^93G#O-1}x@N9-A!SCt zp-Zx4HK>`y`-witp@`R~Dvm5mU~IkO$Z4vEuM1}yk6OS<`RQ}bB&<7^HtlxAFo}9- zjqbu$`2Yq^MuT#NL41DCK}Fh?+2umd4Le}JD97>9#?UHFE+fS#X30JE3`BQk@&*~t zZQcZ zOA}eKyQ5&^w_RPS@gK34bS%kz{F4q*WAqrIcYq}!+ER*v9$yYwMyyTM?E^%YzU(fp z5HW&wRO0R^`Bt(7L--}ct(BYU80e1dId}@A9W>ZA$AnimItE=5D}n_E`Ib106e^;9 zLN^)gmwD6^Jo$_1t(%Aw$Bo$v@8ucjvuI>1?pcXF*UF|uR(v>=a8W;M*fKW6a=qHW ziAl;kM^UC4Z|n3l!1=BQiZ2!C>U{M87`O=5@VV0)DOJ}c+q;6ELflWKgV}cMZS@e| z8~B@7EY+Rs5hPDgf1LEbHxBMGuq5Jvnwty1y6WW%QykV=`^JAk9E1=mR}E}r(80Om z8Ut0aoL#+qGhcrp)F5XBJl<)CKCZ_UZ=<+^939xi-b{6brfwiaWr!CLmDj{PgRm6N z>Q3V6Vzoc-wDS#E5?JCM*{?P?WvV;l-xtvCM_*^74t(e|ZibbCUrlBUtm1zr0otq* zNAeG-Q@|h zgVdRu(HM1IdyvFk;>SuhDb57O+-}fP4P3+oS!#I)(Z1F`#JYrIbovvc|EdmFGShqW8dQnv?I zX^}^b^@tu+9OlTXk_9t=xTTY zBUv9${2HF{U^($sy;(XtJ{l7SF#k?8;W}S9j?i+@UgIjA->_wkhne7<(77JGx^iNX z$B(b;dd)Dmc;4eP=naPDK`Zo*5rCOvk3z($qsXZ3)-DaMI{-5jo!)=p172|ME4bVo z)3k7uYs4u+I}4&q+T~KJ%(K6*&^r&h)sarq2?rc}gIa%n@isrHTv0;0u1jN3Z+Sl9 zXX83j(*5LEO=5M(P!b=BVBAL4(R?9_uN#0OL&L4|=6ghPw%2S#7fpe)1W6kqP<(39 z4wt9aSM^!`av>-%ND~+I1h6)6>{4$7_4?Xyv%a299251p1;q6{)Bz#%djYamYI)|B zZ-oI-n;CacJza}#wfpuE1H*X<3jQS&^iOZd$w +touch src//module/complex/fire_brigade_human_detector.py +``` + +次に、`Human Detector` モジュールの雛形の実装を行います． 以下のコードを`fire_brigade_human_detector.py` に記述してください． + +```python +from typing import Optional + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.complex.human_detector import HumanDetector +from adf_core_python.core.logger.logger import get_agent_logger + + +class FireBrigadeHumanDetector(HumanDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + # 計算結果を格納する変数 + self._result: Optional[EntityID] = None + # ロガーの取得 + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + def calculate(self) -> HumanDetector: + """ + 行動対象を決定する + + Returns + ------- + HumanDetector: 自身のインスタンス + """ + self._logger.info("Calculate FireBrigadeHumanDetector") + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + """ + 行動対象のEntityIDを取得する + + Returns + ------- + Optional[EntityID]: 行動対象のEntityID + """ + return self._result +``` + +## モジュールの登錍 + +次に、作成したモジュールを登録します． + +`WORKING_DIR//config/module.yaml` ファイルを開き，以下の部分を +```yaml +DefaultTacticsFireBrigade: + HumanDetector: src..module.complex.sample_human_detector.SampleHumanDetector +``` + +以下のように変更してください． + +```yaml +DefaultTacticsFireBrigade: + HumanDetector: src..module.complex.fire_brigade_human_detector.FireBrigadeHumanDetector +``` + +シミュレーションサーバーを起動し、エージェントを実行してみましょう． + +```bash +cd WORKING_DIR/ +python main.py +``` + +標準出力に `Calculate FireBrigadeHumanDetector` と表示されれば成功です． + +## `Human Detector` モジュールの設計 + +救助対象選択プログラムの中身を書き，消防隊エージェントが救助活動をおこなえるように修正します． + +消防隊エージェントの救助対象を最も簡単に選択する方法は，埋没している市民の中で最も自身に近い市民を選択する方法です． 今回は，この方法を採用した消防隊エージェントの行動対象決定モジュールを書いてみましょう． + +埋没している市民の中で最も自身に近い市民を救助対象として選択する方法は，フローチャートで表すと下図のようになります． + +![救助対象選択フローチャート](./../../images/human_detector_flow.png) + +このフローチャート中の各処理を，次小節で紹介する各クラス・メソッド等で置き換えたものを，`fire_brigade_human_detector.py` に記述していくことで，救助対象選択プログラムを完成させます． + + +## `Human Detector` モジュールの実装で使用するクラス・メソッド + +### WorldInfo + +`WorldInfo` クラスは，エージェントが把握している情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，他のエージェントやオブジェクトの状態を確認します． + +モジュール内では，`WorldInfo` クラスのインスタンスを `self._world_info` として保持しています． + +### AgentInfo + +`AgentInfo` クラスは，エージェント自身の情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，エージェント自身の状態を取得します． + +モジュール内では，`AgentInfo` クラスのインスタンスを `self._agent_info` として保持しています． + +### EntityID + +`EntityID` クラスは，全てのエージェント/オブジェクトを一意に識別するためのID(識別子)を表すクラスです． RRSではエージェントとオブジェクトをまとめて，エンティティと呼んでいます． + +- 自分自身のエンティティIDを取得する +```python +self._agent_info.get_entity_id() +``` + +### Entity + +`Entity` クラスは，エンティティの基底クラスです． このクラスは，エンティティの基本情報を保持します． + +- エンティティIDからエンティティを取得する +```python +self._world_info.get_entity(entity_id) +``` + +- 同じクラスのエンティティを全て取得する +```python +self._world_info.get_entities_by_type([Building, Road]) +``` + +### Civilian + +`Civilian` クラスは，市民を表すクラスです．このクラスからは，エージェントの位置や負傷の進行状況を取得することができます． + +- `entity` が市民であるかどうかを判定する +```python +isinstance(entity, Civilian) +``` + +- 市民が生きているかどうかを判定する +```python +hp: Optional[int] = entity.get_hp() +if hp is None or hp <= 0: + return False +``` + +- 市民が埋まっているかどうかを判定する +```python +buriedness: Optional[int] = entity.get_buriedness() +if buriedness is None or buriedness <= 0: + return False +``` + +### entityの継承 + +RRS上のエンティティは下図のように Entity を継承したクラスで表現されています． 赤枠で囲まれたクラスは，クラスの意味がそのままRRSの直接的な構成要素を表しています． + +例: Road クラスのインスタンスの中には， Hydrant クラスを継承してない通常の道路を表すものも存在しています． + +![エンティティの継承関係](./../../images/entity.png) + + +## `Human Detector` モジュールの実装 + +`Human Detector` モジュールの実装を行います． + +```python +from typing import Optional + +from rcrs_core.worldmodel.entityID import EntityID +from rcrs_core.entities.civilian import Civilian +from rcrs_core.entities.entity import Entity + +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.complex.human_detector import HumanDetector +from adf_core_python.core.logger.logger import get_agent_logger + + +class SampleHumanDetector(HumanDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + # 計算結果を格納する変数 + self._result: Optional[EntityID] = None + # ロガーの取得 + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + def calculate(self) -> HumanDetector: + """ + 行動対象を決定する + + Returns + ------- + HumanDetector: 自身のインスタンス + """ + me: EntityID = self._agent_info.get_entity_id() + civilians: list[Entity] = self._world_info.get_entities_of_types( + [ + Civilian, + ] + ) + + nearest_civilian: Optional[EntityID] = None + nearest_distance: Optional[float] = None + for civilian in civilians: + if not isinstance(civilian, Civilian): + continue + + if civilian.get_hp() <= 0: + continue + + if civilian.get_buriedness() <= 0: + continue + + distance: float = self._world_info.get_distance(me, civilian.get_id()) + + if nearest_distance is None or distance < nearest_distance: + nearest_civilian = civilian.get_id() + nearest_distance = distance + + self._result = nearest_civilian + + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + """ + 行動対象のEntityIDを取得する + + Returns + ------- + Optional[EntityID]: 行動対象のEntityID + """ + return self._result +``` From 6e0160f888c62fd6a125a1837fcda9fe2a3834b6 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 27 Nov 2024 17:09:58 +0900 Subject: [PATCH 155/249] docs: fix lint --- docs/source/hands-on/clustering.md | 10 +++------- docs/source/tutorial/agent/agent_control.md | 14 ++++++++++---- docs/source/tutorial/environment/environment.md | 1 + docs/source/tutorial/install/install.md | 1 - 4 files changed, 14 insertions(+), 12 deletions(-) diff --git a/docs/source/hands-on/clustering.md b/docs/source/hands-on/clustering.md index af1affb..5c24b98 100644 --- a/docs/source/hands-on/clustering.md +++ b/docs/source/hands-on/clustering.md @@ -1,20 +1,18 @@ # クラスタリングモジュール - ## クラスタリングモジュールの目的 複数のエージェントを動かす場合は、それらのエージェントにどのように協調させるかが重要になります。RRSでは多くのチームが、エージェントに各々の担当地域を持たせ役割分担をおこなう協調を取り入れています(他の手段による協調も取り入れています)。担当地域を割り振るためには、地図上のオブジェクトをいくつかのグループに分ける必要があります。このようなグループ分けをしてそれらを管理する場合には、クラスタリングモジュールと呼ばれるモジュールを用います。 -本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いたクラスタリングモジュールの実装をおこないます。 +本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いたクラスタリングモジュールの実装をおこないます。 ## 開発するクラスタリングモジュールの概要 本資料で開発するモジュールは下の画像のように、 -1. k-means++アルゴリズムによって地図上のオブジェクトをエージェント数分の区画に分けます。 +1. k-means++アルゴリズムによって地図上のオブジェクトをエージェント数分の区画に分けます。 1. Hungarianアルゴリズムによってそれらの区画とエージェントを (間の距離の総和が最も小さくなるように)1対1で結びつけます。 - ![クラスタリングの画像](./../images/clustering_image.jpg) ## クラスタリングモジュールの実装 @@ -23,7 +21,7 @@ 以降の作業では、カレントディレクトリがプロジェクトのルートディレクトリであることを前提としています。 ``` -まず、クラスタリングモジュールを記述するためのファイルを作成します。 +まず、クラスタリングモジュールを記述するためのファイルを作成します。 ```bash mkdir -p src//module/algorithm @@ -299,5 +297,3 @@ SampleSearch: SampleHumanDetector: Clustering: src.test-agent.module.algorithm.k_means_pp_clustering.KMeansPPClustering ``` - - diff --git a/docs/source/tutorial/agent/agent_control.md b/docs/source/tutorial/agent/agent_control.md index 87a04a8..fe19f30 100644 --- a/docs/source/tutorial/agent/agent_control.md +++ b/docs/source/tutorial/agent/agent_control.md @@ -1,7 +1,8 @@ # エージェントの制御 + このセクションでは、エージェントの制御用のプログラムを作成する方法について説明します。 -## エージェントの制御 +## エージェントの制御について RRSの災害救助エージェントは3種類あり、種類毎にそれぞれ異なるプログラムを書く必要があります。しかし、初めから全てのプログラムを書くことは困難です。ここではまず初めに、消防隊エージェントを操作するプログラムの一部を書いてみましょう． @@ -88,11 +89,12 @@ class FireBrigadeHumanDetector(HumanDetector): return self._result ``` -## モジュールの登錍 +## モジュールの登録 次に、作成したモジュールを登録します． `WORKING_DIR//config/module.yaml` ファイルを開き，以下の部分を + ```yaml DefaultTacticsFireBrigade: HumanDetector: src..module.complex.sample_human_detector.SampleHumanDetector @@ -126,7 +128,6 @@ python main.py このフローチャート中の各処理を，次小節で紹介する各クラス・メソッド等で置き換えたものを，`fire_brigade_human_detector.py` に記述していくことで，救助対象選択プログラムを完成させます． - ## `Human Detector` モジュールの実装で使用するクラス・メソッド ### WorldInfo @@ -146,6 +147,7 @@ python main.py `EntityID` クラスは，全てのエージェント/オブジェクトを一意に識別するためのID(識別子)を表すクラスです． RRSではエージェントとオブジェクトをまとめて，エンティティと呼んでいます． - 自分自身のエンティティIDを取得する + ```python self._agent_info.get_entity_id() ``` @@ -155,11 +157,13 @@ self._agent_info.get_entity_id() `Entity` クラスは，エンティティの基底クラスです． このクラスは，エンティティの基本情報を保持します． - エンティティIDからエンティティを取得する + ```python self._world_info.get_entity(entity_id) ``` - 同じクラスのエンティティを全て取得する + ```python self._world_info.get_entities_by_type([Building, Road]) ``` @@ -169,11 +173,13 @@ self._world_info.get_entities_by_type([Building, Road]) `Civilian` クラスは，市民を表すクラスです．このクラスからは，エージェントの位置や負傷の進行状況を取得することができます． - `entity` が市民であるかどうかを判定する + ```python isinstance(entity, Civilian) ``` - 市民が生きているかどうかを判定する + ```python hp: Optional[int] = entity.get_hp() if hp is None or hp <= 0: @@ -181,6 +187,7 @@ if hp is None or hp <= 0: ``` - 市民が埋まっているかどうかを判定する + ```python buriedness: Optional[int] = entity.get_buriedness() if buriedness is None or buriedness <= 0: @@ -195,7 +202,6 @@ RRS上のエンティティは下図のように Entity を継承したクラス ![エンティティの継承関係](./../../images/entity.png) - ## `Human Detector` モジュールの実装 `Human Detector` モジュールの実装を行います． diff --git a/docs/source/tutorial/environment/environment.md b/docs/source/tutorial/environment/environment.md index db0cd93..ec566ec 100644 --- a/docs/source/tutorial/environment/environment.md +++ b/docs/source/tutorial/environment/environment.md @@ -20,6 +20,7 @@ git clone https://github.com/roborescue/rcrs-server.git cd rcrs-server ./gradlew completeBuild ``` + ビルドした際に以下のようなメッセージが表示されたら成功です。 ```bash diff --git a/docs/source/tutorial/install/install.md b/docs/source/tutorial/install/install.md index 54a055f..c27a88f 100644 --- a/docs/source/tutorial/install/install.md +++ b/docs/source/tutorial/install/install.md @@ -2,7 +2,6 @@ このセクションでは、パッケージのインストール方法について説明します。 - ## 前提条件 インストールする前に、以下の前提条件を確認してください： From 74df50817405f72204d2f17ffdb5bba423318c76 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 27 Nov 2024 18:00:38 +0900 Subject: [PATCH 156/249] docs: correct project name in README.md --- docs/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/README.md b/docs/README.md index fa006f8..f9d0012 100644 --- a/docs/README.md +++ b/docs/README.md @@ -1,4 +1,4 @@ -# sqhinx-documentation +# sphinx-documentation ## Generate documentation From a677515c30cc72a3ffbde0a63fc2241865c28370 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 00:37:25 +0900 Subject: [PATCH 157/249] docs: update agent control tutorial with entity class details and examples --- docs/source/tutorial/agent/agent_control.md | 86 +++++++++++++-------- 1 file changed, 55 insertions(+), 31 deletions(-) diff --git a/docs/source/tutorial/agent/agent_control.md b/docs/source/tutorial/agent/agent_control.md index fe19f30..1f28f5a 100644 --- a/docs/source/tutorial/agent/agent_control.md +++ b/docs/source/tutorial/agent/agent_control.md @@ -130,81 +130,96 @@ python main.py ## `Human Detector` モジュールの実装で使用するクラス・メソッド -### WorldInfo - -`WorldInfo` クラスは，エージェントが把握している情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，他のエージェントやオブジェクトの状態を確認します． +### Entity -モジュール内では，`WorldInfo` クラスのインスタンスを `self._world_info` として保持しています． +`Entity` クラスは，エンティティの基底クラスです． このクラスは，エンティティの基本情報を保持します． -### AgentInfo +RRS上のエンティティは下図のように `Entity` を継承したクラスで表現されています． 赤枠で囲まれたクラスは，クラスの意味がそのままRRSの直接的な構成要素を表しています． -`AgentInfo` クラスは，エージェント自身の情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，エージェント自身の状態を取得します． +例: Road クラスのインスタンスの中には， Hydrant クラスを継承してない通常の道路を表すものも存在しています． -モジュール内では，`AgentInfo` クラスのインスタンスを `self._agent_info` として保持しています． +![エンティティの継承関係](./../../images/entity.png) ### EntityID `EntityID` クラスは，全てのエージェント/オブジェクトを一意に識別するためのID(識別子)を表すクラスです． RRSではエージェントとオブジェクトをまとめて，エンティティと呼んでいます． -- 自分自身のエンティティIDを取得する +### Civilian + +`Civilian` クラスは，市民を表すクラスです．このクラスからは，エージェントの位置や負傷の進行状況を取得することができます． + +- `entity` が市民であるかどうかを判定する ```python -self._agent_info.get_entity_id() +isinstance(entity, Civilian) ``` -### Entity +- エンティティIDを取得する -`Entity` クラスは，エンティティの基底クラスです． このクラスは，エンティティの基本情報を保持します． +```python +entity.get_id() +``` -- エンティティIDからエンティティを取得する +- 市民が生きているかどうかを判定する ```python -self._world_info.get_entity(entity_id) +hp: Optional[int] = entity.get_hp() +if hp is None or hp <= 0: + return False ``` -- 同じクラスのエンティティを全て取得する +- 市民が埋まっているかどうかを判定する ```python -self._world_info.get_entities_by_type([Building, Road]) +buriedness: Optional[int] = entity.get_buriedness() +if buriedness is None or buriedness <= 0: + return False ``` -### Civilian +### WorldInfo -`Civilian` クラスは，市民を表すクラスです．このクラスからは，エージェントの位置や負傷の進行状況を取得することができます． +`WorldInfo` クラスは，エージェントが把握している情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，他のエージェントやオブジェクトの状態を確認します． -- `entity` が市民であるかどうかを判定する +モジュール内では，`WorldInfo` クラスのインスタンスを `self._world_info` として保持しています． + +- エンティティIDからエンティティを取得する ```python -isinstance(entity, Civilian) +self._world_info.get_entity(entity_id) ``` -- 市民が生きているかどうかを判定する +- 指定したクラスのエンティティを全て取得する ```python -hp: Optional[int] = entity.get_hp() -if hp is None or hp <= 0: - return False +self._world_info.get_entities_by_type([Building, Road]) ``` -- 市民が埋まっているかどうかを判定する +- エージェントの位置から指定したエンティティまでの距離を取得する ```python -buriedness: Optional[int] = entity.get_buriedness() -if buriedness is None or buriedness <= 0: - return False +self._world_info.get_distance(me, civilian.get_id()) ``` -### entityの継承 +[詳細はこちら](../../adf_core_python.core.agent.info.rst) + +### AgentInfo -RRS上のエンティティは下図のように Entity を継承したクラスで表現されています． 赤枠で囲まれたクラスは，クラスの意味がそのままRRSの直接的な構成要素を表しています． +`AgentInfo` クラスは，エージェント自身の情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，エージェント自身の状態を取得します． -例: Road クラスのインスタンスの中には， Hydrant クラスを継承してない通常の道路を表すものも存在しています． +モジュール内では，`AgentInfo` クラスのインスタンスを `self._agent_info` として保持しています． -![エンティティの継承関係](./../../images/entity.png) +- 自分自身のエンティティIDを取得する + +```python +self._agent_info.get_entity_id() +``` + +[詳細はこちら](../../adf_core_python.core.agent.info.rst) ## `Human Detector` モジュールの実装 `Human Detector` モジュールの実装を行います． +以下のコードを`fire_brigade_human_detector.py` に記述してください。 ```python from typing import Optional @@ -289,3 +304,12 @@ class SampleHumanDetector(HumanDetector): """ return self._result ``` + +シミュレーションサーバーを起動し，エージェントを実行してみましょう． + +```bash +cd WORKING_DIR/ +python main.py +``` + +埋没している市民を消防隊エージェントが救出できるようになっていれば成功です． From 0b731358801659b6a44cbbeb347897d1640a9a60 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 10:46:39 +0900 Subject: [PATCH 158/249] fix --- docs/source/tutorial/agent/agent_control.md | 56 ++++++++++----------- docs/source/tutorial/module/module.md | 2 +- 2 files changed, 29 insertions(+), 29 deletions(-) diff --git a/docs/source/tutorial/agent/agent_control.md b/docs/source/tutorial/agent/agent_control.md index 1f28f5a..afc3457 100644 --- a/docs/source/tutorial/agent/agent_control.md +++ b/docs/source/tutorial/agent/agent_control.md @@ -4,34 +4,34 @@ ## エージェントの制御について -RRSの災害救助エージェントは3種類あり、種類毎にそれぞれ異なるプログラムを書く必要があります。しかし、初めから全てのプログラムを書くことは困難です。ここではまず初めに、消防隊エージェントを操作するプログラムの一部を書いてみましょう． +RRSの災害救助エージェントは3種類あり、種類毎にそれぞれ異なるプログラムを書く必要があります。しかし、初めから全てのプログラムを書くことは困難です。ここではまず初めに、消防隊エージェントを操作するプログラムの一部を書いてみましょう。 ```{note} -エージェントを操作するプログラムは，エージェントの種類毎に同一です． プログラムは各エージェントに配られ，そのエージェントのみの操作を担います． 消防隊エージェントを操作するプログラムを書けば，それがすべての消防隊エージェント上でそれぞれ動作します． +エージェントを操作するプログラムは、エージェントの種類毎に同一です。 プログラムは各エージェントに配られ、そのエージェントのみの操作を担います。 消防隊エージェントを操作するプログラムを書けば、それがすべての消防隊エージェント上でそれぞれ動作します。 ``` ![消防隊エージェント](./../../images/agent_control.jpg) ## エージェントの動作フロー -エージェントの動作を決めているのはTacticsというプログラムです． +エージェントの動作を決めているのはTacticsというプログラムです。 -消防隊の思考ルーチンは下の図の通りにおおよそおこなわれます． 消防隊の動作としては，まず救助対象の市民を捜索し(`Human Detector`)，見つかった市民を救助します(`Action Rescue`)． 救助対象の市民が見つからない場合は，探索場所を変更して市民を捜索するため，次の捜索場所を決定して(`Search`)移動します(`Action Ext move`)． なお，エージェントは1ステップ内で，移動と救助活動を同時におこなうことが出来ません．つまり，ステップごとに更新される自身の周辺情報を確認して，動作の対象と動作内容を決定していくということになります． これらそれぞれの機能が，モジュールと呼ばれるプログラムとして分割して表現されています． +消防隊の思考ルーチンは下の図の通りにおおよそおこなわれます。 消防隊の動作としては、まず救助対象の市民を捜索し(`Human Detector`)、見つかった市民を救助します(`Action Rescue`)。 救助対象の市民が見つからない場合は、探索場所を変更して市民を捜索するため、次の捜索場所を決定して(`Search`)移動します(`Action Ext move`)。 なお、エージェントは1ステップ内で、移動と救助活動を同時におこなうことが出来ません。つまり、ステップごとに更新される自身の周辺情報を確認して、動作の対象と動作内容を決定していくということになります。 これらそれぞれの機能が、モジュールと呼ばれるプログラムとして分割して表現されています。 -今回はこの中で，救助（掘り起こし）対象を決定する `Human Detector` モジュールを開発します． +今回はこの中で、救助（掘り起こし）対象を決定する `Human Detector` モジュールを開発します。 ![消防隊エージェントの動作フロー](./../../images/agent_flow.png) ## `Human Detector` モジュールの実装の準備 -まず、`Human Detector` モジュールを記述するためのファイルを作成します． +まず、`Human Detector` モジュールを記述するためのファイルを作成します。 ```bash cd WORKING_DIR/ touch src//module/complex/fire_brigade_human_detector.py ``` -次に、`Human Detector` モジュールの雛形の実装を行います． 以下のコードを`fire_brigade_human_detector.py` に記述してください． +次に、`Human Detector` モジュールの雛形の実装を行います。 以下のコードを`fire_brigade_human_detector.py` に記述してください。 ```python from typing import Optional @@ -91,62 +91,62 @@ class FireBrigadeHumanDetector(HumanDetector): ## モジュールの登録 -次に、作成したモジュールを登録します． +次に、作成したモジュールを登録します。 -`WORKING_DIR//config/module.yaml` ファイルを開き，以下の部分を +`WORKING_DIR//config/module.yaml` ファイルを開き、以下の部分を ```yaml DefaultTacticsFireBrigade: HumanDetector: src..module.complex.sample_human_detector.SampleHumanDetector ``` -以下のように変更してください． +以下のように変更してください。 ```yaml DefaultTacticsFireBrigade: HumanDetector: src..module.complex.fire_brigade_human_detector.FireBrigadeHumanDetector ``` -シミュレーションサーバーを起動し、エージェントを実行してみましょう． +シミュレーションサーバーを起動し、エージェントを実行してみましょう。 ```bash cd WORKING_DIR/ python main.py ``` -標準出力に `Calculate FireBrigadeHumanDetector` と表示されれば成功です． +標準出力に `Calculate FireBrigadeHumanDetector` と表示されれば成功です。 ## `Human Detector` モジュールの設計 -救助対象選択プログラムの中身を書き，消防隊エージェントが救助活動をおこなえるように修正します． +救助対象選択プログラムの中身を書き、消防隊エージェントが救助活動をおこなえるように修正します。 -消防隊エージェントの救助対象を最も簡単に選択する方法は，埋没している市民の中で最も自身に近い市民を選択する方法です． 今回は，この方法を採用した消防隊エージェントの行動対象決定モジュールを書いてみましょう． +消防隊エージェントの救助対象を最も簡単に選択する方法は、埋没している市民の中で最も自身に近い市民を選択する方法です。 今回は、この方法を採用した消防隊エージェントの行動対象決定モジュールを書いてみましょう。 -埋没している市民の中で最も自身に近い市民を救助対象として選択する方法は，フローチャートで表すと下図のようになります． +埋没している市民の中で最も自身に近い市民を救助対象として選択する方法は、フローチャートで表すと下図のようになります。 ![救助対象選択フローチャート](./../../images/human_detector_flow.png) -このフローチャート中の各処理を，次小節で紹介する各クラス・メソッド等で置き換えたものを，`fire_brigade_human_detector.py` に記述していくことで，救助対象選択プログラムを完成させます． +このフローチャート中の各処理を、次小節で紹介する各クラス・メソッド等で置き換えたものを、`fire_brigade_human_detector.py` に記述していくことで、救助対象選択プログラムを完成させます。 ## `Human Detector` モジュールの実装で使用するクラス・メソッド ### Entity -`Entity` クラスは，エンティティの基底クラスです． このクラスは，エンティティの基本情報を保持します． +`Entity` クラスは、エンティティの基底クラスです。 このクラスは、エンティティの基本情報を保持します。 -RRS上のエンティティは下図のように `Entity` を継承したクラスで表現されています． 赤枠で囲まれたクラスは，クラスの意味がそのままRRSの直接的な構成要素を表しています． +RRS上のエンティティは下図のように `Entity` を継承したクラスで表現されています。 赤枠で囲まれたクラスは、クラスの意味がそのままRRSの直接的な構成要素を表しています。 -例: Road クラスのインスタンスの中には， Hydrant クラスを継承してない通常の道路を表すものも存在しています． +例: Road クラスのインスタンスの中には、 Hydrant クラスを継承してない通常の道路を表すものも存在しています。 ![エンティティの継承関係](./../../images/entity.png) ### EntityID -`EntityID` クラスは，全てのエージェント/オブジェクトを一意に識別するためのID(識別子)を表すクラスです． RRSではエージェントとオブジェクトをまとめて，エンティティと呼んでいます． +`EntityID` クラスは、全てのエージェント/オブジェクトを一意に識別するためのID(識別子)を表すクラスです。 RRSではエージェントとオブジェクトをまとめて、エンティティと呼んでいます。 ### Civilian -`Civilian` クラスは，市民を表すクラスです．このクラスからは，エージェントの位置や負傷の進行状況を取得することができます． +`Civilian` クラスは、市民を表すクラスです。このクラスからは、エージェントの位置や負傷の進行状況を取得することができます。 - `entity` が市民であるかどうかを判定する @@ -178,9 +178,9 @@ if buriedness is None or buriedness <= 0: ### WorldInfo -`WorldInfo` クラスは，エージェントが把握している情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，他のエージェントやオブジェクトの状態を確認します． +`WorldInfo` クラスは、エージェントが把握している情報とそれに関する操作をおこなうメソッドをもったクラスです。 エージェントはこのクラスのインスタンスを通して、他のエージェントやオブジェクトの状態を確認します。 -モジュール内では，`WorldInfo` クラスのインスタンスを `self._world_info` として保持しています． +モジュール内では、`WorldInfo` クラスのインスタンスを `self._world_info` として保持しています。 - エンティティIDからエンティティを取得する @@ -204,9 +204,9 @@ self._world_info.get_distance(me, civilian.get_id()) ### AgentInfo -`AgentInfo` クラスは，エージェント自身の情報とそれに関する操作をおこなうメソッドをもったクラスです． エージェントはこのクラスのインスタンスを通して，エージェント自身の状態を取得します． +`AgentInfo` クラスは、エージェント自身の情報とそれに関する操作をおこなうメソッドをもったクラスです。 エージェントはこのクラスのインスタンスを通して、エージェント自身の状態を取得します。 -モジュール内では，`AgentInfo` クラスのインスタンスを `self._agent_info` として保持しています． +モジュール内では、`AgentInfo` クラスのインスタンスを `self._agent_info` として保持しています。 - 自分自身のエンティティIDを取得する @@ -218,7 +218,7 @@ self._agent_info.get_entity_id() ## `Human Detector` モジュールの実装 -`Human Detector` モジュールの実装を行います． +`Human Detector` モジュールの実装を行います。 以下のコードを`fire_brigade_human_detector.py` に記述してください。 ```python @@ -305,11 +305,11 @@ class SampleHumanDetector(HumanDetector): return self._result ``` -シミュレーションサーバーを起動し，エージェントを実行してみましょう． +シミュレーションサーバーを起動し、エージェントを実行してみましょう。 ```bash cd WORKING_DIR/ python main.py ``` -埋没している市民を消防隊エージェントが救出できるようになっていれば成功です． +埋没している市民を消防隊エージェントが救出できるようになっていれば成功です。 diff --git a/docs/source/tutorial/module/module.md b/docs/source/tutorial/module/module.md index 6614d27..ce8c9de 100644 --- a/docs/source/tutorial/module/module.md +++ b/docs/source/tutorial/module/module.md @@ -82,7 +82,7 @@ adf-core-pythonでは、以下のモジュールが提供されています。 | DynamicClustering | シミュレーションの進行によってクラスタが変化するクラスタリング | | StaticClustering | シミュレーション開始時にクラスタが定まるクラスタリング | | ExtAction | 活動対象決定後のエージェントの動作決定 | -| MessageCoordinator | 通信でメッセージ(情報)を送信する経路である，チャンネルへのメッセージの分配 | +| MessageCoordinator | 通信でメッセージ(情報)を送信する経路である、チャンネルへのメッセージの分配 | | ChannelSubscriber | 通信によってメッセージを受け取るチャンネルの選択 | 自分で上記の役割以外のモジュールを作成する際は、`AbstractModule` を継承してください。 From f7e59923765e299b145ec20da749bc8c8192678e Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 12:08:38 +0900 Subject: [PATCH 159/249] docs: add search module documentation and update index --- docs/source/hands-on/search.md | 173 +++++++++++++++++++++++++++++++++ docs/source/index.rst | 1 + 2 files changed, 174 insertions(+) create mode 100644 docs/source/hands-on/search.md diff --git a/docs/source/hands-on/search.md b/docs/source/hands-on/search.md new file mode 100644 index 0000000..cc48fce --- /dev/null +++ b/docs/source/hands-on/search.md @@ -0,0 +1,173 @@ +# サーチモジュール + +## サーチモジュールの概要 + +今回開発するモジュールは、`KMeansPPClustering` モジュールを用いた情報探索対象決定 (`Search`) モジュールです。 クラスタリングモジュールによってエージェント間で担当地域の分割をおこない、 担当地域内からランダムに探索対象として選択します。 + +## サーチモジュールの実装の準備 + +```{note} +以降の作業では、カレントディレクトリがプロジェクトのルートディレクトリであることを前提としています。 +``` + +まず、サーチモジュールを記述するためのファイルを作成します。 + +```bash +mkdir -p src//module/search +touch src//module/complex/k_means_pp_search.py +``` + +次に、サーチモジュールの実装を行います。 以下のコードを `k_means_pp_search.py` に記述してください。 +これが今回実装するサーチモジュールの雛形になります。 + +```python +import random +from typing import Optional, cast + +from rcrs_core.entities.building import Building +from rcrs_core.entities.entity import Entity +from rcrs_core.entities.refuge import Refuge +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.clustering import Clustering +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning +from adf_core_python.core.component.module.complex.search import Search +from adf_core_python.core.logger.logger import get_agent_logger + + +class KMeansPPSearch(Search): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._result: Optional[EntityID] = None + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + def calculate(self) -> Search: + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result +``` + +## モジュールの登録 + +次に、作成したモジュールを登録します。 +以下のように`config/module.yaml`の該当箇所を変更してください + +```yaml +DefaultTacticsAmbulanceTeam: + Search: src..module.complex.k_means_pp_search.KMeansPPSearch + +DefaultTacticsFireBrigade: + Search: src..module.complex.k_means_pp_search.KMeansPPSearch + +DefaultTacticsPoliceForce: + Search: src..module.complex.k_means_pp_search.KMeansPPSearch +``` + +## モジュールの実装 + +まず、`KMeansPPClustering` モジュールを呼び出せるようにします。 + +以下のコードを`config/module.yaml`に追記してください。 + +```yaml +KMeansPPSearch: + Clustering: src..module.algorithm.k_means_pp_clustering.KMeansPPClustering +``` + +次に、`KMeansPPSearch` モジュールで `KMeansPPClustering` モジュールを呼び出せるようにします。 + +以下のコードを `k_means_pp_search.py` に追記してください。 + +```python +class KMeansPPSearch(Search): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._result: Optional[EntityID] = None + + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "KMeansPPSearch.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + self.register_sub_module(self._clustering) +``` + +そして、`calculate` メソッドでクラスタリングモジュールを呼び出し、探索対象を決定します。 + +```python + def calculate(self) -> Search: + # 自エージェントのエンティティIDを取得 + me: EntityID = self._agent_info.get_entity_id() + # 自エージェントが所属するクラスターのインデックスを取得 + allocated_cluster_index: int = self._clustering.get_cluster_index(me) + # クラスター内のエンティティIDを取得 + cluster_entity_ids: list[EntityID] = self._clustering.get_cluster_entity_ids( + allocated_cluster_index + ) + # 乱数で選択 + index = random.randint(0, len(cluster_entity_ids) - 1) + # 選択したエンティティIDを結果として設定 + self._result = cluster_entity_ids[index] + + return self +``` + +以上で、`KMeansPPClustering` モジュールを用いた `KMeansPPSearch` モジュールの実装が完了しました。 + +実行すると、各エージェントが担当地域内からランダムに探索対象を選択し、探索を行います。 + +## モジュールの改善 + +`KMeansPPSearch` モジュールは、クラスタリングモジュールを用いて担当地域内からランダムに探索対象を選択しています。 +そのため、以下のような問題があります。 + +- 探索対象がステップごとに変わってしまう + - 目標にたどり着く前に探索対象が変わってしまうため、なかなか目標にたどり着けない + - 色んなところにランダムに探索対象を選択することで、効率的な探索ができない +- すでに探索したエンティティを再度探索対象として選択してしまうため、効率的な探索ができない + +などの問題があります。 + +## 課題 + +`KMeansPPSearch` モジュールを改善し、より効率的な探索を行うモジュールを実装して見てください。 + +### 探索対象がステップごとに変わってしまう問題 + +### すでに探索したエンティティを再度探索対象として選択してしまう問題 diff --git a/docs/source/index.rst b/docs/source/index.rst index 5920345..5779f93 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -47,6 +47,7 @@ ADF Core Python を始めるには、インストール手順に従い、この :caption: ハンズオン: hands-on/clustering + hands-on/search .. toctree:: :maxdepth: 1 From 4917ee6d20438c2180e74fcc7ad7740bf1bc7af5 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 12:27:58 +0900 Subject: [PATCH 160/249] docs: update config tutorial with directory structure and file descriptions --- docs/source/tutorial/config/config.md | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/docs/source/tutorial/config/config.md b/docs/source/tutorial/config/config.md index 827ba24..3257086 100644 --- a/docs/source/tutorial/config/config.md +++ b/docs/source/tutorial/config/config.md @@ -2,19 +2,30 @@ ## コンフィグについての説明 +```bash +. +└── + └── config + ├── development.json + ├── launcher.yaml + └── module.yaml +``` + +`config` ディレクトリには、エージェントの設定ファイルが格納されています。 + ### launcher.yaml -launcher.yaml は、エージェントの起動時に読み込まれる設定ファイルです。 +`launcher.yaml` は、エージェントの起動時に読み込まれる設定ファイルです。 シミュレーションサーバーの指定や読み込むモジュールが記述されたファイルの指定などが記述されています。 ### module.yaml -module.yaml は、エージェントが読み込むモジュールの設定ファイルです。 +`module.yaml` は、エージェントが読み込むモジュールの設定ファイルです。 読み込むモジュールのパスなどが記述されています。 -パスを指定する際は、プロジェクトのmain.pyからの相対パスで指定してください。 +パスを指定する際は、プロジェクトの`main.py`からの相対パスで指定してください。 ### development.json -development.json は、開発時に使用する設定ファイルです。 +`development.json` は、開発時に使用する設定ファイルです。 エージェントの開発時に外部から値を取得する際に使用します。 そのため、競技時には使用することができません。 From 16760a92281ef381aa46670175f20cc96d3af9db Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 15:32:06 +0900 Subject: [PATCH 161/249] docs: update clustering and search module documentation with team-specific paths and simulation instructions --- docs/source/hands-on/clustering.md | 6 ++++-- docs/source/hands-on/search.md | 3 --- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/docs/source/hands-on/clustering.md b/docs/source/hands-on/clustering.md index 5c24b98..9e70f9a 100644 --- a/docs/source/hands-on/clustering.md +++ b/docs/source/hands-on/clustering.md @@ -292,8 +292,10 @@ class KMeansPPClustering(Clustering): ```yaml SampleSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning - Clustering: src.test-agent.module.algorithm.k_means_pp_clustering.KMeansPPClustering + Clustering: src..module.algorithm.k_means_pp_clustering.KMeansPPClustering SampleHumanDetector: - Clustering: src.test-agent.module.algorithm.k_means_pp_clustering.KMeansPPClustering + Clustering: src..module.algorithm.k_means_pp_clustering.KMeansPPClustering ``` + +シミュレーションサーバーを起動して、エージェントを起動してください。エージェントが起動すると、標準出力にクラスタリング結果が表示されます。 diff --git a/docs/source/hands-on/search.md b/docs/source/hands-on/search.md index cc48fce..a8e18d2 100644 --- a/docs/source/hands-on/search.md +++ b/docs/source/hands-on/search.md @@ -13,7 +13,6 @@ まず、サーチモジュールを記述するためのファイルを作成します。 ```bash -mkdir -p src//module/search touch src//module/complex/k_means_pp_search.py ``` @@ -29,14 +28,12 @@ from rcrs_core.entities.entity import Entity from rcrs_core.entities.refuge import Refuge from rcrs_core.worldmodel.entityID import EntityID -from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.module.algorithm.clustering import Clustering -from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning from adf_core_python.core.component.module.complex.search import Search from adf_core_python.core.logger.logger import get_agent_logger From 16733f647d1dd55b0537b26f5321df88561582e4 Mon Sep 17 00:00:00 2001 From: harrki Date: Thu, 28 Nov 2024 16:00:59 +0900 Subject: [PATCH 162/249] fix: Fixed to copy only necessary files --- adf_core_python/cli/cli.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index 232bd1b..e86c980 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -38,6 +38,8 @@ def _copy_template( for file in files: file_path = os.path.join(root, file) with open(file_path, "r") as f: + if not file_path.endswith((".py", ".yaml")): + continue content = f.read() with open(file_path, "w") as f: f.write(content.replace(NAME_PLACEHOLDER, name)) From 92d4da8c2e32fdd355fb72d1fece05960dfc610c Mon Sep 17 00:00:00 2001 From: harrki Date: Thu, 28 Nov 2024 16:04:33 +0900 Subject: [PATCH 163/249] fix: Add necessary file --- adf_core_python/cli/cli.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/cli/cli.py b/adf_core_python/cli/cli.py index e86c980..b14a1c7 100644 --- a/adf_core_python/cli/cli.py +++ b/adf_core_python/cli/cli.py @@ -38,7 +38,7 @@ def _copy_template( for file in files: file_path = os.path.join(root, file) with open(file_path, "r") as f: - if not file_path.endswith((".py", ".yaml")): + if not file_path.endswith((".py", ".yaml", ".json")): continue content = f.read() with open(file_path, "w") as f: From 98faf84ffd79361a5b0d1bd550ac5bb76a2e142a Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 17:20:59 +0900 Subject: [PATCH 164/249] docs: add sphinx-togglebutton extension and improve search module entity selection logic --- docs/source/conf.py | 1 + docs/source/hands-on/search.md | 172 ++++++++++++++++++++++++++++++++- poetry.lock | 56 ++++++++++- pyproject.toml | 1 + 4 files changed, 226 insertions(+), 4 deletions(-) diff --git a/docs/source/conf.py b/docs/source/conf.py index d0b0168..42b8350 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -24,6 +24,7 @@ "sphinx.ext.napoleon", "sphinx.ext.autosummary", "sphinx_copybutton", + "sphinx_togglebutton", "myst_parser", "sphinxcontrib.mermaid", ] diff --git a/docs/source/hands-on/search.md b/docs/source/hands-on/search.md index a8e18d2..8b6ac94 100644 --- a/docs/source/hands-on/search.md +++ b/docs/source/hands-on/search.md @@ -138,9 +138,8 @@ class KMeansPPSearch(Search): allocated_cluster_index ) # 乱数で選択 - index = random.randint(0, len(cluster_entity_ids) - 1) - # 選択したエンティティIDを結果として設定 - self._result = cluster_entity_ids[index] + if cluster_entity_ids: + self._result = random.choice(cluster_entity_ids) return self ``` @@ -158,6 +157,7 @@ class KMeansPPSearch(Search): - 目標にたどり着く前に探索対象が変わってしまうため、なかなか目標にたどり着けない - 色んなところにランダムに探索対象を選択することで、効率的な探索ができない - すでに探索したエンティティを再度探索対象として選択してしまうため、効率的な探索ができない +- 近くに未探索のエンティティがあるのに、遠くのエンティティを探索対象として選択してしまう などの問題があります。 @@ -165,6 +165,172 @@ class KMeansPPSearch(Search): `KMeansPPSearch` モジュールを改善し、より効率的な探索を行うモジュールを実装して見てください。 +```{warning} +ここに上げた問題以外にも、改善すべき点が存在すると思うので、それを改善していただいても構いません。 +``` + ### 探索対象がステップごとに変わってしまう問題 +```{admonition} 方針のヒント +:class: tip dropdown + +一度選択した探索対象に到達するまで、探索対象を変更しないようにする +``` + +```{admonition} プログラム例 +:class: tip dropdown + +````python + def calculate(self) -> Search: + # 自エージェントのエンティティIDを取得 + me: EntityID = self._agent_info.get_entity_id() + # 自エージェントが所属するクラスターのインデックスを取得 + allocated_cluster_index: int = self._clustering.get_cluster_index(me) + # クラスター内のエンティティIDを取得 + cluster_entity_ids: list[EntityID] = self._clustering.get_cluster_entity_ids( + allocated_cluster_index + ) + + # 探索対象をすでに選んでいる場合 + if self._result: + # 自エージェントのいる場所のエンティティIDを取得 + my_position = self._agent_info.get_position_entity_id() + # 探索対象の場所のエンティティIDを取得 + target_position = self._world_info.get_entity_position(self._result) + # 自エージェントのいる場所と探索対象の場所が一致している場合、探索対象をリセット + if my_position == target_position: + # 探索対象をリセット + self._result = None + + # 探索対象が未選択の場合 + if not self._result and cluster_entity_ids: + self._result = random.choice(cluster_entity_ids) + + return self +``` + ### すでに探索したエンティティを再度探索対象として選択してしまう問題 + +```{admonition} 方針のヒント +:class: tip dropdown + +すでに探索したエンティティを何かしらの方法で記録し、再度探索対象として選択しないようにする +``` + +```{admonition} プログラム例 +:class: tip dropdown + +````python + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._result: Optional[EntityID] = None + + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "KMeansPPSearch.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + self.register_sub_module(self._clustering) + + # 探索したいエンティティIDのリスト(追加) + self._search_entity_ids: list[EntityID] = [] + + def calculate(self) -> Search: + # 探索したいエンティティIDのリストが空の場合 + if not self._search_entity_ids: + # 自エージェントのエンティティIDを取得 + me: EntityID = self._agent_info.get_entity_id() + # 自エージェントが所属するクラスターのインデックスを取得 + allocated_cluster_index: int = self._clustering.get_cluster_index(me) + # クラスター内のエンティティIDを取得(変更) + self._search_entity_ids: list[EntityID] = ( + self._clustering.get_cluster_entity_ids(allocated_cluster_index) + ) + + # 探索対象をすでに選んでいる場合 + if self._result: + # 自エージェントのいる場所のエンティティIDを取得 + my_position = self._agent_info.get_position_entity_id() + # 探索対象の場所のエンティティIDを取得 + target_position = self._world_info.get_entity_position(self._result) + # 自エージェントのいる場所と探索対象の場所が一致している場合、探索対象をリセット + if my_position == target_position: + # 探索したいエンティティIDのリストから探索対象を削除 + self._search_entity_ids.remove(self._result) + # 探索対象をリセット + self._result = None + + # 探索対象が未選択の場合(変更) + if not self._result and self._search_entity_ids: + self._result = random.choice(self._search_entity_ids) + + return self +``` + +### 近くに未探索のエンティティがあるのに、遠くのエンティティを探索対象として選択してしまう + +```{admonition} 方針のヒント +:class: tip dropdown + +エンティティ間の距離を計算し、もっとも近いエンティティを探索対象として選択する +``` + +```{admonition} プログラム例 +:class: tip dropdown + +````python + def calculate(self) -> Search: + # 探索したいエンティティIDのリストが空の場合 + if not self._search_entity_ids: + # 自エージェントのエンティティIDを取得 + me: EntityID = self._agent_info.get_entity_id() + # 自エージェントが所属するクラスターのインデックスを取得 + allocated_cluster_index: int = self._clustering.get_cluster_index(me) + # クラスター内のエンティティIDを取得 + self._search_entity_ids: list[EntityID] = ( + self._clustering.get_cluster_entity_ids(allocated_cluster_index) + ) + + # 探索対象をすでに選んでいる場合 + if self._result: + # 自エージェントのいる場所のエンティティIDを取得 + my_position = self._agent_info.get_position_entity_id() + # 探索対象の場所のエンティティIDを取得 + target_position = self._world_info.get_entity_position(self._result) + # 自エージェントのいる場所と探索対象の場所が一致している場合、探索対象をリセット + if my_position == target_position: + # 探索したいエンティティIDのリストから探索対象を削除 + self._search_entity_ids.remove(self._result) + # 探索対象をリセット + self._result = None + + # 探索対象が未選択の場合 + if not self._result and self._search_entity_ids: + nearest_entity_id: Optional[EntityID] = None + nearest_distance: float = float("inf") + me: EntityID = self._agent_info.get_entity_id() + # 探索対象の中で自エージェントに最も近いエンティティIDを選択(変更) + for entity_id in self._search_entity_ids: + distance = self._world_info.get_distance(me, entity_id) + if distance < nearest_distance: + nearest_entity_id = entity_id + nearest_distance = distance + self._result = nearest_entity_id +``` diff --git a/poetry.lock b/poetry.lock index 357088b..3ab05f3 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1102,6 +1102,26 @@ dev = ["cython-lint (>=0.12.2)", "doit (>=0.36.0)", "mypy (==1.10.0)", "pycodest doc = ["jupyterlite-pyodide-kernel", "jupyterlite-sphinx (>=0.13.1)", "jupytext", "matplotlib (>=3.5)", "myst-nb", "numpydoc", "pooch", "pydata-sphinx-theme (>=0.15.2)", "sphinx (>=5.0.0,<=7.3.7)", "sphinx-design (>=0.4.0)"] test = ["Cython", "array-api-strict (>=2.0)", "asv", "gmpy2", "hypothesis (>=6.30)", "meson", "mpmath", "ninja", "pooch", "pytest", "pytest-cov", "pytest-timeout", "pytest-xdist", "scikit-umfpack", "threadpoolctl"] +[[package]] +name = "setuptools" +version = "75.6.0" +description = "Easily download, build, install, upgrade, and uninstall Python packages" +optional = false +python-versions = ">=3.9" +files = [ + {file = "setuptools-75.6.0-py3-none-any.whl", hash = "sha256:ce74b49e8f7110f9bf04883b730f4765b774ef3ef28f722cce7c273d253aaf7d"}, + {file = "setuptools-75.6.0.tar.gz", hash = "sha256:8199222558df7c86216af4f84c30e9b34a61d8ba19366cc914424cdbd28252f6"}, +] + +[package.extras] +check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)", "ruff (>=0.7.0)"] +core = ["importlib_metadata (>=6)", "jaraco.collections", "jaraco.functools (>=4)", "jaraco.text (>=3.7)", "more_itertools", "more_itertools (>=8.8)", "packaging", "packaging (>=24.2)", "platformdirs (>=4.2.2)", "tomli (>=2.0.1)", "wheel (>=0.43.0)"] +cover = ["pytest-cov"] +doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier", "towncrier (<24.7)"] +enabler = ["pytest-enabler (>=2.2)"] +test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test (>=5.5)", "packaging (>=24.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"] +type = ["importlib_metadata (>=7.0.2)", "jaraco.develop (>=7.21)", "mypy (>=1.12,<1.14)", "pytest-mypy"] + [[package]] name = "shapely" version = "2.0.6" @@ -1254,6 +1274,26 @@ sphinx = ">=1.8" code-style = ["pre-commit (==2.12.1)"] rtd = ["ipython", "myst-nb", "sphinx", "sphinx-book-theme", "sphinx-examples"] +[[package]] +name = "sphinx-togglebutton" +version = "0.3.2" +description = "Toggle page content and collapse admonitions in Sphinx." +optional = false +python-versions = "*" +files = [ + {file = "sphinx-togglebutton-0.3.2.tar.gz", hash = "sha256:ab0c8b366427b01e4c89802d5d078472c427fa6e9d12d521c34fa0442559dc7a"}, + {file = "sphinx_togglebutton-0.3.2-py3-none-any.whl", hash = "sha256:9647ba7874b7d1e2d43413d8497153a85edc6ac95a3fea9a75ef9c1e08aaae2b"}, +] + +[package.dependencies] +docutils = "*" +setuptools = "*" +sphinx = "*" +wheel = "*" + +[package.extras] +sphinx = ["matplotlib", "myst-nb", "numpy", "sphinx-book-theme", "sphinx-design", "sphinx-examples"] + [[package]] name = "sphinxcontrib-applehelp" version = "2.0.0" @@ -1472,7 +1512,21 @@ h2 = ["h2 (>=4,<5)"] socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"] zstd = ["zstandard (>=0.18.0)"] +[[package]] +name = "wheel" +version = "0.45.1" +description = "A built-package format for Python" +optional = false +python-versions = ">=3.8" +files = [ + {file = "wheel-0.45.1-py3-none-any.whl", hash = "sha256:708e7481cc80179af0e556bbf0cc00b8444c7321e2700b8d8580231d13017248"}, + {file = "wheel-0.45.1.tar.gz", hash = "sha256:661e1abd9198507b1409a20c02106d9670b2576e916d58f520316666abca6729"}, +] + +[package.extras] +test = ["pytest (>=6.0.0)", "setuptools (>=65)"] + [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "29d6b40d3dcb183f4218df24f042f514858d0b01517ecc2956beca72bc4e598e" +content-hash = "1efa77d66baa0c745a56be3ebde95805ef6ce36f1ec6f0ce86b7c472a6df34fd" diff --git a/pyproject.toml b/pyproject.toml index 0a60a76..d50216d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -32,6 +32,7 @@ myst-parser = "^4.0.0" sphinx-book-theme = "^1.1.3" sphinx-copybutton = "^0.5.2" sphinxcontrib-mermaid = "^1.0.0" +sphinx-togglebutton = "^0.3.2" [build-system] requires = ["poetry-core"] From 675c110a6126f2b416c5d1ea64e26f3dabbbcf65 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 28 Nov 2024 17:32:03 +0900 Subject: [PATCH 165/249] feat: add get_entity_position method and fix typo in get_blockades method --- adf_core_python/core/agent/info/world_info.py | 43 ++++++++++++++++--- .../action/default_extend_action_clear.py | 8 ++-- 2 files changed, 41 insertions(+), 10 deletions(-) diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 5bd6676..c447d7b 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -3,6 +3,7 @@ from rcrs_core.entities.area import Area from rcrs_core.entities.blockade import Blockade from rcrs_core.entities.entity import Entity +from rcrs_core.entities.human import Human from rcrs_core.worldmodel.changeSet import ChangeSet from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel @@ -145,6 +146,36 @@ def get_distance(self, entity_id1: EntityID, entity_id2: EntityID) -> float: return distance + def get_entity_position(self, entity_id: EntityID) -> EntityID: + """ + Get the entity position + + Parameters + ---------- + entity_id : EntityID + Entity ID + + Returns + ------- + EntityID + Entity position + + Raises + ------ + ValueError + If the entity is invalid + """ + entity = self.get_entity(entity_id) + if entity is None: + raise ValueError(f"Invalid entity: entity_id={entity_id}, entity={entity}") + if isinstance(entity, Area): + return entity.get_id() + if isinstance(entity, Human): + return entity.get_position() + if isinstance(entity, Blockade): + return entity.get_position() + raise ValueError(f"Invalid entity type: entity_id={entity_id}, entity={entity}") + def get_change_set(self) -> ChangeSet: """ Get the change set @@ -156,7 +187,7 @@ def get_change_set(self) -> ChangeSet: """ return self._change_set - def get_bloackades(self, area: Area) -> set[Blockade]: + def get_blockades(self, area: Area) -> set[Blockade]: """ Get the blockades in the area @@ -165,12 +196,12 @@ def get_bloackades(self, area: Area) -> set[Blockade]: ChangeSet Blockade """ - bloakcades = set() + blockades = set() for blockade_entity_id in area.get_blockades(): - bloackde_entity = self.get_entity(blockade_entity_id) - if isinstance(bloackde_entity, Blockade): - bloakcades.add(cast(Blockade, bloackde_entity)) - return bloakcades + blockades_entity = self.get_entity(blockade_entity_id) + if isinstance(blockades_entity, Blockade): + blockades.add(cast(Blockade, blockades_entity)) + return blockades def add_entity(self, entity: Entity) -> None: """ diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index d24c408..39aa859 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -432,7 +432,7 @@ def _get_intersect_edge_action( start_x = int(agent_x + vector[0]) start_y = int(agent_y + vector[1]) - for blockade in self.world_info.get_bloackades(road): + for blockade in self.world_info.get_blockades(road): if self._is_intersecting_blockade( start_x, start_y, bp_x, bp_y, blockade ): @@ -563,7 +563,7 @@ def _get_area_clear_action( if road.get_blockades() == []: return None - blockades = set(self.world_info.get_bloackades(road)) + blockades = set(self.world_info.get_blockades(road)) min_distance = sys.float_info.max clear_blockade: Optional[Blockade] = None for blockade in blockades: @@ -662,7 +662,7 @@ def _get_neighbour_position_action( start_x = int(agent_x + vector[0]) start_y = int(agent_y + vector[1]) - for blockade in self.world_info.get_bloackades(road): + for blockade in self.world_info.get_blockades(road): if self._is_intersecting_blockade( start_x, start_y, mid_x, mid_y, blockade ): @@ -715,7 +715,7 @@ def _get_neighbour_position_action( min_point_distance = sys.float_info.max clear_x = 0 clear_y = 0 - for blockade in self.world_info.get_bloackades(road): + for blockade in self.world_info.get_blockades(road): apexes = blockade.get_apexes() for i in range(0, len(apexes) - 2, 2): distance = self._get_distance( From de25e592e228b383d521c0ec0031e560d73e7827 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 29 Nov 2024 13:15:22 +0900 Subject: [PATCH 166/249] docs: update installation instructions and directory structure in quickstart and install tutorials --- docs/source/quickstart/quickstart.md | 29 +++++++++++++------------ docs/source/tutorial/install/install.md | 6 ++--- 2 files changed, 18 insertions(+), 17 deletions(-) diff --git a/docs/source/quickstart/quickstart.md b/docs/source/quickstart/quickstart.md index 4142999..664dcd4 100644 --- a/docs/source/quickstart/quickstart.md +++ b/docs/source/quickstart/quickstart.md @@ -12,7 +12,7 @@ パッケージをインストールするには、次のコマンドを実行します： ```bash -pip install adf_core_python +pip install git+https://github.com/adf-python/adf-core-python.git ``` ## 新規エージェントの作成 @@ -34,21 +34,22 @@ Creating a new agent team with name: my-agent ```bash . -├── config -│ ├── development.json -│ ├── launcher.yaml -│ └── module.yaml -├── main.py -└── src - └── my-agent - ├── __init__.py - └── module +└── my-agent + ├── config + │ ├── development.json + │ ├── launcher.yaml + │ └── module.yaml + ├── main.py + └── src + └── my-agent ├── __init__.py - └── complex + └── module ├── __init__.py - ├── sample_human_detector.py - ├── sample_road_detector.py - └── sample_search.py + └── complex + ├── __init__.py + ├── sample_human_detector.py + ├── sample_road_detector.py + └── sample_search.py ``` ## エージェントを実行する diff --git a/docs/source/tutorial/install/install.md b/docs/source/tutorial/install/install.md index c27a88f..032e22c 100644 --- a/docs/source/tutorial/install/install.md +++ b/docs/source/tutorial/install/install.md @@ -14,7 +14,7 @@ パッケージをインストールするには、次のコマンドを実行します： ```bash -pip install adf_core_python +pip install git+https://github.com/adf-python/adf-core-python.git ``` ## インストールの確認 @@ -22,7 +22,7 @@ pip install adf_core_python インストールを確認するには、次のコマンドを実行します： ```bash -python -c "import adf_core_python; print(adf_core_python.__version__)" +pip show adf_core_python ``` -パッケージが正しくインストールされている場合、パッケージのバージョン番号が表示されます。 +パッケージが正しくインストールされている場合、パッケージのバージョン番号などが表示されます。 From 4aab8bbbc1beb765795d5bf4c1679112dff75efe Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 29 Nov 2024 16:57:32 +0900 Subject: [PATCH 167/249] fix: correct import statement for GasStation entity --- .../src/team_name/module/complex/sample_road_detector.py | 2 +- .../implement/module/complex/default_police_target_allocator.py | 2 +- .../implement/module/complex/default_road_detector.py | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index 7a560fc..3dd95d8 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -1,7 +1,7 @@ from typing import Optional, cast from rcrs_core.entities.building import Building -from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.gasStation import GasStation from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.road import Road from rcrs_core.worldmodel.entityID import EntityID diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/adf_core_python/implement/module/complex/default_police_target_allocator.py index d88e545..00d6702 100644 --- a/adf_core_python/implement/module/complex/default_police_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -3,7 +3,7 @@ from rcrs_core.entities.building import Building from rcrs_core.entities.entity import Entity -from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.gasStation import GasStation from rcrs_core.entities.policeForce import PoliceForce from rcrs_core.entities.refuge import Refuge from rcrs_core.entities.road import Road diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index adad2d8..5e598b9 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -1,7 +1,7 @@ from typing import Optional, cast from rcrs_core.entities.building import Building -from rcrs_core.entities.gassStation import GasStation +from rcrs_core.entities.gasStation import GasStation from 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@@ click = "^8.1.7" [tool.poetry.group.dev.dependencies] taskipy = "^1.12.2" +pytest = "^8.3.2" mypy = "^1.9.0" types-protobuf = "^4.25.0.20240410" ruff = "^0.4.4" From 66f71484dd5385ba329803c5b934f8acaeacbf32 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 29 Nov 2024 20:03:19 +0900 Subject: [PATCH 170/249] feat: add office agents for ambulance, fire, and police --- .../cli/template/config/module.yaml | 18 +-- adf_core_python/core/agent/office/office.py | 103 ++++++++++++++++++ .../core/agent/office/office_ambulance.py | 31 ++++++ .../core/agent/office/office_fire.py | 31 ++++++ .../core/agent/office/office_police.py | 31 ++++++ .../core/launcher/agent_launcher.py | 29 ++--- ...entre.py => connector_ambulance_center.py} | 38 ++++--- .../connect/connector_fire_station.py | 29 +++-- .../connect/connector_police_office.py | 31 ++++-- .../default_tactics_ambulance_center.py | 5 +- .../tactics/default_tactics_fire_station.py | 5 +- .../tactics/default_tactics_police_office.py | 5 +- adf_core_python/launcher.py | 24 ++++ config/launcher.yaml | 6 +- config/module.yaml | 18 +-- 15 files changed, 320 insertions(+), 84 deletions(-) create mode 100644 adf_core_python/core/agent/office/office.py create mode 100644 adf_core_python/core/agent/office/office_ambulance.py create mode 100644 adf_core_python/core/agent/office/office_fire.py create mode 100644 adf_core_python/core/agent/office/office_police.py rename adf_core_python/core/launcher/connect/{connector_ambulance_centre.py => connector_ambulance_center.py} (65%) diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml index 280129b..efec4c6 100644 --- a/adf_core_python/cli/template/config/module.yaml +++ b/adf_core_python/cli/template/config/module.yaml @@ -22,17 +22,17 @@ DefaultTacticsPoliceForce: CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice -# DefaultTacticsAmbulanceCentre: -# TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator -# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance +DefaultTacticsAmbulanceCenter: + TargetAllocator: adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator + # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance -# DefaultTacticsFireStation: -# TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator -# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire +DefaultTacticsFireStation: + TargetAllocator: adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator + # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire -# DefaultTacticsPoliceOffice: -# TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator -# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice +DefaultTacticsPoliceOffice: + TargetAllocator: adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator + # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice SampleSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning diff --git a/adf_core_python/core/agent/office/office.py b/adf_core_python/core/agent/office/office.py new file mode 100644 index 0000000..4c43c4b --- /dev/null +++ b/adf_core_python/core/agent/office/office.py @@ -0,0 +1,103 @@ +from adf_core_python.core.agent.agent import Agent +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.scenario_info import Mode +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.logger.logger import get_agent_logger + + +class Office(Agent): + def __init__( + self, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + ) -> None: + super().__init__( + is_precompute, + self.__class__.__qualname__, + is_debug, + team_name, + data_storage_name, + module_config, + develop_data, + ) + self._tactics_center = tactics_center + self._team_name = team_name + self._is_precompute = is_precompute + self._is_debug = is_debug + self._data_storage_name = data_storage_name + self._module_config = module_config + self._develop_data = develop_data + + def post_connect(self) -> None: + super().post_connect() + self.precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) + + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + self._module_manager: ModuleManager = ModuleManager( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_config, + self._develop_data, + ) + + self._message_manager.set_channel_subscriber( + self._module_manager.get_channel_subscriber( + "MessageManager.PlatoonChannelSubscriber", + "adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber", + ) + ) + self._message_manager.set_message_coordinator( + self._module_manager.get_message_coordinator( + "MessageManager.PlatoonMessageCoordinator", + "adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator", + ) + ) + + self._tactics_center.initialize( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) + + match self._scenario_info.get_mode(): + case Mode.PRECOMPUTATION: + pass + case Mode.PRECOMPUTED: + pass + case Mode.NON_PRECOMPUTE: + self._tactics_center.prepare( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self.precompute_data, + self._develop_data, + ) + + def think(self) -> None: + self._tactics_center.think( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) diff --git a/adf_core_python/core/agent/office/office_ambulance.py b/adf_core_python/core/agent/office/office_ambulance.py new file mode 100644 index 0000000..fc8b9b7 --- /dev/null +++ b/adf_core_python/core/agent/office/office_ambulance.py @@ -0,0 +1,31 @@ +from rcrs_core.connection.URN import Entity as EntityURN + +from adf_core_python.core.agent.office.office import Office + + +class OfficeAmbulance(Office): + def __init__( + self, + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) -> None: + super().__init__( + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) + + def post_connect(self) -> None: + super().post_connect() + + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.AMBULANCE_CENTRE] diff --git a/adf_core_python/core/agent/office/office_fire.py b/adf_core_python/core/agent/office/office_fire.py new file mode 100644 index 0000000..214734b --- /dev/null +++ b/adf_core_python/core/agent/office/office_fire.py @@ -0,0 +1,31 @@ +from rcrs_core.connection.URN import Entity as EntityURN + +from adf_core_python.core.agent.office.office import Office + + +class OfficeFire(Office): + def __init__( + self, + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) -> None: + super().__init__( + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) + + def post_connect(self) -> None: + super().post_connect() + + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.FIRE_STATION] diff --git a/adf_core_python/core/agent/office/office_police.py b/adf_core_python/core/agent/office/office_police.py new file mode 100644 index 0000000..61ce7b8 --- /dev/null +++ b/adf_core_python/core/agent/office/office_police.py @@ -0,0 +1,31 @@ +from rcrs_core.connection.URN import Entity as EntityURN + +from adf_core_python.core.agent.office.office import Office + + +class OfficePolice(Office): + def __init__( + self, + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) -> None: + super().__init__( + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + ) + + def post_connect(self) -> None: + super().post_connect() + + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.POLICE_OFFICE] diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index e7884fb..9b275f6 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -4,31 +4,26 @@ from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey - -# from rcrs_core.connection.componentLauncher import ComponentLauncher from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector - -# from adf_core_python.core.launcher.connect.connector_ambulance_centre import ( -# ConnectorAmbulanceCentre, -# ) +from adf_core_python.core.launcher.connect.connector_ambulance_center import ( + ConnectorAmbulanceCenter, +) from adf_core_python.core.launcher.connect.connector_ambulance_team import ( ConnectorAmbulanceTeam, ) from adf_core_python.core.launcher.connect.connector_fire_brigade import ( ConnectorFireBrigade, ) - -# from adf_core_python.core.launcher.connect.connector_fire_station import ( -# ConnectorFireStation, -# ) +from adf_core_python.core.launcher.connect.connector_fire_station import ( + ConnectorFireStation, +) from adf_core_python.core.launcher.connect.connector_police_force import ( ConnectorPoliceForce, ) - -# from adf_core_python.core.launcher.connect.connector_police_office import ( -# ConnectorPoliceOffice, -# ) +from adf_core_python.core.launcher.connect.connector_police_office import ( + ConnectorPoliceOffice, +) from adf_core_python.core.logger.logger import get_logger @@ -53,11 +48,11 @@ def init_connector(self) -> None: ) self.connectors.append(ConnectorAmbulanceTeam()) - # self.connectors.append(ConnectorAmbulanceCentre()) + self.connectors.append(ConnectorAmbulanceCenter()) self.connectors.append(ConnectorFireBrigade()) - # self.connectors.append(ConnectorFireStation()) + self.connectors.append(ConnectorFireStation()) self.connectors.append(ConnectorPoliceForce()) - # self.connectors.append(ConnectorPoliceOffice()) + self.connectors.append(ConnectorPoliceOffice()) def launch(self) -> None: host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py similarity index 65% rename from adf_core_python/core/launcher/connect/connector_ambulance_centre.py rename to adf_core_python/core/launcher/connect/connector_ambulance_center.py index 8004fb9..98e02d8 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_centre.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -1,10 +1,12 @@ import threading -from rcrs_core.agents.ambulanceCenterAgent import AmbulanceCenterAgent - from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.office.office_ambulance import OfficeAmbulance from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.tactics.tactics_ambulance_center import ( + TacticsAmbulanceCenter, +) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -12,7 +14,7 @@ from adf_core_python.core.logger.logger import get_logger -class ConnectorAmbulanceCentre(Connector): +class ConnectorAmbulanceCenter(Connector): def __init__(self) -> None: super().__init__() self.logger = get_logger(__name__) @@ -30,22 +32,21 @@ def connect( threads: list[threading.Thread] = [] for _ in range(count): - # tactics_ambulance_centre: TacticsAmbulanceCentre - if loader.get_tactics_ambulance_center() is not None: + if loader.get_tactics_ambulance_center() is None: self.logger.error("Cannot load ambulance centre tactics") - # tactics_ambulance_centre = loader.get_tactics_ambulance_centre() - else: - # tactics_ambulance_centre = DummyTacticsAmbulanceCentre() - pass - module_config: ModuleConfig = ModuleConfig( # noqa: F841 + tactics_ambulance_center: TacticsAmbulanceCenter = ( + loader.get_tactics_ambulance_center() + ) + + module_config: ModuleConfig = ModuleConfig( config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) - develop_data: DevelopData = DevelopData( # noqa: F841 + develop_data: DevelopData = DevelopData( config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME @@ -53,18 +54,23 @@ def connect( ) request_id: int = component_launcher.generate_request_id() - # TODO: component_launcher.generate_request_ID can cause race condition thread = threading.Thread( target=component_launcher.connect, args=( - AmbulanceCenterAgent( + OfficeAmbulance( + tactics_ambulance_center, + "ambulance_center", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - ), # type: ignore + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + "test", + module_config, + develop_data, + ), request_id, ), - name=f"AmbulanceCentreAgent-{request_id}", + name=f"AmbulanceCenterAgent-{request_id}", ) threads.append(thread) - self.logger.info("Connected ambulance centre (count: %d)" % count) + self.logger.info("Connected ambulance center (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index cd5632e..f9f4abc 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -1,10 +1,12 @@ import threading -from rcrs_core.agents.fireStationAgent import FireStationAgent - from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.office.office_fire import OfficeFire from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.tactics.tactics_fire_station import ( + TacticsFireStation, +) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -30,22 +32,19 @@ def connect( threads: list[threading.Thread] = [] for _ in range(count): - # tactics_fire_station: TacticsFireStation - if loader.get_tactics_fire_station() is not None: + if loader.get_tactics_fire_station() is None: self.logger.error("Cannot load fire station tactics") - # tactics_fire_station = loader.get_tactics_fire_station() - else: - # tactics_fire_station = DummyTacticsFireStation() - pass - module_config: ModuleConfig = ModuleConfig( # noqa: F841 + tactics_fire_station: TacticsFireStation = loader.get_tactics_fire_station() + + module_config: ModuleConfig = ModuleConfig( config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) - develop_data: DevelopData = DevelopData( # noqa: F841 + develop_data: DevelopData = DevelopData( config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME @@ -56,9 +55,15 @@ def connect( thread = threading.Thread( target=component_launcher.connect, args=( - FireStationAgent( + OfficeFire( + tactics_fire_station, + "fire_station", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - ), # type: ignore + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + "test", + module_config, + develop_data, + ), request_id, ), name=f"FireStationAgent-{request_id}", diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index b20da2e..01601fc 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -1,10 +1,12 @@ import threading -from rcrs_core.agents.policeOfficeAgent import PoliceOfficeAgent - from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.office.office_police import OfficePolice from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.tactics.tactics_police_office import ( + TacticsPoliceOffice, +) from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -30,22 +32,21 @@ def connect( threads: list[threading.Thread] = [] for _ in range(count): - # tactics_police_office: TacticsPoliceOffice - if loader.get_tactics_police_office() is not None: + if loader.get_tactics_police_office() is None: self.logger.error("Cannot load police office tactics") - # tactics_police_office = loader.get_tactics_police_office() - else: - # tactics_police_office = DummyTacticsPoliceOffice() - pass - module_config: ModuleConfig = ModuleConfig( # noqa: F841 + tactics_police_office: TacticsPoliceOffice = ( + loader.get_tactics_police_office() + ) + + module_config: ModuleConfig = ModuleConfig( config.get_value( ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, ModuleConfig.DEFAULT_CONFIG_FILE_NAME, ) ) - develop_data: DevelopData = DevelopData( # noqa: F841 + develop_data: DevelopData = DevelopData( config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), config.get_value( ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME @@ -56,9 +57,15 @@ def connect( thread = threading.Thread( target=component_launcher.connect, args=( - PoliceOfficeAgent( + OfficePolice( + tactics_police_office, + "police_office", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - ), # type: ignore + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + "test", + module_config, + develop_data, + ), request_id, ), name=f"PoliceOfficeAgent-{request_id}", diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index 7fbb294..909f448 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -32,7 +32,7 @@ def initialize( TargetAllocator, module_manager.get_module( "DefaultTacticsAmbulanceCenter.TargetAllocator", - "adf_core_python.implement.module.complex.DefaultTargetAllocator", + "adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator", ), ) self.register_module(self._allocator) @@ -70,4 +70,5 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + # TODO: implement + pass diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py index 41f5ccc..63693d7 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -32,7 +32,7 @@ def initialize( TargetAllocator, module_manager.get_module( "DefaultTacticsFireStation.TargetAllocator", - "adf_core_python.implement.module.complex.DefaultFireTargetAllocator", + "adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator", ), ) self.register_module(self._allocator) @@ -70,4 +70,5 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + # TODO: implement + pass diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py index bf06a37..f2d54c9 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -32,7 +32,7 @@ def initialize( TargetAllocator, module_manager.get_module( "DefaultTacticsPoliceOffice.TargetAllocator", - "adf_core_python.implement.module.complex.DefaultPoliceTargetAllocator", + "adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator", ), ) self.register_module(self._allocator) @@ -70,4 +70,5 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - raise NotImplementedError + # TODO: implement + pass diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index a7105ca..e523a1f 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -51,6 +51,27 @@ def __init__( help="number of policeforce agents(Default: all policeforce)", metavar="", ) + parser.add_argument( + "-ac", + "--ambulancecenter", + type=int, + help="number of ambulance center agents(Default: all ambulance center)", + metavar="", + ) + parser.add_argument( + "-fs", + "--firestation", + type=int, + help="number of fire station agents(Default: all fire station)", + metavar="", + ) + parser.add_argument( + "-po", + "--policeoffice", + type=int, + help="number of police office agents(Default: all police office)", + metavar="", + ) parser.add_argument( "--precompute", type=bool, @@ -66,6 +87,9 @@ def __init__( ConfigKey.KEY_AMBULANCE_TEAM_COUNT: args.ambulanceteam, ConfigKey.KEY_FIRE_BRIGADE_COUNT: args.firebrigade, ConfigKey.KEY_POLICE_FORCE_COUNT: args.policeforce, + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT: args.ambulancecenter, + ConfigKey.KEY_FIRE_STATION_COUNT: args.firestation, + ConfigKey.KEY_POLICE_OFFICE_COUNT: args.policeoffice, ConfigKey.KEY_PRECOMPUTE: args.precompute, ConfigKey.KEY_DEBUG_FLAG: args.debug, } diff --git a/config/launcher.yaml b/config/launcher.yaml index 07de1ca..1b6bdfd 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -28,8 +28,8 @@ adf: count: 100 office: ambulance: - count: -1 + count: 5 fire: - count: -1 + count: 5 police: - count: -1 + count: 5 diff --git a/config/module.yaml b/config/module.yaml index 2697130..75c15a0 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -22,17 +22,17 @@ DefaultTacticsPoliceForce: CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice -# DefaultTacticsAmbulanceCentre: -# TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator -# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance +DefaultTacticsAmbulanceCenter: + TargetAllocator: adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator + # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance -# DefaultTacticsFireStation: -# TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator -# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire +DefaultTacticsFireStation: + TargetAllocator: adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator + # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire -# DefaultTacticsPoliceOffice: -# TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator -# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice +DefaultTacticsPoliceOffice: + TargetAllocator: adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator + # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice DefaultSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning From 59704ee1cfc24391416204f25d28aba8be7112d3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 29 Nov 2024 20:21:06 +0900 Subject: [PATCH 171/249] feat: update office agents to include type hints and refactor precompute method --- .../core/agent/office/office_ambulance.py | 21 +++++++++++-------- .../core/agent/office/office_fire.py | 21 +++++++++++-------- .../core/agent/office/office_police.py | 21 +++++++++++-------- 3 files changed, 36 insertions(+), 27 deletions(-) diff --git a/adf_core_python/core/agent/office/office_ambulance.py b/adf_core_python/core/agent/office/office_ambulance.py index fc8b9b7..4076f67 100644 --- a/adf_core_python/core/agent/office/office_ambulance.py +++ b/adf_core_python/core/agent/office/office_ambulance.py @@ -1,18 +1,21 @@ from rcrs_core.connection.URN import Entity as EntityURN +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.office.office import Office +from adf_core_python.core.component.tactics.tactics_center import TacticsCenter class OfficeAmbulance(Office): def __init__( self, - tactics_center, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, ) -> None: super().__init__( tactics_center, @@ -24,8 +27,8 @@ def __init__( develop_data, ) - def post_connect(self) -> None: - super().post_connect() + def precompute(self) -> None: + pass def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.AMBULANCE_CENTRE] diff --git a/adf_core_python/core/agent/office/office_fire.py b/adf_core_python/core/agent/office/office_fire.py index 214734b..bcd1946 100644 --- a/adf_core_python/core/agent/office/office_fire.py +++ b/adf_core_python/core/agent/office/office_fire.py @@ -1,18 +1,21 @@ from rcrs_core.connection.URN import Entity as EntityURN +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.office.office import Office +from adf_core_python.core.component.tactics.tactics_center import TacticsCenter class OfficeFire(Office): def __init__( self, - tactics_center, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, ) -> None: super().__init__( tactics_center, @@ -24,8 +27,8 @@ def __init__( develop_data, ) - def post_connect(self) -> None: - super().post_connect() + def precompute(self) -> None: + pass def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.FIRE_STATION] diff --git a/adf_core_python/core/agent/office/office_police.py b/adf_core_python/core/agent/office/office_police.py index 61ce7b8..ccfcbca 100644 --- a/adf_core_python/core/agent/office/office_police.py +++ b/adf_core_python/core/agent/office/office_police.py @@ -1,18 +1,21 @@ from rcrs_core.connection.URN import Entity as EntityURN +from adf_core_python.core.agent.config.module_config import ModuleConfig +from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.office.office import Office +from adf_core_python.core.component.tactics.tactics_center import TacticsCenter class OfficePolice(Office): def __init__( self, - tactics_center, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, ) -> None: super().__init__( tactics_center, @@ -24,8 +27,8 @@ def __init__( develop_data, ) - def post_connect(self) -> None: - super().post_connect() + def precompute(self) -> None: + pass def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.POLICE_OFFICE] From b7e4678454f666994005c01a4e660c91c7da3497 Mon Sep 17 00:00:00 2001 From: harrki Date: Fri, 29 Nov 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    + + Language: {{ current_language }} + + +
    + {% if languages|length >= 1 %} +
    +
    {{ _('Languages') }}
    + {% for the_language, url in languages %} +
    {{ the_language }}
    + {% endfor %} +
    + {% endif %} + +
    +
    diff --git a/docs/source/conf.py b/docs/source/conf.py index 42b8350..38604f8 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -5,6 +5,7 @@ import os import sys +import yaml sys.path.insert(0, os.path.abspath("../../")) @@ -32,10 +33,55 @@ templates_path = ["_templates"] exclude_patterns = [] -language = "ja" # -- Options for HTML output ------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output -html_theme = "sphinx_book_theme" +html_theme = "sphinx_rtd_theme" html_static_path = ["_static"] + +locale_dirs = ["locale"] +language = "en" + +# get the environment variable build_all_docs and pages_root +build_all_docs = os.environ.get("build_all_docs") +pages_root = os.environ.get("pages_root", "") + +# if not there, we dont call this +if build_all_docs is not None: + # we get the current language and version + current_language = os.environ.get("current_language") + current_version = os.environ.get("current_version") + + # we set the html_context wit current language and version + # and empty languages and versions for now + html_context = { + 'current_language' : current_language, + 'languages' : [], + 'current_version' : current_version, + 'versions' : [], + } + + + # and we append all versions and langauges accordingly + # we treat t he main branch as latest + if (current_version == 'latest'): + html_context['languages'].append(['en', pages_root]) + html_context['languages'].append(['ja', pages_root+'/ja']) + + if (current_language == 'en'): + html_context['versions'].append(['latest', pages_root]) + if (current_language == 'ja'): + html_context['versions'].append(['latest', pages_root+'/ja']) + + # and loop over all other versions from our yaml file + # to set versions and languages + with open("../versions.yaml", "r") as yaml_file: + docs = yaml.safe_load(yaml_file) + + if (current_version != 'latest'): + for language in docs[current_version].get('languages', []): + html_context['languages'].append([language, pages_root+'/'+current_version+'/'+language]) + + for version, details in docs.items(): + html_context['versions'].append([version, pages_root+'/'+version+'/'+current_language]) diff --git a/docs/source/index.rst b/docs/source/index.rst index ced7ae6..bca95b1 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -14,6 +14,11 @@ adf-core-pythonのドキュメント パッケージとしてまだ公開していないため、pip でインストールすることはできません。 +.. warning:: + + 以下の言語のドキュメントは機械翻訳を使用しています。翻訳の正確性については保証できません。 + 英語 + 概要 ---- diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.cli.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.cli.po new file mode 100644 index 0000000..b20a78c --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.cli.po @@ -0,0 +1,38 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.cli.rst:2 +msgid "adf\\_core\\_python.cli package" +msgstr "" + +#: ../../source/adf_core_python.cli.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.cli.rst:8 +msgid "adf\\_core\\_python.cli.cli module" +msgstr "" + +#: ../../source/adf_core_python.cli.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.ambulance.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.ambulance.po new file mode 100644 index 0000000..fe4db96 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.ambulance.po @@ -0,0 +1,52 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.action.ambulance.rst:2 +msgid "adf\\_core\\_python.core.agent.action.ambulance package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.ambulance.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.ambulance.rst:8 +msgid "adf\\_core\\_python.core.agent.action.ambulance.action\\_load module" +msgstr "" + +#: adf_core_python.core.agent.action.ambulance.action_load.ActionLoad:1 +#: adf_core_python.core.agent.action.ambulance.action_rescue.ActionRescue:1 +#: adf_core_python.core.agent.action.ambulance.action_unload.ActionUnload:1 of +msgid "Bases: :py:class:`~adf_core_python.core.agent.action.action.Action`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.ambulance.rst:16 +msgid "adf\\_core\\_python.core.agent.action.ambulance.action\\_rescue module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.ambulance.rst:24 +msgid "adf\\_core\\_python.core.agent.action.ambulance.action\\_unload module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.ambulance.rst:32 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.common.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.common.po new file mode 100644 index 0000000..75bd5e4 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.common.po @@ -0,0 +1,47 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.action.common.rst:2 +msgid "adf\\_core\\_python.core.agent.action.common package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.common.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.common.rst:8 +msgid "adf\\_core\\_python.core.agent.action.common.action\\_move module" +msgstr "" + +#: adf_core_python.core.agent.action.common.action_move.ActionMove:1 +#: adf_core_python.core.agent.action.common.action_rest.ActionRest:1 of +msgid "Bases: :py:class:`~adf_core_python.core.agent.action.action.Action`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.common.rst:16 +msgid "adf\\_core\\_python.core.agent.action.common.action\\_rest module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.common.rst:24 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.fire.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.fire.po new file mode 100644 index 0000000..bb9922c --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.fire.po @@ -0,0 +1,52 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.action.fire.rst:2 +msgid "adf\\_core\\_python.core.agent.action.fire package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.fire.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.fire.rst:8 +msgid "adf\\_core\\_python.core.agent.action.fire.action\\_extinguish module" +msgstr "" + +#: adf_core_python.core.agent.action.fire.action_extinguish.ActionExtinguish:1 +#: adf_core_python.core.agent.action.fire.action_refill.ActionRefill:1 +#: adf_core_python.core.agent.action.fire.action_rescue.ActionRescue:1 of +msgid "Bases: :py:class:`~adf_core_python.core.agent.action.action.Action`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.fire.rst:16 +msgid "adf\\_core\\_python.core.agent.action.fire.action\\_refill module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.fire.rst:24 +msgid "adf\\_core\\_python.core.agent.action.fire.action\\_rescue module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.fire.rst:32 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.po new file mode 100644 index 0000000..b6471d8 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.po @@ -0,0 +1,46 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.action.rst:2 +msgid "adf\\_core\\_python.core.agent.action package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.rst:16 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.rst:19 +msgid "adf\\_core\\_python.core.agent.action.action module" +msgstr "" + +#: adf_core_python.core.agent.action.action.Action:1 of +msgid "Bases: :py:class:`~abc.ABC`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.rst:27 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.police.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.police.po new file mode 100644 index 0000000..c1e631f --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.police.po @@ -0,0 +1,48 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.action.police.rst:2 +msgid "adf\\_core\\_python.core.agent.action.police package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.police.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.police.rst:8 +msgid "adf\\_core\\_python.core.agent.action.police.action\\_clear module" +msgstr "" + +#: adf_core_python.core.agent.action.police.action_clear.ActionClear:1 +#: adf_core_python.core.agent.action.police.action_clear_area.ActionClearArea:1 +#: of +msgid "Bases: :py:class:`~adf_core_python.core.agent.action.action.Action`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.police.rst:16 +msgid "adf\\_core\\_python.core.agent.action.police.action\\_clear\\_area module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.action.police.rst:24 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.po new file mode 100644 index 0000000..93f8b72 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.po @@ -0,0 +1,251 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.communication.rst:2 +msgid "adf\\_core\\_python.core.agent.communication package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.rst:13 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.rst:16 +msgid "adf\\_core\\_python.core.agent.communication.message\\_manager module" +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.add_heard_agent_help_message_count:1 +#: of +msgid "Add the heard agent help message count." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.add_message:1 +#: of +msgid "Add the message." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.add_message:3 +#: of +msgid "The message." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.add_received_message:1 +#: of +msgid "Add the received message." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.add_received_message:3 +#: of +msgid "The received message." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.coordinate_message:1 +#: of +msgid "Coordinate the message." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.coordinate_message:3 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.subscribe:3 +#: of +msgid "The agent info." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.coordinate_message:5 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.subscribe:5 +#: of +msgid "The world info." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.coordinate_message:7 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.subscribe:7 +#: of +msgid "The scenario info." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_channel_send_message_list:1 +#: of +msgid "Get the channel send message list." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_channel_send_message_list:3 +#: of +msgid "The channel send message list." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.rst +msgid "Return type" +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_channel_subscriber:1 +#: of +msgid "Get the channel subscriber." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_channel_subscriber:3 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_channel_subscriber:3 +#: of +msgid "The channel subscriber." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_heard_agent_help_message_count:1 +#: of +msgid "Get the heard agent help message count." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_heard_agent_help_message_count:3 +#: of +msgid "The heard agent help message count." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_is_subscribed:1 +#: of +msgid "Get the flag to indicate if the agent is subscribed to the channel." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_is_subscribed:3 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_is_subscribed:3 +#: of +msgid "The flag to indicate if the agent is subscribed to the channel." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_message_class:1 +#: of +msgid "Get the message class." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_message_class:3 +#: of +msgid "The index." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_message_class:6 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_message_class_index:3 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.register_message_class:3 +#: of +msgid "The message class." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_message_class_index:1 +#: of +msgid "Get the message class index." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_message_class_index:6 +#: of +msgid "The message class index." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_received_message_list:1 +#: of +msgid "Get the received message list." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_received_message_list:3 +#: of +msgid "The received message list." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_send_message_list:1 +#: of +msgid "Get the send message list." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_send_message_list:3 +#: of +msgid "The send message list." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_subscribed_channels:1 +#: of +msgid "Get the subscribed channels." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.get_subscribed_channels:3 +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_subscribed_channels:3 +#: of +msgid "The subscribed channels." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.refresh:1 +#: of +msgid "Refresh the message manager." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.register_message_class:1 +#: of +msgid "Register the message class." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_channel_subscriber:1 +#: of +msgid "Set the channel subscriber." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_is_subscribed:1 +#: of +msgid "Set the flag to indicate if the agent is subscribed to the channel." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_message_coordinator:1 +#: of +msgid "Set the message coordinator." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_message_coordinator:3 +#: of +msgid "The message coordinator." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.set_subscribed_channels:1 +#: of +msgid "Set the subscribed channels." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.subscribe:1 +#: of +msgid "Subscribe to the channel." +msgstr "" + +#: adf_core_python.core.agent.communication.message_manager.MessageManager.subscribe:11 +#: of +msgid "If the ChannelSubscriber is not set." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.rst:24 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.centralized.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.centralized.po new file mode 100644 index 0000000..8796bc3 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.centralized.po @@ -0,0 +1,77 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:2 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.centralized " +"package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:8 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.centralized.command\\_ambulance" +" module" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance.CommandAmbulance:1 +#: adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire.CommandFire:1 +#: adf_core_python.core.agent.communication.standard.bundle.centralized.command_police.CommandPolice:1 +#: adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout.CommandScout:1 +#: adf_core_python.core.agent.communication.standard.bundle.centralized.message_report.MessageReport:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.agent.communication.standard.bundle.standard_message.StandardMessage`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:16 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.centralized.command\\_fire" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:24 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.centralized.command\\_police" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:32 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.centralized.command\\_scout" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:40 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.centralized.message\\_report" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.centralized.rst:48 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.information.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.information.po new file mode 100644 index 0000000..46d33d0 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.information.po @@ -0,0 +1,84 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:2 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.information " +"package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:8 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.information.message\\_ambulance\\_team" +" module" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team.MessageAmbulanceTeam:1 +#: adf_core_python.core.agent.communication.standard.bundle.information.message_building.MessageBuilding:1 +#: adf_core_python.core.agent.communication.standard.bundle.information.message_civilian.MessageCivilian:1 +#: adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade.MessageFireBrigade:1 +#: adf_core_python.core.agent.communication.standard.bundle.information.message_police_force.MessagePoliceForce:1 +#: adf_core_python.core.agent.communication.standard.bundle.information.message_road.MessageRoad:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.agent.communication.standard.bundle.standard_message.StandardMessage`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:16 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.information.message\\_building" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:24 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.information.message\\_civilian" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:32 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.information.message\\_fire\\_brigade" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:40 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.information.message\\_police\\_force" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:48 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.information.message\\_road" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.information.rst:56 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.po new file mode 100644 index 0000000..29b826d --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.po @@ -0,0 +1,67 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.rst:2 +msgid "adf\\_core\\_python.core.agent.communication.standard.bundle package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.rst:14 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.rst:17 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.standard\\_message" +" module" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.bundle.standard_message.StandardMessage:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.communication.communication_message.CommunicationMessage`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.rst:25 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.bundle.standard\\_message\\_priority" +" module" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.bundle.standard_message_priority.StandardMessagePriority:1 +#: of +msgid "Bases: :py:class:`~enum.Enum`" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.bundle.standard_message_priority.StandardMessagePriority:1 +#: of +msgid "Standard message priorities." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.bundle.rst:33 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.po new file mode 100644 index 0000000..0e0d129 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.po @@ -0,0 +1,51 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.communication.standard.rst:2 +msgid "adf\\_core\\_python.core.agent.communication.standard package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.rst:14 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.rst:17 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.standard\\_communication\\_module" +" module" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.standard_communication_module.StandardCommunicationModule:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.communication.communication_module.CommunicationModule`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.rst:25 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.utility.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.utility.po new file mode 100644 index 0000000..69e19d9 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.utility.po @@ -0,0 +1,133 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst:2 +msgid "adf\\_core\\_python.core.agent.communication.standard.utility package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst:8 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.utility.apply\\_to\\_world\\_info" +" module" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.apply_to_world_info.apply_to_world_info:1 +#: of +msgid "Apply to world info." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.apply_to_world_info.apply_to_world_info:3 +#: of +msgid "The world info to apply to." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.apply_to_world_info.apply_to_world_info:5 +#: of +msgid "The standard message to apply to world info." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst:16 +msgid "" +"adf\\_core\\_python.core.agent.communication.standard.utility.bitarray\\_with\\_exits\\_flag" +" module" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.read_with_exist_flag:1 +#: of +msgid "" +"Read value from bit_array with an exist flag. If the first bit is " +"IS_NOT_EXIST_FLAG, return None. If the first bit is IS_EXIST_FLAG, read " +"and return value from bit_array." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.read_with_exist_flag:5 +#: of +msgid "The bitarray to read from." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.read_with_exist_flag:7 +#: of +msgid "The number of bits to read to get value." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.read_with_exist_flag:10 +#: of +msgid "The value read from bit_array." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst +msgid "Return type" +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst +msgid "Raises" +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.read_with_exist_flag:13 +#: of +msgid "If the first bit is not IS_EXIST_FLAG or IS_NOT_EXIST_FLAG." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.write_with_exist_flag:1 +#: of +msgid "" +"Write value to bit_array with an exist flag. If value is None, write " +"IS_NOT_EXIST_FLAG to bit_array. If value is not None, write IS_EXIST_FLAG" +" to bit_array and then write value to bit_array." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.write_with_exist_flag:5 +#: of +msgid "The bitarray to write to." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.write_with_exist_flag:7 +#: of +msgid "The value to write." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.write_with_exist_flag:9 +#: of +msgid "The number of bits to use to write value." +msgstr "" + +#: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag.write_with_exist_flag:12 +#: of +msgid "If value is too large to fit into bit_size bits." +msgstr "" + +#: ../../source/adf_core_python.core.agent.communication.standard.utility.rst:24 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.config.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.config.po new file mode 100644 index 0000000..e647ed2 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.config.po @@ -0,0 +1,42 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.config.rst:2 +msgid "adf\\_core\\_python.core.agent.config package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.config.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.config.rst:8 +msgid "adf\\_core\\_python.core.agent.config.module\\_config module" +msgstr "" + +#: adf_core_python.core.agent.config.module_config.ModuleConfig:1 of +msgid "Bases: :py:class:`~rcrs_core.config.config.Config`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.config.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.develop.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.develop.po new file mode 100644 index 0000000..70a33ee --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.develop.po @@ -0,0 +1,78 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.develop.rst:2 +msgid "adf\\_core\\_python.core.agent.develop package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.develop.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.develop.rst:8 +msgid "adf\\_core\\_python.core.agent.develop.develop\\_data module" +msgstr "" + +#: adf_core_python.core.agent.develop.develop_data.DevelopData:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: adf_core_python.core.agent.develop.develop_data.DevelopData.get_value:1 of +msgid "" +"Get value from develop data If develop mode is disabled, return default " +"value" +msgstr "" + +#: ../../source/adf_core_python.core.agent.develop.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.core.agent.develop.develop_data.DevelopData.get_value:4 of +msgid "Key" +msgstr "" + +#: ../../source/adf_core_python.core.agent.develop.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.core.agent.develop.develop_data.DevelopData.get_value:7 of +msgid "Value" +msgstr "" + +#: ../../source/adf_core_python.core.agent.develop.rst +msgid "Return type" +msgstr "" + +#: adf_core_python.core.agent.develop.develop_data.DevelopData.is_develop_mode:1 +#: of +msgid "Check if develop mode is enabled" +msgstr "" + +#: adf_core_python.core.agent.develop.develop_data.DevelopData.is_develop_mode:3 +#: of +msgid "True if develop mode is enabled" +msgstr "" + +#: ../../source/adf_core_python.core.agent.develop.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.info.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.info.po new file mode 100644 index 0000000..e50dbf1 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.info.po @@ -0,0 +1,317 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.info.rst:2 +msgid "adf\\_core\\_python.core.agent.info package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst:8 +msgid "adf\\_core\\_python.core.agent.info.agent\\_info module" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo:1 +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo:1 +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfoKeys:1 +#: adf_core_python.core.agent.info.world_info.WorldInfo:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_change_set:1 +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_change_set:1 of +msgid "Get the change set" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_change_set:3 +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_change_set:3 +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_change_set:3 +#: adf_core_python.core.agent.info.world_info.WorldInfo.set_change_set:3 of +msgid "Change set" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst +msgid "Return type" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_entity_id:1 of +msgid "Get the entity ID of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_entity_id:3 of +msgid "Entity ID of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_executed_action:1 +#: of +msgid "Get the executed action at the given time" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_executed_action:3 +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_executed_action:3 +#: of +msgid "Time" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_heard_commands:1 of +msgid "Get the heard commands" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_heard_commands:3 +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_heard_commands:3 of +msgid "Heard commands" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_myself:1 of +msgid "Get the entity of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_myself:3 of +msgid "Entity of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_position_entity_id:1 +#: of +msgid "Get the position entity ID of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_position_entity_id:3 +#: of +msgid "Position entity ID of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_think_time:1 of +msgid "Get the time taken for thinking" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_think_time:3 of +msgid "Time taken for thinking" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_time:1 of +msgid "Get the current time of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.get_time:3 +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_time:3 of +msgid "Current time" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.record_think_start_time:1 +#: of +msgid "Record the start time of thinking" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_change_set:1 +#: adf_core_python.core.agent.info.world_info.WorldInfo.set_change_set:1 of +msgid "Set the change set" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_executed_action:1 +#: of +msgid "Set the executed action at the given time" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_executed_action:5 +#: of +msgid "Executed action" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_heard_commands:1 of +msgid "Set the heard commands" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.set_time:1 of +msgid "Set the current time of the agent" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.some_one_on_board:1 of +msgid "Get the human if someone is on board" +msgstr "" + +#: adf_core_python.core.agent.info.agent_info.AgentInfo.some_one_on_board:3 of +msgid "Human if someone is on board, None otherwise" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst:16 +msgid "adf\\_core\\_python.core.agent.info.scenario\\_info module" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.Mode:1 of +msgid "Bases: :py:class:`~enum.IntEnum`" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_config:1 of +msgid "Get the configuration" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_config:3 +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.set_config:3 of +msgid "Configuration" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_mode:1 of +msgid "Get the mode of the scenario" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_mode:3 of +msgid "Mode of the scenario" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_value:1 of +msgid "Get the value of the configuration" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_value:3 of +msgid "Key of the configuration" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_value:5 of +msgid "Default value of the configuration" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.get_value:8 of +msgid "Value of the configuration" +msgstr "" + +#: adf_core_python.core.agent.info.scenario_info.ScenarioInfo.set_config:1 of +msgid "Set the configuration" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst:24 +msgid "adf\\_core\\_python.core.agent.info.world\\_info module" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.add_entity:1 of +msgid "Add the entity" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.add_entity:3 +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity:6 of +msgid "Entity" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_blockades:1 of +msgid "Get the blockades in the area" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_blockades:3 of +msgid "Blockade" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_distance:1 of +msgid "Get the distance between two entities" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_distance:3 of +msgid "Entity ID 1" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_distance:5 of +msgid "Entity ID 2" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_distance:8 of +msgid "Distance" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst +msgid "Raises" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_distance:11 of +msgid "If one or both entities are invalid or the location is invalid" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entities_of_types:1 +#: of +msgid "Get the entities of the specified types" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entities_of_types:3 +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity_ids_of_types:3 +#: of +msgid "List of entity types" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entities_of_types:6 +#: of +msgid "Entities" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity:1 of +msgid "Get the entity" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity:3 +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity_position:3 +#: of +msgid "Entity ID" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity_ids_of_types:1 +#: of +msgid "Get the entity IDs of the specified types" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity_ids_of_types:6 +#: of +msgid "Entity IDs" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity_position:1 +#: of +msgid "Get the entity position" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity_position:6 +#: of +msgid "Entity position" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_entity_position:9 +#: of +msgid "If the entity is invalid" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_world_model:1 of +msgid "Get the world model" +msgstr "" + +#: adf_core_python.core.agent.info.world_info.WorldInfo.get_world_model:3 of +msgid "World model" +msgstr "" + +#: ../../source/adf_core_python.core.agent.info.rst:32 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.module.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.module.po new file mode 100644 index 0000000..b98e2fc --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.module.po @@ -0,0 +1,42 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.module.rst:2 +msgid "adf\\_core\\_python.core.agent.module package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.module.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.module.rst:8 +msgid "adf\\_core\\_python.core.agent.module.module\\_manager module" +msgstr "" + +#: adf_core_python.core.agent.module.module_manager.ModuleManager:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.module.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.platoon.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.platoon.po new file mode 100644 index 0000000..fee57f7 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.platoon.po @@ -0,0 +1,60 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.platoon.rst:2 +msgid "adf\\_core\\_python.core.agent.platoon package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.platoon.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.platoon.rst:8 +msgid "adf\\_core\\_python.core.agent.platoon.platoon module" +msgstr "" + +#: adf_core_python.core.agent.platoon.platoon.Platoon:1 of +msgid "Bases: :py:class:`~adf_core_python.core.agent.agent.Agent`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.platoon.rst:16 +msgid "adf\\_core\\_python.core.agent.platoon.platoon\\_ambulance module" +msgstr "" + +#: adf_core_python.core.agent.platoon.platoon_ambulance.PlatoonAmbulance:1 +#: adf_core_python.core.agent.platoon.platoon_fire.PlatoonFire:1 +#: adf_core_python.core.agent.platoon.platoon_police.PlatoonPolice:1 of +msgid "Bases: :py:class:`~adf_core_python.core.agent.platoon.platoon.Platoon`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.platoon.rst:24 +msgid "adf\\_core\\_python.core.agent.platoon.platoon\\_fire module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.platoon.rst:32 +msgid "adf\\_core\\_python.core.agent.platoon.platoon\\_police module" +msgstr "" + +#: ../../source/adf_core_python.core.agent.platoon.rst:40 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.po new file mode 100644 index 0000000..d9d8a76 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.po @@ -0,0 +1,46 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.rst:2 +msgid "adf\\_core\\_python.core.agent package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.agent.rst:20 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.rst:23 +msgid "adf\\_core\\_python.core.agent.agent module" +msgstr "" + +#: adf_core_python.core.agent.agent.Agent:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../source/adf_core_python.core.agent.rst:31 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.precompute.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.precompute.po new file mode 100644 index 0000000..67620c4 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.precompute.po @@ -0,0 +1,93 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.agent.precompute.rst:2 +msgid "adf\\_core\\_python.core.agent.precompute package" +msgstr "" + +#: ../../source/adf_core_python.core.agent.precompute.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.agent.precompute.rst:8 +msgid "adf\\_core\\_python.core.agent.precompute.precompute\\_data module" +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData.is_available:1 +#: of +msgid "Check if the precompute data is available." +msgstr "" + +#: ../../source/adf_core_python.core.agent.precompute.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData.is_available:3 +#: of +msgid "True if the precompute data is available, False otherwise." +msgstr "" + +#: ../../source/adf_core_python.core.agent.precompute.rst +msgid "Return type" +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData.read_json_data:1 +#: of +msgid "Read the precompute data from the file." +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData.read_json_data:3 +#: of +msgid "The precompute data." +msgstr "" + +#: ../../source/adf_core_python.core.agent.precompute.rst +msgid "Raises" +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData.remove_precompute_data:1 +#: of +msgid "Remove the precompute data file." +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData.write_json_data:1 +#: of +msgid "Write the precompute data to the file." +msgstr "" + +#: ../../source/adf_core_python.core.agent.precompute.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.core.agent.precompute.precompute_data.PrecomputeData.write_json_data:3 +#: of +msgid "The data to write." +msgstr "" + +#: ../../source/adf_core_python.core.agent.precompute.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.action.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.action.po new file mode 100644 index 0000000..6d326d0 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.action.po @@ -0,0 +1,42 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.component.action.rst:2 +msgid "adf\\_core\\_python.core.component.action package" +msgstr "" + +#: ../../source/adf_core_python.core.component.action.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.component.action.rst:8 +msgid "adf\\_core\\_python.core.component.action.extend\\_action module" +msgstr "" + +#: adf_core_python.core.component.action.extend_action.ExtendAction:1 of +msgid "Bases: :py:class:`~abc.ABC`" +msgstr "" + +#: ../../source/adf_core_python.core.component.action.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.communication.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.communication.po new file mode 100644 index 0000000..1e125a3 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.communication.po @@ -0,0 +1,103 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.component.communication.rst:2 +msgid "adf\\_core\\_python.core.component.communication package" +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst:8 +msgid "" +"adf\\_core\\_python.core.component.communication.channel\\_subscriber " +"module" +msgstr "" + +#: adf_core_python.core.component.communication.channel_subscriber.ChannelSubscriber:1 +#: adf_core_python.core.component.communication.communication_message.CommunicationMessage:1 +#: adf_core_python.core.component.communication.communication_module.CommunicationModule:1 +#: adf_core_python.core.component.communication.message_coordinator.MessageCoordinator:1 +#: of +msgid "Bases: :py:class:`~abc.ABC`" +msgstr "" + +#: adf_core_python.core.component.communication.channel_subscriber.ChannelSubscriber.subscribe:1 +#: of +msgid "Subscribe to the channel." +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.core.component.communication.channel_subscriber.ChannelSubscriber.subscribe:3 +#: of +msgid "The agent info." +msgstr "" + +#: adf_core_python.core.component.communication.channel_subscriber.ChannelSubscriber.subscribe:5 +#: of +msgid "The world info." +msgstr "" + +#: adf_core_python.core.component.communication.channel_subscriber.ChannelSubscriber.subscribe:7 +#: of +msgid "The scenario info." +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.core.component.communication.channel_subscriber.ChannelSubscriber.subscribe:10 +#: of +msgid "The list of subscribed channels." +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst +msgid "Return type" +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst:16 +msgid "" +"adf\\_core\\_python.core.component.communication.communication\\_message " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst:24 +msgid "" +"adf\\_core\\_python.core.component.communication.communication\\_module " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst:32 +msgid "" +"adf\\_core\\_python.core.component.communication.message\\_coordinator " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.component.communication.rst:40 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.algorithm.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.algorithm.po new file mode 100644 index 0000000..33fd90e --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.algorithm.po @@ -0,0 +1,50 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.component.module.algorithm.rst:2 +msgid "adf\\_core\\_python.core.component.module.algorithm package" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.algorithm.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.algorithm.rst:8 +msgid "adf\\_core\\_python.core.component.module.algorithm.clustering module" +msgstr "" + +#: adf_core_python.core.component.module.algorithm.clustering.Clustering:1 +#: adf_core_python.core.component.module.algorithm.path_planning.PathPlanning:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.abstract_module.AbstractModule`" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.algorithm.rst:16 +msgid "adf\\_core\\_python.core.component.module.algorithm.path\\_planning module" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.algorithm.rst:24 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.complex.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.complex.po new file mode 100644 index 0000000..65e3113 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.complex.po @@ -0,0 +1,122 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.component.module.complex.rst:2 +msgid "adf\\_core\\_python.core.component.module.complex package" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:8 +msgid "" +"adf\\_core\\_python.core.component.module.complex.ambulance\\_target\\_allocator" +" module" +msgstr "" + +#: adf_core_python.core.component.module.complex.ambulance_target_allocator.AmbulanceTargetAllocator:1 +#: adf_core_python.core.component.module.complex.fire_target_allocator.FireTargetAllocator:1 +#: adf_core_python.core.component.module.complex.police_target_allocator.PoliceTargetAllocator:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.target_allocator.TargetAllocator`" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:16 +msgid "" +"adf\\_core\\_python.core.component.module.complex.fire\\_target\\_allocator" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:24 +msgid "adf\\_core\\_python.core.component.module.complex.human\\_detector module" +msgstr "" + +#: adf_core_python.core.component.module.complex.human_detector.HumanDetector:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.target_detector.TargetDetector`\\" +" [:py:class:`~rcrs_core.entities.human.Human`]" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:32 +msgid "" +"adf\\_core\\_python.core.component.module.complex.police\\_target\\_allocator" +" module" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:40 +msgid "adf\\_core\\_python.core.component.module.complex.road\\_detector module" +msgstr "" + +#: adf_core_python.core.component.module.complex.road_detector.RoadDetector:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.target_detector.TargetDetector`\\" +" [:py:class:`~rcrs_core.entities.road.Road`]" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:48 +msgid "adf\\_core\\_python.core.component.module.complex.search module" +msgstr "" + +#: adf_core_python.core.component.module.complex.search.Search:1 of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.target_detector.TargetDetector`\\" +" [:py:class:`~rcrs_core.entities.area.Area`]" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:56 +msgid "" +"adf\\_core\\_python.core.component.module.complex.target\\_allocator " +"module" +msgstr "" + +#: adf_core_python.core.component.module.complex.target_allocator.TargetAllocator:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.abstract_module.AbstractModule`" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:64 +msgid "adf\\_core\\_python.core.component.module.complex.target\\_detector module" +msgstr "" + +#: adf_core_python.core.component.module.complex.target_detector.TargetDetector:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.abstract_module.AbstractModule`," +" :py:class:`~typing.Generic`\\ " +"[:py:obj:`~adf_core_python.core.component.module.complex.target_detector.T`]" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.complex.rst:72 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.po new file mode 100644 index 0000000..4a2d3ba --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.po @@ -0,0 +1,46 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.component.module.rst:2 +msgid "adf\\_core\\_python.core.component.module package" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.rst:14 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.rst:17 +msgid "adf\\_core\\_python.core.component.module.abstract\\_module module" +msgstr "" + +#: adf_core_python.core.component.module.abstract_module.AbstractModule:1 of +msgid "Bases: :py:class:`~abc.ABC`" +msgstr "" + +#: ../../source/adf_core_python.core.component.module.rst:25 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.po new file mode 100644 index 0000000..448531c --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.po @@ -0,0 +1,46 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.component.rst:2 +msgid "adf\\_core\\_python.core.component package" +msgstr "" + +#: ../../source/adf_core_python.core.component.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.component.rst:16 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.component.rst:19 +msgid "adf\\_core\\_python.core.component.abstract\\_loader module" +msgstr "" + +#: adf_core_python.core.component.abstract_loader.AbstractLoader:1 of +msgid "Bases: :py:class:`~abc.ABC`" +msgstr "" + +#: ../../source/adf_core_python.core.component.rst:27 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.tactics.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.tactics.po new file mode 100644 index 0000000..c32d319 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.tactics.po @@ -0,0 +1,95 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.component.tactics.rst:2 +msgid "adf\\_core\\_python.core.component.tactics package" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:8 +msgid "adf\\_core\\_python.core.component.tactics.tactics\\_agent module" +msgstr "" + +#: adf_core_python.core.component.tactics.tactics_agent.TacticsAgent:1 +#: adf_core_python.core.component.tactics.tactics_center.TacticsCenter:1 of +msgid "Bases: :py:class:`~abc.ABC`" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:16 +msgid "" +"adf\\_core\\_python.core.component.tactics.tactics\\_ambulance\\_center " +"module" +msgstr "" + +#: adf_core_python.core.component.tactics.tactics_ambulance_center.TacticsAmbulanceCenter:1 +#: adf_core_python.core.component.tactics.tactics_fire_station.TacticsFireStation:1 +#: adf_core_python.core.component.tactics.tactics_police_office.TacticsPoliceOffice:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_center.TacticsCenter`" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:24 +msgid "" +"adf\\_core\\_python.core.component.tactics.tactics\\_ambulance\\_team " +"module" +msgstr "" + +#: adf_core_python.core.component.tactics.tactics_ambulance_team.TacticsAmbulanceTeam:1 +#: adf_core_python.core.component.tactics.tactics_fire_brigade.TacticsFireBrigade:1 +#: adf_core_python.core.component.tactics.tactics_police_force.TacticsPoliceForce:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_agent.TacticsAgent`" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:32 +msgid "adf\\_core\\_python.core.component.tactics.tactics\\_center module" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:40 +msgid "adf\\_core\\_python.core.component.tactics.tactics\\_fire\\_brigade module" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:48 +msgid "adf\\_core\\_python.core.component.tactics.tactics\\_fire\\_station module" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:56 +msgid "adf\\_core\\_python.core.component.tactics.tactics\\_police\\_force module" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:64 +msgid "" +"adf\\_core\\_python.core.component.tactics.tactics\\_police\\_office " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.component.tactics.rst:72 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.config.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.config.po new file mode 100644 index 0000000..47ee2de --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.config.po @@ -0,0 +1,42 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.config.rst:2 +msgid "adf\\_core\\_python.core.config package" +msgstr "" + +#: ../../source/adf_core_python.core.config.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.config.rst:8 +msgid "adf\\_core\\_python.core.config.config module" +msgstr "" + +#: adf_core_python.core.config.config.Config:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../source/adf_core_python.core.config.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.connect.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.connect.po new file mode 100644 index 0000000..dc9c05d --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.connect.po @@ -0,0 +1,134 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.launcher.connect.rst:2 +msgid "adf\\_core\\_python.core.launcher.connect package" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:8 +msgid "adf\\_core\\_python.core.launcher.connect.component\\_launcher module" +msgstr "" + +#: adf_core_python.core.launcher.connect.component_launcher.ComponentLauncher:1 +#: adf_core_python.core.launcher.connect.connection.Connection:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:16 +msgid "adf\\_core\\_python.core.launcher.connect.connection module" +msgstr "" + +#: adf_core_python.core.launcher.connect.connection.Connection.connect:1 of +msgid "Connect to the kernel" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst +msgid "Raises" +msgstr "" + +#: adf_core_python.core.launcher.connect.connection.Connection.connect:3 of +msgid "If the connection times out" +msgstr "" + +#: adf_core_python.core.launcher.connect.connection.Connection.connect:4 of +msgid "If there is an error connecting to the socket" +msgstr "" + +#: adf_core_python.core.launcher.connect.connection.Connection.parse_message_from_kernel:1 +#: of +msgid "Parse messages from the kernel" +msgstr "" + +#: adf_core_python.core.launcher.connect.connection.Connection.parse_message_from_kernel:3 +#: of +msgid "If there is an error reading from the socket" +msgstr "" + +#: adf_core_python.core.launcher.connect.connection.Connection.parse_message_from_kernel:4 +#: of +msgid "If there is an error in the agent calculation" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:24 +msgid "adf\\_core\\_python.core.launcher.connect.connector module" +msgstr "" + +#: adf_core_python.core.launcher.connect.connector.Connector:1 of +msgid "Bases: :py:class:`~abc.ABC`" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:32 +msgid "" +"adf\\_core\\_python.core.launcher.connect.connector\\_ambulance\\_center " +"module" +msgstr "" + +#: adf_core_python.core.launcher.connect.connector_ambulance_center.ConnectorAmbulanceCenter:1 +#: adf_core_python.core.launcher.connect.connector_ambulance_team.ConnectorAmbulanceTeam:1 +#: adf_core_python.core.launcher.connect.connector_fire_brigade.ConnectorFireBrigade:1 +#: adf_core_python.core.launcher.connect.connector_fire_station.ConnectorFireStation:1 +#: adf_core_python.core.launcher.connect.connector_police_force.ConnectorPoliceForce:1 +#: adf_core_python.core.launcher.connect.connector_police_office.ConnectorPoliceOffice:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.launcher.connect.connector.Connector`" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:40 +msgid "" +"adf\\_core\\_python.core.launcher.connect.connector\\_ambulance\\_team " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:48 +msgid "" +"adf\\_core\\_python.core.launcher.connect.connector\\_fire\\_brigade " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:56 +msgid "" +"adf\\_core\\_python.core.launcher.connect.connector\\_fire\\_station " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:64 +msgid "" +"adf\\_core\\_python.core.launcher.connect.connector\\_police\\_force " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:72 +msgid "" +"adf\\_core\\_python.core.launcher.connect.connector\\_police\\_office " +"module" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.connect.rst:80 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.po new file mode 100644 index 0000000..ae5e451 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.po @@ -0,0 +1,51 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.launcher.rst:2 +msgid "adf\\_core\\_python.core.launcher package" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.rst:13 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.rst:16 +msgid "adf\\_core\\_python.core.launcher.agent\\_launcher module" +msgstr "" + +#: adf_core_python.core.launcher.agent_launcher.AgentLauncher:1 +#: adf_core_python.core.launcher.config_key.ConfigKey:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.rst:24 +msgid "adf\\_core\\_python.core.launcher.config\\_key module" +msgstr "" + +#: ../../source/adf_core_python.core.launcher.rst:32 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.logger.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.logger.po new file mode 100644 index 0000000..0890f2a --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.logger.po @@ -0,0 +1,79 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.logger.rst:2 +msgid "adf\\_core\\_python.core.logger package" +msgstr "" + +#: ../../source/adf_core_python.core.logger.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.core.logger.rst:8 +msgid "adf\\_core\\_python.core.logger.logger module" +msgstr "" + +#: adf_core_python.core.logger.logger.get_agent_logger:1 of +msgid "" +"Get a logger with the given name and agent information. For agent " +"logging, use this function to get a logger." +msgstr "" + +#: ../../source/adf_core_python.core.logger.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.core.logger.logger.get_agent_logger:4 +#: adf_core_python.core.logger.logger.get_logger:4 of +msgid "The name of the logger." +msgstr "" + +#: adf_core_python.core.logger.logger.get_agent_logger:6 of +msgid "The agent information." +msgstr "" + +#: ../../source/adf_core_python.core.logger.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.core.logger.logger.get_agent_logger:9 of +msgid "The logger with the given name and agent information." +msgstr "" + +#: ../../source/adf_core_python.core.logger.rst +msgid "Return type" +msgstr "" + +#: adf_core_python.core.logger.logger.get_logger:1 of +msgid "" +"Get a logger with the given name. For kernel logging, use this function " +"to get a logger." +msgstr "" + +#: adf_core_python.core.logger.logger.get_logger:7 of +msgid "The logger with the given name." +msgstr "" + +#: ../../source/adf_core_python.core.logger.rst:16 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.po new file mode 100644 index 0000000..5da18eb --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.core.po @@ -0,0 +1,34 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.core.rst:2 +msgid "adf\\_core\\_python.core package" +msgstr "" + +#: ../../source/adf_core_python.core.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.core.rst:17 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.action.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.action.po new file mode 100644 index 0000000..f850489 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.action.po @@ -0,0 +1,68 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.implement.action.rst:2 +msgid "adf\\_core\\_python.implement.action package" +msgstr "" + +#: ../../source/adf_core_python.implement.action.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.implement.action.rst:8 +msgid "" +"adf\\_core\\_python.implement.action.default\\_extend\\_action\\_clear " +"module" +msgstr "" + +#: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear:1 +#: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove:1 +#: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue:1 +#: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.action.extend_action.ExtendAction`" +msgstr "" + +#: ../../source/adf_core_python.implement.action.rst:16 +msgid "" +"adf\\_core\\_python.implement.action.default\\_extend\\_action\\_move " +"module" +msgstr "" + +#: ../../source/adf_core_python.implement.action.rst:24 +msgid "" +"adf\\_core\\_python.implement.action.default\\_extend\\_action\\_rescue " +"module" +msgstr "" + +#: ../../source/adf_core_python.implement.action.rst:32 +msgid "" +"adf\\_core\\_python.implement.action.default\\_extend\\_action\\_transport" +" module" +msgstr "" + +#: ../../source/adf_core_python.implement.action.rst:40 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.algorithm.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.algorithm.po new file mode 100644 index 0000000..5bab530 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.algorithm.po @@ -0,0 +1,60 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.implement.module.algorithm.rst:2 +msgid "adf\\_core\\_python.implement.module.algorithm package" +msgstr "" + +#: ../../source/adf_core_python.implement.module.algorithm.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.implement.module.algorithm.rst:8 +msgid "" +"adf\\_core\\_python.implement.module.algorithm.a\\_star\\_path\\_planning" +" module" +msgstr "" + +#: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.algorithm.path_planning.PathPlanning`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.algorithm.rst:16 +msgid "" +"adf\\_core\\_python.implement.module.algorithm.k\\_means\\_clustering " +"module" +msgstr "" + +#: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.algorithm.clustering.Clustering`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.algorithm.rst:24 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.communication.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.communication.po new file mode 100644 index 0000000..a598623 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.communication.po @@ -0,0 +1,97 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.implement.module.communication.rst:2 +msgid "adf\\_core\\_python.implement.module.communication package" +msgstr "" + +#: ../../source/adf_core_python.implement.module.communication.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.implement.module.communication.rst:8 +msgid "" +"adf\\_core\\_python.implement.module.communication.default\\_channel\\_subscriber" +" module" +msgstr "" + +#: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.communication.channel_subscriber.ChannelSubscriber`" +msgstr "" + +#: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber.subscribe:1 +#: of +msgid "Subscribe to the channel." +msgstr "" + +#: ../../source/adf_core_python.implement.module.communication.rst +msgid "Parameters" +msgstr "" + +#: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber.subscribe:3 +#: of +msgid "The agent info." +msgstr "" + +#: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber.subscribe:5 +#: of +msgid "The world info." +msgstr "" + +#: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber.subscribe:7 +#: of +msgid "The scenario info." +msgstr "" + +#: ../../source/adf_core_python.implement.module.communication.rst +msgid "Returns" +msgstr "" + +#: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber.subscribe:10 +#: of +msgid "The list of subscribed channels." +msgstr "" + +#: ../../source/adf_core_python.implement.module.communication.rst +msgid "Return type" +msgstr "" + +#: ../../source/adf_core_python.implement.module.communication.rst:16 +msgid "" +"adf\\_core\\_python.implement.module.communication.default\\_message\\_coordinator" +" module" +msgstr "" + +#: adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.communication.message_coordinator.MessageCoordinator`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.communication.rst:24 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.complex.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.complex.po new file mode 100644 index 0000000..1c260b9 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.complex.po @@ -0,0 +1,116 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.implement.module.complex.rst:2 +msgid "adf\\_core\\_python.implement.module.complex package" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:8 +msgid "" +"adf\\_core\\_python.implement.module.complex.default\\_ambulance\\_target\\_allocator" +" module" +msgstr "" + +#: adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.ambulance_target_allocator.AmbulanceTargetAllocator`" +msgstr "" + +#: adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo:1 +#: adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator.FireBrigadeInfo:1 +#: adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator.PoliceForceInfo:1 +#: of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:16 +msgid "" +"adf\\_core\\_python.implement.module.complex.default\\_fire\\_target\\_allocator" +" module" +msgstr "" + +#: adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.fire_target_allocator.FireTargetAllocator`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:24 +msgid "" +"adf\\_core\\_python.implement.module.complex.default\\_human\\_detector " +"module" +msgstr "" + +#: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.human_detector.HumanDetector`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:32 +msgid "" +"adf\\_core\\_python.implement.module.complex.default\\_police\\_target\\_allocator" +" module" +msgstr "" + +#: adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.police_target_allocator.PoliceTargetAllocator`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:40 +msgid "" +"adf\\_core\\_python.implement.module.complex.default\\_road\\_detector " +"module" +msgstr "" + +#: adf_core_python.implement.module.complex.default_road_detector.DefaultRoadDetector:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.road_detector.RoadDetector`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:48 +msgid "adf\\_core\\_python.implement.module.complex.default\\_search module" +msgstr "" + +#: adf_core_python.implement.module.complex.default_search.DefaultSearch:1 of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.module.complex.search.Search`" +msgstr "" + +#: ../../source/adf_core_python.implement.module.complex.rst:56 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.po new file mode 100644 index 0000000..8f4619a --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.po @@ -0,0 +1,34 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.implement.module.rst:2 +msgid "adf\\_core\\_python.implement.module package" +msgstr "" + +#: ../../source/adf_core_python.implement.module.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.implement.module.rst:15 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.po new file mode 100644 index 0000000..2d6cdd9 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.po @@ -0,0 +1,48 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.implement.rst:2 +msgid "adf\\_core\\_python.implement package" +msgstr "" + +#: ../../source/adf_core_python.implement.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.implement.rst:15 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.implement.rst:18 +msgid "adf\\_core\\_python.implement.default\\_loader module" +msgstr "" + +#: adf_core_python.implement.default_loader.DefaultLoader:1 of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.abstract_loader.AbstractLoader`" +msgstr "" + +#: ../../source/adf_core_python.implement.rst:26 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.tactics.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.tactics.po new file mode 100644 index 0000000..27c82fc --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.tactics.po @@ -0,0 +1,112 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.implement.tactics.rst:2 +msgid "adf\\_core\\_python.implement.tactics package" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:5 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:8 +msgid "" +"adf\\_core\\_python.implement.tactics.default\\_tactics\\_ambulance\\_center" +" module" +msgstr "" + +#: adf_core_python.implement.tactics.default_tactics_ambulance_center.DefaultTacticsAmbulanceCenter:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_ambulance_center.TacticsAmbulanceCenter`" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:16 +msgid "" +"adf\\_core\\_python.implement.tactics.default\\_tactics\\_ambulance\\_team" +" module" +msgstr "" + +#: adf_core_python.implement.tactics.default_tactics_ambulance_team.DefaultTacticsAmbulanceTeam:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_ambulance_team.TacticsAmbulanceTeam`" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:24 +msgid "" +"adf\\_core\\_python.implement.tactics.default\\_tactics\\_fire\\_brigade " +"module" +msgstr "" + +#: adf_core_python.implement.tactics.default_tactics_fire_brigade.DefaultTacticsFireBrigade:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_fire_brigade.TacticsFireBrigade`" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:32 +msgid "" +"adf\\_core\\_python.implement.tactics.default\\_tactics\\_fire\\_station " +"module" +msgstr "" + +#: adf_core_python.implement.tactics.default_tactics_fire_station.DefaultTacticsFireStation:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_fire_station.TacticsFireStation`" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:40 +msgid "" +"adf\\_core\\_python.implement.tactics.default\\_tactics\\_police\\_force " +"module" +msgstr "" + +#: adf_core_python.implement.tactics.default_tactics_police_force.DefaultTacticsPoliceForce:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_police_force.TacticsPoliceForce`" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:48 +msgid "" +"adf\\_core\\_python.implement.tactics.default\\_tactics\\_police\\_office" +" module" +msgstr "" + +#: adf_core_python.implement.tactics.default_tactics_police_office.DefaultTacticsPoliceOffice:1 +#: of +msgid "" +"Bases: " +":py:class:`~adf_core_python.core.component.tactics.tactics_police_office.TacticsPoliceOffice`" +msgstr "" + +#: ../../source/adf_core_python.implement.tactics.rst:56 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/adf_core_python.po b/docs/source/locale/en/LC_MESSAGES/adf_core_python.po new file mode 100644 index 0000000..537693c --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/adf_core_python.po @@ -0,0 +1,46 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/adf_core_python.rst:2 +msgid "adf\\_core\\_python package" +msgstr "" + +#: ../../source/adf_core_python.rst:5 +msgid "Subpackages" +msgstr "" + +#: ../../source/adf_core_python.rst:15 +msgid "Submodules" +msgstr "" + +#: ../../source/adf_core_python.rst:18 +msgid "adf\\_core\\_python.launcher module" +msgstr "" + +#: adf_core_python.launcher.Launcher:1 of +msgid "Bases: :py:class:`object`" +msgstr "" + +#: ../../source/adf_core_python.rst:26 +msgid "Module contents" +msgstr "" + diff --git a/docs/source/locale/en/LC_MESSAGES/hands-on.po b/docs/source/locale/en/LC_MESSAGES/hands-on.po new file mode 100644 index 0000000..47429b6 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/hands-on.po @@ -0,0 +1,284 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/hands-on/clustering.md:1 +msgid "クラスタリングモジュール" +msgstr "Clustering Module" + +#: ../../source/hands-on/clustering.md:3 +msgid "クラスタリングモジュールの目的" +msgstr "Purpose of the Clustering Module" + +#: ../../source/hands-on/clustering.md:5 +msgid "複数のエージェントを動かす場合は、それらのエージェントにどのように協調させるかが重要になります。RRSでは多くのチームが、エージェントに各々の担当地域を持たせ役割分担をおこなう協調を取り入れています(他の手段による協調も取り入れています)。担当地域を割り振るためには、地図上のオブジェクトをいくつかのグループに分ける必要があります。このようなグループ分けをしてそれらを管理する場合には、クラスタリングモジュールと呼ばれるモジュールを用います。" +msgstr "When operating multiple agents, it is crucial to determine how to coordinate them. In RRS, many teams adopt coordination methods that assign each agent a designated area of responsibility (as well as other coordination methods). To assign these areas, objects on the map need to be divided into several groups. A module called the clustering module is used to manage these groupings." + +#: ../../source/hands-on/clustering.md:7 +msgid "本資料では、多くの世界大会参加チームが使用しているアルゴリズムを用いたクラスタリングモジュールの実装をおこないます。" +msgstr "In this document, we will implement a clustering module using algorithms commonly employed by many teams participating in world championships." + +#: ../../source/hands-on/clustering.md:9 +msgid "開発するクラスタリングモジュールの概要" +msgstr "Overview of the Clustering Module to Be Developed" + +#: ../../source/hands-on/clustering.md:11 +msgid "本資料で開発するモジュールは下の画像のように、" +msgstr "The module developed in this document, as shown in the image below," + +#: ../../source/hands-on/clustering.md:13 +msgid "k-means++アルゴリズムによって地図上のオブジェクトをエージェント数分の区画に分けます。" +msgstr "Divides the objects on the map into sections equal to the number of agents using the k-means++ algorithm." + +#: ../../source/hands-on/clustering.md:14 +msgid "Hungarianアルゴリズムによってそれらの区画とエージェントを (間の距離の総和が最も小さくなるように)1対1で結びつけます。" +msgstr "Assigns the sections to the agents in a one-to-one manner using the Hungarian algorithm, minimizing the total distance between them." + +#: ../../source/hands-on/clustering.md:16 +msgid "![クラスタリングの画像](./../images/clustering_image.jpg)" +msgstr "![Clustering Image](./../images/clustering_image.jpg)" + +#: ../../source/hands-on/clustering.md:16 +#: ../../source/hands-on/clustering.md:362 +msgid "クラスタリングの画像" +msgstr "Clustering Image" + +#: ../../source/hands-on/clustering.md:18 +msgid "クラスタリングモジュールの実装" +msgstr "Implementation of the Clustering Module" + +#: ../../source/hands-on/clustering.md:21 ../../source/hands-on/search.md:10 +msgid "以降の作業では、カレントディレクトリがプロジェクトのルートディレクトリであることを前提としています。" +msgstr "The following tasks assume that the current directory is the root directory of the project." + +#: ../../source/hands-on/clustering.md:24 +msgid "まず、クラスタリングモジュールを記述するためのファイルを作成します。" +msgstr "First, create a file to write the clustering module." + +#: ../../source/hands-on/clustering.md:31 +msgid "次に、クラスタリングモジュールの実装を行います。 以下のコードを `k_means_pp_clustering.py` に記述してください。" +msgstr "Next, implement the clustering module. Write the following code into `k_means_pp_clustering.py`." + +#: ../../source/hands-on/clustering.md:295 +msgid "k-means++の実装は、scikit-learnの`KMeans`クラスを使用しています。`KMeans`クラスは、`n_clusters`で指定したクラスター数によって地図上のオブジェクトをクラスタリングします。クラスタリング結果は、`labels_`属性に格納されます。また、`cluster_centers_`属性には各クラスターの中心座標が格納されます。" +msgstr "The implementation of k-means++ uses the `KMeans` class from scikit-learn. The `KMeans` class clusters objects on the map based on the number of clusters specified by `n_clusters`. The clustering results are stored in the `labels_` attribute, and the coordinates of each cluster center are stored in the `cluster_centers_` attribute." + +#: ../../source/hands-on/clustering.md:297 +msgid "hungarianアルゴリズムの実装は、scipyの`linear_sum_assignment`関数を使用しています。`linear_sum_assignment`関数は、コスト行列を引数として受け取り、最適な割り当てを行います。" +msgstr "The implementation of the Hungarian algorithm uses the `linear_sum_assignment` function from scipy. The `linear_sum_assignment` function takes a cost matrix as an argument and performs optimal assignment." + +#: ../../source/hands-on/clustering.md:299 +msgid "次に、作成したモジュールを登録します。`config/module.yaml` を以下のように編集してください。" +msgstr "Next, register the created module. Edit `config/module.yaml` as follows." + +#: ../../source/hands-on/clustering.md:310 ../../source/hands-on/search.md:160 +msgid "ターミナルを2つ起動します。" +msgstr "Open two terminals." + +#: ../../source/hands-on/clustering.md:312 ../../source/hands-on/search.md:162 +msgid "片方のターミナルを開き、シミュレーションサーバーを以下のコマンドで起動します：" +msgstr "Open one terminal and start the simulation server with the following command:" + +#: ../../source/hands-on/clustering.md:320 ../../source/hands-on/search.md:170 +msgid "その後、別のターミナルを開き、エージェントを起動します：" +msgstr "Then open another terminal and start the agent:" + +#: ../../source/hands-on/clustering.md:328 +msgid "エージェントが起動すると、標準出力にクラスタリング結果が表示されます。" +msgstr "When the agent starts, the clustering results will be displayed in the standard output." + +#: ../../source/hands-on/clustering.md:335 +msgid "このままだと、クラスタリング結果がわかりにくいので、クラスタリング結果を地図上に表示してみましょう。" +msgstr "As it is, the clustering results are not very clear, so let's display the clustering results on the map." + +#: ../../source/hands-on/clustering.md:337 +msgid "{download}`クラスターの可視化用スクリプト <./../download/cluster_plot.zip>`をダウンロードして解凍し、中の`main.py`の以下の部分に" +msgstr "{download}`Download the cluster visualization script <./../download/cluster_plot.zip>` and extract it. Then, in `main.py`, modify the following part." + +#: ../../source/hands-on/clustering.md:344 +msgid "出力の`Clustered entities: `の後ろの部分の配列をコピーして貼り付けてください。" +msgstr "Copy the array after `Clustered entities:` in the output and paste it." + +#: ../../source/hands-on/clustering.md:346 +msgid "例" +msgstr "Example" + +#: ../../source/hands-on/clustering.md:353 +msgid "貼り付けたら、以下のコマンドを実行してください。" +msgstr "After pasting, execute the following command." + +#: ../../source/hands-on/clustering.md:360 +msgid "以下のような画像が出力されます。" +msgstr "An image like the one below will be output." + +#: ../../source/hands-on/clustering.md:362 +msgid "![クラスタリングの画像](./../images/cluster.png)" +msgstr "![Clustering Image](./../images/cluster.png)" + +#: ../../source/hands-on/search.md:1 +msgid "サーチモジュール" +msgstr "Search Module" + +#: ../../source/hands-on/search.md:3 +msgid "サーチモジュールの概要" +msgstr "Overview of the Search Module" + +#: ../../source/hands-on/search.md:5 +msgid "" +"今回開発するモジュールは、`KMeansPPClustering` モジュールを用いた情報探索対象決定 (`Search`) モジュールです。 " +"クラスタリングモジュールによってエージェント間で担当地域の分割をおこない、 担当地域内からランダムに探索対象として選択します。" +msgstr "" +"The module to be developed this time is the information search target determination (`Search`) module using the `KMeansPPClustering` module. " +"The clustering module divides the areas of responsibility among agents and randomly selects search targets within the assigned areas." + +#: ../../source/hands-on/search.md:7 +msgid "サーチモジュールの実装の準備" +msgstr "Preparation for Implementing the Search Module" + +#: ../../source/hands-on/search.md:13 +msgid "まず、サーチモジュールを記述するためのファイルを作成します。" +msgstr "First, create a file to write the search module." + +#: ../../source/hands-on/search.md:19 +msgid "" +"次に、サーチモジュールの実装を行います。 以下のコードを `k_means_pp_search.py` に記述してください。 " +"これが今回実装するサーチモジュールの雛形になります。" +msgstr "" +"Next, implement the search module. Write the following code into `k_means_pp_search.py`. " +"This will be the template for the search module to be implemented this time." + +#: ../../source/hands-on/search.md:67 +msgid "モジュールの登録" +msgstr "Module Registration" + +#: ../../source/hands-on/search.md:69 +msgid "次に、作成したモジュールを登録します。 以下のように`config/module.yaml`の該当箇所を変更してください" +msgstr "Next, register the created module. Modify the relevant section of `config/module.yaml` as follows." + +#: ../../source/hands-on/search.md:83 +msgid "モジュールの実装" +msgstr "Module Implementation" + +#: ../../source/hands-on/search.md:85 +msgid "まず、`KMeansPPClustering` モジュールを呼び出せるようにします。" +msgstr "First, make it possible to call the `KMeansPPClustering` module." + +#: ../../source/hands-on/search.md:87 +msgid "以下のコードを`config/module.yaml`に追記してください。" +msgstr "Add the following code to `config/module.yaml`." + +#: ../../source/hands-on/search.md:94 +msgid "次に、`KMeansPPSearch` モジュールで `KMeansPPClustering` モジュールを呼び出せるようにします。" +msgstr "Next, make it possible to call the `KMeansPPClustering` module in the `KMeansPPSearch` module." + +#: ../../source/hands-on/search.md:96 ../../source/hands-on/search.md:136 +msgid "以下のコードを `k_means_pp_search.py` に追記してください。" +msgstr "Add the following code to `k_means_pp_search.py`." + +#: ../../source/hands-on/search.md:134 +msgid "そして、`calculate` メソッドでクラスタリングモジュールを呼び出し、探索対象を決定するように変更します。" +msgstr "Then, modify the `calculate` method to call the clustering module and determine the search target." + +#: ../../source/hands-on/search.md:158 +msgid "以上で、`KMeansPPClustering` モジュールを用いた `KMeansPPSearch` モジュールの実装が完了しました。" +msgstr "This completes the implementation of the `KMeansPPSearch` module using the `KMeansPPClustering` module." + +#: ../../source/hands-on/search.md:178 +msgid "モジュールの改善" +msgstr "Module Improvement" + +#: ../../source/hands-on/search.md:180 +msgid "" +"`KMeansPPSearch` モジュールは、クラスタリングモジュールを用いて担当地域内からランダムに探索対象を選択しています。 " +"そのため、以下のような問題があります。" +msgstr "" +"The `KMeansPPSearch` module randomly selects search targets within the assigned areas using the clustering module. " +"As a result, the following issues arise:" + +#: ../../source/hands-on/search.md:183 +msgid "探索対象がステップごとに変わってしまう" +msgstr "The search target changes with each step" + +#: ../../source/hands-on/search.md:184 +msgid "目標にたどり着く前に探索対象が変わってしまうため、なかなか目標にたどり着けない" +msgstr "The search target changes before reaching the goal, making it difficult to reach the goal" + +#: ../../source/hands-on/search.md:185 +msgid "色んなところにランダムに探索対象を選択することで、効率的な探索ができない" +msgstr "Randomly selecting search targets in various places makes efficient searching impossible" + +#: ../../source/hands-on/search.md:186 +msgid "すでに探索したエンティティを再度探索対象として選択してしまうため、効率的な探索ができない" +msgstr "Selecting already searched entities as search targets again makes efficient searching impossible" + +#: ../../source/hands-on/search.md:187 ../../source/hands-on/search.md:329 +msgid "近くに未探索のエンティティがあるのに、遠くのエンティティを探索対象として選択してしまう" +msgstr "Selecting distant entities as search targets even though there are unexplored entities nearby" + +#: ../../source/hands-on/search.md:189 +msgid "などの問題があります。" +msgstr "These are some of the issues." + +#: ../../source/hands-on/search.md:191 +msgid "課題" +msgstr "Challenges" + +#: ../../source/hands-on/search.md:193 +msgid "`KMeansPPSearch` モジュールを改善し、より効率的な探索を行うモジュールを実装して見てください。" +msgstr "Improve the `KMeansPPSearch` module and implement a module that performs more efficient searches." + +#: ../../source/hands-on/search.md:196 +msgid "ここに上げた問題以外にも、改善すべき点が存在すると思うので、それを改善していただいても構いません。" +msgstr "There may be other points for improvement besides the issues listed here, so feel free to address them as well." + +#: ../../source/hands-on/search.md:200 +msgid "プログラム例のプログラムにも一部改善点があるので、余裕があったら修正してみてください。" +msgstr "There are also some points for improvement in the example program, so try to fix them if you have time." + +#: ../../source/hands-on/search.md:203 +msgid "探索対象がステップごとに変わってしまう問題" +msgstr "Issue of the search target changing with each step" + +#: ../../source/hands-on/search.md:205 ../../source/hands-on/search.md:248 +#: ../../source/hands-on/search.md:331 +msgid "方針のヒント" +msgstr "Hints for the Approach" + +#: ../../source/hands-on/search.md:208 +msgid "一度選択した探索対象に到達するまで、探索対象を変更しないようにする" +msgstr "Do not change the search target until the initially selected target is reached" + +#: ../../source/hands-on/search.md:211 ../../source/hands-on/search.md:254 +#: ../../source/hands-on/search.md:337 +msgid "プログラム例" +msgstr "Example Program" + +#: ../../source/hands-on/search.md:246 +msgid "すでに探索したエンティティを再度探索対象として選択してしまう問題" +msgstr "Issue of selecting already searched entities as search targets again" + +#: ../../source/hands-on/search.md:251 +msgid "すでに探索したエンティティを何かしらの方法で記録し、再度探索対象として選択しないようにする" +msgstr "Record already searched entities in some way to avoid selecting them as search targets again" + +#: ../../source/hands-on/search.md:334 +msgid "エンティティ間の距離を計算し、もっとも近いエンティティを探索対象として選択する" +msgstr "Calculate the distance between entities and select the closest entity as the search target" diff --git a/docs/source/locale/en/LC_MESSAGES/index.po b/docs/source/locale/en/LC_MESSAGES/index.po new file mode 100644 index 0000000..56c8eec --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/index.po @@ -0,0 +1,98 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/index.rst:35 +msgid "インストール" +msgstr "Installation" + +#: ../../source/index.rst:42 +msgid "クイックスタート" +msgstr "Quick Start" + +#: ../../source/index.rst:48 +msgid "チュートリアル" +msgstr "Tutorial" + +#: ../../source/index.rst:58 +msgid "ハンズオン" +msgstr "Hands-On" + +#: ../../source/index.rst:65 +msgid "APIドキュメント" +msgstr "API Documentation" + +#: ../../source/index.rst:7 +msgid "adf-core-pythonのドキュメント" +msgstr "adf-core-python Documentation" + +#: ../../source/index.rst:11 +msgid "現在このパッケージは開発中です。破壊的な変更が行われる可能性があります。" +msgstr "This package is currently under development. Breaking changes may occur." + +#: ../../source/index.rst:15 +msgid "パッケージとしてまだ公開していないため、pip でインストールすることはできません。" +msgstr "Since it has not been released as a package yet, it cannot be installed via pip." + +#: ../../source/index.rst:19 +msgid "以下の言語のドキュメントは機械翻訳を使用しています。翻訳の正確性については保証できません。 英語" +msgstr "The following language documents use machine translation. The accuracy of the translation cannot be guaranteed. English" + +#: ../../source/index.rst:19 +msgid "概要" +msgstr "Overview" + +#: ../../source/index.rst:20 +msgid "" +"adf-core-pythonは、RoboCup Rescue " +"Simulation(RRS)におけるエージェント開発を支援するためのライブラリ及びフレームワークです。 adf-core-" +"pythonを使用することで、エージェントの開発を効率化し、再利用性を向上させることができます。" +msgstr "" +"adf-core-python is a library and framework to support agent development in RoboCup Rescue " +"Simulation (RRS). By using adf-core-python, you can streamline agent development and improve reusability." + +#: ../../source/index.rst:24 +msgid "特徴" +msgstr "Features" + +#: ../../source/index.rst:25 +msgid "adf-core-pythonには以下のような特徴があります。" +msgstr "adf-core-python has the following features:" + +#: ../../source/index.rst:27 +msgid "**モジュール単位での開発**: モジュール単位でエージェント開発を行い、モジュールの入れ替えが容易です。" +msgstr "**Module-based development**: Develop agents on a module basis, making it easy to replace modules." + +#: ../../source/index.rst:28 +msgid "**モジュールの再利用**: 他のエージェントで使用されているモジュールを再利用することができます。" +msgstr "**Module reuse**: Reuse modules used by other agents." + +#: ../../source/index.rst:29 +msgid "**エージェントの開発に集中**: シミュレーションサーバーとの通信やログ出力などの共通処理をライブラリが提供します。" +msgstr "**Focus on agent development**: The library provides common processing such as communication with the simulation server and log output." + +#: ../../source/index.rst:32 +msgid "はじめに" +msgstr "Getting Started" + +#: ../../source/index.rst:33 +msgid "adf-core-pythonを始めるには、インストールに従い、このドキュメントに記載されているチュートリアルやハンズオンを参照してください。" +msgstr "To get started with adf-core-python, follow the installation and refer to the tutorials and hands-on in this document." diff --git a/docs/source/locale/en/LC_MESSAGES/install.po b/docs/source/locale/en/LC_MESSAGES/install.po new file mode 100644 index 0000000..9e2e4c3 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/install.po @@ -0,0 +1,387 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/install/environment/environment.md:1 +msgid "環境構築" +msgstr "Environment Setup" + +#: ../../source/install/environment/environment.md:3 +msgid "" +"adf-core-pythonをインストールするには以下の必要条件が必要です。 " +"既にお使いのPCにインストールされている場合は再度インストールする必要はありません。" +msgstr "" +"To install adf-core-python, the following prerequisites are required. " +"If they are already installed on your PC, you do not need to reinstall them." + +#: ../../source/install/environment/environment.md:6 +msgid "必要条件" +msgstr "Prerequisites" + +#: ../../source/install/environment/environment.md:8 +msgid "Git" +msgstr "Git" + +#: ../../source/install/environment/environment.md:9 +#: ../../source/install/install/install.md:9 +msgid "Python 3.12 以上" +msgstr "Python 3.12 or higher" + +#: ../../source/install/environment/environment.md:10 +msgid "OpenJDK 17" +msgstr "OpenJDK 17" + +#: ../../source/install/environment/environment.md:12 +msgid "各OSでのインストール方法は以下のページをそれぞれ参照してください" +msgstr "Refer to the following pages for installation methods for each OS" + +#: ../../source/install/environment/environment.md:14 +msgid "[Windowsでの必要条件のインストール方法](./windows/install.md)" +msgstr "[How to install prerequisites on Windows](./windows/install.md)" + +#: ../../source/install/environment/environment.md:16 +msgid "[MacOSでの必要条件のインストール方法](./mac/install.md)" +msgstr "[How to install prerequisites on MacOS](./mac/install.md)" + +#: ../../source/install/environment/environment.md:18 +msgid "[Linuxでの必要条件のインストール方法](./linux/install.md)" +msgstr "[How to install prerequisites on Linux](./linux/install.md)" + +#: ../../source/install/environment/environment.md:20 +msgid "シミュレーションサーバーのインストール" +msgstr "Installing the Simulation Server" + +#: ../../source/install/environment/environment.md:22 +msgid "次にRoboCup Rescue Simulationのシミュレーションサーバーをインストールします。" +msgstr "Next, install the RoboCup Rescue Simulation server." + +#: ../../source/install/environment/environment.md:25 +msgid "WORKING_DIR は任意のディレクトリを作成、指定してください。" +msgstr "Create and specify any directory as WORKING_DIR." + +#: ../../source/install/environment/environment.md:36 +msgid "ビルドした際に以下のようなメッセージが表示されたら成功です。" +msgstr "If the following message is displayed when you build, it is successful." + +#: ../../source/install/environment/environment.md:42 +msgid "シミュレーションサーバーの動作確認" +msgstr "Simulation Server Operation Check" + +#: ../../source/install/environment/environment.md:49 +msgid "![シミュレーションサーバーの起動](../../images/launch_server.png)" +msgstr "![Launching the Simulation Server](../../images/launch_server.png)" + +#: ../../source/install/environment/environment.md:49 +msgid "シミュレーションサーバーの起動" +msgstr "Launching the Simulation Server" + +#: ../../source/install/environment/environment.md:51 +msgid "" +"上記のように何個かのウィンドウが表示されたら成功です。 コマンドラインで `Ctrl + C` (MacOSの場合は `Command + C`" +" ) を押すとシミュレーションサーバーが終了します。" +msgstr "" +"If several windows are displayed as shown above, it is successful. Press `Ctrl + C` (or `Command + C` on MacOS) in the command line to stop the simulation server." + +#: ../../source/install/environment/environment.md:55 +msgid "シミュレーションサーバーを停止させたあとは、プロセスが残ってしまう場合があるので`./kill.sh` を実行してください。" +msgstr "After stopping the simulation server, run `./kill.sh` as there may be remaining processes." + +#: ../../source/install/environment/linux/install.md:1 +msgid "Linuxでの環境構築" +msgstr "Environment Setup on Linux" + +#: ../../source/install/environment/linux/install.md:3 +#: ../../source/install/environment/windows/install.md:3 +msgid "1. Gitのインストール" +msgstr "1. Installing Git" + +#: ../../source/install/environment/linux/install.md:5 +#: ../../source/install/environment/mac/install.md:3 +#: ../../source/install/environment/mac/install.md:20 +msgid "Terminalを起動し、以下のコマンドを実行します。" +msgstr "Open the terminal and run the following command." + +#: ../../source/install/environment/linux/install.md:10 +msgid "もし、`command not found`などのエラーが出た場合、OS標準のパッケージマネージャーを使用してインストールします。" +msgstr "If you get an error like `command not found`, use the OS's standard package manager to install." + +#: ../../source/install/environment/linux/install.md:11 +#: ../../source/install/environment/linux/install.md:85 +#: ../../source/install/environment/linux/install.md:122 +msgid "DebianベースのOSの場合(Ubuntuなど)" +msgstr "For Debian-based OS (e.g., Ubuntu)" + +#: ../../source/install/environment/linux/install.md:17 +#: ../../source/install/environment/linux/install.md:91 +#: ../../source/install/environment/linux/install.md:128 +msgid "Red HatベースのOSの場合(Fedoraなど)" +msgstr "For Red Hat-based OS (e.g., Fedora)" + +#: ../../source/install/environment/linux/install.md:26 +#: ../../source/install/environment/linux/install.md:109 +#: ../../source/install/environment/linux/install.md:137 +#: ../../source/install/environment/mac/install.md:28 +#: ../../source/install/environment/mac/install.md:43 +#: ../../source/install/environment/mac/install.md:58 +msgid "以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください)" +msgstr "Enter the following command, and if the version is displayed, it is successful. (If not displayed, restart the terminal.)" + +#: ../../source/install/environment/linux/install.md:31 +#: ../../source/install/environment/windows/install.md:14 +msgid "2. Pythonのインストール" +msgstr "2. Installing Python" + +#: ../../source/install/environment/linux/install.md:33 +#: ../../source/install/environment/mac/install.md:35 +msgid "Terminalを起動し、以下のコマンドを実行します。また、バージョンが3.12以上になっていることを確認します。" +msgstr "Open the terminal and run the following command. Also, make sure the version is 3.12 or higher." + +#: ../../source/install/environment/linux/install.md:38 +msgid "" +"もし、`command not " +"found`などのエラーが出た場合やバージョンが低い場合、Pythonのバージョン管理ツールであるpyenvを使用してインストールします" +msgstr "" +"If you get an error like `command not found` or the version is low, use the Python version management tool pyenv to install." + +#: ../../source/install/environment/linux/install.md:41 +msgid "インストール方法の内容が最新ではない場合があるため、[https://github.com/pyenv/pyenv](https://github.com/pyenv/pyenv)を参照してください。" +msgstr "The installation method may not be up to date, so please refer to [https://github.com/pyenv/pyenv](https://github.com/pyenv/pyenv)." + +#: ../../source/install/environment/linux/install.md:44 +msgid "以下のコマンドを実行します。" +msgstr "Run the following command." + +#: ../../source/install/environment/linux/install.md:49 +msgid "次に以下のコマンドを実行して、使用しているShellを確認します。" +msgstr "Next, run the following command to check the shell you are using." + +#: ../../source/install/environment/linux/install.md:54 +msgid "表示されたShellに従ってコマンドを実行してください。" +msgstr "Follow the commands according to the displayed shell." + +#: ../../source/install/environment/linux/install.md:56 +msgid "`bash`が表示された方は以下のコマンドを実行してください" +msgstr "If `bash` is displayed, run the following command." + +#: ../../source/install/environment/linux/install.md:70 +msgid "`zsh`が表示された方は以下のコマンドを実行してください" +msgstr "If `zsh` is displayed, run the following command." + +#: ../../source/install/environment/linux/install.md:77 +msgid "`fish`が表示された方は以下のコマンドを実行してください" +msgstr "If `fish` is displayed, run the following command." + +#: ../../source/install/environment/linux/install.md:84 +msgid "必要パッケージのインストール" +msgstr "Installing necessary packages" + +#: ../../source/install/environment/linux/install.md:100 +msgid "python3.12のインストール" +msgstr "Installing python3.12" + +#: ../../source/install/environment/linux/install.md:114 +#: ../../source/install/environment/mac/install.md:48 +#: ../../source/install/environment/windows/install.md:24 +msgid "3. OpenJDKのインストール" +msgstr "3. Installing OpenJDK" + +#: ../../source/install/environment/linux/install.md:116 +#: ../../source/install/environment/mac/install.md:50 +msgid "Terminalを起動し、以下のコマンドを実行します。また、バージョンが17になっていることを確認します。" +msgstr "Open the terminal and run the following command. Also, make sure the version is 17." + +#: ../../source/install/environment/linux/install.md:121 +msgid "" +"もし、`command not " +"found`などのエラーが出た場合やバージョンが異なる場合、OS標準のパッケージマネージャーを使用してインストールします" +msgstr "" +"If you get an error like `command not found` or the version is different, use the OS's standard package manager to install." + +#: ../../source/install/environment/mac/install.md:1 +msgid "Macでの環境構築" +msgstr "Environment Setup on Mac" + +#: ../../source/install/environment/mac/install.md:2 +msgid "1. Homebrewのインストール" +msgstr "1. Installing Homebrew" + +#: ../../source/install/environment/mac/install.md:8 +#: ../../source/install/environment/mac/install.md:24 +msgid "もし、`command not found`などのエラーが出た場合、以下のコマンドを実行します。" +msgstr "If you get an error like `command not found`, run the following command." + +#: ../../source/install/environment/mac/install.md:13 +msgid "もう一度、以下のコマンドを実行してバージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください)" +msgstr "Run the following command again, and if the version is displayed, it is successful. (If not displayed, restart the terminal.)" + +#: ../../source/install/environment/mac/install.md:18 +msgid "2. Gitのインストール" +msgstr "2. Installing Git" + +#: ../../source/install/environment/mac/install.md:33 +msgid "3. Pythonのインストール" +msgstr "3. Installing Python" + +#: ../../source/install/environment/mac/install.md:39 +msgid "もし、`command not found`などのエラーが出た場合やバージョンが低い場合、以下のコマンドを実行します。" +msgstr "If you get an error like `command not found` or the version is low, run the following command." + +#: ../../source/install/environment/mac/install.md:54 +msgid "もし、`command not found`などのエラーが出た場合やバージョンが異なる場合、以下のコマンドを実行します。" +msgstr "If you get an error like `command not found` or the version is different, run the following command." + +#: ../../source/install/environment/windows/install.md:1 +msgid "Windowsでの環境構築" +msgstr "Environment Setup on Windows" + +#: ../../source/install/environment/windows/install.md:5 +msgid "[Git for Windows](https://gitforwindows.org/)の公式サイトにアクセスします。" +msgstr "Access the [Git for Windows](https://gitforwindows.org/) official site." + +#: ../../source/install/environment/windows/install.md:6 +msgid "トップページの\"Download\"をクリックします" +msgstr "Click \"Download\" on the top page." + +#: ../../source/install/environment/windows/install.md:7 +#: ../../source/install/environment/windows/install.md:18 +msgid "ダウンロードが完了した後、インストーラーを実行します。" +msgstr "After the download is complete, run the installer." + +#: ../../source/install/environment/windows/install.md:8 +msgid "全て\"Next\"をクリックします。" +msgstr "Click \"Next\" for all steps." + +#: ../../source/install/environment/windows/install.md:9 +#: ../../source/install/environment/windows/install.md:20 +msgid "インストールが完了するまで待ちます。" +msgstr "Wait for the installation to complete." + +#: ../../source/install/environment/windows/install.md:10 +msgid "インストールが完了したら\"Finish\"をクリックします。" +msgstr "Click \"Finish\" when the installation is complete." + +#: ../../source/install/environment/windows/install.md:11 +msgid "検索バーに\"Git Bash\"と入力し、Git Bashを実行します。" +msgstr "Enter \"Git Bash\" in the search bar and run Git Bash." + +#: ../../source/install/environment/windows/install.md:12 +msgid "画面が表示されていたらインストール成功です。" +msgstr "If the screen is displayed, the installation is successful." + +#: ../../source/install/environment/windows/install.md:16 +msgid "[Python](https://www.python.org/)の公式サイトにアクセスします。" +msgstr "Access the [Python](https://www.python.org/) official site." + +#: ../../source/install/environment/windows/install.md:17 +msgid "トップページの\"Download Python ~\"をクリックします" +msgstr "Click \"Download Python ~\" on the top page." + +#: ../../source/install/environment/windows/install.md:19 +msgid "\"Add python.exe to PATH\"にチェックが入っていることを確認した後、\"Install Now\"をクリックします。" +msgstr "Make sure \"Add python.exe to PATH\" is checked, then click \"Install Now\"." + +#: ../../source/install/environment/windows/install.md:21 +msgid "インストールが完了したら\"Close\"をクリックします。" +msgstr "Click \"Close\" when the installation is complete." + +#: ../../source/install/environment/windows/install.md:22 +msgid "" +"Git Bashを開き、`python --version`と入力し、`Python " +"[バージョン]`が表示されたら成功です。(もし表示されない場合はGit Bashを開き直してください)" +msgstr "" +"Open Git Bash, enter `python --version`, and if `Python [version]` is displayed, it is successful. (If not displayed, reopen Git Bash.)" + +#: ../../source/install/environment/windows/install.md:26 +msgid "[OpenJDK](https://jdk.java.net/archive/)のダウンロードページにアクセスします。" +msgstr "Access the [OpenJDK](https://jdk.java.net/archive/) download page." + +#: ../../source/install/environment/windows/install.md:27 +msgid "17.0.2のWindowsの横にある\"zip\"をクリックします。" +msgstr "Click \"zip\" next to Windows for version 17.0.2." + +#: ../../source/install/environment/windows/install.md:28 +msgid "ダウンロードしたzipを展開(解凍)します。" +msgstr "Extract the downloaded zip file." + +#: ../../source/install/environment/windows/install.md:29 +msgid "展開(解凍)すると\"jdk-17.0.2\"のようなフォルダができるのを確認します。" +msgstr "Confirm that a folder like \"jdk-17.0.2\" is created after extraction." + +#: ../../source/install/environment/windows/install.md:30 +msgid "このフォルダ\"jdk-17.0.2\"を`C:¥`の直下に移動させます。" +msgstr "Move this folder \"jdk-17.0.2\" to the root of `C:¥`." + +#: ../../source/install/environment/windows/install.md:31 +msgid "Windowsでコマンドプロンプトを管理者として実行します。" +msgstr "Run the command prompt as an administrator on Windows." + +#: ../../source/install/environment/windows/install.md:32 +msgid "開いたら以下のコマンドを実行します。" +msgstr "Once opened, run the following command." + +#: ../../source/install/environment/windows/install.md:36 +msgid "次に以下のコマンドを実行します。" +msgstr "Next, run the following command." + +#: ../../source/install/environment/windows/install.md:40 +msgid "Git Bashを開き、`java -version`と入力します。 以下のような文字が表示されたらインストール成功です。" +msgstr "Open Git Bash and enter `java -version`. If the following text is displayed, the installation is successful." + +#: ../../source/install/install/install.md:1 +msgid "インストール" +msgstr "Installation" + +#: ../../source/install/install/install.md:3 +msgid "このセクションでは、パッケージのインストール方法について説明します。" +msgstr "This section explains how to install the package." + +#: ../../source/install/install/install.md:5 +msgid "前提条件" +msgstr "Prerequisites" + +#: ../../source/install/install/install.md:7 +msgid "インストールする前に、以下の前提条件を確認してください：" +msgstr "Before installing, please check the following prerequisites:" + +#: ../../source/install/install/install.md:10 +msgid "pip" +msgstr "pip" + +#: ../../source/install/install/install.md:12 +msgid "パッケージのインストール" +msgstr "Installing the package" + +#: ../../source/install/install/install.md:14 +msgid "パッケージをインストールするには、次のコマンドを実行します：" +msgstr "To install the package, run the following command:" + +#: ../../source/install/install/install.md:20 +msgid "インストールの確認" +msgstr "Verifying the installation" + +#: ../../source/install/install/install.md:22 +msgid "インストールを確認するには、次のコマンドを実行します：" +msgstr "To verify the installation, run the following command:" + +#: ../../source/install/install/install.md:28 +msgid "パッケージが正しくインストールされている場合、パッケージのバージョン番号などが表示されます。" +msgstr "If the package is installed correctly, the package version number, etc., will be displayed." + diff --git a/docs/source/locale/en/LC_MESSAGES/modules.po b/docs/source/locale/en/LC_MESSAGES/modules.po new file mode 100644 index 0000000..49c7a03 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/modules.po @@ -0,0 +1,26 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/modules.rst:2 +msgid "adf_core_python" +msgstr "adf_core_python" + diff --git a/docs/source/locale/en/LC_MESSAGES/quickstart.po b/docs/source/locale/en/LC_MESSAGES/quickstart.po new file mode 100644 index 0000000..af56f57 --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/quickstart.po @@ -0,0 +1,77 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/quickstart/quickstart.md:1 +msgid "クイックスタート" +msgstr "Quick Start" + +#: ../../source/quickstart/quickstart.md:3 +msgid "前提条件" +msgstr "Prerequisites" + +#: ../../source/quickstart/quickstart.md:5 +msgid "インストールする前に、以下の前提条件を確認してください：" +msgstr "Before installing, please check the following prerequisites:" + +#: ../../source/quickstart/quickstart.md:7 +msgid "Python 3.12 以上" +msgstr "Python 3.12 or higher" + +#: ../../source/quickstart/quickstart.md:8 +msgid "pip" +msgstr "pip" + +#: ../../source/quickstart/quickstart.md:10 +msgid "パッケージのインストール" +msgstr "Package Installation" + +#: ../../source/quickstart/quickstart.md:12 +msgid "パッケージをインストールするには、次のコマンドを実行します：" +msgstr "To install the package, run the following command:" + +#: ../../source/quickstart/quickstart.md:18 +msgid "新規エージェントの作成" +msgstr "Creating a New Agent" + +#: ../../source/quickstart/quickstart.md:20 +msgid "新規エージェントを作成するには、次のコマンドを実行します：" +msgstr "To create a new agent, run the following command:" + +#: ../../source/quickstart/quickstart.md:26 +msgid "実行すると、下記のような対話形式のプロンプトが表示されます：" +msgstr "When executed, an interactive prompt like the one below will be displayed:" + +#: ../../source/quickstart/quickstart.md:33 +msgid "入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。" +msgstr "After input, an agent template like the one below will be created in the current directory." + +#: ../../source/quickstart/quickstart.md:55 +msgid "エージェントを実行する" +msgstr "Running the Agent" + +#: ../../source/quickstart/quickstart.md:57 +msgid "エージェントを実行するには、シミュレーションサーバーを起動し、次のコマンドを実行します：" +msgstr "To run the agent, start the simulation server and run the following command:" + +#: ../../source/quickstart/quickstart.md:63 +msgid "エージェントの実行が開始され、シミュレーションサーバーとの通信が開始されます。" +msgstr "The agent execution will start, and communication with the simulation server will begin." diff --git a/docs/source/locale/en/LC_MESSAGES/tutorial.po b/docs/source/locale/en/LC_MESSAGES/tutorial.po new file mode 100644 index 0000000..8aa509e --- /dev/null +++ b/docs/source/locale/en/LC_MESSAGES/tutorial.po @@ -0,0 +1,626 @@ +# SOME DESCRIPTIVE TITLE. +# Copyright (C) 2024, Haruki Uehara, Yuki Shimada +# This file is distributed under the same license as the adf-core-python +# package. +# FIRST AUTHOR , 2024. +# +#, fuzzy +msgid "" +msgstr "" +"Project-Id-Version: adf-core-python \n" +"Report-Msgid-Bugs-To: \n" +"POT-Creation-Date: 2024-12-19 13:59+0900\n" +"PO-Revision-Date: YEAR-MO-DA HO:MI+ZONE\n" +"Last-Translator: FULL NAME \n" +"Language: en\n" +"Language-Team: en \n" +"Plural-Forms: nplurals=2; plural=(n != 1);\n" +"MIME-Version: 1.0\n" +"Content-Type: text/plain; charset=utf-8\n" +"Content-Transfer-Encoding: 8bit\n" +"Generated-By: Babel 2.16.0\n" + +#: ../../source/tutorial/agent/agent.md:1 +msgid "エージェントの作成" +msgstr "Creating an Agent" + +#: ../../source/tutorial/agent/agent.md:3 +msgid "このセクションでは、`adf-core-python` ライブラリの使用方法の概要を提供します。" +msgstr "This section provides an overview of how to use the `adf-core-python` library." + +#: ../../source/tutorial/agent/agent.md:5 +msgid "新規エージェントの作成" +msgstr "Creating a New Agent" + +#: ../../source/tutorial/agent/agent.md:7 +msgid "新規エージェントを作成するには、次のコマンドを実行します：" +msgstr "To create a new agent, run the following command:" + +#: ../../source/tutorial/agent/agent.md:13 +msgid "実行すると、下記のような対話形式のプロンプトが表示されます：" +msgstr "When executed, an interactive prompt like the one below will be displayed:" + +#: ../../source/tutorial/agent/agent.md:21 +msgid "" +"エージェントチーム名は、エージェントのディレクトリ名として使用されます。 以後、エージェントチーム名を `` " +"として参照します。" +msgstr "" +"The agent team name will be used as the directory name for the agent. Hereafter, the agent team name will be referred to as ``." + +#: ../../source/tutorial/agent/agent.md:25 +msgid "入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。" +msgstr "After entering, an agent template like the one below will be created in the current directory." + +#: ../../source/tutorial/agent/agent.md:47 +msgid "シミュレーションを実行する" +msgstr "Running the Simulation" + +#: ../../source/tutorial/agent/agent.md:49 +#: ../../source/tutorial/agent/agent_control.md:110 +#: ../../source/tutorial/agent/agent_control.md:330 +msgid "ターミナルを2つ起動します。" +msgstr "Open two terminals." + +#: ../../source/tutorial/agent/agent.md:51 +#: ../../source/tutorial/agent/agent_control.md:112 +#: ../../source/tutorial/agent/agent_control.md:332 +msgid "片方のターミナルを開き、シミュレーションサーバーを以下のコマンドで起動します：" +msgstr "Open one terminal and start the simulation server with the following command:" + +#: ../../source/tutorial/agent/agent.md:59 +#: ../../source/tutorial/agent/agent_control.md:120 +#: ../../source/tutorial/agent/agent_control.md:340 +msgid "その後、別のターミナルを開き、エージェントを起動します：" +msgstr "Then, open another terminal and start the agent:" + +#: ../../source/tutorial/agent/agent.md:67 +msgid "" +"エージェントが正常に起動すると、シミュレーションサーバーに接続され、エージェントがシミュレーションに参加し、エージェントが動き出します。 " +"途中で止めたい場合は、それぞれのコマンドラインで `Ctrl + C` (MacOSの場合は `Command + C` ) を押してください。" +msgstr "" +"When the agent starts successfully, it will connect to the simulation server, participate in the simulation, and start moving. " +"If you want to stop it midway, press `Ctrl + C` (or `Command + C` on MacOS) in each command line." + +#: ../../source/tutorial/agent/agent.md:71 +msgid "シミュレーションサーバーを停止させたあとは、プロセスが残ってしまう場合があるので`./kill.sh` を実行してください。" +msgstr "After stopping the simulation server, run `./kill.sh` as there may be remaining processes." + +#: ../../source/tutorial/agent/agent_control.md:1 +msgid "エージェントの制御" +msgstr "Agent Control" + +#: ../../source/tutorial/agent/agent_control.md:3 +msgid "このセクションでは、エージェントの制御用のプログラムを作成する方法について説明します。" +msgstr "This section explains how to create a program to control agents." + +#: ../../source/tutorial/agent/agent_control.md:5 +msgid "エージェントの制御について" +msgstr "About Agent Control" + +#: ../../source/tutorial/agent/agent_control.md:7 +msgid "RRSの災害救助エージェントは3種類あり、種類毎にそれぞれ異なるプログラムを書く必要があります。しかし、初めから全てのプログラムを書くことは困難です。ここではまず初めに、消防隊エージェントを操作するプログラムの一部を書いてみましょう。" +msgstr "There are three types of disaster rescue agents in RRS, and each type requires a different program. However, it is difficult to write all the programs from the beginning. Here, let's first write part of the program to control the fire brigade agent." + +#: ../../source/tutorial/agent/agent_control.md:10 +msgid "" +"エージェントを操作するプログラムは、エージェントの種類毎に同一です。 プログラムは各エージェントに配られ、そのエージェントのみの操作を担います。 " +"消防隊エージェントを操作するプログラムを書けば、それがすべての消防隊エージェント上でそれぞれ動作します。" +msgstr "" +"The program that controls the agents is the same for each type of agent. The program is distributed to each agent and is responsible for controlling only that agent. " +"If you write a program to control the fire brigade agent, it will run on all fire brigade agents." + +#: ../../source/tutorial/agent/agent_control.md:13 +msgid "![消防隊エージェント](./../../images/agent_control.jpg)" +msgstr "![Fire Brigade Agent](./../../images/agent_control.jpg)" + +#: ../../source/tutorial/agent/agent_control.md:13 +msgid "消防隊エージェント" +msgstr "Fire Brigade Agent" + +#: ../../source/tutorial/agent/agent_control.md:15 +msgid "エージェントの動作フロー" +msgstr "Agent Operation Flow" + +#: ../../source/tutorial/agent/agent_control.md:17 +msgid "エージェントの動作を決めているのはTacticsというプログラムです。" +msgstr "The program that determines the agent's actions is called Tactics." + +#: ../../source/tutorial/agent/agent_control.md:19 +msgid "" +"消防隊の思考ルーチンは下の図の通りにおおよそおこなわれます。 消防隊の動作としては、まず救助対象の市民を捜索し(`Human " +"Detector`)、見つかった市民を救助します(`Action Rescue`)。 " +"救助対象の市民が見つからない場合は、探索場所を変更して市民を捜索するため、次の捜索場所を決定して(`Search`)移動します(`Action " +"Ext move`)。 " +"なお、エージェントは1ステップ内で、移動と救助活動を同時におこなうことが出来ません。つまり、ステップごとに更新される自身の周辺情報を確認して、動作の対象と動作内容を決定していくということになります。" +" これらそれぞれの機能が、モジュールと呼ばれるプログラムとして分割して表現されています。" +msgstr "" +"The fire brigade's thought routine is roughly as shown in the diagram below. The fire brigade's actions are to first search for the target citizen (`Human Detector`) and rescue the found citizen (`Action Rescue`). " +"If no target citizen is found, the search location is changed to search for citizens, the next search location is determined (`Search`), and the agent moves (`Action Ext move`). " +"Note that the agent cannot perform both movement and rescue activities within one step. In other words, the agent checks the updated surrounding information at each step and determines the target and action content. " +"Each of these functions is expressed as a program called a module." + +#: ../../source/tutorial/agent/agent_control.md:21 +msgid "今回はこの中で、救助（掘り起こし）対象を決定する `Human Detector` モジュールを開発します。" +msgstr "This time, we will develop the `Human Detector` module that determines the rescue (digging) target." + +#: ../../source/tutorial/agent/agent_control.md:23 +msgid "![消防隊エージェントの動作フロー](./../../images/agent_flow.png)" +msgstr "![Fire Brigade Agent Operation Flow](./../../images/agent_flow.png)" + +#: ../../source/tutorial/agent/agent_control.md:23 +msgid "消防隊エージェントの動作フロー" +msgstr "Fire Brigade Agent Operation Flow" + +#: ../../source/tutorial/agent/agent_control.md:25 +msgid "`Human Detector` モジュールの実装の準備" +msgstr "Preparing to Implement the `Human Detector` Module" + +#: ../../source/tutorial/agent/agent_control.md:27 +msgid "まず、`Human Detector` モジュールを記述するためのファイルを作成します。" +msgstr "First, create a file to describe the `Human Detector` module." + +#: ../../source/tutorial/agent/agent_control.md:34 +msgid "" +"次に、`Human Detector` モジュールの雛形の実装を行います。 " +"以下のコードを`fire_brigade_human_detector.py` に記述してください。" +msgstr "" +"Next, implement the template for the `Human Detector` module. " +"Please write the following code in `fire_brigade_human_detector.py`." + +#: ../../source/tutorial/agent/agent_control.md:92 +msgid "モジュールの登録" +msgstr "Registering the Module" + +#: ../../source/tutorial/agent/agent_control.md:94 +msgid "次に、作成したモジュールを登録します。" +msgstr "Next, register the created module." + +#: ../../source/tutorial/agent/agent_control.md:96 +msgid "`WORKING_DIR//config/module.yaml` ファイルを開き、以下の部分を" +msgstr "Open the `WORKING_DIR//config/module.yaml` file and" + +#: ../../source/tutorial/agent/agent_control.md:103 +msgid "以下のように変更してください。" +msgstr "change the following part as shown below." + +#: ../../source/tutorial/agent/agent_control.md:128 +msgid "標準出力に `Calculate FireBrigadeHumanDetector` と表示されれば成功です。" +msgstr "If `Calculate FireBrigadeHumanDetector` is displayed in the standard output, it is successful." + +#: ../../source/tutorial/agent/agent_control.md:130 +msgid "`Human Detector` モジュールの設計" +msgstr "Designing the `Human Detector` Module" + +#: ../../source/tutorial/agent/agent_control.md:132 +msgid "救助対象選択プログラムの中身を書き、消防隊エージェントが救助活動をおこなえるように修正します。" +msgstr "Write the content of the rescue target selection program and modify it so that the fire brigade agent can perform rescue activities." + +#: ../../source/tutorial/agent/agent_control.md:134 +msgid "" +"消防隊エージェントの救助対象を最も簡単に選択する方法は、埋没している市民の中で最も自身に近い市民を選択する方法です。 " +"今回は、この方法を採用した消防隊エージェントの行動対象決定モジュールを書いてみましょう。" +msgstr "" +"The simplest way for a fire brigade agent to select a rescue target is to choose the closest buried citizen. " +"This time, let's write a module to determine the action target of the fire brigade agent using this method." + +#: ../../source/tutorial/agent/agent_control.md:136 +msgid "埋没している市民の中で最も自身に近い市民を救助対象として選択する方法は、フローチャートで表すと下図のようになります。" +msgstr "" +"The method of selecting the closest buried citizen as the rescue target is shown in the flowchart below." + +#: ../../source/tutorial/agent/agent_control.md:138 +msgid "![救助対象選択フローチャート](./../../images/human_detector_flow.png)" +msgstr "![Rescue Target Selection Flowchart](./../../images/human_detector_flow.png)" + +#: ../../source/tutorial/agent/agent_control.md:138 +msgid "救助対象選択フローチャート" +msgstr "Rescue Target Selection Flowchart" + +#: ../../source/tutorial/agent/agent_control.md:140 +msgid "" +"このフローチャート中の各処理を、次小節で紹介する各クラス・メソッド等で置き換えたものを、`fire_brigade_human_detector.py`" +" に記述していくことで、救助対象選択プログラムを完成させます。" +msgstr "" +"By replacing each process in this flowchart with the classes and methods introduced in the next subsection, and writing them in `fire_brigade_human_detector.py`, you will complete the rescue target selection program." + +#: ../../source/tutorial/agent/agent_control.md:142 +msgid "`Human Detector` モジュールの実装で使用するクラス・メソッド" +msgstr "Classes and Methods Used in the Implementation of the `Human Detector` Module" + +#: ../../source/tutorial/agent/agent_control.md:144 +msgid "Entity" +msgstr "Entity" + +#: ../../source/tutorial/agent/agent_control.md:146 +msgid "`Entity` クラスは、エンティティの基底クラスです。 このクラスは、エンティティの基本情報を保持します。" +msgstr "" +"The `Entity` class is the base class for entities. This class holds the basic information of an entity." + +#: ../../source/tutorial/agent/agent_control.md:148 +msgid "" +"RRS上のエンティティは下図のように `Entity` を継承したクラスで表現されています。 " +"赤枠で囲まれたクラスは、クラスの意味がそのままRRSの直接的な構成要素を表しています。" +msgstr "" +"Entities in RRS are represented by classes that inherit from `Entity` as shown in the diagram below. " +"The classes enclosed in red boxes directly represent the components of RRS." + +#: ../../source/tutorial/agent/agent_control.md:150 +msgid "例: Road クラスのインスタンスの中には、 Hydrant クラスを継承してない通常の道路を表すものも存在しています。" +msgstr "" +"For example, among the instances of the Road class, there are those that represent ordinary roads that do not inherit from the Hydrant class." + +#: ../../source/tutorial/agent/agent_control.md:152 +msgid "![エンティティの継承関係](./../../images/entity.png)" +msgstr "![Entity Inheritance Relationship](./../../images/entity.png)" + +#: ../../source/tutorial/agent/agent_control.md:152 +msgid "エンティティの継承関係" +msgstr "Entity Inheritance Relationship" + +#: ../../source/tutorial/agent/agent_control.md:154 +msgid "EntityID" +msgstr "EntityID" + +#: ../../source/tutorial/agent/agent_control.md:156 +msgid "" +"`EntityID` クラスは、全てのエージェント/オブジェクトを一意に識別するためのID(識別子)を表すクラスです。 " +"RRSではエージェントとオブジェクトをまとめて、エンティティと呼んでいます。" +msgstr "" +"The `EntityID` class represents an ID (identifier) that uniquely identifies all agents/objects. " +"In RRS, agents and objects are collectively referred to as entities." + +#: ../../source/tutorial/agent/agent_control.md:158 +msgid "Civilian" +msgstr "Civilian" + +#: ../../source/tutorial/agent/agent_control.md:160 +msgid "`Civilian` クラスは、市民を表すクラスです。このクラスからは、エージェントの位置や負傷の進行状況を取得することができます。" +msgstr "" +"The `Civilian` class represents a citizen. From this class, you can obtain the position of the agent and the progress of injuries." + +#: ../../source/tutorial/agent/agent_control.md:162 +msgid "`entity` が市民であるかどうかを判定する" +msgstr "Determine if `entity` is a civilian" + +#: ../../source/tutorial/agent/agent_control.md:168 +msgid "エンティティIDを取得する" +msgstr "Get the Entity ID" + +#: ../../source/tutorial/agent/agent_control.md:174 +msgid "市民が生きているかどうかを判定する" +msgstr "Determine if the civilian is alive" + +#: ../../source/tutorial/agent/agent_control.md:182 +msgid "市民が埋まっているかどうかを判定する" +msgstr "Determine if the civilian is buried" + +#: ../../source/tutorial/agent/agent_control.md:190 +msgid "WorldInfo" +msgstr "WorldInfo" + +#: ../../source/tutorial/agent/agent_control.md:192 +msgid "" +"`WorldInfo` クラスは、エージェントが把握している情報とそれに関する操作をおこなうメソッドをもったクラスです。 " +"エージェントはこのクラスのインスタンスを通して、他のエージェントやオブジェクトの状態を確認します。" +msgstr "" +"The `WorldInfo` class is a class that has methods for the information that the agent knows and the operations related to it. " +"Through an instance of this class, the agent checks the status of other agents and objects." + +#: ../../source/tutorial/agent/agent_control.md:194 +msgid "モジュール内では、`WorldInfo` クラスのインスタンスを `self._world_info` として保持しています。" +msgstr "" +"In the module, an instance of the `WorldInfo` class is held as `self._world_info`." + +#: ../../source/tutorial/agent/agent_control.md:196 +msgid "エンティティIDからエンティティを取得する" +msgstr "Get the entity from the Entity ID" + +#: ../../source/tutorial/agent/agent_control.md:202 +msgid "指定したクラスのエンティティを全て取得する" +msgstr "Get all entities of the specified class" + +#: ../../source/tutorial/agent/agent_control.md:208 +msgid "エージェントの位置から指定したエンティティまでの距離を取得する" +msgstr "Get the distance from the agent's position to the specified entity" + +#: ../../source/tutorial/agent/agent_control.md:214 +#: ../../source/tutorial/agent/agent_control.md:228 +msgid "[詳細はこちら](../../adf_core_python.core.agent.info.rst)" +msgstr "[Details here](../../adf_core_python.core.agent.info.rst)" + +#: ../../source/tutorial/agent/agent_control.md:216 +msgid "AgentInfo" +msgstr "AgentInfo" + +#: ../../source/tutorial/agent/agent_control.md:218 +msgid "" +"`AgentInfo` クラスは、エージェント自身の情報とそれに関する操作をおこなうメソッドをもったクラスです。 " +"エージェントはこのクラスのインスタンスを通して、エージェント自身の状態を取得します。" +msgstr "" +"The `AgentInfo` class is a class that has methods for the agent's own information and operations related to it. " +"Through an instance of this class, the agent obtains its own status." + +#: ../../source/tutorial/agent/agent_control.md:220 +msgid "モジュール内では、`AgentInfo` クラスのインスタンスを `self._agent_info` として保持しています。" +msgstr "" +"In the module, an instance of the `AgentInfo` class is held as `self._agent_info`." + +#: ../../source/tutorial/agent/agent_control.md:222 +msgid "自分自身のエンティティIDを取得する" +msgstr "Get your own entity ID" + +#: ../../source/tutorial/agent/agent_control.md:230 +msgid "`Human Detector` モジュールの実装" +msgstr "Implementation of the `Human Detector` Module" + +#: ../../source/tutorial/agent/agent_control.md:232 +msgid "" +"`Human Detector` モジュールの実装を行います。 以下のコードを`fire_brigade_human_detector.py` " +"に記述してください。" +msgstr "" +"Implement the `Human Detector` module. Please write the following code in `fire_brigade_human_detector.py`." + +#: ../../source/tutorial/agent/agent_control.md:348 +msgid "埋没している市民を消防隊エージェントが救出できるようになっていれば成功です。" +msgstr "" +"It is successful if the fire brigade agent can rescue the buried citizens." + +#: ../../source/tutorial/config/config.md:1 +msgid "コンフィグについて" +msgstr "About Config" + +#: ../../source/tutorial/config/config.md:3 +msgid "コンフィグについての説明" +msgstr "Explanation about Config" + +#: ../../source/tutorial/config/config.md:14 +msgid "`config` ディレクトリには、エージェントの設定ファイルが格納されています。" +msgstr "" +"The `config` directory contains the agent's configuration files." + +#: ../../source/tutorial/config/config.md:16 +msgid "launcher.yaml" +msgstr "launcher.yaml" + +#: ../../source/tutorial/config/config.md:18 +msgid "" +"`launcher.yaml` は、エージェントの起動時に読み込まれる設定ファイルです。 " +"シミュレーションサーバーの指定や読み込むモジュールが記述されたファイルの指定などが記述されています。" +msgstr "" +"`launcher.yaml` is a configuration file that is read when the agent starts. " +"It specifies the simulation server and the files of the modules to be loaded." + +#: ../../source/tutorial/config/config.md:21 +msgid "module.yaml" +msgstr "module.yaml" + +#: ../../source/tutorial/config/config.md:23 +msgid "" +"`module.yaml` は、エージェントが読み込むモジュールの設定ファイルです。 読み込むモジュールのパスなどが記述されています。 " +"パスを指定する際は、プロジェクトの`main.py`からの相対パスで指定してください。" +msgstr "" +"`module.yaml` is a configuration file for the modules that the agent loads. It specifies the paths of the modules to be loaded. " +"When specifying the path, use the relative path from the project's `main.py`." + +#: ../../source/tutorial/config/config.md:27 +msgid "例" +msgstr "Example" + +#: ../../source/tutorial/config/config.md:36 +msgid "development.json" +msgstr "development.json" + +#: ../../source/tutorial/config/config.md:38 +msgid "" +"`development.json` は、開発時に使用する設定ファイルです。 エージェントの開発時に外部から値を取得する際に使用します。 " +"そのため、競技時には使用することができません。" +msgstr "" +"`development.json` is a configuration file used during development. It is used to obtain values from external sources during agent development. " +"Therefore, it cannot be used during competitions." + +#: ../../source/tutorial/environment/environment.md:1 +msgid "環境構築" +msgstr "Environment Setup" + +#: ../../source/tutorial/environment/environment.md:2 +msgid "今回はチュートリアル用のシナリオを使用してチュートリアルを行います。" +msgstr "" +"This time, we will use a tutorial scenario for the tutorial." + +#: ../../source/tutorial/environment/environment.md:4 +msgid "チュートリアルで使用するマップのダウンロード" +msgstr "Download the map used in the tutorial" + +#: ../../source/tutorial/environment/environment.md:6 +msgid "" +"{download}`マップのダウンロード <./../../download/tutorial_map.zip>` " +"をクリックしてダウンロードしてください。" +msgstr "" +"Click {download}`Download the map <./../../download/tutorial_map.zip>` to download." + +#: ../../source/tutorial/environment/environment.md:9 +msgid "ダウンロードしたファイルを解凍し、中のファイルを `rcrs-server/maps/` の中に移動させてください。" +msgstr "" +"Unzip the downloaded file and move the files inside to `rcrs-server/maps/`." + +#: ../../source/tutorial/environment/environment.md:11 +msgid "シミュレーションサーバーの動作確認" +msgstr "Check the operation of the simulation server" + +#: ../../source/tutorial/environment/environment.md:18 +msgid "" +"何個かのウィンドウが表示されたら成功です。 コマンドラインで `Ctrl + C` (MacOSの場合は `Command + C` ) " +"を押すとシミュレーションサーバーが終了します。" +msgstr "" +"If several windows are displayed, it is successful. Press `Ctrl + C` (or `Command + C` on MacOS) in the command line to stop the simulation server." + +#: ../../source/tutorial/module/module.md:1 +msgid "モジュールについて" +msgstr "About Modules" + +#: ../../source/tutorial/module/module.md:3 +msgid "モジュールの指定方法" +msgstr "How to specify modules" + +#: ../../source/tutorial/module/module.md:5 +msgid "モジュールを指定するには、module.yamlにモジュールの名前とパスを記述します。" +msgstr "" +"To specify a module, write the module name and path in module.yaml." + +#: ../../source/tutorial/module/module.md:7 +msgid "例えば、以下のように記述します：" +msgstr "For example, write as follows:" + +#: ../../source/tutorial/module/module.md:15 +msgid "" +"この場合、`SampleSearch` というモジュールで使用される、`PathPlanning` と `Clustering` " +"というモジュールを指定しています。" +msgstr "" +"In this case, the modules `PathPlanning` and `Clustering` used in the `SampleSearch` module are specified." + +#: ../../source/tutorial/module/module.md:17 +msgid "モジュールの読み込み方法" +msgstr "How to load modules" + +#: ../../source/tutorial/module/module.md:19 +msgid "モジュール内で、他のモジュールを読み込む場合は、次のように記述します：" +msgstr "" +"To load other modules within a module, write as follows:" + +#: ../../source/tutorial/module/module.md:68 +msgid "モジュールの種類について" +msgstr "About the types of modules" + +#: ../../source/tutorial/module/module.md:70 +msgid "adf-core-pythonでは、以下のモジュールが提供されています。" +msgstr "" +"The following modules are provided in adf-core-python." + +#: ../../source/tutorial/module/module.md +msgid "クラス" +msgstr "Class" + +#: ../../source/tutorial/module/module.md +msgid "役割" +msgstr "Role" + +#: ../../source/tutorial/module/module.md +msgid "TacticsFireBrigade" +msgstr "TacticsFireBrigade" + +#: ../../source/tutorial/module/module.md +msgid "消防隊用のモジュール呼び出し (競技では変更不可)" +msgstr "" +"Module call for fire brigade (cannot be changed in competition)" + +#: ../../source/tutorial/module/module.md +msgid "TacticsPoliceForce" +msgstr "TacticsPoliceForce" + +#: ../../source/tutorial/module/module.md +msgid "土木隊用のモジュール呼び出し (競技では変更不可)" +msgstr "" +"Module call for police force (cannot be changed in competition)" + +#: ../../source/tutorial/module/module.md +msgid "TacticsAmbulanceTeam" +msgstr "TacticsAmbulanceTeam" + +#: ../../source/tutorial/module/module.md +msgid "救急隊用のモジュール呼び出し (競技では変更不可)" +msgstr "" +"Module call for ambulance team (cannot be changed in competition)" + +#: ../../source/tutorial/module/module.md +msgid "BuildingDetector" +msgstr "BuildingDetector" + +#: ../../source/tutorial/module/module.md +msgid "消防隊の活動対象の選択" +msgstr "" +"Selection of activity target for fire brigade" + +#: ../../source/tutorial/module/module.md +msgid "RoadDetector" +msgstr "RoadDetector" + +#: ../../source/tutorial/module/module.md +msgid "土木隊の活動対象の選択" +msgstr "" +"Selection of activity target for police force" + +#: ../../source/tutorial/module/module.md +msgid "HumanDetector" +msgstr "HumanDetector" + +#: ../../source/tutorial/module/module.md +msgid "救急隊の活動対象の選択" +msgstr "" +"Selection of activity target for ambulance team" + +#: ../../source/tutorial/module/module.md +msgid "Search" +msgstr "Search" + +#: ../../source/tutorial/module/module.md +msgid "情報探索に向けた活動対象の選択" +msgstr "" +"Selection of activity target for information search" + +#: ../../source/tutorial/module/module.md +msgid "PathPlanning" +msgstr "PathPlanning" + +#: ../../source/tutorial/module/module.md +msgid "経路探索" +msgstr "Path Planning" + +#: ../../source/tutorial/module/module.md +msgid "DynamicClustering" +msgstr "DynamicClustering" + +#: ../../source/tutorial/module/module.md +msgid "シミュレーションの進行によってクラスタが変化するクラスタリング" +msgstr "" +"Clustering that changes as the simulation progresses" + +#: ../../source/tutorial/module/module.md +msgid "StaticClustering" +msgstr "StaticClustering" + +#: ../../source/tutorial/module/module.md +msgid "シミュレーション開始時にクラスタが定まるクラスタリング" +msgstr "" +"Clustering that is determined at the start of the simulation" + +#: ../../source/tutorial/module/module.md +msgid "ExtAction" +msgstr "ExtAction" + +#: ../../source/tutorial/module/module.md +msgid "活動対象決定後のエージェントの動作決定" +msgstr "" +"Determination of agent actions after selecting the activity target" + +#: ../../source/tutorial/module/module.md +msgid "MessageCoordinator" +msgstr "MessageCoordinator" + +#: ../../source/tutorial/module/module.md +msgid "通信でメッセージ(情報)を送信する経路である、チャンネルへのメッセージの分配" +msgstr "" +"Distribution of messages to channels, which are the routes for sending messages (information) via communication" + +#: ../../source/tutorial/module/module.md +msgid "ChannelSubscriber" +msgstr "ChannelSubscriber" + +#: ../../source/tutorial/module/module.md +msgid "通信によってメッセージを受け取るチャンネルの選択" +msgstr "" +"Selection of channels to receive messages via communication" + +#: ../../source/tutorial/module/module.md:88 +msgid "自分で上記の役割以外のモジュールを作成する際は、`AbstractModule` を継承してください。" +msgstr "" +"When creating a module with a role other than the above, inherit `AbstractModule`." diff --git a/docs/versions.yaml b/docs/versions.yaml new file mode 100644 index 0000000..f255c46 --- /dev/null +++ b/docs/versions.yaml @@ -0,0 +1,10 @@ +"1.0": + tag: "1.0" + languages: + - "en" + - "ja" +"2.0": + tag: "2.0" + languages: + - "en" + - "ja" diff --git a/poetry.lock b/poetry.lock index 1b520aa..7064ae6 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. 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"sphinx-examples"] +[[package]] +name = "sphinx-intl" +version = "2.3.1" +description = "Sphinx utility that make it easy to translate and to apply translation." +optional = false +python-versions = ">=3.9" +files = [ + {file = "sphinx_intl-2.3.1-py3-none-any.whl", hash = "sha256:e3f4be80743e0e4c778fbc07e72b062c13c88c50645a69b62557a3f57a24b7fc"}, + {file = "sphinx_intl-2.3.1.tar.gz", hash = "sha256:e2d04b907f57a029d46b4da344fd791e660d935eab6ced8a274fc65446389af1"}, +] + +[package.dependencies] +babel = "*" +click = "*" +setuptools = "*" +sphinx = "*" + +[package.extras] +test = ["pytest"] + +[[package]] +name = "sphinx-rtd-theme" +version = "3.0.2" +description = "Read the Docs theme for Sphinx" +optional = false +python-versions = ">=3.8" +files = [ + {file = "sphinx_rtd_theme-3.0.2-py2.py3-none-any.whl", hash = "sha256:422ccc750c3a3a311de4ae327e82affdaf59eb695ba4936538552f3b00f4ee13"}, + {file = "sphinx_rtd_theme-3.0.2.tar.gz", hash = "sha256:b7457bc25dda723b20b086a670b9953c859eab60a2a03ee8eb2bb23e176e5f85"}, +] + +[package.dependencies] +docutils = ">0.18,<0.22" +sphinx = ">=6,<9" +sphinxcontrib-jquery = ">=4,<5" + +[package.extras] +dev = ["bump2version", "transifex-client", "twine", "wheel"] + [[package]] name = "sphinx-togglebutton" version = "0.3.2" @@ -1347,6 +1381,20 @@ lint = ["mypy", "ruff (==0.5.5)", "types-docutils"] standalone = ["Sphinx (>=5)"] test = ["html5lib", "pytest"] +[[package]] +name = "sphinxcontrib-jquery" +version = "4.1" +description = "Extension to include jQuery on newer Sphinx releases" +optional = false +python-versions = ">=2.7" +files = [ + {file = "sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a"}, + {file = "sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae"}, +] + +[package.dependencies] +Sphinx = ">=1.8" + [[package]] name = "sphinxcontrib-jsmath" version = "1.0.1" @@ -1564,4 +1612,4 @@ test = ["pytest (>=6.0.0)", "setuptools (>=65)"] [metadata] lock-version = "2.0" python-versions = "^3.12" -content-hash = "be47c53054f58d6aeac9949cdae16fe7092cc7f36a67a265d5608c52b89661d8" +content-hash = "776b51ba845a3c8e4835e1c260470c151d9cf1abd835017a177251127ee06d84" diff --git a/pyproject.toml b/pyproject.toml index 7b5dd66..aa334d6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -33,6 +33,8 @@ sphinx-book-theme = "^1.1.3" sphinx-copybutton = "^0.5.2" sphinxcontrib-mermaid = "^1.0.0" sphinx-togglebutton = "^0.3.2" +sphinx-intl = "^2.3.1" +sphinx-rtd-theme = "^3.0.2" [build-system] requires = ["poetry-core"] From d65bf5c594c71d32e633b072a8a882ec20a84755 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 19 Dec 2024 17:57:44 +0900 Subject: [PATCH 205/249] fix: Update pages_root URL for documentation to point to the live site --- docs/build.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/build.py b/docs/build.py index 430bfad..469f697 100644 --- a/docs/build.py +++ b/docs/build.py @@ -23,7 +23,7 @@ def move_dir(src, dst): # to separate a single local build from all builds we have a flag, see conf.py os.environ["build_all_docs"] = str(True) -os.environ["pages_root"] = "http://127.0.0.1:5500/docs/pages" +os.environ["pages_root"] = "https://adf-python.github.io/adf-core-python/" # manually the main branch build in the current supported languages build_doc("latest", "en", "main") From 0049e99e66ba29e8c37c786c152d8041a5993d2c Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 20 Dec 2024 15:15:41 +0900 Subject: [PATCH 206/249] V0.1.1 --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index aa334d6..3702187 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.poetry] name = "adf_core_python" -version = "0.1.0" +version = "0.1.1" description = "Agent Development Framework for Python" authors = [ "Haruki Uehara ", From 2c2628be3e71b0724abbffbdad4dfb46e25e1529 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 23 Dec 2024 20:41:31 +0900 Subject: [PATCH 207/249] feat: Integrate ActionRest to send command messages in Office agent --- adf_core_python/core/agent/office/office.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/adf_core_python/core/agent/office/office.py b/adf_core_python/core/agent/office/office.py index 97fcf6e..ae06c87 100644 --- a/adf_core_python/core/agent/office/office.py +++ b/adf_core_python/core/agent/office/office.py @@ -1,6 +1,7 @@ from threading import Event from typing import Optional +from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.agent import Agent from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -125,3 +126,8 @@ def think(self) -> None: self._message_manager, self._develop_data, ) + self.send_msg( + ActionRest() + .get_command(self.agent_id, self._agent_info.get_time()) + .prepare_cmd() + ) From cb57f8e1971f8a2d0b888df9b4fc06c8092cd12e Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 28 Dec 2024 16:07:40 +0900 Subject: [PATCH 208/249] fix: Update position retrieval and action movement logic in DefaultExtendActionClear --- .../implement/action/default_extend_action_clear.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index b3e3bb0..b5d0fd2 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -627,8 +627,11 @@ def _get_neighbour_position_action( ) -> Optional[Action]: agent_x = police_entity.get_x() agent_y = police_entity.get_y() - position = police_entity.get_position() - edge = target.get_edge_to(position) + position = self.world_info.get_entity(police_entity.get_position()) + if position is None: + return None + + edge = target.get_edge_to(position.get_id()) if edge is None: return None @@ -703,7 +706,7 @@ def _get_neighbour_position_action( if isinstance(target, Road): road = cast(Road, target) if road.get_blockades() == []: - return ActionMove([position, target.get_id()]) + return ActionMove([position.get_id(), target.get_id()]) target_blockade: Optional[Blockade] = None min_point_distance = sys.float_info.max @@ -742,4 +745,4 @@ def _get_neighbour_position_action( self._old_clear_y = clear_y return ActionClearArea(clear_x, clear_y) - return ActionMove([position, target.get_id()]) + return ActionMove([position.get_id(), target.get_id()]) From 897bddfa6b7faa1e7e2c2ec658cdefa3970d76f9 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 28 Dec 2024 21:06:44 +0900 Subject: [PATCH 209/249] fix: Ensure midpoints are only removed from points if they exist in the list --- .../implement/action/default_extend_action_clear.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index b5d0fd2..d0a1912 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -477,7 +477,8 @@ def _get_move_points(self, road: Road) -> set[tuple[float, float]]: for edge in road.get_edges(): mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 - points.remove((mid_x, mid_y)) + if (mid_x, mid_y) in points: + points.remove((mid_x, mid_y)) self._move_point_cache[road.get_id()] = points From 0f19d83700f47e0c419ca9de7c67ed623ebfb17d Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 4 Jan 2025 01:57:58 +0900 Subject: [PATCH 210/249] feat: Add support for retrieving paths to multiple destinations in path planning algorithms feat: Add support for retrieving paths to multiple destinations in path planning algorithms fix: Change destination_entity_ids type from list to set in path planning algorithms fix: Add type annotations for queue, distance, previous, and path in DijkstraPathPlanning fix: Add type annotation for path variable in DijkstraPathPlanning --- .../module/algorithm/path_planning.py | 6 + .../module/algorithm/gateway_path_planning.py | 21 ++- .../module/algorithm/a_star_path_planning.py | 5 + .../algorithm/dijkstra_path_planning.py | 134 ++++++++++++++++++ .../module/algorithm/PathPlanningMapper.java | 48 +++++-- 5 files changed, 205 insertions(+), 9 deletions(-) create mode 100644 adf_core_python/implement/module/algorithm/dijkstra_path_planning.py diff --git a/adf_core_python/core/component/module/algorithm/path_planning.py b/adf_core_python/core/component/module/algorithm/path_planning.py index b741862..6445ac0 100644 --- a/adf_core_python/core/component/module/algorithm/path_planning.py +++ b/adf_core_python/core/component/module/algorithm/path_planning.py @@ -36,6 +36,12 @@ def get_path( ) -> list[EntityID]: pass + @abstractmethod + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + pass + @abstractmethod def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: pass diff --git a/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py b/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py index 7d3b218..6a2bc4e 100644 --- a/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py +++ b/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py @@ -14,8 +14,8 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.gateway.gateway_module import GatewayModule @@ -77,6 +77,25 @@ def get_path( entity_ids.append(EntityID(entity_id)) return entity_ids + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + arguments: dict[str, str] = { + "From": str(from_entity_id.get_value()), + "Destinations": json.dumps( + [entity_id.get_value() for entity_id in destination_entity_ids] + ), + } + result = self._gateway_module.execute( + "getResult(EntityID, List[EntityID])", arguments + ) + json_str = result.get_value_or_default("Result", "[]") + raw_entity_ids: list[int] = json.loads(json_str) + entity_ids: list[EntityID] = [] + for entity_id in raw_entity_ids: + entity_ids.append(EntityID(entity_id)) + return entity_ids + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: arguments: dict[str, str] = { "From": str(from_entity_id.get_value()), diff --git a/adf_core_python/implement/module/algorithm/a_star_path_planning.py b/adf_core_python/implement/module/algorithm/a_star_path_planning.py index 63a258f..d69267a 100644 --- a/adf_core_python/implement/module/algorithm/a_star_path_planning.py +++ b/adf_core_python/implement/module/algorithm/a_star_path_planning.py @@ -69,6 +69,11 @@ def get_path( return [] + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + raise NotImplementedError + def heuristic(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: # Implement a heuristic function, for example, Euclidean distance return self._world_info.get_distance(from_entity_id, to_entity_id) diff --git a/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py b/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py new file mode 100644 index 0000000..e8697d6 --- /dev/null +++ b/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py @@ -0,0 +1,134 @@ +from __future__ import annotations + +import heapq +from typing import Optional + +from rcrs_core.entities.area import Area +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DijkstraPathPlanning(PathPlanning): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.graph: dict[EntityID, list[tuple[EntityID, float]]] = {} + # グラフの構築 + for area in self._world_info.get_entities_of_types([Area]): + if not isinstance(area, Area): + continue + if (neighbors := area.get_neighbours()) is None: + continue + area_id = area.get_id() + self.graph[area_id] = [ + ( + neighbor, + self._world_info.get_distance(area_id, entity_id2=neighbor), + ) + for neighbor in neighbors + if neighbor.get_value() != 0 + ] + + def calculate(self) -> PathPlanning: + return self + + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> list[EntityID]: + # ダイクストラ法で最短経路を計算 + queue: list[tuple[float, EntityID]] = [] + heapq.heappush(queue, (0, from_entity_id)) + distance: dict[EntityID, float] = {from_entity_id: 0} + previous: dict[EntityID, Optional[EntityID]] = {from_entity_id: None} + + while queue: + current_distance, current_node = heapq.heappop(queue) + if current_node == to_entity_id: + break + + self._logger.info( + f"current_node: {current_node}, current_entity: {self._world_info.get_entity(current_node)}" + ) + + for neighbor, weight in self.graph[current_node]: + new_distance = current_distance + weight + if neighbor not in distance or new_distance < distance[neighbor]: + distance[neighbor] = new_distance + heapq.heappush(queue, (new_distance, neighbor)) + previous[neighbor] = current_node + + path: list[EntityID] = [] + current_node = to_entity_id + while current_node is not None: + path.append(current_node) + current_node = previous[current_node] + + return path[::-1] + + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + open_list = [from_entity_id] + ancestors = {from_entity_id: from_entity_id} + found = False + next_node = None + + while open_list and not found: + next_node = open_list.pop(0) + if self.is_goal(next_node, destination_entity_ids): + found = True + break + + neighbors = self.graph.get(next_node, []) + if not neighbors: + continue + + for neighbor, _ in neighbors: + if self.is_goal(neighbor, destination_entity_ids): + ancestors[neighbor] = next_node + next_node = neighbor + found = True + break + elif neighbor not in ancestors: + open_list.append(neighbor) + ancestors[neighbor] = next_node + + if not found: + return [] + + path: list[EntityID] = [] + current = next_node + while current != from_entity_id: + if current is None: + raise RuntimeError( + "Found a node with no ancestor! Something is broken." + ) + path.insert(0, current) + current = ancestors.get(current) + path.insert(0, from_entity_id) + + return path + + def is_goal(self, entity_id: EntityID, target_ids: set[EntityID]) -> bool: + return entity_id in target_ids + + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + path = self.get_path(from_entity_id, to_entity_id) + distance = 0.0 + for i in range(len(path) - 1): + distance += self._world_info.get_distance(path[i], path[i + 1]) + return distance diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java index 3bfb84f..335a642 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java @@ -1,18 +1,19 @@ package adf_core_python.gateway.mapper.module.algorithm; +import java.util.Collection; +import java.util.List; + +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.core.type.TypeReference; +import com.fasterxml.jackson.databind.ObjectMapper; + import adf.core.agent.communication.MessageManager; import adf_core_python.agent.precompute.PrecomputeData; import adf_core_python.component.module.algorithm.PathPlanning; import adf_core_python.gateway.mapper.module.AbstractModuleMapper; -import com.fasterxml.jackson.core.JsonProcessingException; -import com.fasterxml.jackson.core.type.TypeReference; -import com.fasterxml.jackson.databind.ObjectMapper; import rescuecore2.config.Config; import rescuecore2.worldmodel.EntityID; -import java.util.Collection; -import java.util.List; - public class PathPlanningMapper extends AbstractModuleMapper { public PathPlanningMapper(PathPlanning pathPlanning, PrecomputeData precomputeData, MessageManager messageManager) { super(pathPlanning, precomputeData, messageManager); @@ -42,10 +43,24 @@ public Config execMethod(String methodName, Config arguments) { result = execGetDistance(); } if (methodName.equals("getDistance(EntityID, EntityID)")) { - result = execGetDistance(new EntityID(arguments.getIntValue("From")), new EntityID(arguments.getIntValue("Dest"))); + result = execGetDistance(new EntityID(arguments.getIntValue("From")), + new EntityID(arguments.getIntValue("Dest"))); } if (methodName.equals("getResult(EntityID, EntityID)")) { - result = execGetResult(new EntityID(arguments.getIntValue("From")), new EntityID(arguments.getIntValue("Dest"))); + result = execGetResult(new EntityID(arguments.getIntValue("From")), + new EntityID(arguments.getIntValue("Dest"))); + } + if (methodName.equals("getResult(EntityID, List[EntityID])")) { + ObjectMapper objectMapper = new ObjectMapper(); + Collection destinations; + try { + destinations = objectMapper.readValue(arguments.getValue("Destinations"), + new TypeReference>() { + }); + } catch (JsonProcessingException e) { + throw new RuntimeException(e); + } + result = execGetResult(new EntityID(arguments.getIntValue("From")), destinations); } return result; } @@ -105,4 +120,21 @@ private Config execGetResult(EntityID from, EntityID dest) { result.setValue("Result", String.valueOf(jsonStr)); return result; } + + private Config execGetResult(EntityID from, Collection destinations) { + PathPlanning pathPlanning = (PathPlanning) abstractModule; + pathPlanning.setFrom(from); + pathPlanning.setDestination(destinations); + List entityIDs = pathPlanning.getResult(); + Config result = new Config(); + ObjectMapper objectMapper = new ObjectMapper(); + String jsonStr; + try { + jsonStr = objectMapper.writeValueAsString(entityIDs.stream().map(EntityID::getValue).toArray()); + } catch (JsonProcessingException e) { + throw new RuntimeException(e); + } + result.setValue("Result", String.valueOf(jsonStr)); + return result; + } } From 4e820ab4edf5e64bd815b215a3841f2967dd58b5 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 4 Jan 2025 02:55:40 +0900 Subject: [PATCH 211/249] feat: Implement placeholder for get_path_to_multiple_destinations method in AStarPathPlanning --- .../implement/module/algorithm/a_star_path_planning.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/adf_core_python/implement/module/algorithm/a_star_path_planning.py b/adf_core_python/implement/module/algorithm/a_star_path_planning.py index d69267a..6f2fce5 100644 --- a/adf_core_python/implement/module/algorithm/a_star_path_planning.py +++ b/adf_core_python/implement/module/algorithm/a_star_path_planning.py @@ -72,7 +72,7 @@ def get_path( def get_path_to_multiple_destinations( self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] ) -> list[EntityID]: - raise NotImplementedError + return [] def heuristic(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: # Implement a heuristic function, for example, Euclidean distance From 08488a895cabd42b8f4868bdc663a864a8a4a3f0 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 8 Jan 2025 01:12:26 +0900 Subject: [PATCH 212/249] fix: Update module and action names in ModuleManager and command executors for consistency --- .../core/agent/module/module_manager.py | 50 +++++++++++++------ .../default_command_executor_ambulance.py | 4 +- .../default_command_executor_fire.py | 4 +- .../default_command_executor_police.py | 4 +- .../default_command_executor_scout_police.py | 2 +- config/module.yaml | 2 +- 6 files changed, 43 insertions(+), 23 deletions(-) diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index 0d5695c..96c506b 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -68,6 +68,11 @@ def get_module( return instance class_name = self._module_config.get_value(module_name) + if class_name is None: + self._logger.warning( + f"Module {module_name} not found in config. Using default module {default_module_class_name}" + ) + if class_name is not None: try: module_class: type = self._load_module(class_name) @@ -124,9 +129,12 @@ def get_module( def get_extend_action( self, action_name: str, default_action_class_name: str ) -> ExtendAction: - class_name = self._module_config.get_value_or_default( - action_name, default_action_class_name - ) + class_name = self._module_config.get_value(action_name) + if class_name is None: + self._logger.warning( + f"Action {action_name} not found in config. Using default action {default_action_class_name}" + ) + class_name = default_action_class_name action_class: type = self._load_module(class_name) @@ -150,9 +158,12 @@ def get_extend_action( def get_channel_subscriber( self, channel_subscriber_name: str, default_channel_subscriber_name: str ) -> ChannelSubscriber: - class_name = self._module_config.get_value_or_default( - channel_subscriber_name, default_channel_subscriber_name - ) + class_name = self._module_config.get_value(channel_subscriber_name) + if class_name is None: + self._logger.warning( + f"Channel subscriber {channel_subscriber_name} not found in config. Using default channel subscriber {default_channel_subscriber_name}" + ) + class_name = default_channel_subscriber_name channel_subscriber_class: type = self._load_module(class_name) @@ -172,9 +183,12 @@ def get_channel_subscriber( def get_message_coordinator( self, message_coordinator_name: str, default_message_coordinator_name: str ) -> MessageCoordinator: - class_name = self._module_config.get_value_or_default( - message_coordinator_name, default_message_coordinator_name - ) + class_name = self._module_config.get_value(message_coordinator_name) + if class_name is None: + self._logger.warning( + f"Channel subscriber {message_coordinator_name} not found in config. Using default channel subscriber {default_message_coordinator_name}" + ) + class_name = default_message_coordinator_name message_coordinator_class: type = self._load_module(class_name) @@ -194,9 +208,12 @@ def get_message_coordinator( def get_command_executor( self, command_executor_name: str, default_command_executor_name: str ) -> CommandExecutor: - class_name = self._module_config.get_value_or_default( - command_executor_name, default_command_executor_name - ) + class_name = self._module_config.get_value(command_executor_name) + if class_name is None: + self._logger.warning( + f"Command executor {command_executor_name} not found in config. Using default command executor {default_command_executor_name}" + ) + class_name = default_command_executor_name command_executor_class: type = self._load_module(class_name) @@ -220,9 +237,12 @@ def get_command_executor( def get_command_picker( self, command_picker_name: str, default_command_picker_name: str ) -> CommandPicker: - class_name = self._module_config.get_value_or_default( - command_picker_name, default_command_picker_name - ) + class_name = self._module_config.get_value(command_picker_name) + if class_name is None: + self._logger.warning( + f"Command picker {command_picker_name} not found in config. Using default command picker {default_command_picker_name}" + ) + class_name = default_command_picker_name command_picker_class: type = self._load_module(class_name) diff --git a/adf_core_python/implement/centralized/default_command_executor_ambulance.py b/adf_core_python/implement/centralized/default_command_executor_ambulance.py index ac29680..adfb80b 100644 --- a/adf_core_python/implement/centralized/default_command_executor_ambulance.py +++ b/adf_core_python/implement/centralized/default_command_executor_ambulance.py @@ -58,11 +58,11 @@ def __init__( ), ) self._action_transport = module_manager.get_extend_action( - "DefaultCommandExecutorAmbulance.ExtActionTransport", + "DefaultCommandExecutorAmbulance.ExtendActionTransport", "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", ) self._action_move = module_manager.get_extend_action( - "DefaultCommandExecutorAmbulance.ExtActionMove", + "DefaultCommandExecutorAmbulance.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) diff --git a/adf_core_python/implement/centralized/default_command_executor_fire.py b/adf_core_python/implement/centralized/default_command_executor_fire.py index 680320b..c4fdf64 100644 --- a/adf_core_python/implement/centralized/default_command_executor_fire.py +++ b/adf_core_python/implement/centralized/default_command_executor_fire.py @@ -55,11 +55,11 @@ def __init__( ), ) self._action_fire_rescue = module_manager.get_extend_action( - "DefaultCommandExecutorFire.ExtActionFireRescue", + "DefaultCommandExecutorFire.ExtendActionFireRescue", "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", ) self._action_move = module_manager.get_extend_action( - "DefaultCommandExecutorFire.ExtActionMove", + "DefaultCommandExecutorFire.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) diff --git a/adf_core_python/implement/centralized/default_command_executor_police.py b/adf_core_python/implement/centralized/default_command_executor_police.py index 69ad622..b137337 100644 --- a/adf_core_python/implement/centralized/default_command_executor_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_police.py @@ -56,11 +56,11 @@ def __init__( ), ) self._action_clear = module_manager.get_extend_action( - "DefaultCommandExecutorPolice.ExtActionClear", + "DefaultCommandExecutorPolice.ExtendActionClear", "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", ) self._action_move = module_manager.get_extend_action( - "DefaultCommandExecutorPolice.ExtActionMove", + "DefaultCommandExecutorPolice.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) diff --git a/adf_core_python/implement/centralized/default_command_executor_scout_police.py b/adf_core_python/implement/centralized/default_command_executor_scout_police.py index ad17d67..e0345a5 100644 --- a/adf_core_python/implement/centralized/default_command_executor_scout_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_scout_police.py @@ -51,7 +51,7 @@ def __init__( ), ) self._action_clear: ExtendAction = module_manager.get_extend_action( - "DefaultCommandExecutorScoutPolice.ExtActionClear", + "DefaultCommandExecutorScoutPolice.ExtendActionClear", "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", ) diff --git a/config/module.yaml b/config/module.yaml index 706c82e..7d00fd8 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -63,7 +63,7 @@ DefaultCommandExecutorAmbulance: DefaultCommandExecutorFire: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning - EtxActionFireRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue + ExtendActionFireRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove DefaultCommandExecutorPolice: From 97cdaf0bde76aa12df01a3049422f6a823344943 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 21 Feb 2025 10:26:18 +0900 Subject: [PATCH 213/249] =?UTF-8?q?feat:=20ADF=E3=82=B3=E3=82=A2Python?= =?UTF-8?q?=E3=83=A2=E3=82=B8=E3=83=A5=E3=83=BC=E3=83=AB=E3=81=AE=E3=83=89?= =?UTF-8?q?=E3=82=AD=E3=83=A5=E3=83=A1=E3=83=B3=E3=83=88=E3=81=AE=E4=BF=AE?= =?UTF-8?q?=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/README.md | 4 +- docs/build.py | 10 +-- .../adf_core_python/adf_core_python.cli.rst | 21 +++++ ...ore_python.core.agent.action.ambulance.rst | 37 ++++++++ ...f_core_python.core.agent.action.common.rst | 29 +++++++ ...adf_core_python.core.agent.action.fire.rst | 37 ++++++++ ...f_core_python.core.agent.action.police.rst | 29 +++++++ .../adf_core_python.core.agent.action.rst | 32 +++++++ ...f_core_python.core.agent.communication.rst | 29 +++++++ ...munication.standard.bundle.centralized.rst | 53 ++++++++++++ ...munication.standard.bundle.information.rst | 61 +++++++++++++ ...re.agent.communication.standard.bundle.rst | 38 +++++++++ ...thon.core.agent.communication.standard.rst | 30 +++++++ ...e.agent.communication.standard.utility.rst | 29 +++++++ .../adf_core_python.core.agent.config.rst | 21 +++++ .../adf_core_python.core.agent.develop.rst | 21 +++++ .../adf_core_python.core.agent.info.rst | 37 ++++++++ .../adf_core_python.core.agent.module.rst | 21 +++++ .../adf_core_python.core.agent.platoon.rst | 45 ++++++++++ .../adf_core_python.core.agent.precompute.rst | 21 +++++ .../adf_core_python.core.agent.rst | 36 ++++++++ .../adf_core_python.core.component.action.rst | 21 +++++ ...re_python.core.component.communication.rst | 45 ++++++++++ ...python.core.component.module.algorithm.rst | 29 +++++++ ...e_python.core.component.module.complex.rst | 77 +++++++++++++++++ .../adf_core_python.core.component.module.rst | 30 +++++++ .../adf_core_python.core.component.rst | 32 +++++++ ...adf_core_python.core.component.tactics.rst | 77 +++++++++++++++++ .../adf_core_python.core.config.rst | 21 +++++ ...ore.gateway.component.module.algorithm.rst | 29 +++++++ ....core.gateway.component.module.complex.rst | 77 +++++++++++++++++ ...e_python.core.gateway.component.module.rst | 30 +++++++ ...adf_core_python.core.gateway.component.rst | 18 ++++ .../adf_core_python.core.gateway.message.rst | 77 +++++++++++++++++ ...f_core_python.core.gateway.message.urn.rst | 21 +++++ .../adf_core_python.core.gateway.rst | 54 ++++++++++++ .../adf_core_python.core.launcher.connect.rst | 85 +++++++++++++++++++ .../adf_core_python.core.launcher.rst | 37 ++++++++ .../adf_core_python.core.logger.rst | 21 +++++ .../adf_core_python/adf_core_python.core.rst | 23 +++++ .../adf_core_python.implement.action.rst | 45 ++++++++++ ...core_python.implement.module.algorithm.rst | 37 ++++++++ ..._python.implement.module.communication.rst | 29 +++++++ ...f_core_python.implement.module.complex.rst | 61 +++++++++++++ .../adf_core_python.implement.module.rst | 20 +++++ .../adf_core_python.implement.rst | 31 +++++++ .../adf_core_python.implement.tactics.rst | 61 +++++++++++++ .../adf_core_python/adf_core_python.rst | 31 +++++++ docs/source/adf_core_python/modules.rst | 7 ++ 49 files changed, 1760 insertions(+), 7 deletions(-) create mode 100644 docs/source/adf_core_python/adf_core_python.cli.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.action.ambulance.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.action.common.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.action.fire.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.action.police.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.action.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.communication.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.centralized.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.information.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.utility.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.config.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.develop.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.info.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.module.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.platoon.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.precompute.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.agent.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.component.action.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.component.communication.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.component.module.algorithm.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.component.module.complex.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.component.module.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.component.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.component.tactics.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.config.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.gateway.component.module.algorithm.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.gateway.component.module.complex.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.gateway.component.module.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.gateway.component.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.gateway.message.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.gateway.message.urn.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.gateway.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.launcher.connect.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.launcher.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.logger.rst create mode 100644 docs/source/adf_core_python/adf_core_python.core.rst create mode 100644 docs/source/adf_core_python/adf_core_python.implement.action.rst create mode 100644 docs/source/adf_core_python/adf_core_python.implement.module.algorithm.rst create mode 100644 docs/source/adf_core_python/adf_core_python.implement.module.communication.rst create mode 100644 docs/source/adf_core_python/adf_core_python.implement.module.complex.rst create mode 100644 docs/source/adf_core_python/adf_core_python.implement.module.rst create mode 100644 docs/source/adf_core_python/adf_core_python.implement.rst create mode 100644 docs/source/adf_core_python/adf_core_python.implement.tactics.rst create mode 100644 docs/source/adf_core_python/adf_core_python.rst create mode 100644 docs/source/adf_core_python/modules.rst diff --git a/docs/README.md b/docs/README.md index f9d0012..4d78f23 100644 --- a/docs/README.md +++ b/docs/README.md @@ -3,6 +3,6 @@ ## Generate documentation ```bash -sphinx-apidoc -f -o ./docs/source ./adf_core_python -sphinx-build -M html ./docs/source ./docs/build -a +sphinx-apidoc -f -o ./docs/source/adf_core_python ./adf_core_python +sphinx-build -M html ./docs/source/adf_core_python ./docs/build -a ``` diff --git a/docs/build.py b/docs/build.py index 469f697..920d1d2 100644 --- a/docs/build.py +++ b/docs/build.py @@ -13,9 +13,9 @@ def build_doc(version, language, tag): subprocess.run("git checkout main -- versions.yaml", shell=True) subprocess.run("doxygen Doxyfile", shell=True) os.environ['SPHINXOPTS'] = "-D language='{}'".format(language) - subprocess.run("make html", shell=True) + subprocess.run("make html", shell=True) -# a move dir method because we run multiple builds and bring the html folders to a +# a move dir method because we run multiple builds and bring the html folders to a # location which we then push to github pages def move_dir(src, dst): subprocess.run(["mkdir", "-p", dst]) @@ -23,11 +23,11 @@ def move_dir(src, dst): # to separate a single local build from all builds we have a flag, see conf.py os.environ["build_all_docs"] = str(True) -os.environ["pages_root"] = "https://adf-python.github.io/adf-core-python/" +os.environ["pages_root"] = "https://adf-python.github.io/adf-core-python/" # manually the main branch build in the current supported languages build_doc("latest", "en", "main") -move_dir("./build/html/", "./pages/") +move_dir("./build/html/", "./pages/en") build_doc("latest", "ja", "main") move_dir("./build/html/", "./pages/ja/") @@ -38,6 +38,6 @@ def move_dir(src, dst): # and looping over all values to call our build with version, language and its tag # for version, details in docs.items(): # tag = details.get('tag', '') -# for language in details.get('languages', []): +# for language in details.get('languages', []): # build_doc(version, language, version) # move_dir("./build/html/", "./pages/"+version+'/'+language+'/') diff --git a/docs/source/adf_core_python/adf_core_python.cli.rst b/docs/source/adf_core_python/adf_core_python.cli.rst new file mode 100644 index 0000000..202435d --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.cli.rst @@ -0,0 +1,21 @@ +adf\_core\_python.cli package +============================= + +Submodules +---------- + +adf\_core\_python.cli.cli module +-------------------------------- + +.. automodule:: adf_core_python.cli.cli + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.cli + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.action.ambulance.rst b/docs/source/adf_core_python/adf_core_python.core.agent.action.ambulance.rst new file mode 100644 index 0000000..6850cac --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.action.ambulance.rst @@ -0,0 +1,37 @@ +adf\_core\_python.core.agent.action.ambulance package +===================================================== + +Submodules +---------- + +adf\_core\_python.core.agent.action.ambulance.action\_load module +----------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.ambulance.action_load + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.action.ambulance.action\_rescue module +------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.ambulance.action_rescue + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.action.ambulance.action\_unload module +------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.ambulance.action_unload + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.action.ambulance + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.action.common.rst b/docs/source/adf_core_python/adf_core_python.core.agent.action.common.rst new file mode 100644 index 0000000..28fdba8 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.action.common.rst @@ -0,0 +1,29 @@ +adf\_core\_python.core.agent.action.common package +================================================== + +Submodules +---------- + +adf\_core\_python.core.agent.action.common.action\_move module +-------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.common.action_move + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.action.common.action\_rest module +-------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.common.action_rest + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.action.common + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.action.fire.rst b/docs/source/adf_core_python/adf_core_python.core.agent.action.fire.rst new file mode 100644 index 0000000..c3fe550 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.action.fire.rst @@ -0,0 +1,37 @@ +adf\_core\_python.core.agent.action.fire package +================================================ + +Submodules +---------- + +adf\_core\_python.core.agent.action.fire.action\_extinguish module +------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.agent.action.fire.action_extinguish + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.action.fire.action\_refill module +-------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.fire.action_refill + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.action.fire.action\_rescue module +-------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.fire.action_rescue + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.action.fire + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.action.police.rst b/docs/source/adf_core_python/adf_core_python.core.agent.action.police.rst new file mode 100644 index 0000000..c3d899c --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.action.police.rst @@ -0,0 +1,29 @@ +adf\_core\_python.core.agent.action.police package +================================================== + +Submodules +---------- + +adf\_core\_python.core.agent.action.police.action\_clear module +--------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.police.action_clear + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.action.police.action\_clear\_area module +--------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.police.action_clear_area + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.action.police + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.action.rst b/docs/source/adf_core_python/adf_core_python.core.agent.action.rst new file mode 100644 index 0000000..fbb4898 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.action.rst @@ -0,0 +1,32 @@ +adf\_core\_python.core.agent.action package +=========================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.agent.action.ambulance + adf_core_python.core.agent.action.common + adf_core_python.core.agent.action.fire + adf_core_python.core.agent.action.police + +Submodules +---------- + +adf\_core\_python.core.agent.action.action module +------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.action.action + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.action + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.communication.rst b/docs/source/adf_core_python/adf_core_python.core.agent.communication.rst new file mode 100644 index 0000000..8b8db00 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.communication.rst @@ -0,0 +1,29 @@ +adf\_core\_python.core.agent.communication package +================================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.agent.communication.standard + +Submodules +---------- + +adf\_core\_python.core.agent.communication.message\_manager module +------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.agent.communication.message_manager + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.communication + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.centralized.rst b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.centralized.rst new file mode 100644 index 0000000..45fa534 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.centralized.rst @@ -0,0 +1,53 @@ +adf\_core\_python.core.agent.communication.standard.bundle.centralized package +============================================================================== + +Submodules +---------- + +adf\_core\_python.core.agent.communication.standard.bundle.centralized.command\_ambulance module +------------------------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.centralized.command\_fire module +------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.centralized.command\_police module +--------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.centralized.command_police + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.centralized.command\_scout module +-------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.centralized.message\_report module +--------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.centralized.message_report + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.centralized + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.information.rst b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.information.rst new file mode 100644 index 0000000..1866f08 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.information.rst @@ -0,0 +1,61 @@ +adf\_core\_python.core.agent.communication.standard.bundle.information package +============================================================================== + +Submodules +---------- + +adf\_core\_python.core.agent.communication.standard.bundle.information.message\_ambulance\_team module +------------------------------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.information.message\_building module +----------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.information.message_building + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.information.message\_civilian module +----------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.information.message_civilian + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.information.message\_fire\_brigade module +---------------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.information.message\_police\_force module +---------------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.information.message_police_force + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.information.message\_road module +------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.information.message_road + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.information + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.rst b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.rst new file mode 100644 index 0000000..e5a03c5 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.bundle.rst @@ -0,0 +1,38 @@ +adf\_core\_python.core.agent.communication.standard.bundle package +================================================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.agent.communication.standard.bundle.centralized + adf_core_python.core.agent.communication.standard.bundle.information + +Submodules +---------- + +adf\_core\_python.core.agent.communication.standard.bundle.standard\_message module +----------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.standard_message + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.bundle.standard\_message\_priority module +--------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle.standard_message_priority + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.bundle + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.rst b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.rst new file mode 100644 index 0000000..d3fd611 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.rst @@ -0,0 +1,30 @@ +adf\_core\_python.core.agent.communication.standard package +=========================================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.agent.communication.standard.bundle + adf_core_python.core.agent.communication.standard.utility + +Submodules +---------- + +adf\_core\_python.core.agent.communication.standard.standard\_communication\_module module +------------------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.agent.communication.standard.standard_communication_module + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.communication.standard + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.utility.rst b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.utility.rst new file mode 100644 index 0000000..afb37b3 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.communication.standard.utility.rst @@ -0,0 +1,29 @@ +adf\_core\_python.core.agent.communication.standard.utility package +=================================================================== + +Submodules +---------- + +adf\_core\_python.core.agent.communication.standard.utility.apply\_to\_world\_info module +----------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.utility.apply_to_world_info + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.communication.standard.utility.bitarray\_with\_exits\_flag module +---------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.communication.standard.utility + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.config.rst b/docs/source/adf_core_python/adf_core_python.core.agent.config.rst new file mode 100644 index 0000000..baf652d --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.config.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.agent.config package +=========================================== + +Submodules +---------- + +adf\_core\_python.core.agent.config.module\_config module +--------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.config.module_config + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.config + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.develop.rst b/docs/source/adf_core_python/adf_core_python.core.agent.develop.rst new file mode 100644 index 0000000..3ab6ca9 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.develop.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.agent.develop package +============================================ + +Submodules +---------- + +adf\_core\_python.core.agent.develop.develop\_data module +--------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.develop.develop_data + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.develop + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.info.rst b/docs/source/adf_core_python/adf_core_python.core.agent.info.rst new file mode 100644 index 0000000..9bf3a65 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.info.rst @@ -0,0 +1,37 @@ +adf\_core\_python.core.agent.info package +========================================= + +Submodules +---------- + +adf\_core\_python.core.agent.info.agent\_info module +---------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.info.agent_info + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.info.scenario\_info module +------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.info.scenario_info + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.info.world\_info module +---------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.info.world_info + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.info + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.module.rst b/docs/source/adf_core_python/adf_core_python.core.agent.module.rst new file mode 100644 index 0000000..a971149 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.module.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.agent.module package +=========================================== + +Submodules +---------- + +adf\_core\_python.core.agent.module.module\_manager module +---------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.module.module_manager + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.module + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.platoon.rst b/docs/source/adf_core_python/adf_core_python.core.agent.platoon.rst new file mode 100644 index 0000000..ce60c8f --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.platoon.rst @@ -0,0 +1,45 @@ +adf\_core\_python.core.agent.platoon package +============================================ + +Submodules +---------- + +adf\_core\_python.core.agent.platoon.platoon module +--------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.platoon.platoon + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.platoon.platoon\_ambulance module +-------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.platoon.platoon_ambulance + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.platoon.platoon\_fire module +--------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.platoon.platoon_fire + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.agent.platoon.platoon\_police module +----------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.platoon.platoon_police + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.platoon + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.precompute.rst b/docs/source/adf_core_python/adf_core_python.core.agent.precompute.rst new file mode 100644 index 0000000..1e1c752 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.precompute.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.agent.precompute package +=============================================== + +Submodules +---------- + +adf\_core\_python.core.agent.precompute.precompute\_data module +--------------------------------------------------------------- + +.. automodule:: adf_core_python.core.agent.precompute.precompute_data + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent.precompute + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.agent.rst b/docs/source/adf_core_python/adf_core_python.core.agent.rst new file mode 100644 index 0000000..c62ed6d --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.agent.rst @@ -0,0 +1,36 @@ +adf\_core\_python.core.agent package +==================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.agent.action + adf_core_python.core.agent.communication + adf_core_python.core.agent.config + adf_core_python.core.agent.develop + adf_core_python.core.agent.info + adf_core_python.core.agent.module + adf_core_python.core.agent.platoon + adf_core_python.core.agent.precompute + +Submodules +---------- + +adf\_core\_python.core.agent.agent module +----------------------------------------- + +.. automodule:: adf_core_python.core.agent.agent + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.agent + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.component.action.rst b/docs/source/adf_core_python/adf_core_python.core.component.action.rst new file mode 100644 index 0000000..41a180b --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.component.action.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.component.action package +=============================================== + +Submodules +---------- + +adf\_core\_python.core.component.action.extend\_action module +------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.action.extend_action + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.component.action + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.component.communication.rst b/docs/source/adf_core_python/adf_core_python.core.component.communication.rst new file mode 100644 index 0000000..92879f4 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.component.communication.rst @@ -0,0 +1,45 @@ +adf\_core\_python.core.component.communication package +====================================================== + +Submodules +---------- + +adf\_core\_python.core.component.communication.channel\_subscriber module +------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.communication.channel_subscriber + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.communication.communication\_message module +---------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.communication.communication_message + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.communication.communication\_module module +--------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.communication.communication_module + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.communication.message\_coordinator module +-------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.communication.message_coordinator + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.component.communication + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.component.module.algorithm.rst b/docs/source/adf_core_python/adf_core_python.core.component.module.algorithm.rst new file mode 100644 index 0000000..6ad25d3 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.component.module.algorithm.rst @@ -0,0 +1,29 @@ +adf\_core\_python.core.component.module.algorithm package +========================================================= + +Submodules +---------- + +adf\_core\_python.core.component.module.algorithm.clustering module +------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.algorithm.clustering + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.algorithm.path\_planning module +----------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.algorithm.path_planning + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.component.module.algorithm + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.component.module.complex.rst b/docs/source/adf_core_python/adf_core_python.core.component.module.complex.rst new file mode 100644 index 0000000..86de2b8 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.component.module.complex.rst @@ -0,0 +1,77 @@ +adf\_core\_python.core.component.module.complex package +======================================================= + +Submodules +---------- + +adf\_core\_python.core.component.module.complex.ambulance\_target\_allocator module +----------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.complex.ambulance_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.complex.fire\_target\_allocator module +------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.component.module.complex.fire_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.complex.human\_detector module +---------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.complex.human_detector + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.complex.police\_target\_allocator module +-------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.complex.police_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.complex.road\_detector module +--------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.complex.road_detector + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.complex.search module +------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.complex.search + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.complex.target\_allocator module +------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.component.module.complex.target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.module.complex.target\_detector module +----------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.complex.target_detector + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.component.module.complex + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.component.module.rst b/docs/source/adf_core_python/adf_core_python.core.component.module.rst new file mode 100644 index 0000000..f07feac --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.component.module.rst @@ -0,0 +1,30 @@ +adf\_core\_python.core.component.module package +=============================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.component.module.algorithm + adf_core_python.core.component.module.complex + +Submodules +---------- + +adf\_core\_python.core.component.module.abstract\_module module +--------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.module.abstract_module + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.component.module + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.component.rst b/docs/source/adf_core_python/adf_core_python.core.component.rst new file mode 100644 index 0000000..c33224e --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.component.rst @@ -0,0 +1,32 @@ +adf\_core\_python.core.component package +======================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.component.action + adf_core_python.core.component.communication + adf_core_python.core.component.module + adf_core_python.core.component.tactics + +Submodules +---------- + +adf\_core\_python.core.component.abstract\_loader module +-------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.abstract_loader + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.component + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.component.tactics.rst b/docs/source/adf_core_python/adf_core_python.core.component.tactics.rst new file mode 100644 index 0000000..d640551 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.component.tactics.rst @@ -0,0 +1,77 @@ +adf\_core\_python.core.component.tactics package +================================================ + +Submodules +---------- + +adf\_core\_python.core.component.tactics.tactics\_agent module +-------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.tactics.tactics_agent + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.tactics.tactics\_ambulance\_center module +-------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.tactics.tactics_ambulance_center + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.tactics.tactics\_ambulance\_team module +------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.component.tactics.tactics_ambulance_team + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.tactics.tactics\_center module +--------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.tactics.tactics_center + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.tactics.tactics\_fire\_brigade module +---------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.tactics.tactics_fire_brigade + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.tactics.tactics\_fire\_station module +---------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.tactics.tactics_fire_station + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.tactics.tactics\_police\_force module +---------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.tactics.tactics_police_force + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.component.tactics.tactics\_police\_office module +----------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.component.tactics.tactics_police_office + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.component.tactics + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.config.rst b/docs/source/adf_core_python/adf_core_python.core.config.rst new file mode 100644 index 0000000..5806b37 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.config.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.config package +===================================== + +Submodules +---------- + +adf\_core\_python.core.config.config module +------------------------------------------- + +.. automodule:: adf_core_python.core.config.config + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.config + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.algorithm.rst b/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.algorithm.rst new file mode 100644 index 0000000..2197aef --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.algorithm.rst @@ -0,0 +1,29 @@ +adf\_core\_python.core.gateway.component.module.algorithm package +================================================================= + +Submodules +---------- + +adf\_core\_python.core.gateway.component.module.algorithm.gateway\_clustering module +------------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.gateway.component.module.algorithm.gateway_clustering + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.algorithm.gateway\_path\_planning module +---------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.algorithm.gateway_path_planning + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.gateway.component.module.algorithm + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.complex.rst b/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.complex.rst new file mode 100644 index 0000000..819f4ac --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.complex.rst @@ -0,0 +1,77 @@ +adf\_core\_python.core.gateway.component.module.complex package +=============================================================== + +Submodules +---------- + +adf\_core\_python.core.gateway.component.module.complex.gateway\_ambulance\_target\_allocator module +---------------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_ambulance_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.complex.gateway\_fire\_target\_allocator module +----------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_fire_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.complex.gateway\_human\_detector module +--------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_human_detector + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.complex.gateway\_police\_target\_allocator module +------------------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_police_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.complex.gateway\_road\_detector module +-------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_road_detector + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.complex.gateway\_search module +------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_search + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.complex.gateway\_target\_allocator module +----------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.component.module.complex.gateway\_target\_detector module +---------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex.gateway_target_detector + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.gateway.component.module.complex + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.rst b/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.rst new file mode 100644 index 0000000..4d69a96 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.gateway.component.module.rst @@ -0,0 +1,30 @@ +adf\_core\_python.core.gateway.component.module package +======================================================= + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.gateway.component.module.algorithm + adf_core_python.core.gateway.component.module.complex + +Submodules +---------- + +adf\_core\_python.core.gateway.component.module.gateway\_abstract\_module module +-------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.component.module.gateway_abstract_module + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.gateway.component.module + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.gateway.component.rst b/docs/source/adf_core_python/adf_core_python.core.gateway.component.rst new file mode 100644 index 0000000..29a66e8 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.gateway.component.rst @@ -0,0 +1,18 @@ +adf\_core\_python.core.gateway.component package +================================================ + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.gateway.component.module + +Module contents +--------------- + +.. automodule:: adf_core_python.core.gateway.component + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.gateway.message.rst b/docs/source/adf_core_python/adf_core_python.core.gateway.message.rst new file mode 100644 index 0000000..265575a --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.gateway.message.rst @@ -0,0 +1,77 @@ +adf\_core\_python.core.gateway.message package +============================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.gateway.message.urn + +Submodules +---------- + +adf\_core\_python.core.gateway.message.am\_agent module +------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.message.am_agent + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.message.am\_exec module +------------------------------------------------------ + +.. automodule:: adf_core_python.core.gateway.message.am_exec + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.message.am\_module module +-------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.message.am_module + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.message.am\_update module +-------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.message.am_update + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.message.ma\_exec\_response module +---------------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.message.ma_exec_response + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.message.ma\_module\_response module +------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.gateway.message.ma_module_response + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.message.moduleMessageFactory module +------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.gateway.message.moduleMessageFactory + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.gateway.message + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.gateway.message.urn.rst b/docs/source/adf_core_python/adf_core_python.core.gateway.message.urn.rst new file mode 100644 index 0000000..fa3e1e8 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.gateway.message.urn.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.gateway.message.urn package +================================================== + +Submodules +---------- + +adf\_core\_python.core.gateway.message.urn.urn module +----------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.message.urn.urn + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.gateway.message.urn + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.gateway.rst b/docs/source/adf_core_python/adf_core_python.core.gateway.rst new file mode 100644 index 0000000..ca47556 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.gateway.rst @@ -0,0 +1,54 @@ +adf\_core\_python.core.gateway package +====================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.gateway.component + adf_core_python.core.gateway.message + +Submodules +---------- + +adf\_core\_python.core.gateway.gateway\_agent module +---------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.gateway_agent + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.gateway\_launcher module +------------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.gateway_launcher + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.gateway\_module module +----------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.gateway_module + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.gateway.module\_dict module +-------------------------------------------------- + +.. automodule:: adf_core_python.core.gateway.module_dict + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.gateway + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.launcher.connect.rst b/docs/source/adf_core_python/adf_core_python.core.launcher.connect.rst new file mode 100644 index 0000000..63501ff --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.launcher.connect.rst @@ -0,0 +1,85 @@ +adf\_core\_python.core.launcher.connect package +=============================================== + +Submodules +---------- + +adf\_core\_python.core.launcher.connect.component\_launcher module +------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.launcher.connect.component_launcher + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connection module +--------------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.connect.connection + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connector module +-------------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.connect.connector + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connector\_ambulance\_center module +--------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.connect.connector_ambulance_center + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connector\_ambulance\_team module +------------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.connect.connector_ambulance_team + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connector\_fire\_brigade module +----------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.connect.connector_fire_brigade + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connector\_fire\_station module +----------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.connect.connector_fire_station + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connector\_police\_force module +----------------------------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.connect.connector_police_force + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.connect.connector\_police\_office module +------------------------------------------------------------------------ + +.. automodule:: adf_core_python.core.launcher.connect.connector_police_office + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.launcher.connect + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.launcher.rst b/docs/source/adf_core_python/adf_core_python.core.launcher.rst new file mode 100644 index 0000000..e93773b --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.launcher.rst @@ -0,0 +1,37 @@ +adf\_core\_python.core.launcher package +======================================= + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.launcher.connect + +Submodules +---------- + +adf\_core\_python.core.launcher.agent\_launcher module +------------------------------------------------------ + +.. automodule:: adf_core_python.core.launcher.agent_launcher + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.core.launcher.config\_key module +-------------------------------------------------- + +.. automodule:: adf_core_python.core.launcher.config_key + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.launcher + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.logger.rst b/docs/source/adf_core_python/adf_core_python.core.logger.rst new file mode 100644 index 0000000..a0bf1f5 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.logger.rst @@ -0,0 +1,21 @@ +adf\_core\_python.core.logger package +===================================== + +Submodules +---------- + +adf\_core\_python.core.logger.logger module +------------------------------------------- + +.. automodule:: adf_core_python.core.logger.logger + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.core.logger + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.core.rst b/docs/source/adf_core_python/adf_core_python.core.rst new file mode 100644 index 0000000..78f4955 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.core.rst @@ -0,0 +1,23 @@ +adf\_core\_python.core package +============================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.core.agent + adf_core_python.core.component + adf_core_python.core.config + adf_core_python.core.gateway + adf_core_python.core.launcher + adf_core_python.core.logger + +Module contents +--------------- + +.. automodule:: adf_core_python.core + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.implement.action.rst b/docs/source/adf_core_python/adf_core_python.implement.action.rst new file mode 100644 index 0000000..e26c2e6 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.implement.action.rst @@ -0,0 +1,45 @@ +adf\_core\_python.implement.action package +========================================== + +Submodules +---------- + +adf\_core\_python.implement.action.default\_extend\_action\_clear module +------------------------------------------------------------------------ + +.. automodule:: adf_core_python.implement.action.default_extend_action_clear + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.action.default\_extend\_action\_move module +----------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.action.default_extend_action_move + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.action.default\_extend\_action\_rescue module +------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.action.default_extend_action_rescue + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.action.default\_extend\_action\_transport module +---------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.action.default_extend_action_transport + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.implement.action + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.implement.module.algorithm.rst b/docs/source/adf_core_python/adf_core_python.implement.module.algorithm.rst new file mode 100644 index 0000000..ce3486d --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.implement.module.algorithm.rst @@ -0,0 +1,37 @@ +adf\_core\_python.implement.module.algorithm package +==================================================== + +Submodules +---------- + +adf\_core\_python.implement.module.algorithm.a\_star\_path\_planning module +--------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.algorithm.a_star_path_planning + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.algorithm.dijkstra\_path\_planning module +---------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.algorithm.dijkstra_path_planning + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.algorithm.k\_means\_clustering module +------------------------------------------------------------------------ + +.. automodule:: adf_core_python.implement.module.algorithm.k_means_clustering + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.implement.module.algorithm + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.implement.module.communication.rst b/docs/source/adf_core_python/adf_core_python.implement.module.communication.rst new file mode 100644 index 0000000..bca3100 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.implement.module.communication.rst @@ -0,0 +1,29 @@ +adf\_core\_python.implement.module.communication package +======================================================== + +Submodules +---------- + +adf\_core\_python.implement.module.communication.default\_channel\_subscriber module +------------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.implement.module.communication.default_channel_subscriber + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.communication.default\_message\_coordinator module +------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.communication.default_message_coordinator + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.implement.module.communication + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.implement.module.complex.rst b/docs/source/adf_core_python/adf_core_python.implement.module.complex.rst new file mode 100644 index 0000000..7c28aa1 --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.implement.module.complex.rst @@ -0,0 +1,61 @@ +adf\_core\_python.implement.module.complex package +================================================== + +Submodules +---------- + +adf\_core\_python.implement.module.complex.default\_ambulance\_target\_allocator module +--------------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.complex.default_ambulance_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.complex.default\_fire\_target\_allocator module +---------------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.complex.default_fire_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.complex.default\_human\_detector module +-------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.complex.default_human_detector + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.complex.default\_police\_target\_allocator module +------------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.implement.module.complex.default_police_target_allocator + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.complex.default\_road\_detector module +------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.complex.default_road_detector + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.module.complex.default\_search module +----------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.module.complex.default_search + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.implement.module.complex + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.implement.module.rst b/docs/source/adf_core_python/adf_core_python.implement.module.rst new file mode 100644 index 0000000..12058ce --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.implement.module.rst @@ -0,0 +1,20 @@ +adf\_core\_python.implement.module package +========================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.implement.module.algorithm + adf_core_python.implement.module.communication + adf_core_python.implement.module.complex + +Module contents +--------------- + +.. automodule:: adf_core_python.implement.module + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.implement.rst b/docs/source/adf_core_python/adf_core_python.implement.rst new file mode 100644 index 0000000..83e213c --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.implement.rst @@ -0,0 +1,31 @@ +adf\_core\_python.implement package +=================================== + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.implement.action + adf_core_python.implement.module + adf_core_python.implement.tactics + +Submodules +---------- + +adf\_core\_python.implement.default\_loader module +-------------------------------------------------- + +.. automodule:: adf_core_python.implement.default_loader + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.implement + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.implement.tactics.rst b/docs/source/adf_core_python/adf_core_python.implement.tactics.rst new file mode 100644 index 0000000..8076aea --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.implement.tactics.rst @@ -0,0 +1,61 @@ +adf\_core\_python.implement.tactics package +=========================================== + +Submodules +---------- + +adf\_core\_python.implement.tactics.default\_tactics\_ambulance\_center module +------------------------------------------------------------------------------ + +.. automodule:: adf_core_python.implement.tactics.default_tactics_ambulance_center + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.tactics.default\_tactics\_ambulance\_team module +---------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.tactics.default_tactics_ambulance_team + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.tactics.default\_tactics\_fire\_brigade module +-------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.tactics.default_tactics_fire_brigade + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.tactics.default\_tactics\_fire\_station module +-------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.tactics.default_tactics_fire_station + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.tactics.default\_tactics\_police\_force module +-------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.tactics.default_tactics_police_force + :members: + :undoc-members: + :show-inheritance: + +adf\_core\_python.implement.tactics.default\_tactics\_police\_office module +--------------------------------------------------------------------------- + +.. automodule:: adf_core_python.implement.tactics.default_tactics_police_office + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python.implement.tactics + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/adf_core_python.rst b/docs/source/adf_core_python/adf_core_python.rst new file mode 100644 index 0000000..774319a --- /dev/null +++ b/docs/source/adf_core_python/adf_core_python.rst @@ -0,0 +1,31 @@ +adf\_core\_python package +========================= + +Subpackages +----------- + +.. toctree:: + :maxdepth: 4 + + adf_core_python.cli + adf_core_python.core + adf_core_python.implement + +Submodules +---------- + +adf\_core\_python.launcher module +--------------------------------- + +.. automodule:: adf_core_python.launcher + :members: + :undoc-members: + :show-inheritance: + +Module contents +--------------- + +.. automodule:: adf_core_python + :members: + :undoc-members: + :show-inheritance: diff --git a/docs/source/adf_core_python/modules.rst b/docs/source/adf_core_python/modules.rst new file mode 100644 index 0000000..d0160b5 --- /dev/null +++ b/docs/source/adf_core_python/modules.rst @@ -0,0 +1,7 @@ +adf_core_python +=============== + +.. toctree:: + :maxdepth: 4 + + adf_core_python From 8fbb175234f6ef8c2f65fa5a2d1b2e98a4036389 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 21 Feb 2025 10:36:53 +0900 Subject: [PATCH 214/249] =?UTF-8?q?feat:=20=E3=83=89=E3=82=AD=E3=83=A5?= =?UTF-8?q?=E3=83=A1=E3=83=B3=E3=83=88=E3=83=AF=E3=83=BC=E3=82=AF=E3=83=95?= =?UTF-8?q?=E3=83=AD=E3=83=BC=E3=81=AE=E3=83=91=E3=82=B9=E3=82=92=E4=BF=AE?= =?UTF-8?q?=E6=AD=A3=E3=81=97=E3=80=81=E8=8B=B1=E8=AA=9E=E3=83=89=E3=82=AD?= =?UTF-8?q?=E3=83=A5=E3=83=A1=E3=83=B3=E3=83=88=E3=81=B8=E3=81=AE=E3=83=AA?= =?UTF-8?q?=E3=83=80=E3=82=A4=E3=83=AC=E3=82=AF=E3=83=88=E3=82=92=E8=BF=BD?= =?UTF-8?q?=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/document.yaml | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml index b1b958a..986bc11 100644 --- a/.github/workflows/document.yaml +++ b/.github/workflows/document.yaml @@ -7,16 +7,16 @@ on: - main - develop paths: - - 'docs/**' + - "docs/**" pull_request: branches: - main - develop paths: - - 'docs/**' + - "docs/**" concurrency: - group: 'pages' + group: "pages" cancel-in-progress: true permissions: @@ -57,6 +57,12 @@ jobs: cd docs python build.py + - name: Redirect to the en documentation + run: | + username=$(echo $GITHUB_REPOSITORY | cut -d '/' -f 1) + repository=$(echo $GITHUB_REPOSITORY | cut -d '/' -f 2) + echo '' > ./docs/pages/index.html + - name: Deploy documentation uses: peaceiris/actions-gh-pages@v4 with: From 0bece13a31eef7c8ddb21fe70ec6c571cb3b6b70 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 21 Feb 2025 11:42:39 +0900 Subject: [PATCH 215/249] =?UTF-8?q?feat:=20=E3=83=89=E3=82=AD=E3=83=A5?= =?UTF-8?q?=E3=83=A1=E3=83=B3=E3=83=88=E3=81=AE=E3=83=90=E3=83=BC=E3=82=B8?= =?UTF-8?q?=E3=83=A7=E3=83=B3=E8=A1=A8=E7=A4=BA=E3=82=92=E6=94=B9=E5=96=84?= =?UTF-8?q?=E3=81=97=E3=80=81=E3=83=86=E3=83=BC=E3=83=9E=E3=82=92=E5=A4=89?= =?UTF-8?q?=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- docs/source/_templates/versions.html | 91 ++++++++++++++++++++++++---- docs/source/conf.py | 13 ++-- docs/source/index.rst | 1 - 3 files changed, 87 insertions(+), 18 deletions(-) diff --git a/docs/source/_templates/versions.html b/docs/source/_templates/versions.html index 7b7d0bc..0b3a1c8 100644 --- a/docs/source/_templates/versions.html +++ b/docs/source/_templates/versions.html @@ -1,10 +1,59 @@ + +
    - + Language: {{ current_language }} @@ -12,20 +61,36 @@ {% if languages|length >= 1 %}
    {{ _('Languages') }}
    - {% for the_language, url in languages %} -
    {{ the_language }}
    - {% endfor %} +
    + {% for the_language, url in languages %} + {{ the_language }} + {% endfor %} +
    {% endif %} +
    +
    {{ _('Versions') }}
    + {% for the_version, url in versions %} +
    {{ the_version }}
    + {% endfor %} +
    + {% endif %} +
    + -->
    + + diff --git a/docs/source/conf.py b/docs/source/conf.py index 38604f8..fc0ea64 100644 --- a/docs/source/conf.py +++ b/docs/source/conf.py @@ -37,7 +37,12 @@ # -- Options for HTML output ------------------------------------------------- # https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output -html_theme = "sphinx_rtd_theme" +html_theme = "sphinx_book_theme" + +html_sidebars = { + "**": ["navbar-logo.html", "versions.html", "search-button-field.html", "sbt-sidebar-nav.html"] +} + html_static_path = ["_static"] locale_dirs = ["locale"] @@ -53,7 +58,7 @@ current_language = os.environ.get("current_language") current_version = os.environ.get("current_version") - # we set the html_context wit current language and version + # we set the html_context wit current language and version # and empty languages and versions for now html_context = { 'current_language' : current_language, @@ -63,8 +68,8 @@ } - # and we append all versions and langauges accordingly - # we treat t he main branch as latest + # and we append all versions and langauges accordingly + # we treat t he main branch as latest if (current_version == 'latest'): html_context['languages'].append(['en', pages_root]) html_context['languages'].append(['ja', pages_root+'/ja']) diff --git a/docs/source/index.rst b/docs/source/index.rst index bca95b1..e10fb8d 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -71,7 +71,6 @@ adf-core-pythonを始めるには、インストールに従い、このドキ :maxdepth: 1 :caption: APIドキュメント - genindex modindex search From 9d30da85f931845ffa986e2136c008200950e886 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 21 Feb 2025 11:46:52 +0900 Subject: [PATCH 216/249] update: jinja2 3.1.4 -> 3.1.5 --- poetry.lock | 96 +++++++++++++++++++++++++++++++++++++++++++------- pyproject.toml | 1 + 2 files changed, 85 insertions(+), 12 deletions(-) diff --git a/poetry.lock b/poetry.lock index 7064ae6..26d42bc 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +# This file is automatically @generated by Poetry 2.1.1 and should not be changed by hand. [[package]] name = "accessible-pygments" @@ -6,6 +6,7 @@ version = "0.0.5" description = "A collection of accessible pygments styles" optional = false python-versions = ">=3.9" +groups = ["dev"] files = [ {file = "accessible_pygments-0.0.5-py3-none-any.whl", hash = "sha256:88ae3211e68a1d0b011504b2ffc1691feafce124b845bd072ab6f9f66f34d4b7"}, {file = "accessible_pygments-0.0.5.tar.gz", hash = "sha256:40918d3e6a2b619ad424cb91e556bd3bd8865443d9f22f1dcdf79e33c8046872"}, @@ -24,6 +25,7 @@ version = "1.0.0" description = "A light, configurable Sphinx theme" optional = false python-versions = ">=3.10" +groups = ["dev"] files = [ {file = "alabaster-1.0.0-py3-none-any.whl", hash = "sha256:fc6786402dc3fcb2de3cabd5fe455a2db534b371124f1f21de8731783dec828b"}, {file = "alabaster-1.0.0.tar.gz", hash = "sha256:c00dca57bca26fa62a6d7d0a9fcce65f3e026e9bfe33e9c538fd3fbb2144fd9e"}, @@ -35,6 +37,7 @@ version = "2.16.0" description = "Internationalization utilities" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"}, {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"}, @@ -49,6 +52,7 @@ version = "4.12.3" description = "Screen-scraping library" optional = false python-versions = ">=3.6.0" +groups = ["dev"] files = [ {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"}, {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"}, @@ -70,6 +74,7 @@ version = "3.0.0" description = "efficient arrays of booleans -- C extension" optional = false python-versions = "*" +groups = ["main"] files = [ {file = "bitarray-3.0.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:5ddbf71a97ad1d6252e6e93d2d703b624d0a5b77c153b12f9ea87d83e1250e0c"}, {file = "bitarray-3.0.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e0e7f24a0b01e6e6a0191c50b06ca8edfdec1988d9d2b264d669d2487f4f4680"}, @@ -216,6 +221,7 @@ version = "2024.8.30" description = "Python package for providing Mozilla's CA Bundle." optional = false python-versions = ">=3.6" +groups = ["dev"] files = [ {file = "certifi-2024.8.30-py3-none-any.whl", hash = "sha256:922820b53db7a7257ffbda3f597266d435245903d80737e34f8a45ff3e3230d8"}, {file = "certifi-2024.8.30.tar.gz", hash = "sha256:bec941d2aa8195e248a60b31ff9f0558284cf01a52591ceda73ea9afffd69fd9"}, @@ -227,6 +233,7 @@ version = "3.4.0" description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet." optional = false python-versions = ">=3.7.0" +groups = ["dev"] files = [ {file = "charset_normalizer-3.4.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:4f9fc98dad6c2eaa32fc3af1417d95b5e3d08aff968df0cd320066def971f9a6"}, {file = "charset_normalizer-3.4.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:0de7b687289d3c1b3e8660d0741874abe7888100efe14bd0f9fd7141bcbda92b"}, @@ -341,6 +348,7 @@ version = "8.1.7" description = "Composable command line interface toolkit" optional = false python-versions = ">=3.7" +groups = ["main", "dev"] files = [ {file = "click-8.1.7-py3-none-any.whl", hash = "sha256:ae74fb96c20a0277a1d615f1e4d73c8414f5a98db8b799a7931d1582f3390c28"}, {file = "click-8.1.7.tar.gz", hash = "sha256:ca9853ad459e787e2192211578cc907e7594e294c7ccc834310722b41b9ca6de"}, @@ -355,10 +363,12 @@ version = "0.4.6" description = "Cross-platform colored terminal text." optional = false python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7" +groups = ["main", "dev"] files = [ {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"}, {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"}, ] +markers = {main = "platform_system == \"Windows\""} [[package]] name = "docutils" @@ -366,6 +376,7 @@ version = "0.21.2" description = "Docutils -- Python Documentation Utilities" optional = false python-versions = ">=3.9" +groups = ["dev"] files = [ {file = "docutils-0.21.2-py3-none-any.whl", hash = "sha256:dafca5b9e384f0e419294eb4d2ff9fa826435bf15f15b7bd45723e8ad76811b2"}, {file = "docutils-0.21.2.tar.gz", hash = "sha256:3a6b18732edf182daa3cd12775bbb338cf5691468f91eeeb109deff6ebfa986f"}, @@ -377,6 +388,7 @@ version = "3.10" description = "Internationalized Domain Names in Applications (IDNA)" optional = false python-versions = ">=3.6" +groups = ["dev"] files = [ {file = "idna-3.10-py3-none-any.whl", hash = "sha256:946d195a0d259cbba61165e88e65941f16e9b36ea6ddb97f00452bae8b1287d3"}, {file = "idna-3.10.tar.gz", hash = "sha256:12f65c9b470abda6dc35cf8e63cc574b1c52b11df2c86030af0ac09b01b13ea9"}, @@ -391,6 +403,7 @@ version = "1.4.1" description = "Getting image size from png/jpeg/jpeg2000/gif file" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" +groups = ["dev"] files = [ {file = "imagesize-1.4.1-py2.py3-none-any.whl", hash = "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b"}, {file = "imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a"}, @@ -402,6 +415,7 @@ version = "2.0.0" description = "brain-dead simple config-ini parsing" optional = false python-versions = ">=3.7" +groups = ["dev"] files = [ {file = "iniconfig-2.0.0-py3-none-any.whl", hash = "sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374"}, {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"}, @@ -409,13 +423,14 @@ files = [ [[package]] name = "jinja2" -version = "3.1.4" +version = "3.1.5" description = "A very fast and expressive template engine." optional = false python-versions = ">=3.7" +groups = ["main", "dev"] files = [ - {file = "jinja2-3.1.4-py3-none-any.whl", hash = "sha256:bc5dd2abb727a5319567b7a813e6a2e7318c39f4f487cfe6c89c6f9c7d25197d"}, - {file = "jinja2-3.1.4.tar.gz", hash = "sha256:4a3aee7acbbe7303aede8e9648d13b8bf88a429282aa6122a993f0ac800cb369"}, + {file = "jinja2-3.1.5-py3-none-any.whl", hash = "sha256:aba0f4dc9ed8013c424088f68a5c226f7d6097ed89b246d7749c2ec4175c6adb"}, + {file = "jinja2-3.1.5.tar.gz", hash = "sha256:8fefff8dc3034e27bb80d67c671eb8a9bc424c0ef4c0826edbff304cceff43bb"}, ] [package.dependencies] @@ -430,6 +445,7 @@ version = "1.4.2" description = "Lightweight pipelining with Python functions" optional = false python-versions = ">=3.8" +groups = ["main"] files = [ {file = "joblib-1.4.2-py3-none-any.whl", hash = "sha256:06d478d5674cbc267e7496a410ee875abd68e4340feff4490bcb7afb88060ae6"}, {file = "joblib-1.4.2.tar.gz", hash = "sha256:2382c5816b2636fbd20a09e0f4e9dad4736765fdfb7dca582943b9c1366b3f0e"}, @@ -441,6 +457,7 @@ version = "3.0.0" description = "Python port of markdown-it. Markdown parsing, done right!" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "markdown-it-py-3.0.0.tar.gz", hash = "sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb"}, {file = "markdown_it_py-3.0.0-py3-none-any.whl", hash = "sha256:355216845c60bd96232cd8d8c40e8f9765cc86f46880e43a8fd22dc1a1a8cab1"}, @@ -465,6 +482,7 @@ version = "3.0.2" description = "Safely add untrusted strings to HTML/XML markup." optional = false python-versions = ">=3.9" +groups = ["main", "dev"] files = [ {file = "MarkupSafe-3.0.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:7e94c425039cde14257288fd61dcfb01963e658efbc0ff54f5306b06054700f8"}, {file = "MarkupSafe-3.0.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9e2d922824181480953426608b81967de705c3cef4d1af983af849d7bd619158"}, @@ -535,6 +553,7 @@ version = "0.4.2" description = "Collection of plugins for markdown-it-py" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ 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">=3.8" +groups = ["dev"] files = [ {file = "packaging-24.2-py3-none-any.whl", hash = "sha256:09abb1bccd265c01f4a3aa3f7a7db064b36514d2cba19a2f694fe6150451a759"}, {file = "packaging-24.2.tar.gz", hash = "sha256:c228a6dc5e932d346bc5739379109d49e8853dd8223571c7c5b55260edc0b97f"}, @@ -740,6 +767,7 @@ version = "1.5.0" description = "plugin and hook calling mechanisms for python" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "pluggy-1.5.0-py3-none-any.whl", hash = "sha256:44e1ad92c8ca002de6377e165f3e0f1be63266ab4d554740532335b9d75ea669"}, {file = "pluggy-1.5.0.tar.gz", hash = "sha256:2cffa88e94fdc978c4c574f15f9e59b7f4201d439195c3715ca9e2486f1d0cf1"}, @@ -755,6 +783,7 @@ version = "5.29.0" description = "" optional = false python-versions = ">=3.8" +groups = ["main"] files = [ {file = "protobuf-5.29.0-cp310-abi3-win32.whl", hash = "sha256:ea7fb379b257911c8c020688d455e8f74efd2f734b72dc1ea4b4d7e9fd1326f2"}, {file = "protobuf-5.29.0-cp310-abi3-win_amd64.whl", hash = "sha256:34a90cf30c908f47f40ebea7811f743d360e202b6f10d40c02529ebd84afc069"}, @@ -775,6 +804,7 @@ version = "6.1.0" description = "Cross-platform lib for process and system monitoring in Python." optional = false python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7" +groups = ["dev"] files = [ {file = "psutil-6.1.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:ff34df86226c0227c52f38b919213157588a678d049688eded74c76c8ba4a5d0"}, {file = "psutil-6.1.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:c0e0c00aa18ca2d3b2b991643b799a15fc8f0563d2ebb6040f64ce8dc027b942"}, @@ -805,6 +835,7 @@ version = "0.16.0" description = "Bootstrap-based Sphinx theme from the PyData community" optional = false python-versions = ">=3.9" +groups = ["dev"] files = [ {file = "pydata_sphinx_theme-0.16.0-py3-none-any.whl", hash = "sha256:18c810ee4e67e05281e371e156c1fb5bb0fa1f2747240461b225272f7d8d57d8"}, {file = "pydata_sphinx_theme-0.16.0.tar.gz", hash = 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Python" optional = false python-versions = ">=3.8" +groups = ["main", "dev"] files = [ {file = "PyYAML-6.0.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:0a9a2848a5b7feac301353437eb7d5957887edbf81d56e903999a75a3d743086"}, {file = "PyYAML-6.0.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:29717114e51c84ddfba879543fb232a6ed60086602313ca38cce623c1d62cfbf"}, @@ -928,6 +962,7 @@ version = "0.1.0" description = "RoboCup Rescue Simulation(RCRS Agent Development Library)" optional = false python-versions = "*" +groups = ["main"] files = [] develop = false @@ -947,6 +982,7 @@ version = "2.32.3" description = "Python HTTP for Humans." optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "requests-2.32.3-py3-none-any.whl", hash = "sha256:70761cfe03c773ceb22aa2f671b4757976145175cdfca038c02654d061d6dcc6"}, {file = "requests-2.32.3.tar.gz", hash = "sha256:55365417734eb18255590a9ff9eb97e9e1da868d4ccd6402399eaf68af20a760"}, @@ -968,6 +1004,7 @@ version = "1.3.0" 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"sha256:b27bfecede327a6d2da5fbc96bd859f114ecc398a6389d664f62085ee7ae6fc4"}, @@ -1482,6 +1546,7 @@ version = "1.14.1" description = "tasks runner for python projects" optional = false python-versions = "<4.0,>=3.6" +groups = ["dev"] files = [ {file = "taskipy-1.14.1-py3-none-any.whl", hash = "sha256:6e361520f29a0fd2159848e953599f9c75b1d0b047461e4965069caeb94908f1"}, {file = "taskipy-1.14.1.tar.gz", hash = "sha256:410fbcf89692dfd4b9f39c2b49e1750b0a7b81affd0e2d7ea8c35f9d6a4774ed"}, @@ -1499,6 +1564,7 @@ version = "3.5.0" description = "threadpoolctl" optional = false python-versions = ">=3.8" +groups = ["main"] files = [ {file = "threadpoolctl-3.5.0-py3-none-any.whl", hash = "sha256:56c1e26c150397e58c4926da8eeee87533b1e32bef131bd4bf6a2f45f3185467"}, {file = "threadpoolctl-3.5.0.tar.gz", hash = "sha256:082433502dd922bf738de0d8bcc4fdcbf0979ff44c42bd40f5af8a282f6fa107"}, @@ -1510,6 +1576,7 @@ version = "2.2.1" description = "A lil' TOML parser" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "tomli-2.2.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:678e4fa69e4575eb77d103de3df8a895e1591b48e740211bd1067378c69e8249"}, {file = "tomli-2.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:023aa114dd824ade0100497eb2318602af309e5a55595f76b626d6d9f3b7b0a6"}, @@ -1551,6 +1618,7 @@ version = "4.25.0.20240417" description = "Typing stubs for protobuf" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "types-protobuf-4.25.0.20240417.tar.gz", hash = "sha256:c34eff17b9b3a0adb6830622f0f302484e4c089f533a46e3f147568313544352"}, {file = "types_protobuf-4.25.0.20240417-py3-none-any.whl", hash = "sha256:e9b613227c2127e3d4881d75d93c93b4d6fd97b5f6a099a0b654a05351c8685d"}, @@ -1562,6 +1630,7 @@ version = "6.0.12.20240917" description = "Typing stubs for PyYAML" optional = false python-versions = ">=3.8" +groups = ["main"] files = [ {file = "types-PyYAML-6.0.12.20240917.tar.gz", hash = "sha256:d1405a86f9576682234ef83bcb4e6fff7c9305c8b1fbad5e0bcd4f7dbdc9c587"}, {file = "types_PyYAML-6.0.12.20240917-py3-none-any.whl", hash = "sha256:392b267f1c0fe6022952462bf5d6523f31e37f6cea49b14cee7ad634b6301570"}, @@ -1573,6 +1642,7 @@ version = "4.12.2" description = "Backported and Experimental Type Hints for Python 3.8+" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "typing_extensions-4.12.2-py3-none-any.whl", hash = "sha256:04e5ca0351e0f3f85c6853954072df659d0d13fac324d0072316b67d7794700d"}, {file = "typing_extensions-4.12.2.tar.gz", hash = "sha256:1a7ead55c7e559dd4dee8856e3a88b41225abfe1ce8df57b7c13915fe121ffb8"}, @@ -1584,13 +1654,14 @@ version = "2.2.3" description = "HTTP library with thread-safe connection pooling, file post, and more." optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "urllib3-2.2.3-py3-none-any.whl", hash = "sha256:ca899ca043dcb1bafa3e262d73aa25c465bfb49e0bd9dd5d59f1d0acba2f8fac"}, {file = "urllib3-2.2.3.tar.gz", hash = "sha256:e7d814a81dad81e6caf2ec9fdedb284ecc9c73076b62654547cc64ccdcae26e9"}, ] [package.extras] -brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"] +brotli = ["brotli (>=1.0.9) ; platform_python_implementation == \"CPython\"", "brotlicffi (>=0.8.0) ; platform_python_implementation != \"CPython\""] h2 = ["h2 (>=4,<5)"] socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"] zstd = ["zstandard (>=0.18.0)"] @@ -1601,6 +1672,7 @@ version = "0.45.1" description = "A built-package format for Python" optional = false python-versions = ">=3.8" +groups = ["dev"] files = [ {file = "wheel-0.45.1-py3-none-any.whl", hash = "sha256:708e7481cc80179af0e556bbf0cc00b8444c7321e2700b8d8580231d13017248"}, {file = "wheel-0.45.1.tar.gz", hash = "sha256:661e1abd9198507b1409a20c02106d9670b2576e916d58f520316666abca6729"}, @@ -1610,6 +1682,6 @@ files = [ test = ["pytest (>=6.0.0)", "setuptools (>=65)"] [metadata] -lock-version = "2.0" +lock-version = "2.1" python-versions = "^3.12" -content-hash = "776b51ba845a3c8e4835e1c260470c151d9cf1abd835017a177251127ee06d84" +content-hash = "ef636c2598fceae154f3fa16c130570837d1390353d9f79978f798c2190785f5" diff --git a/pyproject.toml b/pyproject.toml index 3702187..13cb957 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -19,6 +19,7 @@ structlog = "^24.4.0" bitarray = "^3.0.0" shapely = "^2.0.6" click = "^8.1.7" +jinja2 = "3.1.5" [tool.poetry.group.dev.dependencies] From 91b5d551442131f62dd211414e1f4aeb820279d5 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Thu, 6 Mar 2025 05:06:20 +0000 Subject: [PATCH 217/249] chore(deps): bump jinja2 from 3.1.5 to 3.1.6 Bumps [jinja2](https://github.com/pallets/jinja) from 3.1.5 to 3.1.6. - [Release notes](https://github.com/pallets/jinja/releases) - [Changelog](https://github.com/pallets/jinja/blob/main/CHANGES.rst) - [Commits](https://github.com/pallets/jinja/compare/3.1.5...3.1.6) --- updated-dependencies: - dependency-name: jinja2 dependency-type: direct:production ... Signed-off-by: dependabot[bot] --- poetry.lock | 8 ++++---- pyproject.toml | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/poetry.lock b/poetry.lock index 26d42bc..8f98a4f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -423,14 +423,14 @@ files = [ [[package]] name = "jinja2" -version = "3.1.5" +version = "3.1.6" description = "A very fast and expressive template engine." optional = false python-versions = ">=3.7" groups = ["main", "dev"] files = [ - {file = "jinja2-3.1.5-py3-none-any.whl", hash = "sha256:aba0f4dc9ed8013c424088f68a5c226f7d6097ed89b246d7749c2ec4175c6adb"}, - {file = "jinja2-3.1.5.tar.gz", hash = "sha256:8fefff8dc3034e27bb80d67c671eb8a9bc424c0ef4c0826edbff304cceff43bb"}, + {file = "jinja2-3.1.6-py3-none-any.whl", hash = "sha256:85ece4451f492d0c13c5dd7c13a64681a86afae63a5f347908daf103ce6d2f67"}, + {file = "jinja2-3.1.6.tar.gz", hash = "sha256:0137fb05990d35f1275a587e9aee6d56da821fc83491a0fb838183be43f66d6d"}, ] [package.dependencies] @@ -1684,4 +1684,4 @@ test = ["pytest (>=6.0.0)", "setuptools (>=65)"] [metadata] lock-version = "2.1" python-versions = "^3.12" -content-hash = "ef636c2598fceae154f3fa16c130570837d1390353d9f79978f798c2190785f5" +content-hash = "39cb164105bc42d0880084e72c11894dfd5381d9f39a17beeda770b54e881949" diff --git a/pyproject.toml b/pyproject.toml index 13cb957..3f3522a 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -19,7 +19,7 @@ structlog = "^24.4.0" bitarray = "^3.0.0" shapely = "^2.0.6" click = "^8.1.7" -jinja2 = "3.1.5" +jinja2 = "3.1.6" [tool.poetry.group.dev.dependencies] From 0ca7f5da701a74ebf2f70977d788fc7cf752111b Mon Sep 17 00:00:00 2001 From: harrki Date: Tue, 18 Mar 2025 03:22:30 +0900 Subject: [PATCH 218/249] feat: Add Communication Module in Java --- adf_core_python/core/gateway/gateway_agent.py | 7 +- adf_core_python/launcher.py | 3 + .../java/adf_core_python/agent/Agent.java | 72 +++++- .../agent/communication/MessageManager.java | 242 ++++++++++++++++++ .../standard/StandardCommunicationModule.java | 176 +++++++++++++ .../communication/ChannelSubscriber.java | 19 ++ .../communication/CommunicationModule.java | 11 + .../communication/MessageCoordinator.java | 18 ++ .../adf_core_python/gateway/Coordinator.java | 2 +- 9 files changed, 541 insertions(+), 9 deletions(-) create mode 100644 java/lib/src/main/java/adf_core_python/agent/communication/MessageManager.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/communication/standard/StandardCommunicationModule.java create mode 100644 java/lib/src/main/java/adf_core_python/component/communication/ChannelSubscriber.java create mode 100644 java/lib/src/main/java/adf_core_python/component/communication/CommunicationModule.java create mode 100644 java/lib/src/main/java/adf_core_python/component/communication/MessageCoordinator.java diff --git a/adf_core_python/core/gateway/gateway_agent.py b/adf_core_python/core/gateway/gateway_agent.py index 036c49a..31008bb 100644 --- a/adf_core_python/core/gateway/gateway_agent.py +++ b/adf_core_python/core/gateway/gateway_agent.py @@ -2,7 +2,7 @@ from typing import Optional, TYPE_CHECKING, Callable -from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.connection import RCRSProto_pb2, URN from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo @@ -111,3 +111,8 @@ def message_received(self, msg: RCRSProto_pb2) -> None: self._gateway_modules[c_msg.module_id].set_execute_response(c_msg.result) self._gateway_modules[c_msg.module_id].set_is_executed(True) + + if msg.urn == URN.Command.AK_SPEAK: + if self.send_msg is None: + raise RuntimeError("send_msg is None") + self.send_msg(msg) diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index 89cb927..94d0c6e 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -1,4 +1,5 @@ import argparse +import resource from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.agent_launcher import AgentLauncher @@ -11,6 +12,8 @@ def __init__( self, launcher_config_file: str, ) -> None: + resource.setrlimit(resource.RLIMIT_NOFILE, (8192, 9223372036854775807)) + configure_logger() self.logger = get_logger(__name__) diff --git a/java/lib/src/main/java/adf_core_python/agent/Agent.java b/java/lib/src/main/java/adf_core_python/agent/Agent.java index 07c9f0a..983325e 100644 --- a/java/lib/src/main/java/adf_core_python/agent/Agent.java +++ b/java/lib/src/main/java/adf_core_python/agent/Agent.java @@ -1,14 +1,19 @@ package adf_core_python.agent; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.communication.standard.bundle.StandardMessageBundle; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; +import adf.core.launcher.ConsoleOutput; +import adf_core_python.agent.communication.MessageManager; +import adf_core_python.agent.communication.standard.StandardCommunicationModule; import adf_core_python.agent.config.ModuleConfig; import adf_core_python.agent.develop.DevelopData; import adf_core_python.agent.info.AgentInfo; import adf_core_python.agent.module.ModuleManager; import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.communication.CommunicationModule; import adf_core_python.component.module.AbstractModule; +import adf_core_python.gateway.Coordinator; import adf_core_python.gateway.mapper.AbstractMapper; import adf_core_python.gateway.mapper.MapperDict; import jakarta.annotation.Nonnull; @@ -17,40 +22,50 @@ import org.apache.logging.log4j.Logger; import rescuecore2.config.Config; import rescuecore2.messages.Command; +import rescuecore2.messages.Message; import rescuecore2.standard.entities.StandardEntityURN; import rescuecore2.standard.entities.StandardWorldModel; +import rescuecore2.standard.messages.AKSubscribe; import rescuecore2.worldmodel.ChangeSet; import rescuecore2.worldmodel.Entity; import rescuecore2.worldmodel.EntityID; import java.lang.reflect.Constructor; import java.lang.reflect.InvocationTargetException; +import java.util.Arrays; import java.util.Collection; import java.util.HashMap; import java.util.Objects; public class Agent { - private final AgentInfo agentInfo; - private final WorldInfo worldInfo; - private final ScenarioInfo scenarioInfo; + public final AgentInfo agentInfo; + public final WorldInfo worldInfo; + public final ScenarioInfo scenarioInfo; private final ModuleManager moduleManager; private final DevelopData developData; private final PrecomputeData precomputeData; private final MessageManager messageManager; + private CommunicationModule communicationModule; private final HashMap modules = new HashMap<>(); private final MapperDict mapperDict; private final Logger logger; + private int ignoreTime; + private final Coordinator coordinator; - public Agent(EntityID entityID, Collection entities, ScenarioInfo scenarioInfo, DevelopData developData, ModuleConfig moduleConfig) { + public Agent(EntityID entityID, Collection entities, ScenarioInfo scenarioInfo, DevelopData developData, ModuleConfig moduleConfig, Coordinator coordinator) { StandardWorldModel worldModel = new StandardWorldModel(); worldModel.addEntities(entities); worldModel.index(); + this.ignoreTime = scenarioInfo.getRawConfig() + .getIntValue(kernel.KernelConstants.IGNORE_AGENT_COMMANDS_KEY); + this.agentInfo = new AgentInfo(entityID, worldModel); this.worldInfo = new WorldInfo(worldModel); this.scenarioInfo = scenarioInfo; this.developData = developData; this.moduleManager = new ModuleManager(this.agentInfo, this.worldInfo, this.scenarioInfo, moduleConfig, this.developData); + this.coordinator = coordinator; String dataStorageName = ""; StandardEntityURN agentURN = Objects.requireNonNull(this.worldInfo.getEntity(this.agentInfo.getID())).getStandardURN(); @@ -97,13 +112,48 @@ public Class registerModule(@Nonnull String moduleID, @Nonnull String moduleN } public void update(int time, ChangeSet changed, Collection heard) { + worldInfo.setTime(time); + worldInfo.merge(changed); agentInfo.recordThinkStartTime(); agentInfo.setTime(time); + + if (time == 1) { + if (this.communicationModule != null) { + ConsoleOutput.out(ConsoleOutput.State.ERROR, + "[ERROR ] Loader is not found."); + ConsoleOutput.out(ConsoleOutput.State.NOTICE, + "CommunicationModule is modified - " + this); + } else { + this.communicationModule = new StandardCommunicationModule(); + } + + this.messageManager.registerMessageBundle(new StandardMessageBundle()); + } + + // agents can subscribe after ignore time + if (time >= ignoreTime) { + this.messageManager.subscribe(this.agentInfo, this.worldInfo, + this.scenarioInfo); + + if (!this.messageManager.getIsSubscribed()) { + int[] channelsToSubscribe = this.messageManager.getChannels(); + if (channelsToSubscribe != null) { + this.messageManager.setIsSubscribed(true); + } + } + } + agentInfo.setHeard(heard); agentInfo.setChanged(changed); - worldInfo.setTime(time); - worldInfo.merge(changed); worldInfo.setChanged(changed); + + this.messageManager.refresh(); + this.communicationModule.receive(this, this.messageManager); + + this.messageManager.coordinateMessages(this.agentInfo, this.worldInfo, + this.scenarioInfo); + this.communicationModule.send(this, this.messageManager); + logger.debug("Agent Update (Time: {}, Changed: {}, Heard: {})", agentInfo.getTime(), agentInfo.getChanged(), agentInfo.getHeard()); } @@ -113,4 +163,12 @@ public Config execModuleMethod(String moduleID, String methodName, Config argume logger.debug("Executed Method Result (MethodName: {}, Result: {}", methodName, result); return result; } + + public EntityID getID() { + return this.agentInfo.getID(); + } + + public void send(Message[] messages) { + Arrays.stream(messages).forEach(coordinator::sendMessage); + } } diff --git a/java/lib/src/main/java/adf_core_python/agent/communication/MessageManager.java b/java/lib/src/main/java/adf_core_python/agent/communication/MessageManager.java new file mode 100644 index 0000000..2d71d47 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/communication/MessageManager.java @@ -0,0 +1,242 @@ +package adf_core_python.agent.communication; + +import adf.core.agent.communication.standard.bundle.StandardMessageBundle; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.communication.CommunicationMessage; +import adf.core.component.communication.MessageBundle; +import adf.core.launcher.ConsoleOutput; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.component.communication.ChannelSubscriber; +import adf_core_python.component.communication.MessageCoordinator; +import jakarta.annotation.Nonnull; +import jakarta.annotation.Nullable; + +import java.util.*; + +public class MessageManager { + + private int standardMessageClassCount; + private int customMessageClassCount; + private HashMap> messageClassMap; + private HashMap, + Integer> messageClassIDMap; + private ArrayList sendMessageList; + private List> channelSendMessageList; + private List receivedMessageList; + private int heardAgentHelpCount; + private MessageCoordinator messageCoordinator; + + private Set checkDuplicationCache; + + private ChannelSubscriber channelSubscriber; + private int[] subscribedChannels; + private boolean isSubscribed; + + public MessageManager() { + this.standardMessageClassCount = 1; // 00001 + this.customMessageClassCount = 16; // 10000 + this.messageClassMap = new HashMap<>(32); + this.messageClassIDMap = new HashMap<>(32); + this.sendMessageList = new ArrayList<>(); + this.channelSendMessageList = new ArrayList<>(); + this.checkDuplicationCache = new HashSet<>(); + this.receivedMessageList = new ArrayList<>(); + this.heardAgentHelpCount = 0; + + this.messageCoordinator = null; + + channelSubscriber = null; + subscribedChannels = new int[1]; + // by default subscribe to channel 1 + subscribedChannels[0] = 1; + isSubscribed = false; + } + + + public void subscribeToChannels(int[] channels) { + subscribedChannels = channels; + isSubscribed = false; + } + + + public int[] getChannels() { + return subscribedChannels; + } + + + public boolean getIsSubscribed() { + return isSubscribed; + } + + + public void setIsSubscribed(boolean subscribed) { + isSubscribed = subscribed; + } + + + public void setMessageCoordinator(MessageCoordinator mc) { + this.messageCoordinator = mc; + } + + + public void setChannelSubscriber(ChannelSubscriber cs) { + channelSubscriber = cs; + } + + + public void subscribe(AgentInfo agentInfo, WorldInfo worldInfo, + ScenarioInfo scenarioInfo) { + if (channelSubscriber != null) { + channelSubscriber.subscribe(agentInfo, worldInfo, scenarioInfo, this); + } + } + + + public boolean registerMessageClass(int index, + @Nonnull Class messageClass) { + if (index > 31) { + throw new IllegalArgumentException("index maximum is 31"); + } + + if (messageClassMap.containsKey(index)) { + ConsoleOutput.out(ConsoleOutput.State.WARN, + "index(" + index + ") is already registered/" + messageClass.getName() + + " is ignored"); + return false; + } + + messageClassMap.put(index, messageClass); + messageClassIDMap.put(messageClass, index); + + return true; + } + + + public void registerMessageBundle(@Nonnull MessageBundle messageBundle) { + if (messageBundle == null) { + return; + } + + for (Class messageClass : messageBundle + .getMessageClassList()) { + this.registerMessageClass( + (messageBundle.getClass().equals(StandardMessageBundle.class) + ? standardMessageClassCount++ + : customMessageClassCount++), + messageClass); + } + } + + + @Nullable + public Class getMessageClass(int index) { + if (!messageClassMap.containsKey(index)) { + return null; + } + + return messageClassMap.get(index); + } + + + public int getMessageClassIndex(@Nonnull CommunicationMessage message) { + if (!messageClassMap.containsValue(message.getClass())) { + throw new IllegalArgumentException( + message.getClass().getName() + " is not registered with the manager"); + } + + return messageClassIDMap.get(message.getClass()); + } + + + public void addMessage(@Nonnull CommunicationMessage message) { + this.addMessage(message, true); + } + + + public void addMessage(@Nonnull CommunicationMessage message, + boolean checkDuplication) { + if (message == null) { + return; + } + + String checkKey = message.getCheckKey(); + if (checkDuplication && !this.checkDuplicationCache.contains(checkKey)) { + this.sendMessageList.add(message); + this.checkDuplicationCache.add(checkKey); + } else { + this.sendMessageList.add(message); + this.checkDuplicationCache.add(checkKey); + } + } + + + @Nonnull + public List> getSendMessageList() { + return this.channelSendMessageList; + } + + + public void addReceivedMessage(@Nonnull CommunicationMessage message) { + receivedMessageList.add(message); + } + + + @Nonnull + public List getReceivedMessageList() { + return this.receivedMessageList; + } + + + @SafeVarargs + @Nonnull + public final List getReceivedMessageList( + Class... messageClasses) { + List resultList = new ArrayList<>(); + for (CommunicationMessage message : this.receivedMessageList) { + for (Class< + ? extends CommunicationMessage> messageClass : messageClasses) { + if (messageClass.isAssignableFrom(message.getClass())) { + resultList.add(message); + } + } + } + return resultList; + } + + + public void coordinateMessages(AgentInfo agentInfo, WorldInfo worldInfo, + ScenarioInfo scenarioInfo) { + // create a list of messages for every channel including the voice comm + // channel + this.channelSendMessageList = new ArrayList>( + scenarioInfo.getCommsChannelsCount()); + for (int i = 0; i < scenarioInfo.getCommsChannelsCount(); i++) { + this.channelSendMessageList.add(new ArrayList()); + } + + if (messageCoordinator != null) { + messageCoordinator.coordinate(agentInfo, worldInfo, scenarioInfo, this, + this.sendMessageList, this.channelSendMessageList); + } + } + + + public void addHeardAgentHelpCount() { + this.heardAgentHelpCount++; + } + + + public int getHeardAgentHelpCount() { + return this.heardAgentHelpCount; + } + + + public void refresh() { + this.sendMessageList.clear(); + this.checkDuplicationCache.clear(); + this.receivedMessageList.clear(); + this.heardAgentHelpCount = 0; + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/communication/standard/StandardCommunicationModule.java b/java/lib/src/main/java/adf_core_python/agent/communication/standard/StandardCommunicationModule.java new file mode 100644 index 0000000..b1d4142 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/communication/standard/StandardCommunicationModule.java @@ -0,0 +1,176 @@ +package adf_core_python.agent.communication.standard; + +import adf.core.agent.communication.standard.bundle.StandardMessage; +import adf.core.component.communication.CommunicationMessage; +import adf.core.component.communication.util.BitOutputStream; +import adf.core.component.communication.util.BitStreamReader; +import adf.core.launcher.ConsoleOutput; +import adf_core_python.agent.Agent; +import adf_core_python.agent.communication.MessageManager; +import adf_core_python.component.communication.CommunicationModule; +import jakarta.annotation.Nonnull; +import rescuecore2.messages.Command; +import rescuecore2.messages.Message; +import rescuecore2.standard.messages.AKSpeak; +import rescuecore2.worldmodel.EntityID; + +import java.io.ByteArrayOutputStream; +import java.io.IOException; +import java.util.Collection; +import java.util.List; + +public class StandardCommunicationModule extends CommunicationModule { + + final private int ESCAPE_CHAR = 0x41; + final private int SIZE_ID = 5; + final private int SIZE_TTL = 3; + + @Override + public void receive(@Nonnull Agent agent, + @Nonnull MessageManager messageManager) { + Collection heardList = agent.agentInfo.getHeard(); + + for (Command heard : heardList) { + if (heard instanceof AKSpeak) { + EntityID senderID = heard.getAgentID(); + + if (agent.getID().equals(senderID)) { + continue; + } + + AKSpeak received = (AKSpeak) heard; + byte[] receivedData = received.getContent(); + boolean isRadio = (received.getChannel() != 0); + + if (receivedData.length <= 0) { + continue; + } + + if (isRadio) { + addReceivedMessage(messageManager, Boolean.TRUE, senderID, + receivedData); + } else { + String voiceString = new String(receivedData); + if ("Help".equalsIgnoreCase(voiceString) + || "Ouch".equalsIgnoreCase(voiceString)) { + messageManager.addHeardAgentHelpCount(); + continue; + } + + BitOutputStream messageTemp = new BitOutputStream(); + for (int i = 0; i < receivedData.length; i++) { + if (receivedData[i] == ESCAPE_CHAR) { + if ((i + 1) >= receivedData.length) { + addReceivedMessage(messageManager, Boolean.FALSE, senderID, + messageTemp.toByteArray()); + break; + } else if (receivedData[i + 1] != ESCAPE_CHAR) { + addReceivedMessage(messageManager, Boolean.FALSE, senderID, + messageTemp.toByteArray()); + messageTemp.reset(); + continue; + } + + i += 1; + } + messageTemp.write(receivedData[i]); + } + } + } + } + } + + final Class[] standardMessageArgTypes = {boolean.class, int.class, + int.class, BitStreamReader.class}; + + private void addReceivedMessage(@Nonnull MessageManager messageManager, + boolean isRadio, @Nonnull EntityID senderID, byte[] data) { + BitStreamReader bitStreamReader = new BitStreamReader(data); + int messageClassIndex = bitStreamReader.getBits(SIZE_ID); + if (messageClassIndex <= 0) { + ConsoleOutput.out(ConsoleOutput.State.WARN, + "ignore Message Class Index (0)"); + return; + } + + int messageTTL = (isRadio ? -1 : bitStreamReader.getBits(SIZE_TTL)); + + Object[] args = {Boolean.valueOf(isRadio), + Integer.valueOf(senderID.getValue()), Integer.valueOf(messageTTL), + bitStreamReader}; + try { + messageManager + .addReceivedMessage(messageManager.getMessageClass(messageClassIndex) + .getConstructor(standardMessageArgTypes).newInstance(args)); + } catch (NoSuchMethodException | IllegalArgumentException e) { + e.printStackTrace(); + } catch (ReflectiveOperationException e) { + e.printStackTrace(); + } + } + + + @Override + public void send(@Nonnull Agent agent, + @Nonnull MessageManager messageManager) { + final int voiceLimitBytes = agent.scenarioInfo.getVoiceMessagesSize(); + int voiceMessageLeft = voiceLimitBytes; + ByteArrayOutputStream voiceMessageStream = new ByteArrayOutputStream(); + + Message[] messages = new Message[1]; + + List> sendMessageList = messageManager + .getSendMessageList(); + for (int channel = 0; channel < sendMessageList.size(); channel++) { + for (CommunicationMessage message : sendMessageList.get(channel)) { + int messageClassIndex = messageManager.getMessageClassIndex(message); + + BitOutputStream bitOutputStream = new BitOutputStream(); + bitOutputStream.writeBits(messageClassIndex, SIZE_ID); + + if (channel == 0) { + bitOutputStream.writeBits(((StandardMessage) message).getTTL(), + SIZE_TTL); + } + + bitOutputStream.writeBits(message.toBitOutputStream()); + + if (channel > 0) { + messages[0] = new AKSpeak(agent.getID(), agent.agentInfo.getTime(), + channel, bitOutputStream.toByteArray()); + agent.send(messages); + } else { + // voice channel + int messageSize = (int) Math + .ceil(((double) bitOutputStream.size()) / 8.0); + if (messageSize <= voiceMessageLeft) { + byte[] messageData = bitOutputStream.toByteArray(); + ByteArrayOutputStream escapedMessage = new ByteArrayOutputStream(); + for (int i = 0; i < messageSize; i++) { + if (messageData[i] == ESCAPE_CHAR) { + escapedMessage.write(ESCAPE_CHAR); + } + escapedMessage.write(messageData[i]); + } + escapedMessage.toByteArray(); + escapedMessage.write(ESCAPE_CHAR); + if (escapedMessage.size() <= voiceMessageLeft) { + voiceMessageLeft -= escapedMessage.size(); + try { + voiceMessageStream.write(escapedMessage.toByteArray()); + } catch (IOException e) { + e.printStackTrace(); + } + } + } + } + } + } + + if (voiceMessageStream.size() > 0) { + messages[0] = new AKSpeak(agent.getID(), agent.agentInfo.getTime(), 0, + voiceMessageStream.toByteArray()); + agent.send(messages); + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/communication/ChannelSubscriber.java b/java/lib/src/main/java/adf_core_python/component/communication/ChannelSubscriber.java new file mode 100644 index 0000000..c7d28b5 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/communication/ChannelSubscriber.java @@ -0,0 +1,19 @@ +package adf_core_python.component.communication; + +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.communication.MessageManager; +import adf_core_python.agent.info.AgentInfo; + +public class ChannelSubscriber { + + public void subscribe(AgentInfo agentInfo, WorldInfo worldInfo, + ScenarioInfo scenarioInfo, MessageManager messageManager) { + // default channel subscriber subscribes to only channel 1 + if (agentInfo.getTime() == 1) { + int[] channels = new int[1]; + channels[0] = 1; + messageManager.subscribeToChannels(channels); + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/communication/CommunicationModule.java b/java/lib/src/main/java/adf_core_python/component/communication/CommunicationModule.java new file mode 100644 index 0000000..a095191 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/communication/CommunicationModule.java @@ -0,0 +1,11 @@ +package adf_core_python.component.communication; + +import adf_core_python.agent.Agent; +import adf_core_python.agent.communication.MessageManager; + +abstract public class CommunicationModule { + + abstract public void receive(Agent agent, MessageManager messageManager); + + abstract public void send(Agent agent, MessageManager messageManager); +} diff --git a/java/lib/src/main/java/adf_core_python/component/communication/MessageCoordinator.java b/java/lib/src/main/java/adf_core_python/component/communication/MessageCoordinator.java new file mode 100644 index 0000000..d1e7f65 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/communication/MessageCoordinator.java @@ -0,0 +1,18 @@ +package adf_core_python.component.communication; + +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.communication.CommunicationMessage; +import adf_core_python.agent.communication.MessageManager; +import adf_core_python.agent.info.AgentInfo; + +import java.util.ArrayList; +import java.util.List; + +abstract public class MessageCoordinator { + + abstract public void coordinate(AgentInfo agentInfo, WorldInfo worldInfo, + ScenarioInfo scenarioInfo, MessageManager messageManager, + ArrayList sendMessageList, + List> channelSendMessageList); +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java b/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java index 309e92d..c94253e 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java +++ b/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java @@ -68,7 +68,7 @@ private void handleMessage(Message message) { mode = ScenarioInfo.Mode.PRECOMPUTATION_PHASE; break; } - agent = new Agent(amAgent.getAgentID(), amAgent.getEntities(), new ScenarioInfo(amAgent.getConfig(), mode), new DevelopData(), new ModuleConfig()); + agent = new Agent(amAgent.getAgentID(), amAgent.getEntities(), new ScenarioInfo(amAgent.getConfig(), mode), new DevelopData(), new ModuleConfig(), this); } else if (message instanceof AMModule amModule) { if (agent == null) { throw new IllegalStateException("Agent not found. Make sure agent has been registered."); From daa9c4d3dada2b61cbb85907694897f71cc830a7 Mon Sep 17 00:00:00 2001 From: harrki Date: Tue, 18 Mar 2025 22:29:14 +0900 Subject: [PATCH 219/249] fix: Add Communication Module in Java --- java/lib/build.gradle | 3 + .../src/main/java/adf_core_python/Main.java | 2 +- .../agent/develop/DevelopData.java | 40 - .../agent/precompute/PreData.java | 56 -- .../agent/precompute/PrecomputeData.java | 400 --------- .../{ => core}/agent/Agent.java | 31 +- .../agent/communication/MessageManager.java | 24 +- .../standard/StandardCommunicationModule.java | 13 +- .../{ => core}/agent/config/ModuleConfig.java | 2 +- .../{ => core}/agent/info/AgentInfo.java | 2 +- .../agent/module/ModuleManager.java | 15 +- .../communication/ChannelSubscriber.java | 6 +- .../communication/CommunicationModule.java | 6 +- .../communication/MessageCoordinator.java | 6 +- .../component/extaction/ExtAction.java | 10 +- .../component/module/AbstractModule.java | 12 +- .../module/algorithm/Clustering.java | 14 +- .../module/algorithm/DynamicClustering.java | 8 +- .../module/algorithm/PathPlanning.java | 14 +- .../module/algorithm/StaticClustering.java | 8 +- .../complex/AmbulanceTargetAllocator.java | 12 +- .../module/complex/BuildingDetector.java | 12 +- .../module/complex/FireTargetAllocator.java | 12 +- .../module/complex/HumanDetector.java | 12 +- .../module/complex/PoliceTargetAllocator.java | 12 +- .../module/complex/RoadDetector.java | 12 +- .../component/module/complex/Search.java | 12 +- .../module/complex/TargetAllocator.java | 14 +- .../module/complex/TargetDetector.java | 14 +- .../{ => core}/gateway/Coordinator.java | 18 +- .../{ => core}/gateway/Gateway.java | 2 +- .../gateway/mapper/AbstractMapper.java | 2 +- .../{ => core}/gateway/mapper/MapperDict.java | 28 +- .../mapper/module/AbstractModuleMapper.java | 10 +- .../module/algorithm/ClusteringMapper.java | 10 +- .../algorithm/DynamicClusteringMapper.java | 8 +- .../module/algorithm/PathPlanningMapper.java | 22 +- .../algorithm/StaticClusteringMapper.java | 8 +- .../AmbulanceTargetAllocatorMapper.java | 8 +- .../complex/BuildingDetectorMapper.java | 8 +- .../complex/FireTargetAllocatorMapper.java | 8 +- .../module/complex/HumanDetectorMapper.java | 8 +- .../complex/PoliceTargetAllocatorMapper.java | 8 +- .../module/complex/RoadDetectorMapper.java | 8 +- .../mapper/module/complex/SearchMapper.java | 11 + .../module/complex/TargetAllocatorMapper.java | 10 +- .../module/complex/TargetDetectorMapper.java | 10 +- .../{ => core}/gateway/message/AMAgent.java | 6 +- .../{ => core}/gateway/message/AMExec.java | 6 +- .../{ => core}/gateway/message/AMModule.java | 6 +- .../{ => core}/gateway/message/AMUpdate.java | 6 +- .../gateway/message/MAExecResponse.java | 6 +- .../gateway/message/MAModuleResponse.java | 6 +- .../message/ModuleControlMessageFactory.java | 4 +- .../urn/ModuleMessageComponentURN.java | 2 +- .../gateway/message/urn/ModuleMessageURN.java | 2 +- .../mapper/module/complex/SearchMapper.java | 11 - .../impl/extaction/DefaultExtActionClear.java | 803 ++++++++++++++++++ .../DefaultExtActionFireFighting.java | 351 ++++++++ .../extaction/DefaultExtActionFireRescue.java | 227 +++++ .../impl/extaction/DefaultExtActionMove.java | 210 +++++ .../extaction/DefaultExtActionTransport.java | 348 ++++++++ .../module/algorithm/AStarPathPlanning.java | 198 +++++ .../algorithm/DijkstraPathPlanning.java | 154 ++++ .../impl/module/algorithm/FireClustering.java | 261 ++++++ .../module/algorithm/KMeansClustering.java | 641 ++++++++++++++ .../module/comm/DefaultChannelSubscriber.java | 96 +++ .../comm/DefaultMessageCoordinator.java | 199 +++++ .../DefaultAmbulanceTargetAllocator.java | 362 ++++++++ .../complex/DefaultBuildingDetector.java | 209 +++++ .../complex/DefaultFireTargetAllocator.java | 345 ++++++++ .../module/complex/DefaultHumanDetector.java | 252 ++++++ .../complex/DefaultPoliceTargetAllocator.java | 323 +++++++ .../module/complex/DefaultRoadDetector.java | 362 ++++++++ .../impl/module/complex/DefaultSearch.java | 164 ++++ 75 files changed, 5773 insertions(+), 758 deletions(-) delete mode 100644 java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java delete mode 100644 java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java delete mode 100644 java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java rename java/lib/src/main/java/adf_core_python/{ => core}/agent/Agent.java (90%) rename java/lib/src/main/java/adf_core_python/{ => core}/agent/communication/MessageManager.java (93%) rename java/lib/src/main/java/adf_core_python/{ => core}/agent/communication/standard/StandardCommunicationModule.java (96%) rename java/lib/src/main/java/adf_core_python/{ => core}/agent/config/ModuleConfig.java (96%) rename java/lib/src/main/java/adf_core_python/{ => core}/agent/info/AgentInfo.java (98%) rename java/lib/src/main/java/adf_core_python/{ => core}/agent/module/ModuleManager.java (97%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/communication/ChannelSubscriber.java (75%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/communication/CommunicationModule.java (56%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/communication/MessageCoordinator.java (77%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/extaction/ExtAction.java (91%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/AbstractModule.java (91%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/algorithm/Clustering.java (84%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/algorithm/DynamicClustering.java (61%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/algorithm/PathPlanning.java (85%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/algorithm/StaticClustering.java (61%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/AmbulanceTargetAllocator.java (75%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/BuildingDetector.java (75%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/FireTargetAllocator.java (74%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/HumanDetector.java (75%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/PoliceTargetAllocator.java (74%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/RoadDetector.java (75%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/Search.java (74%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/TargetAllocator.java (73%) rename java/lib/src/main/java/adf_core_python/{ => core}/component/module/complex/TargetDetector.java (74%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/Coordinator.java (87%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/Gateway.java (97%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/AbstractMapper.java (91%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/MapperDict.java (63%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/AbstractModuleMapper.java (84%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/algorithm/ClusteringMapper.java (94%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/algorithm/DynamicClusteringMapper.java (57%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/algorithm/PathPlanningMapper.java (92%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/algorithm/StaticClusteringMapper.java (56%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java (58%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/BuildingDetectorMapper.java (56%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/FireTargetAllocatorMapper.java (57%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/HumanDetectorMapper.java (54%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java (57%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/RoadDetectorMapper.java (54%) create mode 100644 java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/SearchMapper.java rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/TargetAllocatorMapper.java (76%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/mapper/module/complex/TargetDetectorMapper.java (76%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/AMAgent.java (91%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/AMExec.java (89%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/AMModule.java (89%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/AMUpdate.java (90%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/MAExecResponse.java (87%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/MAModuleResponse.java (87%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/ModuleControlMessageFactory.java (93%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/urn/ModuleMessageComponentURN.java (96%) rename java/lib/src/main/java/adf_core_python/{ => core}/gateway/message/urn/ModuleMessageURN.java (96%) delete mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionClear.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireFighting.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireRescue.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionMove.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionTransport.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/algorithm/AStarPathPlanning.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/algorithm/DijkstraPathPlanning.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/algorithm/FireClustering.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/algorithm/KMeansClustering.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultChannelSubscriber.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultMessageCoordinator.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultAmbulanceTargetAllocator.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultBuildingDetector.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultFireTargetAllocator.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultHumanDetector.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultPoliceTargetAllocator.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultRoadDetector.java create mode 100644 java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultSearch.java diff --git a/java/lib/build.gradle b/java/lib/build.gradle index 386d59b..61869cf 100644 --- a/java/lib/build.gradle +++ b/java/lib/build.gradle @@ -39,6 +39,9 @@ dependencies { implementation 'org.apache.logging.log4j:log4j-core:2.24.2' implementation 'org.apache.logging.log4j:log4j-api:2.24.2' + //Algorithm + implementation 'com.google.common:google-collect:0.5' + testImplementation libs.junit.jupiter testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } diff --git a/java/lib/src/main/java/adf_core_python/Main.java b/java/lib/src/main/java/adf_core_python/Main.java index d6fbd5f..a85ba19 100644 --- a/java/lib/src/main/java/adf_core_python/Main.java +++ b/java/lib/src/main/java/adf_core_python/Main.java @@ -1,6 +1,6 @@ package adf_core_python; -import adf_core_python.gateway.Gateway; +import adf_core_python.core.gateway.Gateway; public class Main { public static void main(String[] args) { diff --git a/java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java b/java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java deleted file mode 100644 index 00652e6..0000000 --- a/java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java +++ /dev/null @@ -1,40 +0,0 @@ -package adf_core_python.agent.develop; - -import jakarta.annotation.Nonnull; - -import java.util.List; -import java.util.Map; - -public class DevelopData { - private boolean developFlag = false; - - private Map intValues; - private Map doubleValues; - private Map stringValues; - private Map boolValues; - - private Map> intLists; - private Map> doubleLists; - private Map> stringLists; - private Map> boolLists; - - @Nonnull - public Integer getInteger(@Nonnull String name, int defaultValue) { - if (this.developFlag) { - Integer value = this.intValues.get(name); - if (value == null) { - String rawData = this.stringValues.get(name); - if (rawData != null && !rawData.equals("")) { - value = Integer.valueOf(rawData); - } - if (value != null) { - this.intValues.put(name, value); - } - } - if (value != null) { - return value; - } - } - return defaultValue; - } -} diff --git a/java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java b/java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java deleted file mode 100644 index 847b4f7..0000000 --- a/java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java +++ /dev/null @@ -1,56 +0,0 @@ -package adf_core_python.agent.precompute; - -import java.util.HashMap; -import java.util.List; -import java.util.Map; - -public final class PreData { - - public Map intValues; - public Map doubleValues; - public Map stringValues; - public Map idValues; - public Map boolValues; - - public Map> intLists; - public Map> doubleLists; - public Map> stringLists; - public Map> idLists; - public Map> boolLists; - - public boolean isReady; - public String readyID; - - public PreData() { - this.intValues = new HashMap<>(); - this.doubleValues = new HashMap<>(); - this.stringValues = new HashMap<>(); - this.idValues = new HashMap<>(); - this.boolValues = new HashMap<>(); - this.intLists = new HashMap<>(); - this.doubleLists = new HashMap<>(); - this.stringLists = new HashMap<>(); - this.idLists = new HashMap<>(); - this.boolLists = new HashMap<>(); - this.isReady = false; - this.readyID = ""; - } - - - public PreData copy() { - PreData preData = new PreData(); - preData.intValues = new HashMap<>(this.intValues); - preData.doubleValues = new HashMap<>(this.doubleValues); - preData.stringValues = new HashMap<>(this.stringValues); - preData.idValues = new HashMap<>(this.idValues); - preData.boolValues = new HashMap<>(this.boolValues); - preData.intLists = new HashMap<>(this.intLists); - preData.doubleLists = new HashMap<>(this.doubleLists); - preData.stringLists = new HashMap<>(this.stringLists); - preData.idLists = new HashMap<>(this.idLists); - preData.boolLists = new HashMap<>(this.boolLists); - preData.isReady = this.isReady; - preData.readyID = this.readyID; - return preData; - } -} diff --git a/java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java b/java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java deleted file mode 100644 index d838c68..0000000 --- a/java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java +++ /dev/null @@ -1,400 +0,0 @@ -package adf_core_python.agent.precompute; - -import adf.core.agent.info.WorldInfo; -import com.fasterxml.jackson.databind.ObjectMapper; -import org.msgpack.jackson.dataformat.MessagePackFactory; -import rescuecore2.worldmodel.EntityID; - -import java.io.*; -import java.util.ArrayList; -import java.util.List; -import java.util.stream.Collectors; - -public final class PrecomputeData { - - public static final String DEFAULT_FILE_NAME = "data.bin"; - public static final File PRECOMP_DATA_DIR = new File("precomp_data"); - - private final String fileName; - - private PreData data; - - public PrecomputeData() { - this(DEFAULT_FILE_NAME); - } - - - public PrecomputeData(String name) { - this.fileName = name; - this.init(); - } - - - private PrecomputeData(String name, PreData precomputeDatas) { - this.fileName = name; - this.data = precomputeDatas; - } - - - public static void removeData(String name) { - if (!PRECOMP_DATA_DIR.exists()) { - return; - } - - File file = new File(PRECOMP_DATA_DIR, name); - if (!file.exists()) { - return; - } - - file.delete(); - } - - - public static void removeData() { - removeData(DEFAULT_FILE_NAME); - } - - - public PrecomputeData copy() { - return new PrecomputeData(this.fileName, this.data.copy()); - } - - - private void init() { - this.data = this.read(this.fileName); - if (this.data == null) { - this.data = new PreData(); - } - } - - - private PreData read(String name) { - try { - if (!PRECOMP_DATA_DIR.exists()) { - if (!PRECOMP_DATA_DIR.mkdir()) { - return null; - } - } - - File readFile = new File(PRECOMP_DATA_DIR, name); - if (!readFile.exists()) { - return null; - } - - FileInputStream fis = new FileInputStream(readFile); - BufferedInputStream bis = new BufferedInputStream(fis); - ByteArrayOutputStream bout = new ByteArrayOutputStream(); - byte[] binary = new byte[1024]; - while (true) { - int len = bis.read(binary); - if (len < 0) { - break; - } - bout.write(binary, 0, len); - } - - binary = bout.toByteArray(); - ObjectMapper om = new ObjectMapper(new MessagePackFactory()); - PreData ds = om.readValue(binary, PreData.class); - bis.close(); - fis.close(); - return ds; - } catch (IOException e) { - return null; - } - } - - - public boolean write() { - try { - if (!PRECOMP_DATA_DIR.exists()) { - if (!PRECOMP_DATA_DIR.mkdir()) { - return false; - } - } - ObjectMapper om = new ObjectMapper(new MessagePackFactory()); - byte[] binary = om.writeValueAsBytes(this.data); - FileOutputStream fos = new FileOutputStream( - new File(PRECOMP_DATA_DIR, this.fileName)); - fos.write(binary); - fos.close(); - return true; - } catch (IOException e) { - e.printStackTrace(); - ; - return false; - } - } - - - public Integer setInteger(String name, int value) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.intValues.put(callClassName + ":" + name, value); - } - - - public Double setDouble(String name, double value) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.doubleValues.put(callClassName + ":" + name, value); - } - - - public Boolean setBoolean(String name, boolean value) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.boolValues.put(callClassName + ":" + name, value); - } - - - public String setString(String name, String value) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.stringValues.put(callClassName + ":" + name, value); - } - - - public EntityID setEntityID(String name, EntityID value) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - Integer id = this.data.idValues.put(callClassName + ":" + name, - value.getValue()); - return id == null ? null : new EntityID(id); - } - - - public List setIntegerList(String name, List list) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.intLists.put(callClassName + ":" + name, list); - } - - - public List setDoubleList(String name, List list) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.doubleLists.put(callClassName + ":" + name, list); - } - - - public List setStringList(String name, List list) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.stringLists.put(callClassName + ":" + name, list); - } - - - public List setEntityIDList(String name, List list) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - List cvtList = new ArrayList<>(); - for (EntityID id : list) { - cvtList.add(id.getValue()); - } - - cvtList = this.data.idLists.put(callClassName + ":" + name, cvtList); - return cvtList == null ? null - : cvtList.stream().map(EntityID::new).collect(Collectors.toList()); - } - - - public List setBooleanList(String name, List list) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.boolLists.put(callClassName + ":" + name, list); - } - - - public boolean setReady(boolean isReady, WorldInfo worldInfo) { - this.data.isReady = isReady; - this.data.readyID = makeReadyID(worldInfo); - return (this.data.isReady - && this.data.readyID.equals(this.makeReadyID(worldInfo))); - } - - - public Integer getInteger(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.intValues.get(callClassName + ":" + name); - } - - - public Double getDouble(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.doubleValues.get(callClassName + ":" + name); - } - - - public Boolean getBoolean(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.boolValues.get(callClassName + ":" + name); - } - - - public String getString(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.stringValues.get(callClassName + ":" + name); - } - - - public EntityID getEntityID(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - Integer id = this.data.idValues.get(callClassName + ":" + name); - return id == null ? null : new EntityID(id); - } - - - public List getIntegerList(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.intLists.get(callClassName + ":" + name); - } - - - public List getDoubleList(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.doubleLists.get(callClassName + ":" + name); - } - - - public List getStringList(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.stringLists.get(callClassName + ":" + name); - } - - - public List getEntityIDList(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - List cvtList = this.data.idLists.get(callClassName + ":" + name); - return cvtList == null ? null - : cvtList.stream().map(EntityID::new).collect(Collectors.toList()); - } - - - public List getBooleanList(String name) { - StackTraceElement[] stackTraceElements = Thread.currentThread() - .getStackTrace(); - if (stackTraceElements.length == 0) { - return null; - } - - String callClassName = stackTraceElements[2].getClassName(); - return this.data.boolLists.get(callClassName + ":" + name); - } - - - public boolean isReady(WorldInfo worldInfo) { - return (this.data.isReady - && this.data.readyID.equals(this.makeReadyID(worldInfo))); - } - - - private String makeReadyID(WorldInfo worldInfo) { - return "" + worldInfo.getBounds().getX() + worldInfo.getBounds().getY() - + worldInfo.getAllEntities().size(); - } -} diff --git a/java/lib/src/main/java/adf_core_python/agent/Agent.java b/java/lib/src/main/java/adf_core_python/core/agent/Agent.java similarity index 90% rename from java/lib/src/main/java/adf_core_python/agent/Agent.java rename to java/lib/src/main/java/adf_core_python/core/agent/Agent.java index 983325e..5524e7d 100644 --- a/java/lib/src/main/java/adf_core_python/agent/Agent.java +++ b/java/lib/src/main/java/adf_core_python/core/agent/Agent.java @@ -1,21 +1,21 @@ -package adf_core_python.agent; +package adf_core_python.core.agent; import adf.core.agent.communication.standard.bundle.StandardMessageBundle; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; import adf.core.launcher.ConsoleOutput; -import adf_core_python.agent.communication.MessageManager; -import adf_core_python.agent.communication.standard.StandardCommunicationModule; -import adf_core_python.agent.config.ModuleConfig; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.communication.CommunicationModule; -import adf_core_python.component.module.AbstractModule; -import adf_core_python.gateway.Coordinator; -import adf_core_python.gateway.mapper.AbstractMapper; -import adf_core_python.gateway.mapper.MapperDict; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.communication.standard.StandardCommunicationModule; +import adf_core_python.core.agent.config.ModuleConfig; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.communication.CommunicationModule; +import adf_core_python.core.component.module.AbstractModule; +import adf_core_python.core.gateway.Coordinator; +import adf_core_python.core.gateway.mapper.AbstractMapper; +import adf_core_python.core.gateway.mapper.MapperDict; import jakarta.annotation.Nonnull; import jakarta.annotation.Nullable; import org.apache.logging.log4j.LogManager; @@ -25,7 +25,6 @@ import rescuecore2.messages.Message; import rescuecore2.standard.entities.StandardEntityURN; import rescuecore2.standard.entities.StandardWorldModel; -import rescuecore2.standard.messages.AKSubscribe; import rescuecore2.worldmodel.ChangeSet; import rescuecore2.worldmodel.Entity; import rescuecore2.worldmodel.EntityID; @@ -45,12 +44,12 @@ public class Agent { private final DevelopData developData; private final PrecomputeData precomputeData; private final MessageManager messageManager; - private CommunicationModule communicationModule; private final HashMap modules = new HashMap<>(); private final MapperDict mapperDict; private final Logger logger; - private int ignoreTime; private final Coordinator coordinator; + private CommunicationModule communicationModule; + private int ignoreTime; public Agent(EntityID entityID, Collection entities, ScenarioInfo scenarioInfo, DevelopData developData, ModuleConfig moduleConfig, Coordinator coordinator) { StandardWorldModel worldModel = new StandardWorldModel(); diff --git a/java/lib/src/main/java/adf_core_python/agent/communication/MessageManager.java b/java/lib/src/main/java/adf_core_python/core/agent/communication/MessageManager.java similarity index 93% rename from java/lib/src/main/java/adf_core_python/agent/communication/MessageManager.java rename to java/lib/src/main/java/adf_core_python/core/agent/communication/MessageManager.java index 2d71d47..e82e0a5 100644 --- a/java/lib/src/main/java/adf_core_python/agent/communication/MessageManager.java +++ b/java/lib/src/main/java/adf_core_python/core/agent/communication/MessageManager.java @@ -1,4 +1,4 @@ -package adf_core_python.agent.communication; +package adf_core_python.core.agent.communication; import adf.core.agent.communication.standard.bundle.StandardMessageBundle; import adf.core.agent.info.ScenarioInfo; @@ -6,9 +6,9 @@ import adf.core.component.communication.CommunicationMessage; import adf.core.component.communication.MessageBundle; import adf.core.launcher.ConsoleOutput; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.component.communication.ChannelSubscriber; -import adf_core_python.component.communication.MessageCoordinator; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.component.communication.ChannelSubscriber; +import adf_core_python.core.component.communication.MessageCoordinator; import jakarta.annotation.Nonnull; import jakarta.annotation.Nullable; @@ -16,20 +16,18 @@ public class MessageManager { - private int standardMessageClassCount; - private int customMessageClassCount; - private HashMap> messageClassMap; - private HashMap, + private final HashMap, Integer> messageClassIDMap; - private ArrayList sendMessageList; + private final ArrayList sendMessageList; + private final List receivedMessageList; + private final Set checkDuplicationCache; + private int standardMessageClassCount; + private int customMessageClassCount; private List> channelSendMessageList; - private List receivedMessageList; private int heardAgentHelpCount; private MessageCoordinator messageCoordinator; - - private Set checkDuplicationCache; - private ChannelSubscriber channelSubscriber; private int[] subscribedChannels; private boolean isSubscribed; diff --git a/java/lib/src/main/java/adf_core_python/agent/communication/standard/StandardCommunicationModule.java b/java/lib/src/main/java/adf_core_python/core/agent/communication/standard/StandardCommunicationModule.java similarity index 96% rename from java/lib/src/main/java/adf_core_python/agent/communication/standard/StandardCommunicationModule.java rename to java/lib/src/main/java/adf_core_python/core/agent/communication/standard/StandardCommunicationModule.java index b1d4142..90bf17d 100644 --- a/java/lib/src/main/java/adf_core_python/agent/communication/standard/StandardCommunicationModule.java +++ b/java/lib/src/main/java/adf_core_python/core/agent/communication/standard/StandardCommunicationModule.java @@ -1,13 +1,13 @@ -package adf_core_python.agent.communication.standard; +package adf_core_python.core.agent.communication.standard; import adf.core.agent.communication.standard.bundle.StandardMessage; import adf.core.component.communication.CommunicationMessage; import adf.core.component.communication.util.BitOutputStream; import adf.core.component.communication.util.BitStreamReader; import adf.core.launcher.ConsoleOutput; -import adf_core_python.agent.Agent; -import adf_core_python.agent.communication.MessageManager; -import adf_core_python.component.communication.CommunicationModule; +import adf_core_python.core.agent.Agent; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.component.communication.CommunicationModule; import jakarta.annotation.Nonnull; import rescuecore2.messages.Command; import rescuecore2.messages.Message; @@ -21,6 +21,8 @@ public class StandardCommunicationModule extends CommunicationModule { + final Class[] standardMessageArgTypes = {boolean.class, int.class, + int.class, BitStreamReader.class}; final private int ESCAPE_CHAR = 0x41; final private int SIZE_ID = 5; final private int SIZE_TTL = 3; @@ -80,9 +82,6 @@ public void receive(@Nonnull Agent agent, } } - final Class[] standardMessageArgTypes = {boolean.class, int.class, - int.class, BitStreamReader.class}; - private void addReceivedMessage(@Nonnull MessageManager messageManager, boolean isRadio, @Nonnull EntityID senderID, byte[] data) { BitStreamReader bitStreamReader = new BitStreamReader(data); diff --git a/java/lib/src/main/java/adf_core_python/agent/config/ModuleConfig.java b/java/lib/src/main/java/adf_core_python/core/agent/config/ModuleConfig.java similarity index 96% rename from java/lib/src/main/java/adf_core_python/agent/config/ModuleConfig.java rename to java/lib/src/main/java/adf_core_python/core/agent/config/ModuleConfig.java index 3232d7a..7a6f4de 100644 --- a/java/lib/src/main/java/adf_core_python/agent/config/ModuleConfig.java +++ b/java/lib/src/main/java/adf_core_python/core/agent/config/ModuleConfig.java @@ -1,4 +1,4 @@ -package adf_core_python.agent.config; +package adf_core_python.core.agent.config; import com.fasterxml.jackson.databind.JsonNode; import com.fasterxml.jackson.databind.ObjectMapper; diff --git a/java/lib/src/main/java/adf_core_python/agent/info/AgentInfo.java b/java/lib/src/main/java/adf_core_python/core/agent/info/AgentInfo.java similarity index 98% rename from java/lib/src/main/java/adf_core_python/agent/info/AgentInfo.java rename to java/lib/src/main/java/adf_core_python/core/agent/info/AgentInfo.java index e0d63d1..0a2e4f4 100644 --- a/java/lib/src/main/java/adf_core_python/agent/info/AgentInfo.java +++ b/java/lib/src/main/java/adf_core_python/core/agent/info/AgentInfo.java @@ -1,4 +1,4 @@ -package adf_core_python.agent.info; +package adf_core_python.core.agent.info; import adf.core.agent.action.Action; import jakarta.annotation.Nonnull; diff --git a/java/lib/src/main/java/adf_core_python/agent/module/ModuleManager.java b/java/lib/src/main/java/adf_core_python/core/agent/module/ModuleManager.java similarity index 97% rename from java/lib/src/main/java/adf_core_python/agent/module/ModuleManager.java rename to java/lib/src/main/java/adf_core_python/core/agent/module/ModuleManager.java index abc0621..68c7254 100644 --- a/java/lib/src/main/java/adf_core_python/agent/module/ModuleManager.java +++ b/java/lib/src/main/java/adf_core_python/core/agent/module/ModuleManager.java @@ -1,5 +1,6 @@ -package adf_core_python.agent.module; +package adf_core_python.core.agent.module; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; import adf.core.component.centralized.CommandExecutor; @@ -7,11 +8,10 @@ import adf.core.component.communication.ChannelSubscriber; import adf.core.component.communication.CommunicationMessage; import adf.core.component.communication.MessageCoordinator; -import adf.core.component.extaction.ExtAction; -import adf_core_python.agent.config.ModuleConfig; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.component.module.AbstractModule; +import adf_core_python.core.agent.config.ModuleConfig; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.component.extaction.ExtAction; +import adf_core_python.core.component.module.AbstractModule; import jakarta.annotation.Nonnull; import jakarta.annotation.Nullable; import org.apache.logging.log4j.LogManager; @@ -67,6 +67,7 @@ public ModuleManager(@Nonnull AgentInfo agentInfo, @Nonnull WorldInfo worldInfo, Class moduleClass; try { moduleClass = Class.forName(className); + logger.info(moduleClass.getName()); } catch (ClassNotFoundException | NullPointerException e) { logger.warn("Module " + moduleName + " not found. Using default class " + defaultClassName); className = defaultClassName; @@ -89,7 +90,7 @@ public ModuleManager(@Nonnull AgentInfo agentInfo, @Nonnull WorldInfo worldInfo, } throw new IllegalArgumentException( - "Module name is not found : " + className); + "Module is not found : " + className); } diff --git a/java/lib/src/main/java/adf_core_python/component/communication/ChannelSubscriber.java b/java/lib/src/main/java/adf_core_python/core/component/communication/ChannelSubscriber.java similarity index 75% rename from java/lib/src/main/java/adf_core_python/component/communication/ChannelSubscriber.java rename to java/lib/src/main/java/adf_core_python/core/component/communication/ChannelSubscriber.java index c7d28b5..5a017b4 100644 --- a/java/lib/src/main/java/adf_core_python/component/communication/ChannelSubscriber.java +++ b/java/lib/src/main/java/adf_core_python/core/component/communication/ChannelSubscriber.java @@ -1,9 +1,9 @@ -package adf_core_python.component.communication; +package adf_core_python.core.component.communication; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.communication.MessageManager; -import adf_core_python.agent.info.AgentInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; public class ChannelSubscriber { diff --git a/java/lib/src/main/java/adf_core_python/component/communication/CommunicationModule.java b/java/lib/src/main/java/adf_core_python/core/component/communication/CommunicationModule.java similarity index 56% rename from java/lib/src/main/java/adf_core_python/component/communication/CommunicationModule.java rename to java/lib/src/main/java/adf_core_python/core/component/communication/CommunicationModule.java index a095191..b5135a1 100644 --- a/java/lib/src/main/java/adf_core_python/component/communication/CommunicationModule.java +++ b/java/lib/src/main/java/adf_core_python/core/component/communication/CommunicationModule.java @@ -1,7 +1,7 @@ -package adf_core_python.component.communication; +package adf_core_python.core.component.communication; -import adf_core_python.agent.Agent; -import adf_core_python.agent.communication.MessageManager; +import adf_core_python.core.agent.Agent; +import adf_core_python.core.agent.communication.MessageManager; abstract public class CommunicationModule { diff --git a/java/lib/src/main/java/adf_core_python/component/communication/MessageCoordinator.java b/java/lib/src/main/java/adf_core_python/core/component/communication/MessageCoordinator.java similarity index 77% rename from java/lib/src/main/java/adf_core_python/component/communication/MessageCoordinator.java rename to java/lib/src/main/java/adf_core_python/core/component/communication/MessageCoordinator.java index d1e7f65..4ebaa2a 100644 --- a/java/lib/src/main/java/adf_core_python/component/communication/MessageCoordinator.java +++ b/java/lib/src/main/java/adf_core_python/core/component/communication/MessageCoordinator.java @@ -1,10 +1,10 @@ -package adf_core_python.component.communication; +package adf_core_python.core.component.communication; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; import adf.core.component.communication.CommunicationMessage; -import adf_core_python.agent.communication.MessageManager; -import adf_core_python.agent.info.AgentInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; import java.util.ArrayList; import java.util.List; diff --git a/java/lib/src/main/java/adf_core_python/component/extaction/ExtAction.java b/java/lib/src/main/java/adf_core_python/core/component/extaction/ExtAction.java similarity index 91% rename from java/lib/src/main/java/adf_core_python/component/extaction/ExtAction.java rename to java/lib/src/main/java/adf_core_python/core/component/extaction/ExtAction.java index 0dad82a..f7ba688 100644 --- a/java/lib/src/main/java/adf_core_python/component/extaction/ExtAction.java +++ b/java/lib/src/main/java/adf_core_python/core/component/extaction/ExtAction.java @@ -1,13 +1,13 @@ -package adf_core_python.component.extaction; +package adf_core_python.core.component.extaction; import adf.core.agent.action.Action; -import adf.core.agent.communication.MessageManager; import adf.core.agent.develop.DevelopData; -import adf.core.agent.info.AgentInfo; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf.core.agent.module.ModuleManager; -import adf.core.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.worldmodel.EntityID; abstract public class ExtAction { diff --git a/java/lib/src/main/java/adf_core_python/component/module/AbstractModule.java b/java/lib/src/main/java/adf_core_python/core/component/module/AbstractModule.java similarity index 91% rename from java/lib/src/main/java/adf_core_python/component/module/AbstractModule.java rename to java/lib/src/main/java/adf_core_python/core/component/module/AbstractModule.java index 830ca29..e6e6f65 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/AbstractModule.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/AbstractModule.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module; +package adf_core_python.core.component.module; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import java.util.ArrayList; import java.util.List; diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/Clustering.java b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/Clustering.java similarity index 84% rename from java/lib/src/main/java/adf_core_python/component/module/algorithm/Clustering.java rename to java/lib/src/main/java/adf_core_python/core/component/module/algorithm/Clustering.java index aba296d..1c84cdb 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/algorithm/Clustering.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/Clustering.java @@ -1,13 +1,13 @@ -package adf_core_python.component.module.algorithm; +package adf_core_python.core.component.module.algorithm; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.AbstractModule; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.AbstractModule; import rescuecore2.standard.entities.StandardEntity; import rescuecore2.worldmodel.EntityID; diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/DynamicClustering.java b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/DynamicClustering.java similarity index 61% rename from java/lib/src/main/java/adf_core_python/component/module/algorithm/DynamicClustering.java rename to java/lib/src/main/java/adf_core_python/core/component/module/algorithm/DynamicClustering.java index 208d200..16d302a 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/algorithm/DynamicClustering.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/DynamicClustering.java @@ -1,10 +1,10 @@ -package adf_core_python.component.module.algorithm; +package adf_core_python.core.component.module.algorithm; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; public abstract class DynamicClustering extends Clustering { diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/PathPlanning.java b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/PathPlanning.java similarity index 85% rename from java/lib/src/main/java/adf_core_python/component/module/algorithm/PathPlanning.java rename to java/lib/src/main/java/adf_core_python/core/component/module/algorithm/PathPlanning.java index 6101ac0..7a40f63 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/algorithm/PathPlanning.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/PathPlanning.java @@ -1,13 +1,13 @@ -package adf_core_python.component.module.algorithm; +package adf_core_python.core.component.module.algorithm; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.AbstractModule; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.AbstractModule; import rescuecore2.misc.Pair; import rescuecore2.worldmodel.EntityID; diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/StaticClustering.java b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/StaticClustering.java similarity index 61% rename from java/lib/src/main/java/adf_core_python/component/module/algorithm/StaticClustering.java rename to java/lib/src/main/java/adf_core_python/core/component/module/algorithm/StaticClustering.java index b9647da..f3fb404 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/algorithm/StaticClustering.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/algorithm/StaticClustering.java @@ -1,10 +1,10 @@ -package adf_core_python.component.module.algorithm; +package adf_core_python.core.component.module.algorithm; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; public abstract class StaticClustering extends Clustering { diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/AmbulanceTargetAllocator.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/AmbulanceTargetAllocator.java similarity index 75% rename from java/lib/src/main/java/adf_core_python/component/module/complex/AmbulanceTargetAllocator.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/AmbulanceTargetAllocator.java index 41f2e7b..4ebfb1d 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/AmbulanceTargetAllocator.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/AmbulanceTargetAllocator.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.worldmodel.EntityID; import java.util.Map; diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/BuildingDetector.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/BuildingDetector.java similarity index 75% rename from java/lib/src/main/java/adf_core_python/component/module/complex/BuildingDetector.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/BuildingDetector.java index 34567c8..cc22e34 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/BuildingDetector.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/BuildingDetector.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.standard.entities.Building; public abstract class BuildingDetector extends TargetDetector { diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/FireTargetAllocator.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/FireTargetAllocator.java similarity index 74% rename from java/lib/src/main/java/adf_core_python/component/module/complex/FireTargetAllocator.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/FireTargetAllocator.java index 65c757e..f6791d6 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/FireTargetAllocator.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/FireTargetAllocator.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.worldmodel.EntityID; import java.util.Map; diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/HumanDetector.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/HumanDetector.java similarity index 75% rename from java/lib/src/main/java/adf_core_python/component/module/complex/HumanDetector.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/HumanDetector.java index e99db72..f0491ff 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/HumanDetector.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/HumanDetector.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.standard.entities.Human; public abstract class HumanDetector extends TargetDetector { diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/PoliceTargetAllocator.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/PoliceTargetAllocator.java similarity index 74% rename from java/lib/src/main/java/adf_core_python/component/module/complex/PoliceTargetAllocator.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/PoliceTargetAllocator.java index 846dc06..4300895 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/PoliceTargetAllocator.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/PoliceTargetAllocator.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.worldmodel.EntityID; import java.util.Map; diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/RoadDetector.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/RoadDetector.java similarity index 75% rename from java/lib/src/main/java/adf_core_python/component/module/complex/RoadDetector.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/RoadDetector.java index 9f6acac..532b853 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/RoadDetector.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/RoadDetector.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.standard.entities.Road; public abstract class RoadDetector extends TargetDetector { diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/Search.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/Search.java similarity index 74% rename from java/lib/src/main/java/adf_core_python/component/module/complex/Search.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/Search.java index 13173bb..77fbe62 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/Search.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/Search.java @@ -1,12 +1,12 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; import rescuecore2.standard.entities.Area; public abstract class Search extends TargetDetector { diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/TargetAllocator.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/TargetAllocator.java similarity index 73% rename from java/lib/src/main/java/adf_core_python/component/module/complex/TargetAllocator.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/TargetAllocator.java index 3a85b34..f0b93ab 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/TargetAllocator.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/TargetAllocator.java @@ -1,13 +1,13 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.AbstractModule; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.AbstractModule; import rescuecore2.worldmodel.EntityID; import java.util.Map; diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/TargetDetector.java b/java/lib/src/main/java/adf_core_python/core/component/module/complex/TargetDetector.java similarity index 74% rename from java/lib/src/main/java/adf_core_python/component/module/complex/TargetDetector.java rename to java/lib/src/main/java/adf_core_python/core/component/module/complex/TargetDetector.java index bddd091..d0bc184 100644 --- a/java/lib/src/main/java/adf_core_python/component/module/complex/TargetDetector.java +++ b/java/lib/src/main/java/adf_core_python/core/component/module/complex/TargetDetector.java @@ -1,13 +1,13 @@ -package adf_core_python.component.module.complex; +package adf_core_python.core.component.module.complex; -import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.agent.info.AgentInfo; -import adf_core_python.agent.module.ModuleManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.AbstractModule; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.AbstractModule; import rescuecore2.standard.entities.StandardEntity; import rescuecore2.worldmodel.EntityID; diff --git a/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java b/java/lib/src/main/java/adf_core_python/core/gateway/Coordinator.java similarity index 87% rename from java/lib/src/main/java/adf_core_python/gateway/Coordinator.java rename to java/lib/src/main/java/adf_core_python/core/gateway/Coordinator.java index c94253e..f056e94 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/Coordinator.java @@ -1,10 +1,11 @@ -package adf_core_python.gateway; +package adf_core_python.core.gateway; +import adf.core.agent.develop.DevelopData; import adf.core.agent.info.ScenarioInfo; -import adf_core_python.agent.Agent; -import adf_core_python.agent.config.ModuleConfig; -import adf_core_python.agent.develop.DevelopData; -import adf_core_python.gateway.message.*; +import adf.core.launcher.ConfigKey; +import adf_core_python.core.agent.Agent; +import adf_core_python.core.agent.config.ModuleConfig; +import adf_core_python.core.gateway.message.*; import org.apache.logging.log4j.LogManager; import org.apache.logging.log4j.Logger; import rescuecore2.config.Config; @@ -68,7 +69,12 @@ private void handleMessage(Message message) { mode = ScenarioInfo.Mode.PRECOMPUTATION_PHASE; break; } - agent = new Agent(amAgent.getAgentID(), amAgent.getEntities(), new ScenarioInfo(amAgent.getConfig(), mode), new DevelopData(), new ModuleConfig(), this); + Config config = amAgent.getConfig(); + agent = new Agent(amAgent.getAgentID(), amAgent.getEntities(), new ScenarioInfo(config, mode), new DevelopData( + config.getBooleanValue(ConfigKey.KEY_DEVELOP_FLAG, false), + config.getValue(ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, + DevelopData.DEFAULT_FILE_NAME), + config.getArrayValue(ConfigKey.KEY_DEVELOP_DATA, "")), new ModuleConfig(), this); } else if (message instanceof AMModule amModule) { if (agent == null) { throw new IllegalStateException("Agent not found. Make sure agent has been registered."); diff --git a/java/lib/src/main/java/adf_core_python/gateway/Gateway.java b/java/lib/src/main/java/adf_core_python/core/gateway/Gateway.java similarity index 97% rename from java/lib/src/main/java/adf_core_python/gateway/Gateway.java rename to java/lib/src/main/java/adf_core_python/core/gateway/Gateway.java index 2e97b29..dc5c4c5 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/Gateway.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/Gateway.java @@ -1,4 +1,4 @@ -package adf_core_python.gateway; +package adf_core_python.core.gateway; import rescuecore2.registry.Registry; import rescuecore2.standard.entities.StandardEntityFactory; diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/AbstractMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/AbstractMapper.java similarity index 91% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/AbstractMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/AbstractMapper.java index 3a27ca9..4f95dfb 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/AbstractMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/AbstractMapper.java @@ -1,4 +1,4 @@ -package adf_core_python.gateway.mapper; +package adf_core_python.core.gateway.mapper; import org.apache.logging.log4j.LogManager; import org.apache.logging.log4j.Logger; diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/MapperDict.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/MapperDict.java similarity index 63% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/MapperDict.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/MapperDict.java index 28e50f3..5cb4e16 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/MapperDict.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/MapperDict.java @@ -1,17 +1,17 @@ -package adf_core_python.gateway.mapper; - -import adf_core_python.component.module.AbstractModule; -import adf_core_python.component.module.algorithm.Clustering; -import adf_core_python.component.module.algorithm.DynamicClustering; -import adf_core_python.component.module.algorithm.PathPlanning; -import adf_core_python.component.module.algorithm.StaticClustering; -import adf_core_python.component.module.complex.*; -import adf_core_python.gateway.mapper.module.AbstractModuleMapper; -import adf_core_python.gateway.mapper.module.algorithm.ClusteringMapper; -import adf_core_python.gateway.mapper.module.algorithm.DynamicClusteringMapper; -import adf_core_python.gateway.mapper.module.algorithm.PathPlanningMapper; -import adf_core_python.gateway.mapper.module.algorithm.StaticClusteringMapper; -import adf_core_python.gateway.mapper.module.complex.*; +package adf_core_python.core.gateway.mapper; + +import adf_core_python.core.component.module.AbstractModule; +import adf_core_python.core.component.module.algorithm.Clustering; +import adf_core_python.core.component.module.algorithm.DynamicClustering; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import adf_core_python.core.component.module.algorithm.StaticClustering; +import adf_core_python.core.component.module.complex.*; +import adf_core_python.core.gateway.mapper.module.AbstractModuleMapper; +import adf_core_python.core.gateway.mapper.module.algorithm.ClusteringMapper; +import adf_core_python.core.gateway.mapper.module.algorithm.DynamicClusteringMapper; +import adf_core_python.core.gateway.mapper.module.algorithm.PathPlanningMapper; +import adf_core_python.core.gateway.mapper.module.algorithm.StaticClusteringMapper; +import adf_core_python.core.gateway.mapper.module.complex.*; import java.util.HashMap; diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/AbstractModuleMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/AbstractModuleMapper.java similarity index 84% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/AbstractModuleMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/AbstractModuleMapper.java index 984d801..0c66bad 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/AbstractModuleMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/AbstractModuleMapper.java @@ -1,9 +1,9 @@ -package adf_core_python.gateway.mapper.module; +package adf_core_python.core.gateway.mapper.module; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.AbstractModule; -import adf_core_python.gateway.mapper.AbstractMapper; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.AbstractModule; +import adf_core_python.core.gateway.mapper.AbstractMapper; import rescuecore2.config.Config; public class AbstractModuleMapper extends AbstractMapper { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/ClusteringMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/ClusteringMapper.java similarity index 94% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/ClusteringMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/ClusteringMapper.java index a063c20..0e57311 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/ClusteringMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/ClusteringMapper.java @@ -1,10 +1,10 @@ -package adf_core_python.gateway.mapper.module.algorithm; +package adf_core_python.core.gateway.mapper.module.algorithm; -import adf.core.agent.communication.MessageManager; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.algorithm.Clustering; -import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.Clustering; +import adf_core_python.core.gateway.mapper.module.AbstractModuleMapper; import com.fasterxml.jackson.core.JsonProcessingException; import com.fasterxml.jackson.databind.ObjectMapper; import rescuecore2.config.Config; diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/DynamicClusteringMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/DynamicClusteringMapper.java similarity index 57% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/DynamicClusteringMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/DynamicClusteringMapper.java index 3dfdb43..bc60931 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/DynamicClusteringMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/DynamicClusteringMapper.java @@ -1,9 +1,9 @@ -package adf_core_python.gateway.mapper.module.algorithm; +package adf_core_python.core.gateway.mapper.module.algorithm; -import adf.core.agent.communication.MessageManager; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.algorithm.DynamicClustering; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.DynamicClustering; public class DynamicClusteringMapper extends ClusteringMapper { public DynamicClusteringMapper(DynamicClustering dynamicClustering, PrecomputeData precomputeData, MessageManager messageManager, WorldInfo worldInfo) { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/PathPlanningMapper.java similarity index 92% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/PathPlanningMapper.java index 335a642..00d6bfe 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/PathPlanningMapper.java @@ -1,19 +1,19 @@ -package adf_core_python.gateway.mapper.module.algorithm; - -import java.util.Collection; -import java.util.List; +package adf_core_python.core.gateway.mapper.module.algorithm; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import adf_core_python.core.gateway.mapper.module.AbstractModuleMapper; import com.fasterxml.jackson.core.JsonProcessingException; import com.fasterxml.jackson.core.type.TypeReference; import com.fasterxml.jackson.databind.ObjectMapper; - -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.algorithm.PathPlanning; -import adf_core_python.gateway.mapper.module.AbstractModuleMapper; import rescuecore2.config.Config; import rescuecore2.worldmodel.EntityID; +import java.io.IOException; +import java.util.Collection; +import java.util.List; + public class PathPlanningMapper extends AbstractModuleMapper { public PathPlanningMapper(PathPlanning pathPlanning, PrecomputeData precomputeData, MessageManager messageManager) { super(pathPlanning, precomputeData, messageManager); @@ -34,7 +34,7 @@ public Config execMethod(String methodName, Config arguments) { try { targets = objectMapper.readValue(arguments.getValue("Targets"), new TypeReference>() { }); - } catch (JsonProcessingException e) { + } catch (IOException e) { throw new RuntimeException(e); } execSetDestination(targets); @@ -57,7 +57,7 @@ public Config execMethod(String methodName, Config arguments) { destinations = objectMapper.readValue(arguments.getValue("Destinations"), new TypeReference>() { }); - } catch (JsonProcessingException e) { + } catch (IOException e) { throw new RuntimeException(e); } result = execGetResult(new EntityID(arguments.getIntValue("From")), destinations); diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/StaticClusteringMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/StaticClusteringMapper.java similarity index 56% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/StaticClusteringMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/StaticClusteringMapper.java index daeaec3..16ec923 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/StaticClusteringMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/algorithm/StaticClusteringMapper.java @@ -1,9 +1,9 @@ -package adf_core_python.gateway.mapper.module.algorithm; +package adf_core_python.core.gateway.mapper.module.algorithm; -import adf.core.agent.communication.MessageManager; import adf.core.agent.info.WorldInfo; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.algorithm.StaticClustering; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.StaticClustering; public class StaticClusteringMapper extends ClusteringMapper { public StaticClusteringMapper(StaticClustering staticClustering, PrecomputeData precomputeData, MessageManager messageManager, WorldInfo worldInfo) { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java similarity index 58% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java index e7beb49..4e5df45 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java @@ -1,8 +1,8 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.AmbulanceTargetAllocator; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.AmbulanceTargetAllocator; public class AmbulanceTargetAllocatorMapper extends TargetAllocatorMapper { public AmbulanceTargetAllocatorMapper(AmbulanceTargetAllocator ambulanceTargetAllocator, PrecomputeData precomputeData, MessageManager messageManager) { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/BuildingDetectorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/BuildingDetectorMapper.java similarity index 56% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/BuildingDetectorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/BuildingDetectorMapper.java index 448dd1c..3a9bddd 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/BuildingDetectorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/BuildingDetectorMapper.java @@ -1,8 +1,8 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.BuildingDetector; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.BuildingDetector; public class BuildingDetectorMapper extends TargetDetectorMapper { public BuildingDetectorMapper(BuildingDetector buildingDetector, PrecomputeData precomputeData, MessageManager messageManager) { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/FireTargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/FireTargetAllocatorMapper.java similarity index 57% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/FireTargetAllocatorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/FireTargetAllocatorMapper.java index 235d3fa..6234471 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/FireTargetAllocatorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/FireTargetAllocatorMapper.java @@ -1,8 +1,8 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.FireTargetAllocator; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.FireTargetAllocator; public class FireTargetAllocatorMapper extends TargetAllocatorMapper { public FireTargetAllocatorMapper(FireTargetAllocator fireTargetAllocator, PrecomputeData precomputeData, MessageManager messageManager) { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/HumanDetectorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/HumanDetectorMapper.java similarity index 54% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/HumanDetectorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/HumanDetectorMapper.java index 2db6fed..078fe16 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/HumanDetectorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/HumanDetectorMapper.java @@ -1,8 +1,8 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.HumanDetector; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.HumanDetector; public class HumanDetectorMapper extends TargetDetectorMapper { public HumanDetectorMapper(HumanDetector humanDetector, PrecomputeData precomputeData, MessageManager messageManager) { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java similarity index 57% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java index 5092b72..1d6dd41 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java @@ -1,8 +1,8 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.PoliceTargetAllocator; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.PoliceTargetAllocator; public class PoliceTargetAllocatorMapper extends TargetAllocatorMapper { public PoliceTargetAllocatorMapper(PoliceTargetAllocator policeTargetAllocator, PrecomputeData precomputeData, MessageManager messageManager) { diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/RoadDetectorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/RoadDetectorMapper.java similarity index 54% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/RoadDetectorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/RoadDetectorMapper.java index 4945c38..412634f 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/RoadDetectorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/RoadDetectorMapper.java @@ -1,8 +1,8 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.RoadDetector; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.RoadDetector; public class RoadDetectorMapper extends TargetDetectorMapper { public RoadDetectorMapper(RoadDetector roadDetector, PrecomputeData precomputeData, MessageManager messageManager) { diff --git a/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/SearchMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/SearchMapper.java new file mode 100644 index 0000000..7cf6d41 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/SearchMapper.java @@ -0,0 +1,11 @@ +package adf_core_python.core.gateway.mapper.module.complex; + +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.Search; + +public class SearchMapper extends TargetDetectorMapper { + public SearchMapper(Search search, PrecomputeData precomputeData, MessageManager messageManager) { + super(search, precomputeData, messageManager); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/TargetAllocatorMapper.java similarity index 76% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetAllocatorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/TargetAllocatorMapper.java index 78ba9d2..d211833 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetAllocatorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/TargetAllocatorMapper.java @@ -1,9 +1,9 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.TargetAllocator; -import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.TargetAllocator; +import adf_core_python.core.gateway.mapper.module.AbstractModuleMapper; import rescuecore2.config.Config; import rescuecore2.worldmodel.EntityID; diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetDetectorMapper.java b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/TargetDetectorMapper.java similarity index 76% rename from java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetDetectorMapper.java rename to java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/TargetDetectorMapper.java index e0bb851..caaba9b 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetDetectorMapper.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/mapper/module/complex/TargetDetectorMapper.java @@ -1,9 +1,9 @@ -package adf_core_python.gateway.mapper.module.complex; +package adf_core_python.core.gateway.mapper.module.complex; -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.TargetDetector; -import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.TargetDetector; +import adf_core_python.core.gateway.mapper.module.AbstractModuleMapper; import rescuecore2.config.Config; import rescuecore2.worldmodel.EntityID; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMAgent.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMAgent.java similarity index 91% rename from java/lib/src/main/java/adf_core_python/gateway/message/AMAgent.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/AMAgent.java index a7e34a5..17775b8 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/AMAgent.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMAgent.java @@ -1,7 +1,7 @@ -package adf_core_python.gateway.message; +package adf_core_python.core.gateway.message; -import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; -import adf_core_python.gateway.message.urn.ModuleMessageURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageURN; import rescuecore2.config.Config; import rescuecore2.messages.AbstractMessage; import rescuecore2.messages.components.ConfigComponent; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMExec.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMExec.java similarity index 89% rename from java/lib/src/main/java/adf_core_python/gateway/message/AMExec.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/AMExec.java index 199f97d..5f6da2d 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/AMExec.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMExec.java @@ -1,7 +1,7 @@ -package adf_core_python.gateway.message; +package adf_core_python.core.gateway.message; -import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; -import adf_core_python.gateway.message.urn.ModuleMessageURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageURN; import rescuecore2.config.Config; import rescuecore2.messages.AbstractMessage; import rescuecore2.messages.components.ConfigComponent; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMModule.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMModule.java similarity index 89% rename from java/lib/src/main/java/adf_core_python/gateway/message/AMModule.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/AMModule.java index a597897..10217ed 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/AMModule.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMModule.java @@ -1,7 +1,7 @@ -package adf_core_python.gateway.message; +package adf_core_python.core.gateway.message; -import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; -import adf_core_python.gateway.message.urn.ModuleMessageURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageURN; import rescuecore2.messages.AbstractMessage; import rescuecore2.messages.components.StringComponent; import rescuecore2.messages.protobuf.RCRSProto; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMUpdate.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMUpdate.java similarity index 90% rename from java/lib/src/main/java/adf_core_python/gateway/message/AMUpdate.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/AMUpdate.java index ab3b03e..c3c21b5 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/AMUpdate.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/AMUpdate.java @@ -1,7 +1,7 @@ -package adf_core_python.gateway.message; +package adf_core_python.core.gateway.message; -import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; -import adf_core_python.gateway.message.urn.ModuleMessageURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageURN; import rescuecore2.messages.AbstractMessage; import rescuecore2.messages.Command; import rescuecore2.messages.components.ChangeSetComponent; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/MAExecResponse.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/MAExecResponse.java similarity index 87% rename from java/lib/src/main/java/adf_core_python/gateway/message/MAExecResponse.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/MAExecResponse.java index e648838..ecd26df 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/MAExecResponse.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/MAExecResponse.java @@ -1,7 +1,7 @@ -package adf_core_python.gateway.message; +package adf_core_python.core.gateway.message; -import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; -import adf_core_python.gateway.message.urn.ModuleMessageURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageURN; import rescuecore2.config.Config; import rescuecore2.messages.AbstractMessage; import rescuecore2.messages.components.ConfigComponent; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/MAModuleResponse.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/MAModuleResponse.java similarity index 87% rename from java/lib/src/main/java/adf_core_python/gateway/message/MAModuleResponse.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/MAModuleResponse.java index d568a61..bbd50d9 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/MAModuleResponse.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/MAModuleResponse.java @@ -1,7 +1,7 @@ -package adf_core_python.gateway.message; +package adf_core_python.core.gateway.message; -import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; -import adf_core_python.gateway.message.urn.ModuleMessageURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageURN; import rescuecore2.messages.AbstractMessage; import rescuecore2.messages.components.StringComponent; import rescuecore2.messages.protobuf.RCRSProto; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/ModuleControlMessageFactory.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/ModuleControlMessageFactory.java similarity index 93% rename from java/lib/src/main/java/adf_core_python/gateway/message/ModuleControlMessageFactory.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/ModuleControlMessageFactory.java index 3952131..c6b4ac7 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/ModuleControlMessageFactory.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/ModuleControlMessageFactory.java @@ -1,6 +1,6 @@ -package adf_core_python.gateway.message; +package adf_core_python.core.gateway.message; -import adf_core_python.gateway.message.urn.ModuleMessageURN; +import adf_core_python.core.gateway.message.urn.ModuleMessageURN; import rescuecore2.messages.Message; import rescuecore2.messages.protobuf.RCRSProto.MessageProto; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageComponentURN.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/urn/ModuleMessageComponentURN.java similarity index 96% rename from java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageComponentURN.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/urn/ModuleMessageComponentURN.java index 868439c..c89232d 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageComponentURN.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/urn/ModuleMessageComponentURN.java @@ -1,4 +1,4 @@ -package adf_core_python.gateway.message.urn; +package adf_core_python.core.gateway.message.urn; import rescuecore2.URN; diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageURN.java b/java/lib/src/main/java/adf_core_python/core/gateway/message/urn/ModuleMessageURN.java similarity index 96% rename from java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageURN.java rename to java/lib/src/main/java/adf_core_python/core/gateway/message/urn/ModuleMessageURN.java index 8c90a4e..83358b5 100644 --- a/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageURN.java +++ b/java/lib/src/main/java/adf_core_python/core/gateway/message/urn/ModuleMessageURN.java @@ -1,4 +1,4 @@ -package adf_core_python.gateway.message.urn; +package adf_core_python.core.gateway.message.urn; import rescuecore2.URN; diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java deleted file mode 100644 index 94f42db..0000000 --- a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java +++ /dev/null @@ -1,11 +0,0 @@ -package adf_core_python.gateway.mapper.module.complex; - -import adf.core.agent.communication.MessageManager; -import adf_core_python.agent.precompute.PrecomputeData; -import adf_core_python.component.module.complex.Search; - -public class SearchMapper extends TargetDetectorMapper { - public SearchMapper(Search search, PrecomputeData precomputeData, MessageManager messageManager) { - super(search, precomputeData, messageManager); - } -} diff --git a/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionClear.java b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionClear.java new file mode 100644 index 0000000..bb415cb --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionClear.java @@ -0,0 +1,803 @@ +package adf_core_python.impl.extaction; + +import adf.core.agent.action.Action; +import adf.core.agent.action.common.ActionMove; +import adf.core.agent.action.common.ActionRest; +import adf.core.agent.action.police.ActionClear; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.extaction.ExtAction; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import com.google.common.collect.Lists; +import rescuecore2.config.NoSuchConfigOptionException; +import rescuecore2.misc.geometry.GeometryTools2D; +import rescuecore2.misc.geometry.Line2D; +import rescuecore2.misc.geometry.Point2D; +import rescuecore2.misc.geometry.Vector2D; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; +import java.util.stream.Collectors; + +public class DefaultExtActionClear extends ExtAction { + + private PathPlanning pathPlanning; + + private int clearDistance; + private int forcedMove; + private int thresholdRest; + private int kernelTime; + + private EntityID target; + private Map> movePointCache; + private int oldClearX; + private int oldClearY; + private int count; + + public DefaultExtActionClear(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.clearDistance = si.getClearRepairDistance(); + this.forcedMove = developData + .getInteger("adf.impl.extaction.DefaultExtActionClear.forcedMove", 3); + this.thresholdRest = developData + .getInteger("adf.impl.extaction.DefaultExtActionClear.rest", 100); + + this.target = null; + this.movePointCache = new HashMap<>(); + this.oldClearX = 0; + this.oldClearY = 0; + this.count = 0; + + switch (si.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.pathPlanning = moduleManager.getModule( + "DefaultExtActionClear.PathPlanning", + "adf_core_python.impl.module.algorithm.DijkstraPathPlanning"); + break; + } + } + + + @Override + public ExtAction precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + this.pathPlanning.precompute(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.pathPlanning.resume(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.pathPlanning.preparate(); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + this.pathPlanning.updateInfo(messageManager); + return this; + } + + + @Override + public ExtAction setTarget(EntityID target) { + this.target = null; + StandardEntity entity = this.worldInfo.getEntity(target); + if (entity != null) { + if (entity instanceof Road) { + this.target = target; + } else if (entity.getStandardURN().equals(StandardEntityURN.BLOCKADE)) { + this.target = ((Blockade) entity).getPosition(); + } else if (entity instanceof Building) { + this.target = target; + } + } + return this; + } + + + @Override + public ExtAction calc() { + this.result = null; + PoliceForce policeForce = (PoliceForce) this.agentInfo.me(); + + if (this.needRest(policeForce)) { + List list = new ArrayList<>(); + if (this.target != null) { + list.add(this.target); + } + this.result = this.calcRest(policeForce, this.pathPlanning, list); + if (this.result != null) { + return this; + } + } + + if (this.target == null) { + return this; + } + EntityID agentPosition = policeForce.getPosition(); + StandardEntity targetEntity = this.worldInfo.getEntity(this.target); + StandardEntity positionEntity = Objects + .requireNonNull(this.worldInfo.getEntity(agentPosition)); + if (targetEntity == null || !(targetEntity instanceof Area)) { + return this; + } + if (positionEntity instanceof Road) { + this.result = this.getRescueAction(policeForce, (Road) positionEntity); + if (this.result != null) { + return this; + } + } + if (agentPosition.equals(this.target)) { + this.result = this.getAreaClearAction(policeForce, targetEntity); + } else if (((Area) targetEntity).getEdgeTo(agentPosition) != null) { + this.result = this.getNeighbourPositionAction(policeForce, + (Area) targetEntity); + } else { + List path = this.pathPlanning.getResult(agentPosition, + this.target); + if (path != null && path.size() > 0) { + int index = path.indexOf(agentPosition); + if (index == -1) { + Area area = (Area) positionEntity; + for (int i = 0; i < path.size(); i++) { + if (area.getEdgeTo(path.get(i)) != null) { + index = i; + break; + } + } + } else if (index >= 0) { + index++; + } + if (index >= 0 && index < (path.size())) { + StandardEntity entity = this.worldInfo.getEntity(path.get(index)); + this.result = this.getNeighbourPositionAction(policeForce, + (Area) entity); + if (this.result != null + && this.result.getClass() == ActionMove.class) { + if (!((ActionMove) this.result).getUsePosition()) { + this.result = null; + } + } + } + if (this.result == null) { + this.result = new ActionMove(path); + } + } + } + return this; + } + + + private Action getRescueAction(PoliceForce police, Road road) { + if (!road.isBlockadesDefined()) { + return null; + } + Collection blockades = this.worldInfo.getBlockades(road).stream() + .filter(Blockade::isApexesDefined).collect(Collectors.toSet()); + Collection agents = this.worldInfo.getEntitiesOfType( + StandardEntityURN.AMBULANCE_TEAM, StandardEntityURN.FIRE_BRIGADE); + + double policeX = police.getX(); + double policeY = police.getY(); + double minDistance = Double.MAX_VALUE; + Action moveAction = null; + for (StandardEntity entity : agents) { + Human human = (Human) entity; + if (!human.isPositionDefined() + || human.getPosition().getValue() != road.getID().getValue()) { + continue; + } + double humanX = human.getX(); + double humanY = human.getY(); + ActionClear actionClear = null; + for (Blockade blockade : blockades) { + if (!this.isInside(humanX, humanY, blockade.getApexes())) { + continue; + } + double distance = this.getDistance(policeX, policeY, humanX, humanY); + if (this.intersect(policeX, policeY, humanX, humanY, road)) { + Action action = this.getIntersectEdgeAction(policeX, policeY, humanX, + humanY, road); + if (action == null) { + continue; + } + if (action.getClass() == ActionClear.class) { + if (actionClear == null) { + actionClear = (ActionClear) action; + continue; + } + if (actionClear.getTarget() != null) { + Blockade another = (Blockade) this.worldInfo + .getEntity(actionClear.getTarget()); + if (another != null && this.intersect(blockade, another)) { + return new ActionClear(another); + } + int anotherDistance = this.worldInfo.getDistance(police, another); + int blockadeDistance = this.worldInfo.getDistance(police, + blockade); + if (anotherDistance > blockadeDistance) { + return action; + } + } + return actionClear; + } else if (action.getClass() == ActionMove.class + && distance < minDistance) { + minDistance = distance; + moveAction = action; + } + } else if (this.intersect(policeX, policeY, humanX, humanY, blockade)) { + Vector2D vector = this + .scaleClear(this.getVector(policeX, policeY, humanX, humanY)); + int clearX = (int) (policeX + vector.getX()); + int clearY = (int) (policeY + vector.getY()); + vector = this.scaleBackClear(vector); + int startX = (int) (policeX + vector.getX()); + int startY = (int) (policeY + vector.getY()); + if (this.intersect(startX, startY, clearX, clearY, blockade)) { + if (actionClear == null) { + actionClear = new ActionClear(clearX, clearY, blockade); + } else { + if (actionClear.getTarget() != null) { + Blockade another = (Blockade) this.worldInfo + .getEntity(actionClear.getTarget()); + if (another != null && this.intersect(blockade, another)) { + return new ActionClear(another); + } + int distance1 = this.worldInfo.getDistance(police, another); + int distance2 = this.worldInfo.getDistance(police, blockade); + if (distance1 > distance2) { + return new ActionClear(clearX, clearY, blockade); + } + } + return actionClear; + } + } else if (distance < minDistance) { + minDistance = distance; + moveAction = new ActionMove(Lists.newArrayList(road.getID()), + (int) humanX, (int) humanY); + } + } + } + if (actionClear != null) { + return actionClear; + } + } + return moveAction; + } + + + private Action getAreaClearAction(PoliceForce police, + StandardEntity targetEntity) { + if (targetEntity instanceof Building) { + return null; + } + Road road = (Road) targetEntity; + if (!road.isBlockadesDefined() || road.getBlockades().isEmpty()) { + return null; + } + Collection blockades = this.worldInfo.getBlockades(road).stream() + .filter(Blockade::isApexesDefined).collect(Collectors.toSet()); + int minDistance = Integer.MAX_VALUE; + Blockade clearBlockade = null; + for (Blockade blockade : blockades) { + for (Blockade another : blockades) { + if (!blockade.getID().equals(another.getID()) + && this.intersect(blockade, another)) { + int distance1 = this.worldInfo.getDistance(police, blockade); + int distance2 = this.worldInfo.getDistance(police, another); + if (distance1 <= distance2 && distance1 < minDistance) { + minDistance = distance1; + clearBlockade = blockade; + } else if (distance2 < minDistance) { + minDistance = distance2; + clearBlockade = another; + } + } + } + } + if (clearBlockade != null) { + if (minDistance < this.clearDistance) { + return new ActionClear(clearBlockade); + } else { + return new ActionMove(Lists.newArrayList(police.getPosition()), + clearBlockade.getX(), clearBlockade.getY()); + } + } + double agentX = police.getX(); + double agentY = police.getY(); + clearBlockade = null; + Double minPointDistance = Double.MAX_VALUE; + int clearX = 0; + int clearY = 0; + for (Blockade blockade : blockades) { + int[] apexes = blockade.getApexes(); + for (int i = 0; i < (apexes.length - 2); i += 2) { + double distance = this.getDistance(agentX, agentY, apexes[i], + apexes[i + 1]); + if (distance < minPointDistance) { + clearBlockade = blockade; + minPointDistance = distance; + clearX = apexes[i]; + clearY = apexes[i + 1]; + } + } + } + if (clearBlockade != null) { + if (minPointDistance < this.clearDistance) { + Vector2D vector = this + .scaleClear(this.getVector(agentX, agentY, clearX, clearY)); + clearX = (int) (agentX + vector.getX()); + clearY = (int) (agentY + vector.getY()); + return new ActionClear(clearX, clearY, clearBlockade); + } + return new ActionMove(Lists.newArrayList(police.getPosition()), clearX, + clearY); + } + return null; + } + + + private Action getNeighbourPositionAction(PoliceForce police, Area target) { + double agentX = police.getX(); + double agentY = police.getY(); + StandardEntity position = Objects + .requireNonNull(this.worldInfo.getPosition(police)); + Edge edge = target.getEdgeTo(position.getID()); + if (edge == null) { + return null; + } + if (position instanceof Road) { + Road road = (Road) position; + if (road.isBlockadesDefined() && road.getBlockades().size() > 0) { + double midX = (edge.getStartX() + edge.getEndX()) / 2; + double midY = (edge.getStartY() + edge.getEndY()) / 2; + if (this.intersect(agentX, agentY, midX, midY, road)) { + return this.getIntersectEdgeAction(agentX, agentY, edge, road); + } + ActionClear actionClear = null; + ActionMove actionMove = null; + Vector2D vector = this + .scaleClear(this.getVector(agentX, agentY, midX, midY)); + int clearX = (int) (agentX + vector.getX()); + int clearY = (int) (agentY + vector.getY()); + vector = this.scaleBackClear(vector); + int startX = (int) (agentX + vector.getX()); + int startY = (int) (agentY + vector.getY()); + for (Blockade blockade : this.worldInfo.getBlockades(road)) { + if (blockade == null || !blockade.isApexesDefined()) { + continue; + } + if (this.intersect(startX, startY, midX, midY, blockade)) { + if (this.intersect(startX, startY, clearX, clearY, blockade)) { + if (actionClear == null) { + actionClear = new ActionClear(clearX, clearY, blockade); + if (this.equalsPoint(this.oldClearX, this.oldClearY, clearX, + clearY)) { + if (this.count >= this.forcedMove) { + this.count = 0; + return new ActionMove(Lists.newArrayList(road.getID()), + clearX, clearY); + } + this.count++; + } + this.oldClearX = clearX; + this.oldClearY = clearY; + } else { + if (actionClear.getTarget() != null) { + Blockade another = (Blockade) this.worldInfo + .getEntity(actionClear.getTarget()); + if (another != null && this.intersect(blockade, another)) { + return new ActionClear(another); + } + } + return actionClear; + } + } else if (actionMove == null) { + actionMove = new ActionMove(Lists.newArrayList(road.getID()), + (int) midX, (int) midY); + } + } + } + if (actionClear != null) { + return actionClear; + } else if (actionMove != null) { + return actionMove; + } + } + } + if (target instanceof Road) { + Road road = (Road) target; + if (!road.isBlockadesDefined() || road.getBlockades().isEmpty()) { + return new ActionMove( + Lists.newArrayList(position.getID(), target.getID())); + } + Blockade clearBlockade = null; + Double minPointDistance = Double.MAX_VALUE; + int clearX = 0; + int clearY = 0; + for (EntityID id : road.getBlockades()) { + Blockade blockade = (Blockade) this.worldInfo.getEntity(id); + if (blockade != null && blockade.isApexesDefined()) { + int[] apexes = blockade.getApexes(); + for (int i = 0; i < (apexes.length - 2); i += 2) { + double distance = this.getDistance(agentX, agentY, apexes[i], + apexes[i + 1]); + if (distance < minPointDistance) { + clearBlockade = blockade; + minPointDistance = distance; + clearX = apexes[i]; + clearY = apexes[i + 1]; + } + } + } + } + if (clearBlockade != null && minPointDistance < this.clearDistance) { + Vector2D vector = this + .scaleClear(this.getVector(agentX, agentY, clearX, clearY)); + clearX = (int) (agentX + vector.getX()); + clearY = (int) (agentY + vector.getY()); + if (this.equalsPoint(this.oldClearX, this.oldClearY, clearX, clearY)) { + if (this.count >= this.forcedMove) { + this.count = 0; + return new ActionMove(Lists.newArrayList(road.getID()), clearX, + clearY); + } + this.count++; + } + this.oldClearX = clearX; + this.oldClearY = clearY; + return new ActionClear(clearX, clearY, clearBlockade); + } + } + return new ActionMove(Lists.newArrayList(position.getID(), target.getID())); + } + + + private Action getIntersectEdgeAction(double agentX, double agentY, Edge edge, + Road road) { + double midX = (edge.getStartX() + edge.getEndX()) / 2; + double midY = (edge.getStartY() + edge.getEndY()) / 2; + return this.getIntersectEdgeAction(agentX, agentY, midX, midY, road); + } + + + private Action getIntersectEdgeAction(double agentX, double agentY, + double pointX, double pointY, Road road) { + Set movePoints = this.getMovePoints(road); + Point2D bestPoint = null; + double bastDistance = Double.MAX_VALUE; + for (Point2D p : movePoints) { + if (!this.intersect(agentX, agentY, p.getX(), p.getY(), road)) { + if (!this.intersect(pointX, pointY, p.getX(), p.getY(), road)) { + double distance = this.getDistance(pointX, pointY, p.getX(), + p.getY()); + if (distance < bastDistance) { + bestPoint = p; + bastDistance = distance; + } + } + } + } + if (bestPoint != null) { + double pX = bestPoint.getX(); + double pY = bestPoint.getY(); + if (!road.isBlockadesDefined()) { + return new ActionMove(Lists.newArrayList(road.getID()), (int) pX, + (int) pY); + } + ActionClear actionClear = null; + ActionMove actionMove = null; + Vector2D vector = this.scaleClear(this.getVector(agentX, agentY, pX, pY)); + int clearX = (int) (agentX + vector.getX()); + int clearY = (int) (agentY + vector.getY()); + vector = this.scaleBackClear(vector); + int startX = (int) (agentX + vector.getX()); + int startY = (int) (agentY + vector.getY()); + for (Blockade blockade : this.worldInfo.getBlockades(road)) { + if (this.intersect(startX, startY, pX, pY, blockade)) { + if (this.intersect(startX, startY, clearX, clearY, blockade)) { + if (actionClear == null) { + actionClear = new ActionClear(clearX, clearY, blockade); + } else { + if (actionClear.getTarget() != null) { + Blockade another = (Blockade) this.worldInfo + .getEntity(actionClear.getTarget()); + if (another != null && this.intersect(blockade, another)) { + return new ActionClear(another); + } + } + return actionClear; + } + } else if (actionMove == null) { + actionMove = new ActionMove(Lists.newArrayList(road.getID()), + (int) pX, (int) pY); + } + } + } + if (actionClear != null) { + return actionClear; + } else if (actionMove != null) { + return actionMove; + } + } + Action action = this.getAreaClearAction((PoliceForce) this.agentInfo.me(), + road); + if (action == null) { + action = new ActionMove(Lists.newArrayList(road.getID()), (int) pointX, + (int) pointY); + } + return action; + } + + + private boolean equalsPoint(double p1X, double p1Y, double p2X, double p2Y) { + return this.equalsPoint(p1X, p1Y, p2X, p2Y, 1000.0D); + } + + + private boolean equalsPoint(double p1X, double p1Y, double p2X, double p2Y, + double range) { + return (p2X - range < p1X && p1X < p2X + range) + && (p2Y - range < p1Y && p1Y < p2Y + range); + } + + + private boolean isInside(double pX, double pY, int[] apex) { + Point2D p = new Point2D(pX, pY); + Vector2D v1 = (new Point2D(apex[apex.length - 2], apex[apex.length - 1])) + .minus(p); + Vector2D v2 = (new Point2D(apex[0], apex[1])).minus(p); + double theta = this.getAngle(v1, v2); + + for (int i = 0; i < apex.length - 2; i += 2) { + v1 = (new Point2D(apex[i], apex[i + 1])).minus(p); + v2 = (new Point2D(apex[i + 2], apex[i + 3])).minus(p); + theta += this.getAngle(v1, v2); + } + return Math.round(Math.abs((theta / 2) / Math.PI)) >= 1; + } + + + private boolean intersect(double agentX, double agentY, double pointX, + double pointY, Area area) { + for (Edge edge : area.getEdges()) { + double startX = edge.getStartX(); + double startY = edge.getStartY(); + double endX = edge.getEndX(); + double endY = edge.getEndY(); + if (java.awt.geom.Line2D.linesIntersect(agentX, agentY, pointX, pointY, + startX, startY, endX, endY)) { + double midX = (edge.getStartX() + edge.getEndX()) / 2; + double midY = (edge.getStartY() + edge.getEndY()) / 2; + if (!equalsPoint(pointX, pointY, midX, midY) + && !equalsPoint(agentX, agentY, midX, midY)) { + return true; + } + } + } + return false; + } + + + private boolean intersect(Blockade blockade, Blockade another) { + if (blockade.isApexesDefined() && another.isApexesDefined()) { + int[] apexes0 = blockade.getApexes(); + int[] apexes1 = another.getApexes(); + for (int i = 0; i < (apexes0.length - 2); i += 2) { + for (int j = 0; j < (apexes1.length - 2); j += 2) { + if (java.awt.geom.Line2D.linesIntersect(apexes0[i], apexes0[i + 1], + apexes0[i + 2], apexes0[i + 3], apexes1[j], apexes1[j + 1], + apexes1[j + 2], apexes1[j + 3])) { + return true; + } + } + } + for (int i = 0; i < (apexes0.length - 2); i += 2) { + if (java.awt.geom.Line2D.linesIntersect(apexes0[i], apexes0[i + 1], + apexes0[i + 2], apexes0[i + 3], apexes1[apexes1.length - 2], + apexes1[apexes1.length - 1], apexes1[0], apexes1[1])) { + return true; + } + } + for (int j = 0; j < (apexes1.length - 2); j += 2) { + if (java.awt.geom.Line2D.linesIntersect(apexes0[apexes0.length - 2], + apexes0[apexes0.length - 1], apexes0[0], apexes0[1], apexes1[j], + apexes1[j + 1], apexes1[j + 2], apexes1[j + 3])) { + return true; + } + } + } + return false; + } + + + private boolean intersect(double agentX, double agentY, double pointX, + double pointY, Blockade blockade) { + List lines = GeometryTools2D.pointsToLines( + GeometryTools2D.vertexArrayToPoints(blockade.getApexes()), true); + for (Line2D line : lines) { + Point2D start = line.getOrigin(); + Point2D end = line.getEndPoint(); + double startX = start.getX(); + double startY = start.getY(); + double endX = end.getX(); + double endY = end.getY(); + if (java.awt.geom.Line2D.linesIntersect(agentX, agentY, pointX, pointY, + startX, startY, endX, endY)) { + return true; + } + } + return false; + } + + + private double getDistance(double fromX, double fromY, double toX, + double toY) { + double dx = toX - fromX; + double dy = toY - fromY; + return Math.hypot(dx, dy); + } + + + private double getAngle(Vector2D v1, Vector2D v2) { + double flag = (v1.getX() * v2.getY()) - (v1.getY() * v2.getX()); + double angle = Math.acos(((v1.getX() * v2.getX()) + (v1.getY() * v2.getY())) + / (v1.getLength() * v2.getLength())); + if (flag > 0) { + return angle; + } + if (flag < 0) { + return -1 * angle; + } + return 0.0D; + } + + + private Vector2D getVector(double fromX, double fromY, double toX, + double toY) { + return (new Point2D(toX, toY)).minus(new Point2D(fromX, fromY)); + } + + + private Vector2D scaleClear(Vector2D vector) { + return vector.normalised().scale(this.clearDistance); + } + + + private Vector2D scaleBackClear(Vector2D vector) { + return vector.normalised().scale(-510); + } + + + private Set getMovePoints(Road road) { + Set points = this.movePointCache.get(road.getID()); + if (points == null) { + points = new HashSet<>(); + int[] apex = road.getApexList(); + for (int i = 0; i < apex.length; i += 2) { + for (int j = i + 2; j < apex.length; j += 2) { + double midX = (apex[i] + apex[j]) / 2; + double midY = (apex[i + 1] + apex[j + 1]) / 2; + if (this.isInside(midX, midY, apex)) { + points.add(new Point2D(midX, midY)); + } + } + } + for (Edge edge : road.getEdges()) { + double midX = (edge.getStartX() + edge.getEndX()) / 2; + double midY = (edge.getStartY() + edge.getEndY()) / 2; + points.remove(new Point2D(midX, midY)); + } + this.movePointCache.put(road.getID(), points); + } + return points; + } + + + private boolean needRest(Human agent) { + int hp = agent.getHP(); + int damage = agent.getDamage(); + if (damage == 0 || hp == 0) { + return false; + } + int activeTime = (hp / damage) + ((hp % damage) != 0 ? 1 : 0); + if (this.kernelTime == -1) { + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + } + return damage >= this.thresholdRest + || (activeTime + this.agentInfo.getTime()) < this.kernelTime; + } + + + private Action calcRest(Human human, PathPlanning pathPlanning, + Collection targets) { + EntityID position = human.getPosition(); + Collection refuges = this.worldInfo + .getEntityIDsOfType(StandardEntityURN.REFUGE); + int currentSize = refuges.size(); + if (refuges.contains(position)) { + return new ActionRest(); + } + List firstResult = null; + while (refuges.size() > 0) { + pathPlanning.setFrom(position); + pathPlanning.setDestination(refuges); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + if (firstResult == null) { + firstResult = new ArrayList<>(path); + if (targets == null || targets.isEmpty()) { + break; + } + } + EntityID refugeID = path.get(path.size() - 1); + pathPlanning.setFrom(refugeID); + pathPlanning.setDestination(targets); + List fromRefugeToTarget = pathPlanning.calc().getResult(); + if (fromRefugeToTarget != null && fromRefugeToTarget.size() > 0) { + return new ActionMove(path); + } + refuges.remove(refugeID); + // remove failed + if (currentSize == refuges.size()) { + break; + } + currentSize = refuges.size(); + } else { + break; + } + } + return firstResult != null ? new ActionMove(firstResult) : null; + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireFighting.java b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireFighting.java new file mode 100644 index 0000000..f5ae30c --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireFighting.java @@ -0,0 +1,351 @@ +package adf_core_python_core_python.impl.extaction; + +import adf.core.agent.action.Action; +import adf.core.agent.action.common.ActionMove; +import adf.core.agent.action.common.ActionRest; +import adf.core.agent.action.fire.ActionExtinguish; +import adf.core.agent.action.fire.ActionRefill; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.extaction.ExtAction; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import rescuecore2.config.NoSuchConfigOptionException; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +import static rescuecore2.standard.entities.StandardEntityURN.HYDRANT; +import static rescuecore2.standard.entities.StandardEntityURN.REFUGE; + +public class DefaultExtActionFireFighting extends ExtAction { + + private PathPlanning pathPlanning; + + private int maxExtinguishDistance; + private int maxExtinguishPower; + private int thresholdRest; + private int kernelTime; + private int refillCompleted; + private int refillRequest; + private boolean refillFlag; + + private EntityID target; + + public DefaultExtActionFireFighting(AgentInfo agentInfo, WorldInfo worldInfo, ScenarioInfo scenarioInfo, ModuleManager moduleManager, DevelopData developData) { + super(agentInfo, worldInfo, scenarioInfo, moduleManager, developData); + this.maxExtinguishDistance = scenarioInfo.getFireExtinguishMaxDistance(); + this.maxExtinguishPower = scenarioInfo.getFireExtinguishMaxSum(); + this.thresholdRest = developData.getInteger( + "adf.impl.extaction.DefaultExtActionFireFighting.rest", 100); + int maxWater = scenarioInfo.getFireTankMaximum(); + this.refillCompleted = (maxWater / 10) * developData.getInteger( + "adf.impl.extaction.DefaultExtActionFireFighting.refill.completed", 10); + this.refillRequest = this.maxExtinguishPower * developData.getInteger( + "adf.impl.extaction.DefaultExtActionFireFighting.refill.request", 1); + this.refillFlag = false; + + this.target = null; + + switch (scenarioInfo.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.pathPlanning = moduleManager.getModule( + "DefaultExtActionFireFighting.PathPlanning", + "adf_core_python.impl.module.algorithm.DijkstraPathPlanning"); + break; + } + } + + + @Override + public ExtAction precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + this.pathPlanning.precompute(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.pathPlanning.resume(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.pathPlanning.preparate(); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + this.pathPlanning.updateInfo(messageManager); + return this; + } + + + @Override + public ExtAction setTarget(EntityID target) { + this.target = null; + if (target != null) { + StandardEntity entity = this.worldInfo.getEntity(target); + if (entity instanceof Building) { + this.target = target; + } + } + return this; + } + + + @Override + public ExtAction calc() { + this.result = null; + FireBrigade agent = (FireBrigade) this.agentInfo.me(); + + this.refillFlag = this.needRefill(agent, this.refillFlag); + if (this.refillFlag) { + this.result = this.calcRefill(agent, this.pathPlanning, this.target); + if (this.result != null) { + return this; + } + } + + if (this.needRest(agent)) { + this.result = this.calcRefugeAction(agent, this.pathPlanning, this.target, + false); + if (this.result != null) { + return this; + } + } + + if (this.target == null) { + return this; + } + this.result = this.calcExtinguish(agent, this.pathPlanning, this.target); + return this; + } + + + private Action calcExtinguish(FireBrigade agent, PathPlanning pathPlanning, + EntityID target) { + EntityID agentPosition = agent.getPosition(); + StandardEntity positionEntity = Objects + .requireNonNull(this.worldInfo.getPosition(agent)); + if (StandardEntityURN.REFUGE == positionEntity.getStandardURN()) { + Action action = this.getMoveAction(pathPlanning, agentPosition, target); + if (action != null) { + return action; + } + } + + List neighbourBuilding = new ArrayList<>(); + StandardEntity entity = this.worldInfo.getEntity(target); + if (entity instanceof Building) { + if (this.worldInfo.getDistance(positionEntity, + entity) < this.maxExtinguishDistance) { + neighbourBuilding.add(entity); + } + } + + if (neighbourBuilding.size() > 0) { + neighbourBuilding.sort(new DistanceSorter(this.worldInfo, agent)); + return new ActionExtinguish(neighbourBuilding.get(0).getID(), + this.maxExtinguishPower); + } + return this.getMoveAction(pathPlanning, agentPosition, target); + } + + + private Action getMoveAction(PathPlanning pathPlanning, EntityID from, + EntityID target) { + pathPlanning.setFrom(from); + pathPlanning.setDestination(target); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + StandardEntity entity = this.worldInfo + .getEntity(path.get(path.size() - 1)); + if (entity instanceof Building) { + if (entity.getStandardURN() != StandardEntityURN.REFUGE) { + path.remove(path.size() - 1); + } + } + return new ActionMove(path); + } + return null; + } + + + private boolean needRefill(FireBrigade agent, boolean refillFlag) { + if (refillFlag) { + StandardEntityURN positionURN = Objects + .requireNonNull(this.worldInfo.getPosition(agent)).getStandardURN(); + return !(positionURN == REFUGE || positionURN == HYDRANT) + || agent.getWater() < this.refillCompleted; + } + return agent.getWater() <= this.refillRequest; + } + + + private boolean needRest(Human agent) { + int hp = agent.getHP(); + int damage = agent.getDamage(); + if (hp == 0 || damage == 0) { + return false; + } + int activeTime = (hp / damage) + ((hp % damage) != 0 ? 1 : 0); + if (this.kernelTime == -1) { + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + } + return damage >= this.thresholdRest + || (activeTime + this.agentInfo.getTime()) < this.kernelTime; + } + + + private Action calcRefill(FireBrigade agent, PathPlanning pathPlanning, + EntityID target) { + StandardEntityURN positionURN = Objects + .requireNonNull(this.worldInfo.getPosition(agent)).getStandardURN(); + if (positionURN == REFUGE) { + return new ActionRefill(); + } + Action action = this.calcRefugeAction(agent, pathPlanning, target, true); + if (action != null) { + return action; + } + action = this.calcHydrantAction(agent, pathPlanning, target); + if (action != null) { + if (positionURN == HYDRANT + && action.getClass().equals(ActionMove.class)) { + pathPlanning.setFrom(agent.getPosition()); + pathPlanning.setDestination(target); + double currentDistance = pathPlanning.calc().getDistance(); + List path = ((ActionMove) action).getPath(); + pathPlanning.setFrom(path.get(path.size() - 1)); + pathPlanning.setDestination(target); + double newHydrantDistance = pathPlanning.calc().getDistance(); + if (currentDistance <= newHydrantDistance) { + return new ActionRefill(); + } + } + return action; + } + return null; + } + + + private Action calcRefugeAction(Human human, PathPlanning pathPlanning, + EntityID target, boolean isRefill) { + return this.calcSupplyAction(human, pathPlanning, + this.worldInfo.getEntityIDsOfType(StandardEntityURN.REFUGE), target, + isRefill); + } + + + private Action calcHydrantAction(Human human, PathPlanning pathPlanning, + EntityID target) { + Collection hydrants = this.worldInfo.getEntityIDsOfType(HYDRANT); + hydrants.remove(human.getPosition()); + return this.calcSupplyAction(human, pathPlanning, hydrants, target, true); + } + + + private Action calcSupplyAction(Human human, PathPlanning pathPlanning, + Collection supplyPositions, EntityID target, boolean isRefill) { + EntityID position = human.getPosition(); + int size = supplyPositions.size(); + if (supplyPositions.contains(position)) { + return isRefill ? new ActionRefill() : new ActionRest(); + } + List firstResult = null; + while (supplyPositions.size() > 0) { + pathPlanning.setFrom(position); + pathPlanning.setDestination(supplyPositions); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + if (firstResult == null) { + firstResult = new ArrayList<>(path); + if (target == null) { + break; + } + } + EntityID supplyPositionID = path.get(path.size() - 1); + pathPlanning.setFrom(supplyPositionID); + pathPlanning.setDestination(target); + List fromRefugeToTarget = pathPlanning.calc().getResult(); + if (fromRefugeToTarget != null && fromRefugeToTarget.size() > 0) { + return new ActionMove(path); + } + supplyPositions.remove(supplyPositionID); + // remove failed + if (size == supplyPositions.size()) { + break; + } + size = supplyPositions.size(); + } else { + break; + } + } + return firstResult != null ? new ActionMove(firstResult) : null; + } + + private class DistanceSorter implements Comparator { + + private StandardEntity reference; + private WorldInfo worldInfo; + + DistanceSorter(WorldInfo wi, StandardEntity reference) { + this.reference = reference; + this.worldInfo = wi; + } + + + public int compare(StandardEntity a, StandardEntity b) { + int d1 = this.worldInfo.getDistance(this.reference, a); + int d2 = this.worldInfo.getDistance(this.reference, b); + return d1 - d2; + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireRescue.java b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireRescue.java new file mode 100644 index 0000000..05f4bb7 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionFireRescue.java @@ -0,0 +1,227 @@ +package adf_core_python.impl.extaction; + +import adf.core.agent.action.Action; +import adf.core.agent.action.ambulance.ActionRescue; +import adf.core.agent.action.common.ActionMove; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.extaction.ExtAction; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import rescuecore2.config.NoSuchConfigOptionException; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.ArrayList; +import java.util.List; + +import static rescuecore2.standard.entities.StandardEntityURN.BLOCKADE; + +public class DefaultExtActionFireRescue extends ExtAction { + + private PathPlanning pathPlanning; + + private int thresholdRest; + private int kernelTime; + + private EntityID target; + + public DefaultExtActionFireRescue(AgentInfo agentInfo, WorldInfo worldInfo, ScenarioInfo scenarioInfo, ModuleManager moduleManager, DevelopData developData) { + super(agentInfo, worldInfo, scenarioInfo, moduleManager, developData); + this.target = null; + this.thresholdRest = developData + .getInteger("adf.impl.extaction.DefaultExtActionFireRescue.rest", 100); + + switch (scenarioInfo.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.pathPlanning = moduleManager.getModule( + "DefaultExtActionFireRescue.PathPlanning", + "adf_core_python.impl.module.algorithm.DijkstraPathPlanning"); + break; + } + } + + + public ExtAction precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + this.pathPlanning.precompute(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + public ExtAction resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.pathPlanning.resume(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + public ExtAction preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.pathPlanning.preparate(); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + public ExtAction updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + this.pathPlanning.updateInfo(messageManager); + return this; + } + + + @Override + public ExtAction setTarget(EntityID target) { + this.target = null; + if (target != null) { + StandardEntity entity = this.worldInfo.getEntity(target); + if (entity instanceof Human || entity instanceof Area) { + this.target = target; + return this; + } + } + return this; + } + + + @Override + public ExtAction calc() { + this.result = null; + FireBrigade agent = (FireBrigade) this.agentInfo.me(); + + if (this.needRest(agent)) { + EntityID areaID = this.convertArea(this.target); + ArrayList targets = new ArrayList<>(); + if (areaID != null) { + targets.add(areaID); + } + } + if (this.target != null) { + this.result = this.calcRescue(agent, this.pathPlanning, this.target); + } + return this; + } + + + private Action calcRescue(FireBrigade agent, PathPlanning pathPlanning, + EntityID targetID) { + StandardEntity targetEntity = this.worldInfo.getEntity(targetID); + if (targetEntity == null) { + return null; + } + EntityID agentPosition = agent.getPosition(); + if (targetEntity instanceof Human) { + Human human = (Human) targetEntity; + if (!human.isPositionDefined()) { + return null; + } + if (human.isHPDefined() && human.getHP() == 0) { + return null; + } + EntityID targetPosition = human.getPosition(); + if (agentPosition.getValue() == targetPosition.getValue()) { + if (human.isBuriednessDefined() && human.getBuriedness() > 0) { + return new ActionRescue(human); + } + } else { + List path = pathPlanning.getResult(agentPosition, + targetPosition); + if (path != null && path.size() > 0) { + return new ActionMove(path); + } + } + return null; + } + if (targetEntity.getStandardURN() == BLOCKADE) { + Blockade blockade = (Blockade) targetEntity; + if (blockade.isPositionDefined()) { + targetEntity = this.worldInfo.getEntity(blockade.getPosition()); + } + } + if (targetEntity instanceof Area) { + List path = pathPlanning.getResult(agentPosition, + targetEntity.getID()); + if (path != null && path.size() > 0) { + return new ActionMove(path); + } + } + return null; + } + + + private boolean needRest(Human agent) { + int hp = agent.getHP(); + int damage = agent.getDamage(); + if (hp == 0 || damage == 0) { + return false; + } + int activeTime = (hp / damage) + ((hp % damage) != 0 ? 1 : 0); + if (this.kernelTime == -1) { + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + } + return damage >= this.thresholdRest + || (activeTime + this.agentInfo.getTime()) < this.kernelTime; + } + + + private EntityID convertArea(EntityID targetID) { + StandardEntity entity = this.worldInfo.getEntity(targetID); + if (entity == null) { + return null; + } + if (entity instanceof Human) { + Human human = (Human) entity; + if (human.isPositionDefined()) { + EntityID position = human.getPosition(); + if (this.worldInfo.getEntity(position) instanceof Area) { + return position; + } + } + } else if (entity instanceof Area) { + return targetID; + } else if (entity.getStandardURN() == BLOCKADE) { + Blockade blockade = (Blockade) entity; + if (blockade.isPositionDefined()) { + return blockade.getPosition(); + } + } + return null; + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionMove.java b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionMove.java new file mode 100644 index 0000000..4f79cab --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionMove.java @@ -0,0 +1,210 @@ +package adf_core_python.impl.extaction; + +import adf.core.agent.action.Action; +import adf.core.agent.action.common.ActionMove; +import adf.core.agent.action.common.ActionRest; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.extaction.ExtAction; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import rescuecore2.config.NoSuchConfigOptionException; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.ArrayList; +import java.util.Collection; +import java.util.List; + +public class DefaultExtActionMove extends ExtAction { + + private PathPlanning pathPlanning; + + private int thresholdRest; + private int kernelTime; + + private EntityID target; + + public DefaultExtActionMove(AgentInfo agentInfo, WorldInfo worldInfo, ScenarioInfo scenarioInfo, ModuleManager moduleManager, DevelopData developData) { + super(agentInfo, worldInfo, scenarioInfo, moduleManager, developData); + this.target = null; + this.thresholdRest = developData + .getInteger("adf.impl.extaction.DefaultExtActionMove.rest", 100); + + switch (scenarioInfo.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.pathPlanning = moduleManager.getModule( + "DefaultExtActionMove.PathPlanning", + "adf_core_python.impl.module.algorithm.DijkstraPathPlanning"); + break; + } + } + + + @Override + public ExtAction precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + this.pathPlanning.precompute(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.pathPlanning.resume(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.pathPlanning.preparate(); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + @Override + public ExtAction updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + this.pathPlanning.updateInfo(messageManager); + return this; + } + + + @Override + public ExtAction setTarget(EntityID target) { + this.target = null; + StandardEntity entity = this.worldInfo.getEntity(target); + if (entity != null) { + if (entity.getStandardURN().equals(StandardEntityURN.BLOCKADE)) { + entity = this.worldInfo.getEntity(((Blockade) entity).getPosition()); + } else if (entity instanceof Human) { + entity = this.worldInfo.getPosition((Human) entity); + } + if (entity != null && entity instanceof Area) { + this.target = entity.getID(); + } + } + return this; + } + + + @Override + public ExtAction calc() { + this.result = null; + Human agent = (Human) this.agentInfo.me(); + + if (this.needRest(agent)) { + this.result = this.calcRest(agent, this.pathPlanning, this.target); + if (this.result != null) { + return this; + } + } + if (this.target == null) { + return this; + } + this.pathPlanning.setFrom(agent.getPosition()); + this.pathPlanning.setDestination(this.target); + List path = this.pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + this.result = new ActionMove(path); + } + return this; + } + + + private boolean needRest(Human agent) { + int hp = agent.getHP(); + int damage = agent.getDamage(); + if (hp == 0 || damage == 0) { + return false; + } + int activeTime = (hp / damage) + ((hp % damage) != 0 ? 1 : 0); + if (this.kernelTime == -1) { + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + } + return damage >= this.thresholdRest + || (activeTime + this.agentInfo.getTime()) < this.kernelTime; + } + + + private Action calcRest(Human human, PathPlanning pathPlanning, + EntityID target) { + EntityID position = human.getPosition(); + Collection refuges = this.worldInfo + .getEntityIDsOfType(StandardEntityURN.REFUGE); + int currentSize = refuges.size(); + if (refuges.contains(position)) { + return new ActionRest(); + } + List firstResult = null; + while (refuges.size() > 0) { + pathPlanning.setFrom(position); + pathPlanning.setDestination(refuges); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + if (firstResult == null) { + firstResult = new ArrayList<>(path); + if (target == null) { + break; + } + } + EntityID refugeID = path.get(path.size() - 1); + pathPlanning.setFrom(refugeID); + pathPlanning.setDestination(target); + List fromRefugeToTarget = pathPlanning.calc().getResult(); + if (fromRefugeToTarget != null && fromRefugeToTarget.size() > 0) { + return new ActionMove(path); + } + refuges.remove(refugeID); + // remove failed + if (currentSize == refuges.size()) { + break; + } + currentSize = refuges.size(); + } else { + break; + } + } + return firstResult != null ? new ActionMove(firstResult) : null; + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionTransport.java b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionTransport.java new file mode 100644 index 0000000..3d134e9 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/extaction/DefaultExtActionTransport.java @@ -0,0 +1,348 @@ +package adf_core_python.impl.extaction; + +import adf.core.agent.action.Action; +import adf.core.agent.action.ambulance.ActionLoad; +import adf.core.agent.action.ambulance.ActionUnload; +import adf.core.agent.action.common.ActionMove; +import adf.core.agent.action.common.ActionRest; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.extaction.ExtAction; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import com.google.common.collect.Lists; +import rescuecore2.config.NoSuchConfigOptionException; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.ArrayList; +import java.util.Collection; +import java.util.List; + +import static rescuecore2.standard.entities.StandardEntityURN.*; + +public class DefaultExtActionTransport extends ExtAction { + + private PathPlanning pathPlanning; + + private int thresholdRest; + private int kernelTime; + + private EntityID target; + + public DefaultExtActionTransport(AgentInfo agentInfo, WorldInfo worldInfo, ScenarioInfo scenarioInfo, ModuleManager moduleManager, DevelopData developData) { + super(agentInfo, worldInfo, scenarioInfo, moduleManager, developData); + this.target = null; + this.thresholdRest = developData + .getInteger("adf.impl.extaction.DefaultExtActionTransport.rest", 100); + + switch (scenarioInfo.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.pathPlanning = moduleManager.getModule( + "DefaultExtActionTransport.PathPlanning", + "adf_core_python.impl.module.algorithm.DijkstraPathPlanning"); + break; + } + } + + + public ExtAction precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + this.pathPlanning.precompute(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + public ExtAction resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.pathPlanning.resume(precomputeData); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + public ExtAction preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.pathPlanning.preparate(); + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + return this; + } + + + public ExtAction updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + this.pathPlanning.updateInfo(messageManager); + return this; + } + + + @Override + public ExtAction setTarget(EntityID target) { + this.target = null; + if (target != null) { + StandardEntity entity = this.worldInfo.getEntity(target); + if (entity instanceof Human || entity instanceof Area) { + this.target = target; + return this; + } + } + return this; + } + + + @Override + public ExtAction calc() { + this.result = null; + AmbulanceTeam agent = (AmbulanceTeam) this.agentInfo.me(); + Human transportHuman = this.agentInfo.someoneOnBoard(); + + if (transportHuman != null) { + this.result = this.calcUnload(agent, this.pathPlanning, transportHuman, + this.target); + if (this.result != null) { + return this; + } + } + if (this.needRest(agent)) { + EntityID areaID = this.convertArea(this.target); + ArrayList targets = new ArrayList<>(); + if (areaID != null) { + targets.add(areaID); + } + this.result = this.calcRefugeAction(agent, this.pathPlanning, targets, + false); + if (this.result != null) { + return this; + } + } + if (this.target != null) { + this.result = this.calcRescue(agent, this.pathPlanning, this.target); + } + return this; + } + + + private Action calcRescue(AmbulanceTeam agent, PathPlanning pathPlanning, + EntityID targetID) { + StandardEntity targetEntity = this.worldInfo.getEntity(targetID); + if (targetEntity == null) { + return null; + } + EntityID agentPosition = agent.getPosition(); + if (targetEntity instanceof Human) { + Human human = (Human) targetEntity; + if (!human.isPositionDefined()) { + return null; + } + if (human.isHPDefined() && human.getHP() == 0) { + return null; + } + EntityID targetPosition = human.getPosition(); + if (agentPosition.getValue() == targetPosition.getValue()) { + if ((human.getStandardURN() == CIVILIAN) && + (!human.isBuriednessDefined() || (human.isBuriednessDefined() && (human.getBuriedness() == 0)))) { + return new ActionLoad(human.getID()); + } + } else { + List path = pathPlanning.getResult(agentPosition, + targetPosition); + if (path != null && path.size() > 0) { + return new ActionMove(path); + } + } + return null; + } + if (targetEntity.getStandardURN() == BLOCKADE) { + Blockade blockade = (Blockade) targetEntity; + if (blockade.isPositionDefined()) { + targetEntity = this.worldInfo.getEntity(blockade.getPosition()); + } + } + if (targetEntity instanceof Area) { + List path = pathPlanning.getResult(agentPosition, + targetEntity.getID()); + if (path != null && path.size() > 0) { + return new ActionMove(path); + } + } + return null; + } + + + private Action calcUnload(AmbulanceTeam agent, PathPlanning pathPlanning, + Human transportHuman, EntityID targetID) { + if (transportHuman == null) { + return null; + } + if (transportHuman.isHPDefined() && transportHuman.getHP() == 0) { + return new ActionUnload(); + } + EntityID agentPosition = agent.getPosition(); + if (targetID == null + || transportHuman.getID().getValue() == targetID.getValue()) { + StandardEntity position = this.worldInfo.getEntity(agentPosition); + if (position != null && position.getStandardURN() == REFUGE) { + return new ActionUnload(); + } else { + pathPlanning.setFrom(agentPosition); + pathPlanning.setDestination(this.worldInfo.getEntityIDsOfType(REFUGE)); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + return new ActionMove(path); + } + } + } + if (targetID == null) { + return null; + } + StandardEntity targetEntity = this.worldInfo.getEntity(targetID); + if (targetEntity != null && targetEntity.getStandardURN() == BLOCKADE) { + Blockade blockade = (Blockade) targetEntity; + if (blockade.isPositionDefined()) { + targetEntity = this.worldInfo.getEntity(blockade.getPosition()); + } + } + if (targetEntity instanceof Area) { + if (agentPosition.getValue() == targetID.getValue()) { + return new ActionUnload(); + } else { + pathPlanning.setFrom(agentPosition); + pathPlanning.setDestination(targetID); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + return new ActionMove(path); + } + } + } else if (targetEntity instanceof Human) { + Human human = (Human) targetEntity; + if (human.isPositionDefined()) { + return calcRefugeAction(agent, pathPlanning, + Lists.newArrayList(human.getPosition()), true); + } + pathPlanning.setFrom(agentPosition); + pathPlanning.setDestination(this.worldInfo.getEntityIDsOfType(REFUGE)); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + return new ActionMove(path); + } + } + return null; + } + + + private boolean needRest(Human agent) { + int hp = agent.getHP(); + int damage = agent.getDamage(); + if (hp == 0 || damage == 0) { + return false; + } + int activeTime = (hp / damage) + ((hp % damage) != 0 ? 1 : 0); + if (this.kernelTime == -1) { + try { + this.kernelTime = this.scenarioInfo.getKernelTimesteps(); + } catch (NoSuchConfigOptionException e) { + this.kernelTime = -1; + } + } + return damage >= this.thresholdRest + || (activeTime + this.agentInfo.getTime()) < this.kernelTime; + } + + + private EntityID convertArea(EntityID targetID) { + StandardEntity entity = this.worldInfo.getEntity(targetID); + if (entity == null) { + return null; + } + if (entity instanceof Human) { + Human human = (Human) entity; + if (human.isPositionDefined()) { + EntityID position = human.getPosition(); + if (this.worldInfo.getEntity(position) instanceof Area) { + return position; + } + } + } else if (entity instanceof Area) { + return targetID; + } else if (entity.getStandardURN() == BLOCKADE) { + Blockade blockade = (Blockade) entity; + if (blockade.isPositionDefined()) { + return blockade.getPosition(); + } + } + return null; + } + + + private Action calcRefugeAction(Human human, PathPlanning pathPlanning, + Collection targets, boolean isUnload) { + EntityID position = human.getPosition(); + Collection refuges = this.worldInfo + .getEntityIDsOfType(StandardEntityURN.REFUGE); + int size = refuges.size(); + if (refuges.contains(position)) { + return isUnload ? new ActionUnload() : new ActionRest(); + } + List firstResult = null; + while (refuges.size() > 0) { + pathPlanning.setFrom(position); + pathPlanning.setDestination(refuges); + List path = pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + if (firstResult == null) { + firstResult = new ArrayList<>(path); + if (targets == null || targets.isEmpty()) { + break; + } + } + EntityID refugeID = path.get(path.size() - 1); + pathPlanning.setFrom(refugeID); + pathPlanning.setDestination(targets); + List fromRefugeToTarget = pathPlanning.calc().getResult(); + if (fromRefugeToTarget != null && fromRefugeToTarget.size() > 0) { + return new ActionMove(path); + } + refuges.remove(refugeID); + // remove failed + if (size == refuges.size()) { + break; + } + size = refuges.size(); + } else { + break; + } + } + return firstResult != null ? new ActionMove(firstResult) : null; + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/algorithm/AStarPathPlanning.java b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/AStarPathPlanning.java new file mode 100644 index 0000000..d8d8fba --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/AStarPathPlanning.java @@ -0,0 +1,198 @@ +package adf_core_python.impl.module.algorithm; + +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import rescuecore2.misc.collections.LazyMap; +import rescuecore2.standard.entities.Area; +import rescuecore2.worldmodel.Entity; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +public class AStarPathPlanning extends PathPlanning { + + private Map> graph; + + private EntityID from; + private Collection targets; + private List result; + + public AStarPathPlanning(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.init(); + } + + + private void init() { + Map> neighbours = new LazyMap>() { + + @Override + public Set createValue() { + return new HashSet<>(); + } + }; + for (Entity next : this.worldInfo) { + if (next instanceof Area) { + Collection areaNeighbours = ((Area) next).getNeighbours(); + neighbours.get(next.getID()).addAll(areaNeighbours); + } + } + this.graph = neighbours; + } + + + @Override + public List getResult() { + return this.result; + } + + + @Override + public PathPlanning setFrom(EntityID id) { + this.from = id; + return this; + } + + + @Override + public PathPlanning setDestination(Collection targets) { + this.targets = targets; + return this; + } + + + @Override + public PathPlanning precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public PathPlanning resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public PathPlanning preparate() { + super.preparate(); + return this; + } + + + @Override + public PathPlanning calc() { + // 1 + List open = new LinkedList<>(); + List close = new LinkedList<>(); + Map nodeMap = new HashMap<>(); + + // 3 + open.add(this.from); + nodeMap.put(this.from, new Node(null, this.from)); + close.clear(); + + while (true) { + // 4 + if (open.size() < 0) { + this.result = null; + return this; + } + + // 5 + Node n = null; + for (EntityID id : open) { + Node node = nodeMap.get(id); + + if (n == null) { + n = node; + } else if (node.estimate() < n.estimate()) { + n = node; + } + } + + // 6 + if (targets.contains(n.getID())) { + // 9 + List path = new LinkedList<>(); + while (n != null) { + path.add(0, n.getID()); + n = nodeMap.get(n.getParent()); + } + + this.result = path; + return this; + } + open.remove(n.getID()); + close.add(n.getID()); + + // 7 + Collection neighbours = this.graph.get(n.getID()); + for (EntityID neighbour : neighbours) { + Node m = new Node(n, neighbour); + + if (!open.contains(neighbour) && !close.contains(neighbour)) { + open.add(m.getID()); + nodeMap.put(neighbour, m); + } else if (open.contains(neighbour) + && m.estimate() < nodeMap.get(neighbour).estimate()) { + nodeMap.put(neighbour, m); + } else if (!close.contains(neighbour) + && m.estimate() < nodeMap.get(neighbour).estimate()) { + nodeMap.put(neighbour, m); + } + } + } + } + + private class Node { + + EntityID id; + EntityID parent; + + double cost; + double heuristic; + + public Node(Node from, EntityID id) { + this.id = id; + + if (from == null) { + this.cost = 0; + } else { + this.parent = from.getID(); + this.cost = from.getCost() + worldInfo.getDistance(from.getID(), id); + } + + this.heuristic = worldInfo.getDistance(id, + targets.toArray(new EntityID[targets.size()])[0]); + } + + + public EntityID getID() { + return id; + } + + + public double getCost() { + return cost; + } + + + public double estimate() { + return cost + heuristic; + } + + + public EntityID getParent() { + return this.parent; + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/algorithm/DijkstraPathPlanning.java b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/DijkstraPathPlanning.java new file mode 100644 index 0000000..c43aecd --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/DijkstraPathPlanning.java @@ -0,0 +1,154 @@ +package adf_core_python.impl.module.algorithm; + +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import rescuecore2.misc.collections.LazyMap; +import rescuecore2.standard.entities.Area; +import rescuecore2.worldmodel.Entity; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +public class DijkstraPathPlanning extends PathPlanning { + + private Map> graph; + + private EntityID from; + private Collection targets; + private List result; + + public DijkstraPathPlanning(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.init(); + } + + + private void init() { + Map> neighbours = new LazyMap>() { + + @Override + public Set createValue() { + return new HashSet<>(); + } + }; + for (Entity next : this.worldInfo) { + if (next instanceof Area) { + Collection areaNeighbours = ((Area) next).getNeighbours(); + neighbours.get(next.getID()).addAll(areaNeighbours); + } + } + this.graph = neighbours; + } + + + @Override + public List getResult() { + return this.result; + } + + + @Override + public PathPlanning setFrom(EntityID id) { + this.from = id; + return this; + } + + + @Override + public PathPlanning setDestination(Collection targets) { + this.targets = targets; + return this; + } + + + @Override + public PathPlanning updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } + + + @Override + public PathPlanning precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public PathPlanning resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public PathPlanning preparate() { + super.preparate(); + return this; + } + + + @Override + public PathPlanning calc() { + List open = new LinkedList<>(); + Map ancestors = new HashMap<>(); + open.add(this.from); + EntityID next; + boolean found = false; + ancestors.put(this.from, this.from); + do { + next = open.remove(0); + if (isGoal(next, targets)) { + found = true; + break; + } + Collection neighbours = graph.get(next); + if (neighbours.isEmpty()) { + continue; + } + for (EntityID neighbour : neighbours) { + if (isGoal(neighbour, targets)) { + ancestors.put(neighbour, next); + next = neighbour; + found = true; + break; + } else { + if (!ancestors.containsKey(neighbour)) { + open.add(neighbour); + ancestors.put(neighbour, next); + } + } + } + } while (!found && !open.isEmpty()); + if (!found) { + // No path + this.result = null; + } + // Walk back from goal to this.from + EntityID current = next; + LinkedList path = new LinkedList<>(); + do { + path.add(0, current); + current = ancestors.get(current); + if (current == null) { + throw new RuntimeException( + "Found a node with no ancestor! Something is broken."); + } + } while (current != this.from); + this.result = path; + return this; + } + + + private boolean isGoal(EntityID e, Collection test) { + return test.contains(e); + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/algorithm/FireClustering.java b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/FireClustering.java new file mode 100644 index 0000000..b00053e --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/FireClustering.java @@ -0,0 +1,261 @@ +package adf_core_python.impl.module.algorithm; + +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.Clustering; +import adf_core_python.core.component.module.algorithm.DynamicClustering; +import rescuecore2.standard.entities.Building; +import rescuecore2.standard.entities.StandardEntity; +import rescuecore2.standard.entities.StandardEntityURN; +import rescuecore2.worldmodel.EntityID; + +import java.util.ArrayList; +import java.util.Collection; +import java.util.LinkedList; +import java.util.List; + +public class FireClustering extends DynamicClustering { + + List> clusterList = new LinkedList<>(); + private int groupingDistance; + + public FireClustering(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.groupingDistance = developData.getInteger( + "adf.impl.module.algorithm.FireClustering.groupingDistance", 30); + } + + + /** + * calculation phase; update cluster + * + * @return own instance for method chaining + */ + @Override + public Clustering calc() { + for (EntityID changed : worldInfo.getChanged().getChangedEntities()) { + StandardEntity changedEntity = worldInfo.getEntity(changed); + if (changedEntity.getStandardURN().equals(StandardEntityURN.BUILDING)) { // changedEntity(cE) + // is + // a + // building + Building changedBuilding = (Building) changedEntity; + if (this.getClusterIndex(changedEntity) < 0) { // cE is not contained in + // cluster + if (isBurning(changedBuilding)) { // cE is burning building + ArrayList< + EntityID> hostClusterPropertyEntityIDs = new ArrayList<>(); + + // search host cluster + for (List cluster : this.clusterList) { + for (StandardEntity entity : cluster) { + if (worldInfo.getDistance(entity, + changedBuilding) <= groupingDistance) { + hostClusterPropertyEntityIDs.add(entity.getID()); + break; + } + } + } + + if (hostClusterPropertyEntityIDs.size() == 0) { // there is not host + // cluster : form + // new cluster + List cluster = new ArrayList<>(); + clusterList.add(cluster); + cluster.add(changedBuilding); + } else if (hostClusterPropertyEntityIDs.size() == 1) { // there is + // one host + // cluster : + // add + // building + // to the + // cluster + int hostIndex = this + .getClusterIndex(hostClusterPropertyEntityIDs.get(0)); + clusterList.get(hostIndex).add(changedBuilding); + } else { // there are multiple host clusters : add building to the + // cluster & combine clusters + int hostIndex = this + .getClusterIndex(hostClusterPropertyEntityIDs.get(0)); + List hostCluster = clusterList.get(hostIndex); + hostCluster.add(changedBuilding); + for (int index = 1; index < hostClusterPropertyEntityIDs + .size(); index++) { + int tergetClusterIndex = this + .getClusterIndex(hostClusterPropertyEntityIDs.get(index)); + hostCluster.addAll(clusterList.get(tergetClusterIndex)); + clusterList.remove(tergetClusterIndex); + } + } + } + } else { // cE is contained in cluster + if (!(isBurning(changedBuilding))) { // cE is not burning building + int hostClusterIndex = this.getClusterIndex(changedBuilding); + List< + StandardEntity> hostCluster = clusterList.get(hostClusterIndex); + + hostCluster.remove(changedBuilding); + + if (hostCluster.isEmpty()) { // host cluster is empty + clusterList.remove(hostClusterIndex); + } else { + // update cluster + List relatedBuilding = new ArrayList<>(); + relatedBuilding.addAll(hostCluster); + hostCluster.clear(); + + int clusterCount = 0; + while (!(relatedBuilding.isEmpty())) { + if ((clusterCount++) > 0) { + List cluster = new ArrayList<>(); + clusterList.add(cluster); + hostCluster = cluster; + } + + List openedBuilding = new LinkedList<>(); + openedBuilding.add(relatedBuilding.get(0)); + hostCluster.add(relatedBuilding.get(0)); + relatedBuilding.remove(0); + + while (!(openedBuilding.isEmpty())) { + for (StandardEntity entity : relatedBuilding) { + if (worldInfo.getDistance(openedBuilding.get(0), + entity) <= groupingDistance) { + openedBuilding.add(entity); + hostCluster.add(entity); + } + } + openedBuilding.remove(0); + relatedBuilding.removeAll(openedBuilding); + } + } + } + } + } + } + } + return this; + } + + + @Override + public Clustering updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() > 1) { + return this; + } + + this.calc(); // invoke calc() + + this.debugStdOut("Cluster : " + clusterList.size()); + + return this; + } + + + @Override + public Clustering precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() > 1) { + return this; + } + return this; + } + + + @Override + public Clustering resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() > 1) { + return this; + } + return this; + } + + + @Override + public Clustering preparate() { + super.preparate(); + if (this.getCountPreparate() > 1) { + return this; + } + return this; + } + + + @Override + public int getClusterNumber() { + return clusterList.size(); + } + + + @Override + public int getClusterIndex(StandardEntity standardEntity) { + for (int index = 0; index < clusterList.size(); index++) { + if (clusterList.get(index).contains(standardEntity)) { + return index; + } + } + return -1; + } + + + @Override + public int getClusterIndex(EntityID entityID) { + return getClusterIndex(worldInfo.getEntity(entityID)); + } + + + @Override + public Collection getClusterEntities(int i) { + return clusterList.get(i); + } + + + @Override + public Collection getClusterEntityIDs(int i) { + ArrayList list = new ArrayList<>(); + for (StandardEntity entity : getClusterEntities(i)) { + list.add(entity.getID()); + } + return list; + } + + + /** + * classify burning building + * + * @param building target building + * @return is building burning + */ + private boolean isBurning(Building building) { + if (building.isFierynessDefined()) { + switch (building.getFieryness()) { + case 1: + case 2: + case 3: + return true; + default: + return false; + } + } + return false; + } + + + /** + * output text with class name to STDOUT when debug-mode. + * + * @param text output text + */ + private void debugStdOut(String text) { + if (scenarioInfo.isDebugMode()) { + System.out.println("[" + this.getClass().getSimpleName() + "] " + text); + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/algorithm/KMeansClustering.java b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/KMeansClustering.java new file mode 100644 index 0000000..1dae975 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/algorithm/KMeansClustering.java @@ -0,0 +1,641 @@ +package adf_core_python.impl.module.algorithm; + +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.Clustering; +import adf_core_python.core.component.module.algorithm.StaticClustering; +import rescuecore2.misc.Pair; +import rescuecore2.misc.collections.LazyMap; +import rescuecore2.misc.geometry.Point2D; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.Entity; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +public class KMeansClustering extends StaticClustering { + + private static final String KEY_CLUSTER_SIZE = "clustering.size"; + private static final String KEY_CLUSTER_CENTER = "clustering.centers"; + private static final String KEY_CLUSTER_ENTITY = "clustering.entities."; + private static final String KEY_ASSIGN_AGENT = "clustering.assign"; + + private int repeatPrecompute; + private int repeatPreparate; + + private Collection entities; + + private List centerList; + private List centerIDs; + private Map> clusterEntitiesList; + private List> clusterEntityIDsList; + + private int clusterSize; + + private boolean assignAgentsFlag; + + private Map> shortestPathGraph; + + public KMeansClustering(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.repeatPrecompute = developData.getInteger( + "adf.impl.module.algorithm.KMeansClustering.repeatPrecompute", 7); + this.repeatPreparate = developData.getInteger( + "adf.impl.module.algorithm.KMeansClustering.repeatPreparate", 30); + this.clusterSize = developData.getInteger( + "adf.impl.module.algorithm.KMeansClustering.clusterSize", 5); + if (agentInfo.me().getStandardURN() + .equals(StandardEntityURN.AMBULANCE_TEAM)) { + this.clusterSize = scenarioInfo.getScenarioAgentsAt(); + } else if (agentInfo.me().getStandardURN() + .equals(StandardEntityURN.FIRE_BRIGADE)) { + this.clusterSize = scenarioInfo.getScenarioAgentsFb(); + } else if (agentInfo.me().getStandardURN() + .equals(StandardEntityURN.POLICE_FORCE)) { + this.clusterSize = scenarioInfo.getScenarioAgentsPf(); + } + this.assignAgentsFlag = developData.getBoolean( + "adf.impl.module.algorithm.KMeansClustering.assignAgentsFlag", true); + this.clusterEntityIDsList = new ArrayList<>(); + this.centerIDs = new ArrayList<>(); + this.clusterEntitiesList = new HashMap<>(); + this.centerList = new ArrayList<>(); + this.entities = wi.getEntitiesOfType(StandardEntityURN.ROAD, + StandardEntityURN.HYDRANT, StandardEntityURN.BUILDING, + StandardEntityURN.REFUGE, StandardEntityURN.GAS_STATION, + StandardEntityURN.AMBULANCE_CENTRE, StandardEntityURN.FIRE_STATION, + StandardEntityURN.POLICE_OFFICE); + } + + + @Override + public Clustering updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + this.centerList.clear(); + this.clusterEntitiesList.clear(); + return this; + } + + + @Override + public Clustering precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + this.calcPathBased(this.repeatPrecompute); + this.entities = null; + // write + precomputeData.setInteger(KEY_CLUSTER_SIZE, this.clusterSize); + precomputeData.setEntityIDList(KEY_CLUSTER_CENTER, this.centerIDs); + for (int i = 0; i < this.clusterSize; i++) { + precomputeData.setEntityIDList(KEY_CLUSTER_ENTITY + i, + this.clusterEntityIDsList.get(i)); + } + precomputeData.setBoolean(KEY_ASSIGN_AGENT, this.assignAgentsFlag); + return this; + } + + + @Override + public Clustering resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.entities = null; + // read + this.clusterSize = precomputeData.getInteger(KEY_CLUSTER_SIZE); + this.centerIDs = new ArrayList<>( + precomputeData.getEntityIDList(KEY_CLUSTER_CENTER)); + this.clusterEntityIDsList = new ArrayList<>(this.clusterSize); + for (int i = 0; i < this.clusterSize; i++) { + this.clusterEntityIDsList.add(i, + precomputeData.getEntityIDList(KEY_CLUSTER_ENTITY + i)); + } + this.assignAgentsFlag = precomputeData.getBoolean(KEY_ASSIGN_AGENT); + return this; + } + + + @Override + public Clustering preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.calcStandard(this.repeatPreparate); + this.entities = null; + return this; + } + + + @Override + public int getClusterNumber() { + // The number of clusters + return this.clusterSize; + } + + + @Override + public int getClusterIndex(StandardEntity entity) { + return this.getClusterIndex(entity.getID()); + } + + + @Override + public int getClusterIndex(EntityID id) { + for (int i = 0; i < this.clusterSize; i++) { + if (this.clusterEntityIDsList.get(i).contains(id)) { + return i; + } + } + return -1; + } + + + @Override + public Collection getClusterEntities(int index) { + List result = this.clusterEntitiesList.get(index); + if (result == null || result.isEmpty()) { + List list = this.clusterEntityIDsList.get(index); + result = new ArrayList<>(list.size()); + for (int i = 0; i < list.size(); i++) { + result.add(i, this.worldInfo.getEntity(list.get(i))); + } + this.clusterEntitiesList.put(index, result); + } + return result; + } + + + @Override + public Collection getClusterEntityIDs(int index) { + return this.clusterEntityIDsList.get(index); + } + + + @Override + public Clustering calc() { + return this; + } + + + private void calcStandard(int repeat) { + this.initShortestPath(this.worldInfo); + Random random = new Random(); + + List entityList = new ArrayList<>(this.entities); + this.centerList = new ArrayList<>(this.clusterSize); + this.clusterEntitiesList = new HashMap<>(this.clusterSize); + + // init list + for (int index = 0; index < this.clusterSize; index++) { + this.clusterEntitiesList.put(index, new ArrayList<>()); + this.centerList.add(index, entityList.get(0)); + } + System.out.println("[" + this.getClass().getSimpleName() + "] Cluster : " + + this.clusterSize); + // init center + for (int index = 0; index < this.clusterSize; index++) { + StandardEntity centerEntity; + do { + centerEntity = entityList + .get(Math.abs(random.nextInt()) % entityList.size()); + } while (this.centerList.contains(centerEntity)); + this.centerList.set(index, centerEntity); + } + // calc center + for (int i = 0; i < repeat; i++) { + this.clusterEntitiesList.clear(); + for (int index = 0; index < this.clusterSize; index++) { + this.clusterEntitiesList.put(index, new ArrayList<>()); + } + for (StandardEntity entity : entityList) { + StandardEntity tmp = this.getNearEntityByLine(this.worldInfo, + this.centerList, entity); + this.clusterEntitiesList.get(this.centerList.indexOf(tmp)).add(entity); + } + for (int index = 0; index < this.clusterSize; index++) { + int sumX = 0, sumY = 0; + for (StandardEntity entity : this.clusterEntitiesList.get(index)) { + Pair location = this.worldInfo.getLocation(entity); + sumX += location.first(); + sumY += location.second(); + } + int centerX = sumX / this.clusterEntitiesList.get(index).size(); + int centerY = sumY / this.clusterEntitiesList.get(index).size(); + StandardEntity center = this.getNearEntityByLine(this.worldInfo, + this.clusterEntitiesList.get(index), centerX, centerY); + if (center instanceof Area) { + this.centerList.set(index, center); + } else if (center instanceof Human) { + this.centerList.set(index, + this.worldInfo.getEntity(((Human) center).getPosition())); + } else if (center instanceof Blockade) { + this.centerList.set(index, + this.worldInfo.getEntity(((Blockade) center).getPosition())); + } + } + if (scenarioInfo.isDebugMode()) { + System.out.print("*"); + } + } + + if (scenarioInfo.isDebugMode()) { + System.out.println(); + } + + // set entity + this.clusterEntitiesList.clear(); + for (int index = 0; index < this.clusterSize; index++) { + this.clusterEntitiesList.put(index, new ArrayList<>()); + } + for (StandardEntity entity : entityList) { + StandardEntity tmp = this.getNearEntityByLine(this.worldInfo, + this.centerList, entity); + this.clusterEntitiesList.get(this.centerList.indexOf(tmp)).add(entity); + } + + // this.clusterEntitiesList.sort(comparing(List::size, reverseOrder())); + + if (this.assignAgentsFlag) { + List firebrigadeList = new ArrayList<>( + this.worldInfo.getEntitiesOfType(StandardEntityURN.FIRE_BRIGADE)); + List policeforceList = new ArrayList<>( + this.worldInfo.getEntitiesOfType(StandardEntityURN.POLICE_FORCE)); + List ambulanceteamList = new ArrayList<>( + this.worldInfo.getEntitiesOfType(StandardEntityURN.AMBULANCE_TEAM)); + + this.assignAgents(this.worldInfo, firebrigadeList); + this.assignAgents(this.worldInfo, policeforceList); + this.assignAgents(this.worldInfo, ambulanceteamList); + } + + this.centerIDs = new ArrayList<>(); + for (int i = 0; i < this.centerList.size(); i++) { + this.centerIDs.add(i, this.centerList.get(i).getID()); + } + for (int index = 0; index < this.clusterSize; index++) { + List entities = this.clusterEntitiesList.get(index); + List list = new ArrayList<>(entities.size()); + for (int i = 0; i < entities.size(); i++) { + list.add(i, entities.get(i).getID()); + } + this.clusterEntityIDsList.add(index, list); + } + } + + + private void calcPathBased(int repeat) { + this.initShortestPath(this.worldInfo); + Random random = new Random(); + List entityList = new ArrayList<>(this.entities); + this.centerList = new ArrayList<>(this.clusterSize); + this.clusterEntitiesList = new HashMap<>(this.clusterSize); + + for (int index = 0; index < this.clusterSize; index++) { + this.clusterEntitiesList.put(index, new ArrayList<>()); + this.centerList.add(index, entityList.get(0)); + } + for (int index = 0; index < this.clusterSize; index++) { + StandardEntity centerEntity; + do { + centerEntity = entityList + .get(Math.abs(random.nextInt()) % entityList.size()); + } while (this.centerList.contains(centerEntity)); + this.centerList.set(index, centerEntity); + } + for (int i = 0; i < repeat; i++) { + this.clusterEntitiesList.clear(); + for (int index = 0; index < this.clusterSize; index++) { + this.clusterEntitiesList.put(index, new ArrayList<>()); + } + for (StandardEntity entity : entityList) { + StandardEntity tmp = this.getNearEntity(this.worldInfo, this.centerList, + entity); + this.clusterEntitiesList.get(this.centerList.indexOf(tmp)).add(entity); + } + for (int index = 0; index < this.clusterSize; index++) { + int sumX = 0, sumY = 0; + for (StandardEntity entity : this.clusterEntitiesList.get(index)) { + Pair location = this.worldInfo.getLocation(entity); + sumX += location.first(); + sumY += location.second(); + } + int centerX = sumX / clusterEntitiesList.get(index).size(); + int centerY = sumY / clusterEntitiesList.get(index).size(); + + // this.centerList.set(index, getNearEntity(this.worldInfo, + // this.clusterEntitiesList.get(index), centerX, centerY)); + StandardEntity center = this.getNearEntity(this.worldInfo, + this.clusterEntitiesList.get(index), centerX, centerY); + if (center instanceof Area) { + this.centerList.set(index, center); + } else if (center instanceof Human) { + this.centerList.set(index, + this.worldInfo.getEntity(((Human) center).getPosition())); + } else if (center instanceof Blockade) { + this.centerList.set(index, + this.worldInfo.getEntity(((Blockade) center).getPosition())); + } + } + if (scenarioInfo.isDebugMode()) { + System.out.print("*"); + } + } + + if (scenarioInfo.isDebugMode()) { + System.out.println(); + } + + this.clusterEntitiesList.clear(); + for (int index = 0; index < this.clusterSize; index++) { + this.clusterEntitiesList.put(index, new ArrayList<>()); + } + for (StandardEntity entity : entityList) { + StandardEntity tmp = this.getNearEntity(this.worldInfo, this.centerList, + entity); + this.clusterEntitiesList.get(this.centerList.indexOf(tmp)).add(entity); + } + // this.clusterEntitiesList.sort(comparing(List::size, reverseOrder())); + if (this.assignAgentsFlag) { + List fireBrigadeList = new ArrayList<>( + this.worldInfo.getEntitiesOfType(StandardEntityURN.FIRE_BRIGADE)); + List policeForceList = new ArrayList<>( + this.worldInfo.getEntitiesOfType(StandardEntityURN.POLICE_FORCE)); + List ambulanceTeamList = new ArrayList<>( + this.worldInfo.getEntitiesOfType(StandardEntityURN.AMBULANCE_TEAM)); + this.assignAgents(this.worldInfo, fireBrigadeList); + this.assignAgents(this.worldInfo, policeForceList); + this.assignAgents(this.worldInfo, ambulanceTeamList); + } + + this.centerIDs = new ArrayList<>(); + for (int i = 0; i < this.centerList.size(); i++) { + this.centerIDs.add(i, this.centerList.get(i).getID()); + } + for (int index = 0; index < this.clusterSize; index++) { + List entities = this.clusterEntitiesList.get(index); + List list = new ArrayList<>(entities.size()); + for (int i = 0; i < entities.size(); i++) { + list.add(i, entities.get(i).getID()); + } + this.clusterEntityIDsList.add(index, list); + } + } + + + private void assignAgents(WorldInfo world, List agentList) { + int clusterIndex = 0; + while (agentList.size() > 0) { + StandardEntity center = this.centerList.get(clusterIndex); + StandardEntity agent = this.getNearAgent(world, agentList, center); + this.clusterEntitiesList.get(clusterIndex).add(agent); + agentList.remove(agent); + clusterIndex++; + if (clusterIndex >= this.clusterSize) { + clusterIndex = 0; + } + } + } + + + private StandardEntity getNearEntityByLine(WorldInfo world, + List srcEntityList, StandardEntity targetEntity) { + Pair location = world.getLocation(targetEntity); + return this.getNearEntityByLine(world, srcEntityList, location.first(), + location.second()); + } + + + private StandardEntity getNearEntityByLine(WorldInfo world, + List srcEntityList, int targetX, int targetY) { + StandardEntity result = null; + for (StandardEntity entity : srcEntityList) { + result = ((result != null) + ? this.compareLineDistance(world, targetX, targetY, result, entity) + : entity); + } + return result; + } + + + private StandardEntity getNearAgent(WorldInfo worldInfo, + List srcAgentList, StandardEntity targetEntity) { + StandardEntity result = null; + for (StandardEntity agent : srcAgentList) { + Human human = (Human) agent; + if (result == null) { + result = agent; + } else { + if (this + .comparePathDistance(worldInfo, targetEntity, result, + worldInfo.getPosition(human)) + .equals(worldInfo.getPosition(human))) { + result = agent; + } + } + } + return result; + } + + + private StandardEntity getNearEntity(WorldInfo worldInfo, + List srcEntityList, int targetX, int targetY) { + StandardEntity result = null; + for (StandardEntity entity : srcEntityList) { + result = (result != null) + ? this.compareLineDistance(worldInfo, targetX, targetY, result, + entity) + : entity; + } + return result; + } + + + private Point2D getEdgePoint(Edge edge) { + Point2D start = edge.getStart(); + Point2D end = edge.getEnd(); + return new Point2D(((start.getX() + end.getX()) / 2.0D), + ((start.getY() + end.getY()) / 2.0D)); + } + + + private double getDistance(double fromX, double fromY, double toX, + double toY) { + double dx = fromX - toX; + double dy = fromY - toY; + return Math.hypot(dx, dy); + } + + + private double getDistance(Pair from, Point2D to) { + return getDistance(from.first(), from.second(), to.getX(), to.getY()); + } + + + private double getDistance(Pair from, Edge to) { + return getDistance(from, getEdgePoint(to)); + } + + + private double getDistance(Point2D from, Point2D to) { + return getDistance(from.getX(), from.getY(), to.getX(), to.getY()); + } + + + private double getDistance(Edge from, Edge to) { + return getDistance(getEdgePoint(from), getEdgePoint(to)); + } + + + private StandardEntity compareLineDistance(WorldInfo worldInfo, int targetX, + int targetY, StandardEntity first, StandardEntity second) { + Pair firstLocation = worldInfo.getLocation(first); + Pair secondLocation = worldInfo.getLocation(second); + double firstDistance = getDistance(firstLocation.first(), + firstLocation.second(), targetX, targetY); + double secondDistance = getDistance(secondLocation.first(), + secondLocation.second(), targetX, targetY); + return (firstDistance < secondDistance ? first : second); + } + + + private StandardEntity getNearEntity(WorldInfo worldInfo, + List srcEntityList, StandardEntity targetEntity) { + StandardEntity result = null; + for (StandardEntity entity : srcEntityList) { + result = (result != null) + ? this.comparePathDistance(worldInfo, targetEntity, result, entity) + : entity; + } + return result; + } + + + private StandardEntity comparePathDistance(WorldInfo worldInfo, + StandardEntity target, StandardEntity first, StandardEntity second) { + double firstDistance = getPathDistance(worldInfo, + shortestPath(target.getID(), first.getID())); + double secondDistance = getPathDistance(worldInfo, + shortestPath(target.getID(), second.getID())); + return (firstDistance < secondDistance ? first : second); + } + + + private double getPathDistance(WorldInfo worldInfo, List path) { + if (path == null) + return Double.MAX_VALUE; + if (path.size() <= 1) + return 0.0D; + + double distance = 0.0D; + int limit = path.size() - 1; + + Area area = (Area) worldInfo.getEntity(path.get(0)); + distance += getDistance(worldInfo.getLocation(area), + area.getEdgeTo(path.get(1))); + area = (Area) worldInfo.getEntity(path.get(limit)); + distance += getDistance(worldInfo.getLocation(area), + area.getEdgeTo(path.get(limit - 1))); + + for (int i = 1; i < limit; i++) { + area = (Area) worldInfo.getEntity(path.get(i)); + distance += getDistance(area.getEdgeTo(path.get(i - 1)), + area.getEdgeTo(path.get(i + 1))); + } + return distance; + } + + + private void initShortestPath(WorldInfo worldInfo) { + Map> neighbours = new LazyMap>() { + + @Override + public Set createValue() { + return new HashSet<>(); + } + }; + for (Entity next : worldInfo) { + if (next instanceof Area) { + Collection areaNeighbours = ((Area) next).getNeighbours(); + neighbours.get(next.getID()).addAll(areaNeighbours); + } + } + for (Map.Entry> graph : neighbours.entrySet()) {// fix + // graph + for (EntityID entityID : graph.getValue()) { + neighbours.get(entityID).add(graph.getKey()); + } + } + this.shortestPathGraph = neighbours; + } + + + private List shortestPath(EntityID start, EntityID... goals) { + return shortestPath(start, Arrays.asList(goals)); + } + + + private List shortestPath(EntityID start, + Collection goals) { + List open = new LinkedList<>(); + Map ancestors = new HashMap<>(); + open.add(start); + EntityID next; + boolean found = false; + ancestors.put(start, start); + do { + next = open.remove(0); + if (isGoal(next, goals)) { + found = true; + break; + } + Collection neighbours = shortestPathGraph.get(next); + if (neighbours.isEmpty()) + continue; + + for (EntityID neighbour : neighbours) { + if (isGoal(neighbour, goals)) { + ancestors.put(neighbour, next); + next = neighbour; + found = true; + break; + } else if (!ancestors.containsKey(neighbour)) { + open.add(neighbour); + ancestors.put(neighbour, next); + } + } + } while (!found && !open.isEmpty()); + if (!found) { + // No path + return null; + } + // Walk back from goal to start + EntityID current = next; + List path = new LinkedList<>(); + do { + path.add(0, current); + current = ancestors.get(current); + if (current == null) + throw new RuntimeException( + "Found a node with no ancestor! Something is broken."); + } while (current != start); + return path; + } + + + private boolean isGoal(EntityID e, Collection test) { + return test.contains(e); + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultChannelSubscriber.java b/java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultChannelSubscriber.java new file mode 100644 index 0000000..b84ff49 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultChannelSubscriber.java @@ -0,0 +1,96 @@ +package adf_core_python.impl.module.comm; + +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.component.communication.ChannelSubscriber; +import rescuecore2.standard.entities.StandardEntityURN; + +public class DefaultChannelSubscriber extends ChannelSubscriber { + + public static int getChannelNumber(StandardEntityURN agentType, + int channelIndex, int numChannels) { + int agentIndex = 0; + if (agentType == StandardEntityURN.FIRE_BRIGADE + || agentType == StandardEntityURN.FIRE_STATION) { + agentIndex = 1; + } else if (agentType == StandardEntityURN.POLICE_FORCE + || agentType == StandardEntityURN.POLICE_OFFICE) { + agentIndex = 2; + } else if (agentType == StandardEntityURN.AMBULANCE_TEAM + || agentType == StandardEntityURN.AMBULANCE_CENTRE) { + agentIndex = 3; + } + + int index = (3 * channelIndex) + agentIndex; + if ((index % numChannels) == 0) { + index = numChannels; + } else { + index = index % numChannels; + } + return index; + } + + public static void main(String[] args) { + int numChannels = 6; + int maxChannels = 2; + for (int i = 0; i < maxChannels; i++) { + System.out.println("FIREBRIGADE-" + i + ":" + + getChannelNumber(StandardEntityURN.FIRE_BRIGADE, i, numChannels)); + } + for (int i = 0; i < maxChannels; i++) { + System.out.println("POLICE-" + i + ":" + + getChannelNumber(StandardEntityURN.POLICE_OFFICE, i, numChannels)); + } + for (int i = 0; i < maxChannels; i++) { + System.out.println("AMB-" + i + ":" + getChannelNumber( + StandardEntityURN.AMBULANCE_CENTRE, i, numChannels)); + } + } + + @Override + public void subscribe(AgentInfo agentInfo, WorldInfo worldInfo, + ScenarioInfo scenarioInfo, MessageManager messageManager) { + // subscribe only once at the beginning + if (agentInfo.getTime() == 1) { + int numChannels = scenarioInfo.getCommsChannelsCount() - 1; // 0th channel + // is the + // voice + // channel + + int maxChannelCount = 0; + boolean isPlatoon = isPlatoonAgent(agentInfo, worldInfo); + if (isPlatoon) { + maxChannelCount = scenarioInfo.getCommsChannelsMaxPlatoon(); + } else { + maxChannelCount = scenarioInfo.getCommsChannelsMaxOffice(); + } + + StandardEntityURN agentType = getAgentType(agentInfo, worldInfo); + int[] channels = new int[maxChannelCount]; + for (int i = 0; i < maxChannelCount; i++) { + channels[i] = getChannelNumber(agentType, i, numChannels); + } + + messageManager.subscribeToChannels(channels); + } + } + + protected boolean isPlatoonAgent(AgentInfo agentInfo, WorldInfo worldInfo) { + StandardEntityURN agentType = getAgentType(agentInfo, worldInfo); + if (agentType == StandardEntityURN.FIRE_BRIGADE + || agentType == StandardEntityURN.POLICE_FORCE + || agentType == StandardEntityURN.AMBULANCE_TEAM) { + return true; + } + return false; + } + + protected StandardEntityURN getAgentType(AgentInfo agentInfo, + WorldInfo worldInfo) { + StandardEntityURN agentType = worldInfo.getEntity(agentInfo.getID()) + .getStandardURN(); + return agentType; + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultMessageCoordinator.java b/java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultMessageCoordinator.java new file mode 100644 index 0000000..07ee3f2 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/comm/DefaultMessageCoordinator.java @@ -0,0 +1,199 @@ +package adf_core_python.impl.module.comm; + +import adf.core.agent.communication.standard.bundle.StandardMessage; +import adf.core.agent.communication.standard.bundle.StandardMessagePriority; +import adf.core.agent.communication.standard.bundle.centralized.*; +import adf.core.agent.communication.standard.bundle.information.*; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.communication.CommunicationMessage; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.component.communication.MessageCoordinator; +import rescuecore2.standard.entities.StandardEntityURN; + +import java.util.ArrayList; +import java.util.List; + +public class DefaultMessageCoordinator extends MessageCoordinator { + + @Override + public void coordinate(AgentInfo agentInfo, WorldInfo worldInfo, + ScenarioInfo scenarioInfo, MessageManager messageManager, + ArrayList sendMessageList, + List> channelSendMessageList) { + + // have different lists for every agent + ArrayList policeMessages = new ArrayList<>(); + ArrayList ambulanceMessages = new ArrayList<>(); + ArrayList fireBrigadeMessages = new ArrayList<>(); + + ArrayList voiceMessages = new ArrayList<>(); + + StandardEntityURN agentType = getAgentType(agentInfo, worldInfo); + + for (CommunicationMessage msg : sendMessageList) { + if (msg instanceof StandardMessage + && !((StandardMessage) msg).isRadio()) { + voiceMessages.add(msg); + } else { + if (msg instanceof MessageBuilding) { + fireBrigadeMessages.add(msg); + } else if (msg instanceof MessageCivilian) { + ambulanceMessages.add(msg); + } else if (msg instanceof MessageRoad) { + fireBrigadeMessages.add(msg); + ambulanceMessages.add(msg); + policeMessages.add(msg); + } else if (msg instanceof CommandAmbulance) { + ambulanceMessages.add(msg); + } else if (msg instanceof CommandFire) { + fireBrigadeMessages.add(msg); + } else if (msg instanceof CommandPolice) { + policeMessages.add(msg); + } else if (msg instanceof CommandScout) { + if (agentType == StandardEntityURN.FIRE_STATION) { + fireBrigadeMessages.add(msg); + } else if (agentType == StandardEntityURN.POLICE_OFFICE) { + policeMessages.add(msg); + } else if (agentType == StandardEntityURN.AMBULANCE_CENTRE) { + ambulanceMessages.add(msg); + } + } else if (msg instanceof MessageReport) { + if (agentType == StandardEntityURN.FIRE_BRIGADE) { + fireBrigadeMessages.add(msg); + } else if (agentType == StandardEntityURN.POLICE_FORCE) { + policeMessages.add(msg); + } else if (agentType == StandardEntityURN.AMBULANCE_TEAM) { + ambulanceMessages.add(msg); + } + } else if (msg instanceof MessageFireBrigade) { + fireBrigadeMessages.add(msg); + ambulanceMessages.add(msg); + policeMessages.add(msg); + } else if (msg instanceof MessagePoliceForce) { + ambulanceMessages.add(msg); + policeMessages.add(msg); + } else if (msg instanceof MessageAmbulanceTeam) { + ambulanceMessages.add(msg); + policeMessages.add(msg); + } + } + } + + if (scenarioInfo.getCommsChannelsCount() > 1) { + // send radio messages if there are more than one communication channel + int[] channelSize = new int[scenarioInfo.getCommsChannelsCount() - 1]; + + setSendMessages(scenarioInfo, StandardEntityURN.POLICE_FORCE, agentInfo, + worldInfo, policeMessages, channelSendMessageList, channelSize); + setSendMessages(scenarioInfo, StandardEntityURN.AMBULANCE_TEAM, agentInfo, + worldInfo, ambulanceMessages, channelSendMessageList, channelSize); + setSendMessages(scenarioInfo, StandardEntityURN.FIRE_BRIGADE, agentInfo, + worldInfo, fireBrigadeMessages, channelSendMessageList, channelSize); + } + + ArrayList voiceMessageLowList = new ArrayList<>(); + ArrayList voiceMessageNormalList = new ArrayList<>(); + ArrayList voiceMessageHighList = new ArrayList<>(); + + for (CommunicationMessage msg : voiceMessages) { + if (msg instanceof StandardMessage) { + StandardMessage m = (StandardMessage) msg; + switch (m.getSendingPriority()) { + case LOW: + voiceMessageLowList.add(m); + break; + case NORMAL: + voiceMessageNormalList.add(m); + break; + case HIGH: + voiceMessageHighList.add(m); + break; + } + } + } + + // set the voice channel messages + channelSendMessageList.get(0).addAll(voiceMessageHighList); + channelSendMessageList.get(0).addAll(voiceMessageNormalList); + channelSendMessageList.get(0).addAll(voiceMessageLowList); + } + + + protected int[] getChannelsByAgentType(StandardEntityURN agentType, + AgentInfo agentInfo, WorldInfo worldInfo, ScenarioInfo scenarioInfo, + int channelIndex) { + int numChannels = scenarioInfo.getCommsChannelsCount() - 1; // 0th channel + // is the voice + // channel + int maxChannelCount = 0; + boolean isPlatoon = isPlatoonAgent(agentInfo, worldInfo); + if (isPlatoon) { + maxChannelCount = scenarioInfo.getCommsChannelsMaxPlatoon(); + } else { + maxChannelCount = scenarioInfo.getCommsChannelsMaxOffice(); + } + int[] channels = new int[maxChannelCount]; + + for (int i = 0; i < maxChannelCount; i++) { + channels[i] = DefaultChannelSubscriber.getChannelNumber(agentType, i, + numChannels); + } + return channels; + } + + + protected boolean isPlatoonAgent(AgentInfo agentInfo, WorldInfo worldInfo) { + StandardEntityURN agentType = getAgentType(agentInfo, worldInfo); + if (agentType == StandardEntityURN.FIRE_BRIGADE + || agentType == StandardEntityURN.POLICE_FORCE + || agentType == StandardEntityURN.AMBULANCE_TEAM) { + return true; + } + return false; + } + + + protected StandardEntityURN getAgentType(AgentInfo agentInfo, + WorldInfo worldInfo) { + StandardEntityURN agentType = worldInfo.getEntity(agentInfo.getID()) + .getStandardURN(); + return agentType; + } + + + protected void setSendMessages(ScenarioInfo scenarioInfo, + StandardEntityURN agentType, AgentInfo agentInfo, WorldInfo worldInfo, + List messages, + List> channelSendMessageList, + int[] channelSize) { + int channelIndex = 0; + int[] channels = getChannelsByAgentType(agentType, agentInfo, worldInfo, + scenarioInfo, channelIndex); + int channel = channels[channelIndex]; + int channelCapacity = scenarioInfo.getCommsChannelBandwidth(channel); + // start from HIGH, NORMAL, to LOW + for (int i = StandardMessagePriority.values().length - 1; i >= 0; i--) { + for (CommunicationMessage msg : messages) { + StandardMessage smsg = (StandardMessage) msg; + if (smsg.getSendingPriority() == StandardMessagePriority.values()[i]) { + channelSize[channel - 1] += smsg.getByteArraySize(); + if (channelSize[channel - 1] > channelCapacity) { + channelSize[channel - 1] -= smsg.getByteArraySize(); + channelIndex++; + if (channelIndex < channels.length) { + channel = channels[channelIndex]; + channelCapacity = scenarioInfo.getCommsChannelBandwidth(channel); + channelSize[channel - 1] += smsg.getByteArraySize(); + } else { + // if there is no new channel for that message types, just break + break; + } + } + channelSendMessageList.get(channel).add(smsg); + } + } + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultAmbulanceTargetAllocator.java b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultAmbulanceTargetAllocator.java new file mode 100644 index 0000000..75d2b0e --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultAmbulanceTargetAllocator.java @@ -0,0 +1,362 @@ +package adf_core_python.impl.module.complex; + +import adf.core.agent.communication.standard.bundle.MessageUtil; +import adf.core.agent.communication.standard.bundle.centralized.CommandAmbulance; +import adf.core.agent.communication.standard.bundle.centralized.MessageReport; +import adf.core.agent.communication.standard.bundle.information.MessageAmbulanceTeam; +import adf.core.agent.communication.standard.bundle.information.MessageCivilian; +import adf.core.agent.communication.standard.bundle.information.MessageFireBrigade; +import adf.core.agent.communication.standard.bundle.information.MessagePoliceForce; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.communication.CommunicationMessage; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.AmbulanceTargetAllocator; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +import static rescuecore2.standard.entities.StandardEntityURN.REFUGE; + +public class DefaultAmbulanceTargetAllocator extends AmbulanceTargetAllocator { + + private Collection priorityHumans; + private Collection targetHumans; + + private Map ambulanceTeamInfoMap; + + public DefaultAmbulanceTargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.priorityHumans = new HashSet<>(); + this.targetHumans = new HashSet<>(); + this.ambulanceTeamInfoMap = new HashMap<>(); + } + + + @Override + public AmbulanceTargetAllocator resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + for (EntityID id : this.worldInfo + .getEntityIDsOfType(StandardEntityURN.AMBULANCE_TEAM)) { + this.ambulanceTeamInfoMap.put(id, new AmbulanceTeamInfo(id)); + } + return this; + } + + + @Override + public AmbulanceTargetAllocator preparate() { + super.preparate(); + if (this.getCountPrecompute() >= 2) { + return this; + } + for (EntityID id : this.worldInfo + .getEntityIDsOfType(StandardEntityURN.AMBULANCE_TEAM)) { + this.ambulanceTeamInfoMap.put(id, new AmbulanceTeamInfo(id)); + } + return this; + } + + + @Override + public Map getResult() { + return this.convert(this.ambulanceTeamInfoMap); + } + + + @Override + public AmbulanceTargetAllocator calc() { + List agents = this + .getActionAgents(this.ambulanceTeamInfoMap); + Collection removes = new ArrayList<>(); + int currentTime = this.agentInfo.getTime(); + for (EntityID target : this.priorityHumans) { + if (agents.size() > 0) { + StandardEntity targetEntity = this.worldInfo.getEntity(target); + if (targetEntity != null && targetEntity instanceof Human + && ((Human) targetEntity).isPositionDefined()) { + agents.sort(new DistanceSorter(this.worldInfo, targetEntity)); + StandardEntity result = agents.get(0); + agents.remove(0); + AmbulanceTeamInfo info = this.ambulanceTeamInfoMap + .get(result.getID()); + if (info != null) { + info.canNewAction = false; + info.target = target; + info.commandTime = currentTime; + this.ambulanceTeamInfoMap.put(result.getID(), info); + removes.add(target); + } + } + } + } + this.priorityHumans.removeAll(removes); + removes.clear(); + for (EntityID target : this.targetHumans) { + if (agents.size() > 0) { + StandardEntity targetEntity = this.worldInfo.getEntity(target); + if (targetEntity != null && targetEntity instanceof Human + && ((Human) targetEntity).isPositionDefined()) { + agents.sort(new DistanceSorter(this.worldInfo, targetEntity)); + StandardEntity result = agents.get(0); + agents.remove(0); + AmbulanceTeamInfo info = this.ambulanceTeamInfoMap + .get(result.getID()); + if (info != null) { + info.canNewAction = false; + info.target = target; + info.commandTime = currentTime; + this.ambulanceTeamInfoMap.put(result.getID(), info); + removes.add(target); + } + } + } + } + this.targetHumans.removeAll(removes); + return this; + } + + + @Override + public AmbulanceTargetAllocator updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + int currentTime = this.agentInfo.getTime(); + for (CommunicationMessage message : messageManager + .getReceivedMessageList()) { + Class messageClass = message.getClass(); + if (messageClass == MessageCivilian.class) { + MessageCivilian mc = (MessageCivilian) message; + MessageUtil.reflectMessage(this.worldInfo, mc); + if (mc.isBuriednessDefined() && mc.getBuriedness() > 0) { + this.targetHumans.add(mc.getAgentID()); + } else { + this.priorityHumans.remove(mc.getAgentID()); + this.targetHumans.remove(mc.getAgentID()); + } + } else if (messageClass == MessageFireBrigade.class) { + MessageFireBrigade mfb = (MessageFireBrigade) message; + MessageUtil.reflectMessage(this.worldInfo, mfb); + if (mfb.isBuriednessDefined() && mfb.getBuriedness() > 0) { + this.priorityHumans.add(mfb.getAgentID()); + } else { + this.priorityHumans.remove(mfb.getAgentID()); + this.targetHumans.remove(mfb.getAgentID()); + } + } else if (messageClass == MessagePoliceForce.class) { + MessagePoliceForce mpf = (MessagePoliceForce) message; + MessageUtil.reflectMessage(this.worldInfo, mpf); + if (mpf.isBuriednessDefined() && mpf.getBuriedness() > 0) { + this.priorityHumans.add(mpf.getAgentID()); + } else { + this.priorityHumans.remove(mpf.getAgentID()); + this.targetHumans.remove(mpf.getAgentID()); + } + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(MessageAmbulanceTeam.class)) { + MessageAmbulanceTeam mat = (MessageAmbulanceTeam) message; + MessageUtil.reflectMessage(this.worldInfo, mat); + if (mat.isBuriednessDefined() && mat.getBuriedness() > 0) { + this.priorityHumans.add(mat.getAgentID()); + } else { + this.priorityHumans.remove(mat.getAgentID()); + this.targetHumans.remove(mat.getAgentID()); + } + AmbulanceTeamInfo info = this.ambulanceTeamInfoMap.get(mat.getAgentID()); + if (info == null) { + info = new AmbulanceTeamInfo(mat.getAgentID()); + } + if (currentTime >= info.commandTime + 2) { + this.ambulanceTeamInfoMap.put(mat.getAgentID(), this.update(info, mat)); + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(CommandAmbulance.class)) { + CommandAmbulance command = (CommandAmbulance) message; + if (command.getAction() == CommandAmbulance.ACTION_RESCUE + && command.isBroadcast()) { + this.priorityHumans.add(command.getTargetID()); + this.targetHumans.add(command.getTargetID()); + } else if (command.getAction() == CommandAmbulance.ACTION_LOAD + && command.isBroadcast()) { + this.priorityHumans.add(command.getTargetID()); + this.targetHumans.add(command.getTargetID()); + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(MessageReport.class)) { + MessageReport report = (MessageReport) message; + AmbulanceTeamInfo info = this.ambulanceTeamInfoMap + .get(report.getSenderID()); + if (info != null && report.isDone()) { + info.canNewAction = true; + this.priorityHumans.remove(info.target); + this.targetHumans.remove(info.target); + info.target = null; + this.ambulanceTeamInfoMap.put(info.agentID, info); + } + } + return this; + } + + + private Map + convert(Map map) { + Map result = new HashMap<>(); + for (EntityID id : map.keySet()) { + AmbulanceTeamInfo info = map.get(id); + if (info != null && info.target != null) { + result.put(id, info.target); + } + } + return result; + } + + + private List + getActionAgents(Map map) { + List result = new ArrayList<>(); + for (StandardEntity entity : this.worldInfo + .getEntitiesOfType(StandardEntityURN.POLICE_FORCE)) { + AmbulanceTeamInfo info = map.get(entity.getID()); + if (info != null && info.canNewAction + && ((AmbulanceTeam) entity).isPositionDefined()) { + result.add(entity); + } + } + return result; + } + + + private AmbulanceTeamInfo update(AmbulanceTeamInfo info, + MessageAmbulanceTeam message) { + if (message.isBuriednessDefined() && message.getBuriedness() > 0) { + info.canNewAction = false; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + return info; + } + if (message.getAction() == MessageAmbulanceTeam.ACTION_REST) { + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } else if (message.getAction() == MessageAmbulanceTeam.ACTION_MOVE) { + if (message.getTargetID() != null) { + StandardEntity entity = this.worldInfo.getEntity(message.getTargetID()); + if (entity != null) { + if (entity instanceof Area) { + if (entity.getStandardURN() == REFUGE) { + info.canNewAction = false; + return info; + } + StandardEntity targetEntity = this.worldInfo.getEntity(info.target); + if (targetEntity != null) { + if (targetEntity instanceof Human) { + targetEntity = this.worldInfo.getPosition((Human) targetEntity); + if (targetEntity == null) { + this.priorityHumans.remove(info.target); + this.targetHumans.remove(info.target); + info.canNewAction = true; + info.target = null; + return info; + } + } + if (targetEntity.getID().getValue() == entity.getID() + .getValue()) { + info.canNewAction = false; + } else { + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } + } else { + info.canNewAction = true; + info.target = null; + } + return info; + } else if (entity instanceof Human) { + if (entity.getID().getValue() == info.target.getValue()) { + info.canNewAction = false; + } else { + info.canNewAction = true; + this.targetHumans.add(info.target); + this.targetHumans.add(entity.getID()); + info.target = null; + } + return info; + } + } + } + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } else if (message.getAction() == MessageAmbulanceTeam.ACTION_RESCUE) { + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } else if (message.getAction() == MessageAmbulanceTeam.ACTION_LOAD) { + info.canNewAction = false; + } else if (message.getAction() == MessageAmbulanceTeam.ACTION_UNLOAD) { + info.canNewAction = true; + this.priorityHumans.remove(info.target); + this.targetHumans.remove(info.target); + info.target = null; + } + return info; + } + + private class AmbulanceTeamInfo { + + EntityID agentID; + EntityID target; + boolean canNewAction; + int commandTime; + + AmbulanceTeamInfo(EntityID id) { + agentID = id; + target = null; + canNewAction = true; + commandTime = -1; + } + } + + private class DistanceSorter implements Comparator { + + private StandardEntity reference; + private WorldInfo worldInfo; + + DistanceSorter(WorldInfo wi, StandardEntity reference) { + this.reference = reference; + this.worldInfo = wi; + } + + + public int compare(StandardEntity a, StandardEntity b) { + int d1 = this.worldInfo.getDistance(this.reference, a); + int d2 = this.worldInfo.getDistance(this.reference, b); + return d1 - d2; + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultBuildingDetector.java b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultBuildingDetector.java new file mode 100644 index 0000000..a266d8a --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultBuildingDetector.java @@ -0,0 +1,209 @@ +package adf_core_python.impl.module.complex; + +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.Clustering; +import adf_core_python.core.component.module.complex.BuildingDetector; +import rescuecore2.misc.geometry.Vector2D; +import rescuecore2.standard.entities.Building; +import rescuecore2.standard.entities.StandardEntity; +import rescuecore2.standard.entities.StandardEntityURN; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +public class DefaultBuildingDetector extends BuildingDetector { + + private EntityID result; + + private Clustering clustering; + + public DefaultBuildingDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + switch (si.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.clustering = moduleManager.getModule( + "DefaultBuildingDetector.Clustering", + "adf_core_python_core_python.impl.module.algorithm.KMeansClustering"); + break; + } + registerModule(this.clustering); + } + + + @Override + public BuildingDetector updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + + return this; + } + + + @Override + public BuildingDetector calc() { + this.result = this.calcTargetInCluster(); + if (this.result == null) { + this.result = this.calcTargetInWorld(); + } + return this; + } + + + private EntityID calcTargetInCluster() { + int clusterIndex = this.clustering.getClusterIndex(this.agentInfo.getID()); + Collection elements = this.clustering + .getClusterEntities(clusterIndex); + if (elements == null || elements.isEmpty()) { + return null; + } + StandardEntity me = this.agentInfo.me(); + List agents = new ArrayList<>( + this.worldInfo.getEntitiesOfType(StandardEntityURN.FIRE_BRIGADE)); + Set fireBuildings = new HashSet<>(); + for (StandardEntity entity : elements) { + if (entity instanceof Building && ((Building) entity).isOnFire()) { + fireBuildings.add(entity); + } + } + for (StandardEntity entity : fireBuildings) { + if (agents.isEmpty()) { + break; + } else if (agents.size() == 1) { + if (agents.get(0).getID().getValue() == me.getID().getValue()) { + return entity.getID(); + } + break; + } + agents.sort(new DistanceSorter(this.worldInfo, entity)); + StandardEntity a0 = agents.get(0); + StandardEntity a1 = agents.get(1); + + if (me.getID().getValue() == a0.getID().getValue() + || me.getID().getValue() == a1.getID().getValue()) { + return entity.getID(); + } else { + agents.remove(a0); + agents.remove(a1); + } + } + return null; + } + + + private EntityID calcTargetInWorld() { + Collection entities = this.worldInfo.getEntitiesOfType( + StandardEntityURN.BUILDING, StandardEntityURN.GAS_STATION, + StandardEntityURN.AMBULANCE_CENTRE, StandardEntityURN.FIRE_STATION, + StandardEntityURN.POLICE_OFFICE); + StandardEntity me = this.agentInfo.me(); + List agents = new ArrayList<>( + worldInfo.getEntitiesOfType(StandardEntityURN.FIRE_BRIGADE)); + Set fireBuildings = new HashSet<>(); + for (StandardEntity entity : entities) { + if (((Building) entity).isOnFire()) { + fireBuildings.add(entity); + } + } + for (StandardEntity entity : fireBuildings) { + if (agents.isEmpty()) { + break; + } else if (agents.size() == 1) { + if (agents.get(0).getID().getValue() == me.getID().getValue()) { + return entity.getID(); + } + break; + } + agents.sort(new DistanceSorter(this.worldInfo, entity)); + StandardEntity a0 = agents.get(0); + StandardEntity a1 = agents.get(1); + + if (me.getID().getValue() == a0.getID().getValue() + || me.getID().getValue() == a1.getID().getValue()) { + return entity.getID(); + } else { + agents.remove(a0); + agents.remove(a1); + } + } + return null; + } + + + @Override + public EntityID getTarget() { + return this.result; + } + + + @Override + public BuildingDetector precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + return this; + } + + + @Override + public BuildingDetector resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + return this; + } + + + @Override + public BuildingDetector preparate() { + super.preparate(); + if (this.getCountPrecompute() >= 2) { + return this; + } + return this; + } + + + @SuppressWarnings("unused") + private double getAngle(Vector2D v1, Vector2D v2) { + double flag = (v1.getX() * v2.getY()) - (v1.getY() * v2.getX()); + double angle = Math.acos(((v1.getX() * v2.getX()) + (v1.getY() * v2.getY())) + / (v1.getLength() * v2.getLength())); + if (flag > 0) { + return angle; + } + if (flag < 0) { + return -1 * angle; + } + return 0.0D; + } + + private class DistanceSorter implements Comparator { + + private StandardEntity reference; + private WorldInfo worldInfo; + + DistanceSorter(WorldInfo wi, StandardEntity reference) { + this.reference = reference; + this.worldInfo = wi; + } + + + public int compare(StandardEntity a, StandardEntity b) { + int d1 = this.worldInfo.getDistance(this.reference, a); + int d2 = this.worldInfo.getDistance(this.reference, b); + return d1 - d2; + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultFireTargetAllocator.java b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultFireTargetAllocator.java new file mode 100644 index 0000000..1d3224f --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultFireTargetAllocator.java @@ -0,0 +1,345 @@ +package adf_core_python.impl.module.complex; + +import adf.core.agent.communication.standard.bundle.MessageUtil; +import adf.core.agent.communication.standard.bundle.centralized.CommandFire; +import adf.core.agent.communication.standard.bundle.centralized.MessageReport; +import adf.core.agent.communication.standard.bundle.information.MessageCivilian; +import adf.core.agent.communication.standard.bundle.information.MessageFireBrigade; +import adf.core.agent.communication.standard.bundle.information.MessagePoliceForce; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.communication.CommunicationMessage; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.FireTargetAllocator; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +import static rescuecore2.standard.entities.StandardEntityURN.REFUGE; + +public class DefaultFireTargetAllocator extends FireTargetAllocator { + + private Collection priorityHumans; + private Collection targetHumans; + + private Map fireBrigadeInfoMap; + + public DefaultFireTargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.priorityHumans = new HashSet<>(); + this.targetHumans = new HashSet<>(); + this.fireBrigadeInfoMap = new HashMap<>(); + } + + + @Override + public FireTargetAllocator resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + for (EntityID id : this.worldInfo + .getEntityIDsOfType(StandardEntityURN.FIRE_BRIGADE)) { + this.fireBrigadeInfoMap.put(id, new FireBrigadeInfo(id)); + } + return this; + } + + + @Override + public FireTargetAllocator preparate() { + super.preparate(); + if (this.getCountPrecompute() >= 2) { + return this; + } + for (EntityID id : this.worldInfo + .getEntityIDsOfType(StandardEntityURN.AMBULANCE_TEAM)) { + this.fireBrigadeInfoMap.put(id, new FireBrigadeInfo(id)); + } + return this; + } + + + @Override + public Map getResult() { + return this.convert(this.fireBrigadeInfoMap); + } + + + @Override + public FireTargetAllocator calc() { + List agents = this.getActionAgents(this.fireBrigadeInfoMap); + Collection removes = new ArrayList<>(); + int currentTime = this.agentInfo.getTime(); + for (EntityID target : this.priorityHumans) { + if (agents.size() > 0) { + StandardEntity targetEntity = this.worldInfo.getEntity(target); + if (targetEntity != null && targetEntity instanceof Human + && ((Human) targetEntity).isPositionDefined()) { + agents.sort(new DistanceSorter(this.worldInfo, targetEntity)); + StandardEntity result = agents.get(0); + agents.remove(0); + FireBrigadeInfo info = this.fireBrigadeInfoMap.get(result.getID()); + if (info != null) { + info.canNewAction = false; + info.target = target; + info.commandTime = currentTime; + this.fireBrigadeInfoMap.put(result.getID(), info); + removes.add(target); + } + } + } + } + this.priorityHumans.removeAll(removes); + removes.clear(); + for (EntityID target : this.targetHumans) { + if (agents.size() > 0) { + StandardEntity targetEntity = this.worldInfo.getEntity(target); + if (targetEntity != null && targetEntity instanceof Human + && ((Human) targetEntity).isPositionDefined()) { + agents.sort(new DistanceSorter(this.worldInfo, targetEntity)); + StandardEntity result = agents.get(0); + agents.remove(0); + FireBrigadeInfo info = this.fireBrigadeInfoMap.get(result.getID()); + if (info != null) { + info.canNewAction = false; + info.target = target; + info.commandTime = currentTime; + this.fireBrigadeInfoMap.put(result.getID(), info); + removes.add(target); + } + } + } + } + this.targetHumans.removeAll(removes); + return this; + } + + + @Override + public FireTargetAllocator updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + int currentTime = this.agentInfo.getTime(); + for (CommunicationMessage message : messageManager + .getReceivedMessageList()) { + Class messageClass = message.getClass(); + if (messageClass == MessageCivilian.class) { + MessageCivilian mc = (MessageCivilian) message; + MessageUtil.reflectMessage(this.worldInfo, mc); + if (mc.isBuriednessDefined() && mc.getBuriedness() > 0) { + this.targetHumans.add(mc.getAgentID()); + } else { + this.priorityHumans.remove(mc.getAgentID()); + this.targetHumans.remove(mc.getAgentID()); + } + } else if (messageClass == MessageFireBrigade.class) { + MessageFireBrigade mfb = (MessageFireBrigade) message; + MessageUtil.reflectMessage(this.worldInfo, mfb); + if (mfb.isBuriednessDefined() && mfb.getBuriedness() > 0) { + this.priorityHumans.add(mfb.getAgentID()); + } else { + this.priorityHumans.remove(mfb.getAgentID()); + this.targetHumans.remove(mfb.getAgentID()); + } + } else if (messageClass == MessagePoliceForce.class) { + MessagePoliceForce mpf = (MessagePoliceForce) message; + MessageUtil.reflectMessage(this.worldInfo, mpf); + if (mpf.isBuriednessDefined() && mpf.getBuriedness() > 0) { + this.priorityHumans.add(mpf.getAgentID()); + } else { + this.priorityHumans.remove(mpf.getAgentID()); + this.targetHumans.remove(mpf.getAgentID()); + } + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(MessageFireBrigade.class)) { + MessageFireBrigade mat = (MessageFireBrigade) message; + MessageUtil.reflectMessage(this.worldInfo, mat); + if (mat.isBuriednessDefined() && mat.getBuriedness() > 0) { + this.priorityHumans.add(mat.getAgentID()); + } else { + this.priorityHumans.remove(mat.getAgentID()); + this.targetHumans.remove(mat.getAgentID()); + } + FireBrigadeInfo info = this.fireBrigadeInfoMap.get(mat.getAgentID()); + if (info == null) { + info = new FireBrigadeInfo(mat.getAgentID()); + } + if (currentTime >= info.commandTime + 2) { + this.fireBrigadeInfoMap.put(mat.getAgentID(), this.update(info, mat)); + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(CommandFire.class)) { + CommandFire command = (CommandFire) message; + if (command.getAction() == CommandFire.ACTION_RESCUE + && command.isBroadcast()) { + this.priorityHumans.add(command.getTargetID()); + this.targetHumans.add(command.getTargetID()); + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(MessageReport.class)) { + MessageReport report = (MessageReport) message; + FireBrigadeInfo info = this.fireBrigadeInfoMap.get(report.getSenderID()); + if (info != null && report.isDone()) { + info.canNewAction = true; + this.priorityHumans.remove(info.target); + this.targetHumans.remove(info.target); + info.target = null; + this.fireBrigadeInfoMap.put(info.agentID, info); + } + } + return this; + } + + + private Map convert(Map map) { + Map result = new HashMap<>(); + for (EntityID id : map.keySet()) { + FireBrigadeInfo info = map.get(id); + if (info != null && info.target != null) { + result.put(id, info.target); + } + } + return result; + } + + + private List + getActionAgents(Map map) { + List result = new ArrayList<>(); + for (StandardEntity entity : this.worldInfo + .getEntitiesOfType(StandardEntityURN.POLICE_FORCE)) { + FireBrigadeInfo info = map.get(entity.getID()); + if (info != null && info.canNewAction + && ((FireBrigade) entity).isPositionDefined()) { + result.add(entity); + } + } + return result; + } + + + private FireBrigadeInfo update(FireBrigadeInfo info, + MessageFireBrigade message) { + if (message.isBuriednessDefined() && message.getBuriedness() > 0) { + info.canNewAction = false; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + return info; + } + if (message.getAction() == MessageFireBrigade.ACTION_REST) { + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } else if (message.getAction() == MessageFireBrigade.ACTION_MOVE) { + if (message.getTargetID() != null) { + StandardEntity entity = this.worldInfo.getEntity(message.getTargetID()); + if (entity != null) { + if (entity instanceof Area) { + if (entity.getStandardURN() == REFUGE) { + info.canNewAction = false; + return info; + } + StandardEntity targetEntity = this.worldInfo.getEntity(info.target); + if (targetEntity != null) { + if (targetEntity instanceof Human) { + targetEntity = this.worldInfo.getPosition((Human) targetEntity); + if (targetEntity == null) { + this.priorityHumans.remove(info.target); + this.targetHumans.remove(info.target); + info.canNewAction = true; + info.target = null; + return info; + } + } + if (targetEntity.getID().getValue() == entity.getID() + .getValue()) { + info.canNewAction = false; + } else { + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } + } else { + info.canNewAction = true; + info.target = null; + } + return info; + } else if (entity instanceof Human) { + if (entity.getID().getValue() == info.target.getValue()) { + info.canNewAction = false; + } else { + info.canNewAction = true; + this.targetHumans.add(info.target); + this.targetHumans.add(entity.getID()); + info.target = null; + } + return info; + } + } + } + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } else if (message.getAction() == MessageFireBrigade.ACTION_RESCUE) { + info.canNewAction = true; + if (info.target != null) { + this.targetHumans.add(info.target); + info.target = null; + } + } + return info; + } + + private class FireBrigadeInfo { + + EntityID agentID; + EntityID target; + boolean canNewAction; + int commandTime; + + FireBrigadeInfo(EntityID id) { + agentID = id; + target = null; + canNewAction = true; + commandTime = -1; + } + } + + private class DistanceSorter implements Comparator { + + private StandardEntity reference; + private WorldInfo worldInfo; + + DistanceSorter(WorldInfo wi, StandardEntity reference) { + this.reference = reference; + this.worldInfo = wi; + } + + + public int compare(StandardEntity a, StandardEntity b) { + int d1 = this.worldInfo.getDistance(this.reference, a); + int d2 = this.worldInfo.getDistance(this.reference, b); + return d1 - d2; + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultHumanDetector.java b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultHumanDetector.java new file mode 100644 index 0000000..21d0262 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultHumanDetector.java @@ -0,0 +1,252 @@ +package adf_core_python.impl.module.complex; + +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.Clustering; +import adf_core_python.core.component.module.complex.HumanDetector; +import rescuecore2.standard.entities.Area; +import rescuecore2.standard.entities.Human; +import rescuecore2.standard.entities.StandardEntity; +import rescuecore2.standard.entities.StandardEntityURN; +import rescuecore2.worldmodel.EntityID; + +import java.util.ArrayList; +import java.util.Collection; +import java.util.Comparator; +import java.util.List; + +import static rescuecore2.standard.entities.StandardEntityURN.*; + +public class DefaultHumanDetector extends HumanDetector { + + private Clustering clustering; + + private EntityID result; + + public DefaultHumanDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + + this.result = null; + + switch (scenarioInfo.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.clustering = moduleManager.getModule( + "DefaultHumanDetector.Clustering", + "adf_core_python.impl.module.algorithm.KMeansClustering"); + break; + } + registerModule(this.clustering); + } + + + @Override + public HumanDetector updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() > 1) { + return this; + } + + return this; + } + + + @Override + public HumanDetector calc() { + Human transportHuman = this.agentInfo.someoneOnBoard(); + if (transportHuman != null) { + this.result = transportHuman.getID(); + return this; + } + if (this.result != null) { + Human target = (Human) this.worldInfo.getEntity(this.result); + if (target != null) { + if (!target.isHPDefined() || target.getHP() == 0) { + this.result = null; + } else if (!target.isPositionDefined()) { + this.result = null; + } else { + StandardEntity position = this.worldInfo.getPosition(target); + if (position != null) { + StandardEntityURN positionURN = position.getStandardURN(); + if (positionURN == REFUGE || positionURN == AMBULANCE_TEAM) { + this.result = null; + } + } + } + } + } + if (this.result == null) { + if (clustering == null) { + this.result = this.calcTargetInWorld(); + return this; + } + this.result = this.calcTargetInCluster(clustering); + if (this.result == null) { + this.result = this.calcTargetInWorld(); + } + } + return this; + } + + + private EntityID calcTargetInCluster(Clustering clustering) { + int clusterIndex = clustering.getClusterIndex(this.agentInfo.getID()); + Collection< + StandardEntity> elements = clustering.getClusterEntities(clusterIndex); + if (elements == null || elements.isEmpty()) { + return null; + } + + List rescueTargets = new ArrayList<>(); + List loadTargets = new ArrayList<>(); + for (StandardEntity next : this.worldInfo.getEntitiesOfType(AMBULANCE_TEAM, + FIRE_BRIGADE, POLICE_FORCE)) { + Human h = (Human) next; + if (this.agentInfo.getID().getValue() == h.getID().getValue()) { + continue; + } + StandardEntity positionEntity = this.worldInfo.getPosition(h); + if (positionEntity != null && elements.contains(positionEntity) + || elements.contains(h)) { + if (h.isHPDefined() && h.isBuriednessDefined() && h.getHP() > 0 + && h.getBuriedness() > 0) { + rescueTargets.add(h); + } + } + } + for (StandardEntity next : this.worldInfo.getEntitiesOfType(CIVILIAN)) { + Human h = (Human) next; + StandardEntity positionEntity = this.worldInfo.getPosition(h); + if (positionEntity != null && positionEntity instanceof Area) { + if (elements.contains(positionEntity)) { + if (h.isHPDefined() && h.getHP() > 0) { + if (h.isBuriednessDefined() && h.getBuriedness() > 0) { + rescueTargets.add(h); + } else { + if (h.isDamageDefined() && h.getDamage() > 0 + && positionEntity.getStandardURN() != REFUGE) { + loadTargets.add(h); + } + } + } + } + } + } + if (rescueTargets.size() > 0) { + rescueTargets + .sort(new DistanceSorter(this.worldInfo, this.agentInfo.me())); + return rescueTargets.get(0).getID(); + } + if (loadTargets.size() > 0) { + loadTargets.sort(new DistanceSorter(this.worldInfo, this.agentInfo.me())); + return loadTargets.get(0).getID(); + } + return null; + } + + + private EntityID calcTargetInWorld() { + List rescueTargets = new ArrayList<>(); + List loadTargets = new ArrayList<>(); + for (StandardEntity next : this.worldInfo.getEntitiesOfType(AMBULANCE_TEAM, + FIRE_BRIGADE, POLICE_FORCE)) { + Human h = (Human) next; + if (this.agentInfo.getID().getValue() != h.getID().getValue()) { + StandardEntity positionEntity = this.worldInfo.getPosition(h); + if (positionEntity != null && h.isHPDefined() + && h.isBuriednessDefined()) { + if (h.getHP() > 0 && h.getBuriedness() > 0) { + rescueTargets.add(h); + } + } + } + } + for (StandardEntity next : this.worldInfo.getEntitiesOfType(CIVILIAN)) { + Human h = (Human) next; + StandardEntity positionEntity = this.worldInfo.getPosition(h); + if (positionEntity != null && positionEntity instanceof Area) { + if (h.isHPDefined() && h.getHP() > 0) { + if (h.isBuriednessDefined() && h.getBuriedness() > 0) { + rescueTargets.add(h); + } else { + if (h.isDamageDefined() && h.getDamage() > 0 + && positionEntity.getStandardURN() != REFUGE) { + loadTargets.add(h); + } + } + } + } + } + if (rescueTargets.size() > 0) { + rescueTargets + .sort(new DistanceSorter(this.worldInfo, this.agentInfo.me())); + return rescueTargets.get(0).getID(); + } + if (loadTargets.size() > 0) { + loadTargets.sort(new DistanceSorter(this.worldInfo, this.agentInfo.me())); + return loadTargets.get(0).getID(); + } + return null; + } + + + @Override + public EntityID getTarget() { + return this.result; + } + + + @Override + public HumanDetector precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + return this; + } + + + @Override + public HumanDetector resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + return this; + } + + + @Override + public HumanDetector preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + return this; + } + + private class DistanceSorter implements Comparator { + + private StandardEntity reference; + private WorldInfo worldInfo; + + DistanceSorter(WorldInfo wi, StandardEntity reference) { + this.reference = reference; + this.worldInfo = wi; + } + + + public int compare(StandardEntity a, StandardEntity b) { + int d1 = this.worldInfo.getDistance(this.reference, a); + int d2 = this.worldInfo.getDistance(this.reference, b); + return d1 - d2; + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultPoliceTargetAllocator.java b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultPoliceTargetAllocator.java new file mode 100644 index 0000000..688c510 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultPoliceTargetAllocator.java @@ -0,0 +1,323 @@ +package adf_core_python.impl.module.complex; + +import adf.core.agent.communication.standard.bundle.MessageUtil; +import adf.core.agent.communication.standard.bundle.centralized.CommandPolice; +import adf.core.agent.communication.standard.bundle.centralized.MessageReport; +import adf.core.agent.communication.standard.bundle.information.MessagePoliceForce; +import adf.core.agent.communication.standard.bundle.information.MessageRoad; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.communication.CommunicationMessage; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.complex.PoliceTargetAllocator; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +import static rescuecore2.standard.entities.StandardEntityURN.*; + +public class DefaultPoliceTargetAllocator extends PoliceTargetAllocator { + + private Collection priorityAreas; + private Collection targetAreas; + + private Map agentInfoMap; + + public DefaultPoliceTargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + this.priorityAreas = new HashSet<>(); + this.targetAreas = new HashSet<>(); + this.agentInfoMap = new HashMap<>(); + } + + + @Override + public PoliceTargetAllocator resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + for (EntityID id : this.worldInfo + .getEntityIDsOfType(StandardEntityURN.POLICE_FORCE)) { + this.agentInfoMap.put(id, new PoliceForceInfo(id)); + } + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE, BUILDING, + GAS_STATION)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.targetAreas.add(id); + } + } + } + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.priorityAreas.add(id); + } + } + } + return this; + } + + + @Override + public PoliceTargetAllocator preparate() { + super.preparate(); + if (this.getCountPrecompute() >= 2) { + return this; + } + for (EntityID id : this.worldInfo + .getEntityIDsOfType(StandardEntityURN.POLICE_FORCE)) { + this.agentInfoMap.put(id, new PoliceForceInfo(id)); + } + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE, BUILDING, + GAS_STATION)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.targetAreas.add(id); + } + } + } + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.priorityAreas.add(id); + } + } + } + return this; + } + + + @Override + public Map getResult() { + return this.convert(this.agentInfoMap); + } + + + @Override + public PoliceTargetAllocator calc() { + List agents = this.getActionAgents(this.agentInfoMap); + Collection removes = new ArrayList<>(); + int currentTime = this.agentInfo.getTime(); + for (EntityID target : this.priorityAreas) { + if (agents.size() > 0) { + StandardEntity targetEntity = this.worldInfo.getEntity(target); + if (targetEntity != null) { + agents.sort(new DistanceSorter(this.worldInfo, targetEntity)); + StandardEntity result = agents.get(0); + agents.remove(0); + PoliceForceInfo info = this.agentInfoMap.get(result.getID()); + if (info != null) { + info.canNewAction = false; + info.target = target; + info.commandTime = currentTime; + this.agentInfoMap.put(result.getID(), info); + removes.add(target); + } + } + } + } + this.priorityAreas.removeAll(removes); + List areas = new ArrayList<>(); + for (EntityID target : this.targetAreas) { + StandardEntity targetEntity = this.worldInfo.getEntity(target); + if (targetEntity != null) { + areas.add(targetEntity); + } + } + for (StandardEntity agent : agents) { + if (areas.size() > 0) { + areas.sort(new DistanceSorter(this.worldInfo, agent)); + StandardEntity result = areas.get(0); + areas.remove(0); + this.targetAreas.remove(result.getID()); + PoliceForceInfo info = this.agentInfoMap.get(agent.getID()); + if (info != null) { + info.canNewAction = false; + info.target = result.getID(); + info.commandTime = currentTime; + this.agentInfoMap.put(agent.getID(), info); + } + } + } + return this; + } + + + @Override + public PoliceTargetAllocator updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + int currentTime = this.agentInfo.getTime(); + for (CommunicationMessage message : messageManager + .getReceivedMessageList(MessageRoad.class)) { + MessageRoad mpf = (MessageRoad) message; + MessageUtil.reflectMessage(this.worldInfo, mpf); + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(MessagePoliceForce.class)) { + MessagePoliceForce mpf = (MessagePoliceForce) message; + MessageUtil.reflectMessage(this.worldInfo, mpf); + PoliceForceInfo info = this.agentInfoMap.get(mpf.getAgentID()); + if (info == null) { + info = new PoliceForceInfo(mpf.getAgentID()); + } + if (currentTime >= info.commandTime + 2) { + this.agentInfoMap.put(mpf.getAgentID(), this.update(info, mpf)); + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(CommandPolice.class)) { + CommandPolice command = (CommandPolice) message; + if (command.getAction() == CommandPolice.ACTION_CLEAR + && command.isBroadcast()) { + this.priorityAreas.add(command.getTargetID()); + this.targetAreas.add(command.getTargetID()); + } + } + for (CommunicationMessage message : messageManager + .getReceivedMessageList(MessageReport.class)) { + MessageReport report = (MessageReport) message; + PoliceForceInfo info = this.agentInfoMap.get(report.getSenderID()); + if (info != null && report.isDone()) { + info.canNewAction = true; + this.priorityAreas.remove(info.target); + this.targetAreas.remove(info.target); + info.target = null; + this.agentInfoMap.put(info.agentID, info); + } + } + return this; + } + + + private PoliceForceInfo update(PoliceForceInfo info, + MessagePoliceForce message) { + if (message.isBuriednessDefined() && message.getBuriedness() > 0) { + info.canNewAction = false; + if (info.target != null) { + this.targetAreas.add(info.target); + info.target = null; + } + return info; + } + if (message.getAction() == MessagePoliceForce.ACTION_REST) { + info.canNewAction = true; + if (info.target != null) { + this.targetAreas.add(info.target); + info.target = null; + } + } else if (message.getAction() == MessagePoliceForce.ACTION_MOVE) { + if (message.getTargetID() != null) { + StandardEntity entity = this.worldInfo.getEntity(message.getTargetID()); + if (entity != null && entity instanceof Area) { + if (info.target != null) { + StandardEntity targetEntity = this.worldInfo.getEntity(info.target); + if (targetEntity != null && targetEntity instanceof Area) { + if (message.getTargetID().getValue() == info.target.getValue()) { + info.canNewAction = false; + } else { + info.canNewAction = true; + this.targetAreas.add(info.target); + info.target = null; + } + } else { + info.canNewAction = true; + info.target = null; + } + } else { + info.canNewAction = true; + } + } else { + info.canNewAction = true; + if (info.target != null) { + this.targetAreas.add(info.target); + info.target = null; + } + } + } else { + info.canNewAction = true; + if (info.target != null) { + this.targetAreas.add(info.target); + info.target = null; + } + } + } else if (message.getAction() == MessagePoliceForce.ACTION_CLEAR) { + info.canNewAction = false; + } + return info; + } + + + private List + getActionAgents(Map infoMap) { + List result = new ArrayList<>(); + for (StandardEntity entity : this.worldInfo + .getEntitiesOfType(StandardEntityURN.POLICE_FORCE)) { + PoliceForceInfo info = infoMap.get(entity.getID()); + if (info != null && info.canNewAction + && ((PoliceForce) entity).isPositionDefined()) { + result.add(entity); + } + } + return result; + } + + + private Map + convert(Map infoMap) { + Map result = new HashMap<>(); + for (EntityID id : infoMap.keySet()) { + PoliceForceInfo info = infoMap.get(id); + if (info != null && info.target != null) { + result.put(id, info.target); + } + } + return result; + } + + private class PoliceForceInfo { + + EntityID agentID; + EntityID target; + boolean canNewAction; + int commandTime; + + PoliceForceInfo(EntityID id) { + agentID = id; + target = null; + canNewAction = true; + commandTime = -1; + } + } + + private class DistanceSorter implements Comparator { + + private StandardEntity reference; + private WorldInfo worldInfo; + + DistanceSorter(WorldInfo wi, StandardEntity reference) { + this.reference = reference; + this.worldInfo = wi; + } + + + public int compare(StandardEntity a, StandardEntity b) { + int d1 = this.worldInfo.getDistance(this.reference, a); + int d2 = this.worldInfo.getDistance(this.reference, b); + return d1 - d2; + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultRoadDetector.java b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultRoadDetector.java new file mode 100644 index 0000000..277342c --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultRoadDetector.java @@ -0,0 +1,362 @@ +package adf_core_python.impl.module.complex; + +import adf.core.agent.communication.standard.bundle.MessageUtil; +import adf.core.agent.communication.standard.bundle.centralized.CommandPolice; +import adf.core.agent.communication.standard.bundle.information.MessageAmbulanceTeam; +import adf.core.agent.communication.standard.bundle.information.MessageFireBrigade; +import adf.core.agent.communication.standard.bundle.information.MessagePoliceForce; +import adf.core.agent.communication.standard.bundle.information.MessageRoad; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.communication.CommunicationMessage; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import adf_core_python.core.component.module.complex.RoadDetector; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.EntityID; + +import java.util.*; + +import static rescuecore2.standard.entities.StandardEntityURN.*; + +public class DefaultRoadDetector extends RoadDetector { + + private Set targetAreas; + private Set priorityRoads; + + private PathPlanning pathPlanning; + + private EntityID result; + + public DefaultRoadDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + switch (scenarioInfo.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + this.pathPlanning = moduleManager.getModule( + "DefaultRoadDetector.PathPlanning", + "adf_core_python_core_python.impl.module.algorithm.DijkstraPathPlanning"); + break; + } + registerModule(this.pathPlanning); + this.result = null; + } + + + @Override + public RoadDetector calc() { + if (this.result == null) { + EntityID positionID = this.agentInfo.getPosition(); + if (this.targetAreas.contains(positionID)) { + this.result = positionID; + return this; + } + List removeList = new ArrayList<>(this.priorityRoads.size()); + for (EntityID id : this.priorityRoads) { + if (!this.targetAreas.contains(id)) { + removeList.add(id); + } + } + this.priorityRoads.removeAll(removeList); + if (this.priorityRoads.size() > 0) { + this.pathPlanning.setFrom(positionID); + this.pathPlanning.setDestination(this.targetAreas); + List path = this.pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + this.result = path.get(path.size() - 1); + } + return this; + } + + this.pathPlanning.setFrom(positionID); + this.pathPlanning.setDestination(this.targetAreas); + List path = this.pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + this.result = path.get(path.size() - 1); + } + } + return this; + } + + + @Override + public EntityID getTarget() { + return this.result; + } + + + @Override + public RoadDetector precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + return this; + } + + + @Override + public RoadDetector resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.targetAreas = new HashSet<>(); + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE, BUILDING, + GAS_STATION)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.targetAreas.add(id); + } + } + } + this.priorityRoads = new HashSet<>(); + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.priorityRoads.add(id); + } + } + } + return this; + } + + + @Override + public RoadDetector preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.targetAreas = new HashSet<>(); + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE, BUILDING, + GAS_STATION)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.targetAreas.add(id); + } + } + } + this.priorityRoads = new HashSet<>(); + for (StandardEntity e : this.worldInfo.getEntitiesOfType(REFUGE)) { + for (EntityID id : ((Building) e).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.priorityRoads.add(id); + } + } + } + return this; + } + + + @Override + public RoadDetector updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + if (this.result != null) { + if (this.agentInfo.getPosition().equals(this.result)) { + StandardEntity entity = this.worldInfo.getEntity(this.result); + if (entity instanceof Building) { + this.result = null; + } else if (entity instanceof Road) { + Road road = (Road) entity; + if (!road.isBlockadesDefined() || road.getBlockades().isEmpty()) { + this.targetAreas.remove(this.result); + this.result = null; + } + } + } + } + Set changedEntities = this.worldInfo.getChanged() + .getChangedEntities(); + for (CommunicationMessage message : messageManager + .getReceivedMessageList()) { + Class messageClass = message.getClass(); + if (messageClass == MessageAmbulanceTeam.class) { + this.reflectMessage((MessageAmbulanceTeam) message); + } else if (messageClass == MessageFireBrigade.class) { + this.reflectMessage((MessageFireBrigade) message); + } else if (messageClass == MessageRoad.class) { + this.reflectMessage((MessageRoad) message, changedEntities); + } else if (messageClass == MessagePoliceForce.class) { + this.reflectMessage((MessagePoliceForce) message); + } else if (messageClass == CommandPolice.class) { + this.reflectMessage((CommandPolice) message); + } + } + for (EntityID id : this.worldInfo.getChanged().getChangedEntities()) { + StandardEntity entity = this.worldInfo.getEntity(id); + if (entity instanceof Road) { + Road road = (Road) entity; + if (!road.isBlockadesDefined() || road.getBlockades().isEmpty()) { + this.targetAreas.remove(id); + } + } + } + return this; + } + + + private void reflectMessage(MessageRoad messageRoad, + Collection changedEntities) { + if (messageRoad.isBlockadeDefined() + && !changedEntities.contains(messageRoad.getBlockadeID())) { + MessageUtil.reflectMessage(this.worldInfo, messageRoad); + } + if (messageRoad.isPassable()) { + this.targetAreas.remove(messageRoad.getRoadID()); + } + } + + + private void reflectMessage(MessageAmbulanceTeam messageAmbulanceTeam) { + if (messageAmbulanceTeam.getPosition() == null) { + return; + } + if (messageAmbulanceTeam + .getAction() == MessageAmbulanceTeam.ACTION_RESCUE) { + StandardEntity position = this.worldInfo + .getEntity(messageAmbulanceTeam.getPosition()); + if (position != null && position instanceof Building) { + this.targetAreas.removeAll(((Building) position).getNeighbours()); + } + } else if (messageAmbulanceTeam + .getAction() == MessageAmbulanceTeam.ACTION_LOAD) { + StandardEntity position = this.worldInfo + .getEntity(messageAmbulanceTeam.getPosition()); + if (position != null && position instanceof Building) { + this.targetAreas.removeAll(((Building) position).getNeighbours()); + } + } else if (messageAmbulanceTeam + .getAction() == MessageAmbulanceTeam.ACTION_MOVE) { + if (messageAmbulanceTeam.getTargetID() == null) { + return; + } + StandardEntity target = this.worldInfo + .getEntity(messageAmbulanceTeam.getTargetID()); + if (target instanceof Building) { + for (EntityID id : ((Building) target).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.priorityRoads.add(id); + } + } + } else if (target instanceof Human) { + Human human = (Human) target; + if (human.isPositionDefined()) { + StandardEntity position = this.worldInfo.getPosition(human); + if (position instanceof Building) { + for (EntityID id : ((Building) position).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.priorityRoads.add(id); + } + } + } + } + } + } + } + + + private void reflectMessage(MessageFireBrigade messageFireBrigade) { + if (messageFireBrigade.getTargetID() == null) { + return; + } + if (messageFireBrigade.getAction() == MessageFireBrigade.ACTION_REFILL) { + StandardEntity target = this.worldInfo + .getEntity(messageFireBrigade.getTargetID()); + if (target instanceof Building) { + for (EntityID id : ((Building) target).getNeighbours()) { + StandardEntity neighbour = this.worldInfo.getEntity(id); + if (neighbour instanceof Road) { + this.priorityRoads.add(id); + } + } + } else if (target.getStandardURN() == HYDRANT) { + this.priorityRoads.add(target.getID()); + this.targetAreas.add(target.getID()); + } + } + } + + + private void reflectMessage(MessagePoliceForce messagePoliceForce) { + if (messagePoliceForce.getAction() == MessagePoliceForce.ACTION_CLEAR) { + if (messagePoliceForce.getAgentID().getValue() != this.agentInfo.getID() + .getValue()) { + if (messagePoliceForce.isTargetDefined()) { + EntityID targetID = messagePoliceForce.getTargetID(); + if (targetID == null) { + return; + } + StandardEntity entity = this.worldInfo.getEntity(targetID); + if (entity == null) { + return; + } + + if (entity instanceof Area) { + this.targetAreas.remove(targetID); + if (this.result != null + && this.result.getValue() == targetID.getValue()) { + if (this.agentInfo.getID().getValue() < messagePoliceForce + .getAgentID().getValue()) { + this.result = null; + } + } + } else if (entity.getStandardURN() == BLOCKADE) { + EntityID position = ((Blockade) entity).getPosition(); + this.targetAreas.remove(position); + if (this.result != null + && this.result.getValue() == position.getValue()) { + if (this.agentInfo.getID().getValue() < messagePoliceForce + .getAgentID().getValue()) { + this.result = null; + } + } + } + + } + } + } + } + + + private void reflectMessage(CommandPolice commandPolice) { + boolean flag = false; + if (commandPolice.isToIDDefined() && this.agentInfo.getID() + .getValue() == commandPolice.getToID().getValue()) { + flag = true; + } else if (commandPolice.isBroadcast()) { + flag = true; + } + if (flag && commandPolice.getAction() == CommandPolice.ACTION_CLEAR) { + if (commandPolice.getTargetID() == null) { + return; + } + StandardEntity target = this.worldInfo + .getEntity(commandPolice.getTargetID()); + if (target instanceof Area) { + this.priorityRoads.add(target.getID()); + this.targetAreas.add(target.getID()); + } else if (target.getStandardURN() == BLOCKADE) { + Blockade blockade = (Blockade) target; + if (blockade.isPositionDefined()) { + this.priorityRoads.add(blockade.getPosition()); + this.targetAreas.add(blockade.getPosition()); + } + } + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultSearch.java b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultSearch.java new file mode 100644 index 0000000..c75c7ed --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/impl/module/complex/DefaultSearch.java @@ -0,0 +1,164 @@ +package adf_core_python.impl.module.complex; + +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.core.agent.communication.MessageManager; +import adf_core_python.core.agent.info.AgentInfo; +import adf_core_python.core.agent.module.ModuleManager; +import adf_core_python.core.agent.precompute.PrecomputeData; +import adf_core_python.core.component.module.algorithm.Clustering; +import adf_core_python.core.component.module.algorithm.PathPlanning; +import adf_core_python.core.component.module.complex.Search; +import rescuecore2.standard.entities.Building; +import rescuecore2.standard.entities.StandardEntity; +import rescuecore2.standard.entities.StandardEntityURN; +import rescuecore2.worldmodel.EntityID; + +import java.util.Collection; +import java.util.HashSet; +import java.util.List; + +import static rescuecore2.standard.entities.StandardEntityURN.*; + +public class DefaultSearch extends Search { + + private PathPlanning pathPlanning; + private Clustering clustering; + + private EntityID result; + private Collection unsearchedBuildingIDs; + + public DefaultSearch(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + + this.unsearchedBuildingIDs = new HashSet<>(); + + StandardEntityURN agentURN = ai.me().getStandardURN(); + switch (si.getMode()) { + case PRECOMPUTATION_PHASE: + case PRECOMPUTED: + case NON_PRECOMPUTE: + if (agentURN == AMBULANCE_TEAM) { + this.pathPlanning = moduleManager.getModule( + "DefaultSearch.PathPlanning.Ambulance", + "adf_core_python_core_python.impl.module.algorithm.DijkstraPathPlanning"); + this.clustering = moduleManager.getModule( + "DefaultSearch.Clustering.Ambulance", + "adf_core_python.impl.module.algorithm.KMeansClustering"); + } else if (agentURN == FIRE_BRIGADE) { + this.pathPlanning = moduleManager.getModule( + "DefaultSearch.PathPlanning.Fire", + "adf_core_python.impl.module.algorithm.DijkstraPathPlanning"); + this.clustering = moduleManager.getModule( + "DefaultSearch.Clustering.Fire", + "adf_core_python.impl.module.algorithm.KMeansClustering"); + } else if (agentURN == POLICE_FORCE) { + this.pathPlanning = moduleManager.getModule( + "DefaultSearch.PathPlanning.Police", + "adf_core_python.impl.module.algorithm.DijkstraPathPlanning"); + this.clustering = moduleManager.getModule( + "DefaultSearch.Clustering.Police", + "adf_core_python.impl.module.algorithm.KMeansClustering"); + } + break; + } + + registerModule(this.pathPlanning); + registerModule(this.clustering); + } + + + @Override + public Search updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + if (this.getCountUpdateInfo() >= 2) { + return this; + } + + this.unsearchedBuildingIDs + .removeAll(this.worldInfo.getChanged().getChangedEntities()); + + if (this.unsearchedBuildingIDs.isEmpty()) { + this.reset(); + this.unsearchedBuildingIDs + .removeAll(this.worldInfo.getChanged().getChangedEntities()); + } + return this; + } + + + @Override + public Search calc() { + this.result = null; + this.pathPlanning.setFrom(this.agentInfo.getPosition()); + this.pathPlanning.setDestination(this.unsearchedBuildingIDs); + List path = this.pathPlanning.calc().getResult(); + if (path != null && path.size() > 0) { + this.result = path.get(path.size() - 1); + } + return this; + } + + + private void reset() { + this.unsearchedBuildingIDs.clear(); + + Collection clusterEntities = null; + if (this.clustering != null) { + int clusterIndex = this.clustering + .getClusterIndex(this.agentInfo.getID()); + clusterEntities = this.clustering.getClusterEntities(clusterIndex); + + } + if (clusterEntities != null && clusterEntities.size() > 0) { + for (StandardEntity entity : clusterEntities) { + if (entity instanceof Building && entity.getStandardURN() != REFUGE) { + this.unsearchedBuildingIDs.add(entity.getID()); + } + } + } else { + this.unsearchedBuildingIDs + .addAll(this.worldInfo.getEntityIDsOfType(BUILDING, GAS_STATION, + AMBULANCE_CENTRE, FIRE_STATION, POLICE_OFFICE)); + } + } + + + @Override + public EntityID getTarget() { + return this.result; + } + + + @Override + public Search precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + if (this.getCountPrecompute() >= 2) { + return this; + } + return this; + } + + + @Override + public Search resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + if (this.getCountResume() >= 2) { + return this; + } + this.worldInfo.requestRollback(); + return this; + } + + + @Override + public Search preparate() { + super.preparate(); + if (this.getCountPreparate() >= 2) { + return this; + } + this.worldInfo.requestRollback(); + return this; + } +} From fba0179ce7ebe72c0bb94cf2de6ae3f70147ff65 Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 19 Mar 2025 00:54:52 +0900 Subject: [PATCH 220/249] fix: Add precompute files --- .gitignore | 1 + .../core/agent/precompute/PreData.java | 56 +++ .../core/agent/precompute/PrecomputeData.java | 400 ++++++++++++++++++ 3 files changed, 457 insertions(+) create mode 100644 java/lib/src/main/java/adf_core_python/core/agent/precompute/PreData.java create mode 100644 java/lib/src/main/java/adf_core_python/core/agent/precompute/PrecomputeData.java diff --git a/.gitignore b/.gitignore index 6119e70..41060c9 100644 --- a/.gitignore +++ b/.gitignore @@ -173,3 +173,4 @@ cython_debug/ # ADF agent.log* precompute +!java/lib/src/main/java/adf_core_python/core/agent/precompute diff --git a/java/lib/src/main/java/adf_core_python/core/agent/precompute/PreData.java b/java/lib/src/main/java/adf_core_python/core/agent/precompute/PreData.java new file mode 100644 index 0000000..aea850f --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/core/agent/precompute/PreData.java @@ -0,0 +1,56 @@ +package adf_core_python.core.agent.precompute; + +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +public final class PreData { + + public Map intValues; + public Map doubleValues; + public Map stringValues; + public Map idValues; + public Map boolValues; + + public Map> intLists; + public Map> doubleLists; + public Map> stringLists; + public Map> idLists; + public Map> boolLists; + + public boolean isReady; + public String readyID; + + public PreData() { + this.intValues = new HashMap<>(); + this.doubleValues = new HashMap<>(); + this.stringValues = new HashMap<>(); + this.idValues = new HashMap<>(); + this.boolValues = new HashMap<>(); + this.intLists = new HashMap<>(); + this.doubleLists = new HashMap<>(); + this.stringLists = new HashMap<>(); + this.idLists = new HashMap<>(); + this.boolLists = new HashMap<>(); + this.isReady = false; + this.readyID = ""; + } + + + public PreData copy() { + PreData preData = new PreData(); + preData.intValues = new HashMap<>(this.intValues); + preData.doubleValues = new HashMap<>(this.doubleValues); + preData.stringValues = new HashMap<>(this.stringValues); + preData.idValues = new HashMap<>(this.idValues); + preData.boolValues = new HashMap<>(this.boolValues); + preData.intLists = new HashMap<>(this.intLists); + preData.doubleLists = new HashMap<>(this.doubleLists); + preData.stringLists = new HashMap<>(this.stringLists); + preData.idLists = new HashMap<>(this.idLists); + preData.boolLists = new HashMap<>(this.boolLists); + preData.isReady = this.isReady; + preData.readyID = this.readyID; + return preData; + } +} diff --git a/java/lib/src/main/java/adf_core_python/core/agent/precompute/PrecomputeData.java b/java/lib/src/main/java/adf_core_python/core/agent/precompute/PrecomputeData.java new file mode 100644 index 0000000..583d401 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/core/agent/precompute/PrecomputeData.java @@ -0,0 +1,400 @@ +package adf_core_python.core.agent.precompute; + +import adf.core.agent.info.WorldInfo; +import com.fasterxml.jackson.databind.ObjectMapper; +import org.msgpack.jackson.dataformat.MessagePackFactory; +import rescuecore2.worldmodel.EntityID; + +import java.io.*; +import java.util.ArrayList; +import java.util.List; +import java.util.stream.Collectors; + +public final class PrecomputeData { + + public static final String DEFAULT_FILE_NAME = "data.bin"; + public static final File PRECOMP_DATA_DIR = new File("precomp_data"); + + private final String fileName; + + private PreData data; + + public PrecomputeData() { + this(DEFAULT_FILE_NAME); + } + + + public PrecomputeData(String name) { + this.fileName = name; + this.init(); + } + + + private PrecomputeData(String name, PreData precomputeDatas) { + this.fileName = name; + this.data = precomputeDatas; + } + + + public static void removeData(String name) { + if (!PRECOMP_DATA_DIR.exists()) { + return; + } + + File file = new File(PRECOMP_DATA_DIR, name); + if (!file.exists()) { + return; + } + + file.delete(); + } + + + public static void removeData() { + removeData(DEFAULT_FILE_NAME); + } + + + public PrecomputeData copy() { + return new PrecomputeData(this.fileName, this.data.copy()); + } + + + private void init() { + this.data = this.read(this.fileName); + if (this.data == null) { + this.data = new PreData(); + } + } + + + private PreData read(String name) { + try { + if (!PRECOMP_DATA_DIR.exists()) { + if (!PRECOMP_DATA_DIR.mkdir()) { + return null; + } + } + + File readFile = new File(PRECOMP_DATA_DIR, name); + if (!readFile.exists()) { + return null; + } + + FileInputStream fis = new FileInputStream(readFile); + BufferedInputStream bis = new BufferedInputStream(fis); + ByteArrayOutputStream bout = new ByteArrayOutputStream(); + byte[] binary = new byte[1024]; + while (true) { + int len = bis.read(binary); + if (len < 0) { + break; + } + bout.write(binary, 0, len); + } + + binary = bout.toByteArray(); + ObjectMapper om = new ObjectMapper(new MessagePackFactory()); + PreData ds = om.readValue(binary, PreData.class); + bis.close(); + fis.close(); + return ds; + } catch (IOException e) { + return null; + } + } + + + public boolean write() { + try { + if (!PRECOMP_DATA_DIR.exists()) { + if (!PRECOMP_DATA_DIR.mkdir()) { + return false; + } + } + ObjectMapper om = new ObjectMapper(new MessagePackFactory()); + byte[] binary = om.writeValueAsBytes(this.data); + FileOutputStream fos = new FileOutputStream( + new File(PRECOMP_DATA_DIR, this.fileName)); + fos.write(binary); + fos.close(); + return true; + } catch (IOException e) { + e.printStackTrace(); + ; + return false; + } + } + + + public Integer setInteger(String name, int value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intValues.put(callClassName + ":" + name, value); + } + + + public Double setDouble(String name, double value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleValues.put(callClassName + ":" + name, value); + } + + + public Boolean setBoolean(String name, boolean value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolValues.put(callClassName + ":" + name, value); + } + + + public String setString(String name, String value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringValues.put(callClassName + ":" + name, value); + } + + + public EntityID setEntityID(String name, EntityID value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + Integer id = this.data.idValues.put(callClassName + ":" + name, + value.getValue()); + return id == null ? null : new EntityID(id); + } + + + public List setIntegerList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intLists.put(callClassName + ":" + name, list); + } + + + public List setDoubleList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleLists.put(callClassName + ":" + name, list); + } + + + public List setStringList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringLists.put(callClassName + ":" + name, list); + } + + + public List setEntityIDList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + List cvtList = new ArrayList<>(); + for (EntityID id : list) { + cvtList.add(id.getValue()); + } + + cvtList = this.data.idLists.put(callClassName + ":" + name, cvtList); + return cvtList == null ? null + : cvtList.stream().map(EntityID::new).collect(Collectors.toList()); + } + + + public List setBooleanList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolLists.put(callClassName + ":" + name, list); + } + + + public boolean setReady(boolean isReady, WorldInfo worldInfo) { + this.data.isReady = isReady; + this.data.readyID = makeReadyID(worldInfo); + return (this.data.isReady + && this.data.readyID.equals(this.makeReadyID(worldInfo))); + } + + + public Integer getInteger(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intValues.get(callClassName + ":" + name); + } + + + public Double getDouble(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleValues.get(callClassName + ":" + name); + } + + + public Boolean getBoolean(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolValues.get(callClassName + ":" + name); + } + + + public String getString(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringValues.get(callClassName + ":" + name); + } + + + public EntityID getEntityID(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + Integer id = this.data.idValues.get(callClassName + ":" + name); + return id == null ? null : new EntityID(id); + } + + + public List getIntegerList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intLists.get(callClassName + ":" + name); + } + + + public List getDoubleList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleLists.get(callClassName + ":" + name); + } + + + public List getStringList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringLists.get(callClassName + ":" + name); + } + + + public List getEntityIDList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + List cvtList = this.data.idLists.get(callClassName + ":" + name); + return cvtList == null ? null + : cvtList.stream().map(EntityID::new).collect(Collectors.toList()); + } + + + public List getBooleanList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolLists.get(callClassName + ":" + name); + } + + + public boolean isReady(WorldInfo worldInfo) { + return (this.data.isReady + && this.data.readyID.equals(this.makeReadyID(worldInfo))); + } + + + private String makeReadyID(WorldInfo worldInfo) { + return "" + worldInfo.getBounds().getX() + worldInfo.getBounds().getY() + + worldInfo.getAllEntities().size(); + } +} From 1785a95e405347506123107bb6004598fe02e111 Mon Sep 17 00:00:00 2001 From: harrki Date: Wed, 19 Mar 2025 10:31:41 +0900 Subject: [PATCH 221/249] feat: Add jitpack --- jitpack.yml | 5 +++++ 1 file changed, 5 insertions(+) create mode 100644 jitpack.yml diff --git a/jitpack.yml b/jitpack.yml new file mode 100644 index 0000000..7b797cc --- /dev/null +++ b/jitpack.yml @@ -0,0 +1,5 @@ +jdk: + - openjdk17 + +before_install: + - cd java \ No newline at end of file From f822458f4e2b6e2d91dc6924f9271f31539c01f3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 11 Apr 2025 19:11:18 +0900 Subject: [PATCH 222/249] =?UTF-8?q?fix:=20=E3=83=91=E3=82=B9=E3=82=92?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../cli/template/config/module.yaml | 59 +++++++++---------- 1 file changed, 29 insertions(+), 30 deletions(-) diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml index efec4c6..4ee5b0d 100644 --- a/adf_core_python/cli/template/config/module.yaml +++ b/adf_core_python/cli/template/config/module.yaml @@ -3,45 +3,45 @@ DefaultTacticsAmbulanceTeam: Search: src.team_name.module.complex.sample_search.SampleSearch ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove - CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance - CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout + CommandExecutorAmbulance: adf_core_python.implement.centralized.default_command_executor_ambulance.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout DefaultTacticsFireBrigade: HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector Search: src.team_name.module.complex.sample_search.SampleSearch ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove - CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire - CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout + CommandExecutorFire: adf_core_python.implement.centralized.default_command_executor_fire.DefaultCommandExecutorFire + CommandExecutorScout: adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout DefaultTacticsPoliceForce: RoadDetector: src.team_name.module.complex.sample_road_detector.SampleRoadDetector Search: src.team_name.module.complex.sample_search.SampleSearch ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove - CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice - CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice + CommandExecutorPolice: adf_core_python.implement.centralized.default_command_executor_police.DefaultCommandExecutorPolice + CommandExecutorScout: adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout DefaultTacticsAmbulanceCenter: TargetAllocator: adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator - # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance + CommandPicker: adf_core_python.implement.centralized.default_command_picker_ambulance.DefaultCommandPickerAmbulance DefaultTacticsFireStation: TargetAllocator: adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator - # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire + CommandPicker: adf_core_python.implement.centralized.default_command_picker_fire.DefaultCommandPickerFire DefaultTacticsPoliceOffice: TargetAllocator: adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator - # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice + CommandPicker: adf_core_python.implement.centralized.default_command_picker_police.DefaultCommandPickerPolice -SampleSearch: +DefaultSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering -SampleRoadDetector: +DefaultRoadDetector: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -SampleHumanDetector: +DefaultHumanDetector: Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering DefaultExtendActionClear: @@ -56,28 +56,27 @@ DefaultExtendActionMove: DefaultExtendActionTransport: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# DefaultCommandExecutorAmbulance: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +DefaultCommandExecutorAmbulance: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove -# DefaultCommandExecutorFire: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue -# EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +DefaultCommandExecutorFire: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + ExtendActionFireRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove -# DefaultCommandExecutorPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +DefaultCommandExecutorPolice: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove -# DefaultCommandExecutorScout: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning +DefaultCommandExecutorScout: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# DefaultCommandExecutorScoutPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear +DefaultCommandExecutorScoutPolice: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear MessageManager: PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber From 13060ae9d8568405ad31ed9fa4cb4d3b72057983 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 11 Apr 2025 19:15:22 +0900 Subject: [PATCH 223/249] =?UTF-8?q?feat:=20=E3=83=87=E3=83=95=E3=82=A9?= =?UTF-8?q?=E3=83=AB=E3=83=88=E8=A8=AD=E5=AE=9A=E3=82=92=E3=82=B5=E3=83=B3?= =?UTF-8?q?=E3=83=97=E3=83=AB=E8=A8=AD=E5=AE=9A=E3=81=AB=E5=A4=89=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- adf_core_python/cli/template/config/module.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/adf_core_python/cli/template/config/module.yaml b/adf_core_python/cli/template/config/module.yaml index 4ee5b0d..0079ab9 100644 --- a/adf_core_python/cli/template/config/module.yaml +++ b/adf_core_python/cli/template/config/module.yaml @@ -34,14 +34,14 @@ DefaultTacticsPoliceOffice: TargetAllocator: adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator CommandPicker: adf_core_python.implement.centralized.default_command_picker_police.DefaultCommandPickerPolice -DefaultSearch: +SampleSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering -DefaultRoadDetector: +SampleRoadDetector: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -DefaultHumanDetector: +SampleHumanDetector: Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering DefaultExtendActionClear: From d34de0b6bea89533c0c20ebb9cde7b8da4ef31c1 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 11 Apr 2025 19:18:00 +0900 Subject: [PATCH 224/249] =?UTF-8?q?feat:=20=E3=83=90=E3=83=BC=E3=82=B8?= =?UTF-8?q?=E3=83=A7=E3=83=B3=E3=82=920.1.2=E3=81=AB=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 3f3522a..9ae40d5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.poetry] name = "adf_core_python" -version = "0.1.1" +version = "0.1.2" description = "Agent Development Framework for Python" authors = [ "Haruki Uehara ", From edcaf71881b36501d0580922d5064f7093036e19 Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 15 Apr 2025 00:50:40 +0900 Subject: [PATCH 225/249] =?UTF-8?q?feat:=20=E3=82=AB=E3=83=BC=E3=83=8D?= =?UTF-8?q?=E3=83=AB=E6=8E=A5=E7=B6=9A=E3=81=AE=E7=A2=BA=E8=AA=8D=E6=A9=9F?= =?UTF-8?q?=E8=83=BD=E3=82=92=E8=BF=BD=E5=8A=A0=E3=81=97=E3=80=81=E3=82=BF?= =?UTF-8?q?=E3=82=A4=E3=83=A0=E3=82=A2=E3=82=A6=E3=83=88=E8=A8=AD=E5=AE=9A?= =?UTF-8?q?=E3=82=92=E5=B0=8E=E5=85=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../core/launcher/agent_launcher.py | 32 +++++++++++-- adf_core_python/core/launcher/config_key.py | 1 + .../launcher/connect/component_launcher.py | 46 +++++++++++++++++++ adf_core_python/launcher.py | 15 ++++-- 4 files changed, 87 insertions(+), 7 deletions(-) diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index 63f31bc..94fe7a8 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -1,4 +1,5 @@ import importlib +import socket import threading from typing import Optional @@ -59,13 +60,27 @@ def init_connector(self) -> None: def launch(self) -> None: kernel_host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") kernel_port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) - self.logger.info( - f"Start agent launcher (host: {kernel_host}, port: {kernel_port})" - ) component_launcher: ComponentLauncher = ComponentLauncher( kernel_host, kernel_port, self.logger ) + timeout: int = self.config.get_value( + ConfigKey.KEY_KERNEL_TIMEOUT, + 30, + ) + if component_launcher.check_kernel_connection(timeout=timeout): + self.logger.info( + f"Kernel is running (host: {kernel_host}, port: {kernel_port})" + ) + else: + self.logger.error( + f"Kernel is not running (host: {kernel_host}, port: {kernel_port})" + ) + return + + self.logger.info( + f"Start agent launcher (host: {kernel_host}, port: {kernel_port})" + ) gateway_launcher: Optional[GatewayLauncher] = None gateway_flag: bool = self.config.get_value(ConfigKey.KEY_GATEWAY_FLAG, False) @@ -104,3 +119,14 @@ def connect() -> None: for thread in self.agent_thread_list: thread.join() + + def check_kernel_connection(self, host: str, port: int, timeout: int = 5) -> bool: + try: + sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + sock.settimeout(timeout) + result = sock.connect_ex((host, port)) + sock.close() + return result == 0 + except Exception as e: + self.logger.error(f"カーネルへの接続確認中にエラーが発生しました: {e}") + return False diff --git a/adf_core_python/core/launcher/config_key.py b/adf_core_python/core/launcher/config_key.py index 8253f47..2f7f9a0 100644 --- a/adf_core_python/core/launcher/config_key.py +++ b/adf_core_python/core/launcher/config_key.py @@ -6,6 +6,7 @@ class ConfigKey: KEY_LOADER_CLASS: Final[str] = "adf_core_python.launcher.loader" KEY_KERNEL_HOST: Final[str] = "kernel.host" KEY_KERNEL_PORT: Final[str] = "kernel.port" + KEY_KERNEL_TIMEOUT: Final[str] = "kernel.timeout" KEY_TEAM_NAME: Final[str] = "team.name" KEY_DEBUG_FLAG: Final[str] = "adf.debug.flag" KEY_DEVELOP_FLAG: Final[str] = "adf.develop.flag" diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index 7b60008..9a684fa 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -1,4 +1,5 @@ import socket +import time from structlog import BoundLogger @@ -53,3 +54,48 @@ def connect(self, agent: Agent, _request_id: int) -> None: def generate_request_id(self) -> int: self.request_id += 1 return self.request_id + + def check_kernel_connection( + self, timeout: int = 30, retry_interval: float = 5.0 + ) -> bool: + """Attempts to connect to the kernel multiple times within the specified timeout period. + + Args: + timeout (int): Total timeout duration in seconds + retry_interval (float): Interval between retry attempts in seconds + + Returns: + bool: True if connection successful, False otherwise + """ + start_time = time.time() + attempt = 1 + + while True: + try: + sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + sock.settimeout(retry_interval) + result = sock.connect_ex((self.host, self.port)) + sock.close() + + if result == 0: + self.logger.info( + f"Successfully connected to kernel (attempt: {attempt})" + ) + return True + + elapsed_time = time.time() - start_time + if elapsed_time >= timeout: + self.logger.error( + f"Timeout: Could not connect to kernel within {timeout} seconds (attempts: {attempt})" + ) + return False + + self.logger.debug( + f"Connection attempt {attempt} failed - retrying in {retry_interval} seconds" + ) + time.sleep(retry_interval) + attempt += 1 + + except Exception as e: + self.logger.error(f"Error while checking kernel connection: {e}") + return False diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index 94d0c6e..5d04a89 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -12,11 +12,8 @@ def __init__( self, launcher_config_file: str, ) -> None: - resource.setrlimit(resource.RLIMIT_NOFILE, (8192, 9223372036854775807)) + resource.setrlimit(resource.RLIMIT_NOFILE, (8192, 1048576)) - configure_logger() - - self.logger = get_logger(__name__) self.launcher_config = Config(launcher_config_file) parser = argparse.ArgumentParser(description="Agent Launcher") @@ -80,6 +77,12 @@ def __init__( action="store_true", help="precompute flag", ) + parser.add_argument( + "--timeout", + type=int, + help="timeout in seconds", + metavar="", + ) parser.add_argument("--debug", action="store_true", help="debug flag") parser.add_argument( "--java", @@ -98,6 +101,7 @@ def __init__( ConfigKey.KEY_FIRE_STATION_COUNT: args.firestation, ConfigKey.KEY_POLICE_OFFICE_COUNT: args.policeoffice, ConfigKey.KEY_PRECOMPUTE: args.precompute, + ConfigKey.KEY_KERNEL_TIMEOUT: args.timeout, ConfigKey.KEY_DEBUG_FLAG: args.debug, ConfigKey.KEY_GATEWAY_FLAG: args.java, } @@ -106,6 +110,9 @@ def __init__( if value is not None: self.launcher_config.set_value(key, value) + configure_logger() + self.logger = get_logger(__name__) + self.logger.debug(f"launcher_config: {self.launcher_config}") def launch(self) -> None: From 02afafe1706dd9254cbca499582eac44a724507f Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 22 Apr 2025 15:31:22 +0900 Subject: [PATCH 226/249] =?UTF-8?q?feat:=20=E3=83=AD=E3=82=B0=E3=83=95?= =?UTF-8?q?=E3=82=A1=E3=82=A4=E3=83=AB=E3=81=AE=E3=83=AD=E3=83=BC=E3=83=86?= =?UTF-8?q?=E3=83=BC=E3=83=88=E3=82=92=E5=89=8A=E9=99=A4=E3=81=97=E3=80=81?= =?UTF-8?q?=E3=83=A1=E3=83=83=E3=82=BB=E3=83=BC=E3=82=B8=E9=80=81=E4=BF=A1?= =?UTF-8?q?=E3=81=AE=E3=83=87=E3=83=90=E3=83=83=E3=82=B0=E3=83=AD=E3=82=B0?= =?UTF-8?q?=E3=82=92=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- adf_core_python/core/agent/agent.py | 7 +------ adf_core_python/core/logger/logger.py | 16 +++++++++++----- 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 6c8275b..b18fb67 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -24,10 +24,10 @@ from rcrs_core.connection.URN import Entity as EntityURN from rcrs_core.messages.AKAcknowledge import AKAcknowledge from rcrs_core.messages.AKConnect import AKConnect +from rcrs_core.messages.controlMessageFactory import ControlMessageFactory from rcrs_core.messages.KAConnectError import KAConnectError from rcrs_core.messages.KAConnectOK import KAConnectOK from rcrs_core.messages.KASense import KASense -from rcrs_core.messages.controlMessageFactory import ControlMessageFactory from rcrs_core.worldmodel.changeSet import ChangeSet from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel @@ -214,11 +214,6 @@ def update_step_info( self.think() - self.logger.debug( - f"send messages: {self._message_manager.get_send_message_list()}", - message_manager=self._message_manager, - ) - self._message_manager.coordinate_message( self._agent_info, self._world_info, self._scenario_info ) diff --git a/adf_core_python/core/logger/logger.py b/adf_core_python/core/logger/logger.py index 766e283..16797e8 100644 --- a/adf_core_python/core/logger/logger.py +++ b/adf_core_python/core/logger/logger.py @@ -1,6 +1,7 @@ import logging +import os import sys -from logging.handlers import RotatingFileHandler +from datetime import datetime import structlog from structlog.dev import ConsoleRenderer @@ -51,6 +52,13 @@ def get_agent_logger(name: str, agent_info: AgentInfo) -> structlog.BoundLogger: def configure_logger() -> None: + # 既存のログファイルが存在する場合、日付付きでバックアップする + log_file = "agent.log" + if os.path.exists(log_file): + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + backup_file = f"agent_{timestamp}.log" + os.rename(log_file, backup_file) + structlog.configure( processors=[ structlog.stdlib.add_log_level, @@ -65,16 +73,14 @@ def configure_logger() -> None: wrapper_class=structlog.stdlib.BoundLogger, cache_logger_on_first_use=True, ) + handler_stdout = logging.StreamHandler(sys.stdout) handler_stdout.setFormatter( structlog.stdlib.ProcessorFormatter(processor=ConsoleRenderer()) ) handler_stdout.setLevel(logging.INFO) - handler_file = RotatingFileHandler( - "agent.log", maxBytes=1024 * 1024 * 1024, backupCount=5 - ) - handler_file.doRollover() + handler_file = logging.FileHandler(log_file) handler_file.setFormatter( structlog.stdlib.ProcessorFormatter(processor=JSONRenderer()) ) From fb480f66de4d1041acd21dbf0b3e7006eeaa16d9 Mon Sep 17 00:00:00 2001 From: shima004 Date: Tue, 22 Apr 2025 15:38:54 +0900 Subject: [PATCH 227/249] =?UTF-8?q?feat:=20=E3=83=90=E3=83=BC=E3=82=B8?= =?UTF-8?q?=E3=83=A7=E3=83=B3=E3=82=920.1.3=E3=81=AB=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 9ae40d5..c62e989 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.poetry] name = "adf_core_python" -version = "0.1.2" +version = "0.1.3" description = "Agent Development Framework for Python" authors = [ "Haruki Uehara ", From 095fa6ebaf807c89d0da0caadae6f8f8137adb92 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 1 May 2025 14:30:52 +0900 Subject: [PATCH 228/249] =?UTF-8?q?feat:=20=E3=83=AA=E3=82=BD=E3=83=BC?= =?UTF-8?q?=E3=82=B9=E5=88=B6=E9=99=90=E3=81=AE=E8=A8=AD=E5=AE=9A=E3=81=AB?= =?UTF-8?q?=E5=A4=B1=E6=95=97=E3=81=97=E3=81=9F=E5=A0=B4=E5=90=88=E3=81=AE?= =?UTF-8?q?=E3=82=A8=E3=83=A9=E3=83=BC=E3=83=A1=E3=83=83=E3=82=BB=E3=83=BC?= =?UTF-8?q?=E3=82=B8=E3=82=92=E8=BF=BD=E5=8A=A0=E3=81=97=E3=80=81=E3=83=90?= =?UTF-8?q?=E3=83=BC=E3=82=B8=E3=83=A7=E3=83=B3=E3=82=920.1.4=E3=81=AB?= =?UTF-8?q?=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- adf_core_python/launcher.py | 8 +++++++- pyproject.toml | 2 +- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index 5d04a89..0982f70 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -12,7 +12,13 @@ def __init__( self, launcher_config_file: str, ) -> None: - resource.setrlimit(resource.RLIMIT_NOFILE, (8192, 1048576)) + try: + resource.setrlimit(resource.RLIMIT_NOFILE, (8192, 1048576)) + except Exception as e: + print( + f"Failed to set resource limit: {e}. " + "This may cause issues with the number of open files." + ) self.launcher_config = Config(launcher_config_file) diff --git a/pyproject.toml b/pyproject.toml index c62e989..ea94664 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.poetry] name = "adf_core_python" -version = "0.1.3" +version = "0.1.4" description = "Agent Development Framework for Python" authors = [ "Haruki Uehara ", From 2f8d61a946fd60af3b6f3c492145fa7c0f479581 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 19 May 2025 21:19:13 +0000 Subject: [PATCH 229/249] chore(deps-dev): bump setuptools from 75.6.0 to 78.1.1 Bumps [setuptools](https://github.com/pypa/setuptools) from 75.6.0 to 78.1.1. - [Release notes](https://github.com/pypa/setuptools/releases) - [Changelog](https://github.com/pypa/setuptools/blob/main/NEWS.rst) - [Commits](https://github.com/pypa/setuptools/compare/v75.6.0...v78.1.1) --- updated-dependencies: - dependency-name: setuptools dependency-version: 78.1.1 dependency-type: indirect ... Signed-off-by: dependabot[bot] --- poetry.lock | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/poetry.lock b/poetry.lock index 8f98a4f..610bd29 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1149,24 +1149,24 @@ test = ["Cython", "array-api-strict (>=2.0)", "asv", "gmpy2", "hypothesis (>=6.3 [[package]] name = "setuptools" -version = "75.6.0" +version = "78.1.1" description = "Easily download, build, install, upgrade, and uninstall Python packages" optional = false python-versions = ">=3.9" groups = ["dev"] files = [ - {file = "setuptools-75.6.0-py3-none-any.whl", hash = "sha256:ce74b49e8f7110f9bf04883b730f4765b774ef3ef28f722cce7c273d253aaf7d"}, - {file = "setuptools-75.6.0.tar.gz", hash = "sha256:8199222558df7c86216af4f84c30e9b34a61d8ba19366cc914424cdbd28252f6"}, + {file = "setuptools-78.1.1-py3-none-any.whl", hash = "sha256:c3a9c4211ff4c309edb8b8c4f1cbfa7ae324c4ba9f91ff254e3d305b9fd54561"}, + {file = "setuptools-78.1.1.tar.gz", hash = "sha256:fcc17fd9cd898242f6b4adfaca46137a9edef687f43e6f78469692a5e70d851d"}, ] [package.extras] -check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1) ; sys_platform != \"cygwin\"", "ruff (>=0.7.0) ; sys_platform != \"cygwin\""] -core = ["importlib_metadata (>=6) ; python_version < \"3.10\"", "jaraco.collections", "jaraco.functools (>=4)", "jaraco.text (>=3.7)", "more_itertools", "more_itertools (>=8.8)", "packaging", "packaging (>=24.2)", "platformdirs (>=4.2.2)", "tomli (>=2.0.1) ; python_version < \"3.11\"", "wheel (>=0.43.0)"] +check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1) ; sys_platform != \"cygwin\"", "ruff (>=0.8.0) ; sys_platform != \"cygwin\""] +core = ["importlib_metadata (>=6) ; python_version < \"3.10\"", "jaraco.functools (>=4)", "jaraco.text (>=3.7)", "more_itertools", "more_itertools (>=8.8)", "packaging (>=24.2)", "platformdirs (>=4.2.2)", "tomli (>=2.0.1) ; python_version < \"3.11\"", "wheel (>=0.43.0)"] cover = ["pytest-cov"] doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "pyproject-hooks (!=1.1)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier", "towncrier (<24.7)"] enabler = ["pytest-enabler (>=2.2)"] -test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21) ; python_version >= \"3.9\" and sys_platform != \"cygwin\"", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "jaraco.test (>=5.5)", "packaging (>=24.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf ; sys_platform != \"cygwin\"", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"] -type = ["importlib_metadata (>=7.0.2) ; python_version < \"3.10\"", "jaraco.develop (>=7.21) ; sys_platform != \"cygwin\"", "mypy (>=1.12,<1.14)", "pytest-mypy"] +test = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "ini2toml[lite] (>=0.14)", "jaraco.develop (>=7.21) ; python_version >= \"3.9\" and sys_platform != \"cygwin\"", "jaraco.envs (>=2.2)", "jaraco.path (>=3.7.2)", "jaraco.test (>=5.5)", "packaging (>=24.2)", "pip (>=19.1)", "pyproject-hooks (!=1.1)", "pytest (>=6,!=8.1.*)", "pytest-home (>=0.5)", "pytest-perf ; sys_platform != \"cygwin\"", "pytest-subprocess", "pytest-timeout", "pytest-xdist (>=3)", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel (>=0.44.0)"] +type = ["importlib_metadata (>=7.0.2) ; python_version < \"3.10\"", "jaraco.develop (>=7.21) ; sys_platform != \"cygwin\"", "mypy (==1.14.*)", "pytest-mypy"] [[package]] name = "shapely" From 83c4d9b554d41f39b8b8e35f6720961fdcb9d24a Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Tue, 10 Jun 2025 10:14:11 +0000 Subject: [PATCH 230/249] chore(deps-dev): bump requests from 2.32.3 to 2.32.4 Bumps [requests](https://github.com/psf/requests) from 2.32.3 to 2.32.4. - [Release notes](https://github.com/psf/requests/releases) - [Changelog](https://github.com/psf/requests/blob/main/HISTORY.md) - [Commits](https://github.com/psf/requests/compare/v2.32.3...v2.32.4) --- updated-dependencies: - dependency-name: requests dependency-version: 2.32.4 dependency-type: indirect ... Signed-off-by: dependabot[bot] --- poetry.lock | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/poetry.lock b/poetry.lock index 8f98a4f..0ea77c2 100644 --- a/poetry.lock +++ b/poetry.lock @@ -978,19 +978,19 @@ resolved_reference = "42a20e312de20ea46f1e0622a82f41e81fc3514f" [[package]] name = "requests" -version = "2.32.3" +version = "2.32.4" description = "Python HTTP for Humans." optional = false python-versions = ">=3.8" groups = ["dev"] files = [ - {file = "requests-2.32.3-py3-none-any.whl", hash = "sha256:70761cfe03c773ceb22aa2f671b4757976145175cdfca038c02654d061d6dcc6"}, - {file = "requests-2.32.3.tar.gz", hash = "sha256:55365417734eb18255590a9ff9eb97e9e1da868d4ccd6402399eaf68af20a760"}, + {file = "requests-2.32.4-py3-none-any.whl", hash = "sha256:27babd3cda2a6d50b30443204ee89830707d396671944c998b5975b031ac2b2c"}, + {file = "requests-2.32.4.tar.gz", hash = "sha256:27d0316682c8a29834d3264820024b62a36942083d52caf2f14c0591336d3422"}, ] [package.dependencies] certifi = ">=2017.4.17" -charset-normalizer = ">=2,<4" +charset_normalizer = ">=2,<4" idna = ">=2.5,<4" urllib3 = ">=1.21.1,<3" From 5661994c17f9f8c67493f4e347ac9539f2aa5888 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 10:52:47 +0900 Subject: [PATCH 231/249] Specify version tag for rcrs_core dependency in pyproject.toml --- poetry.lock | 1276 +++++++++++++++++++++++++----------------------- pyproject.toml | 2 +- 2 files changed, 669 insertions(+), 609 deletions(-) diff --git a/poetry.lock b/poetry.lock index 6326ce2..0dc5c07 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 2.1.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 2.1.2 and should not be changed by hand. [[package]] name = "accessible-pygments" @@ -33,33 +33,34 @@ files = [ [[package]] name = "babel" -version = "2.16.0" +version = "2.17.0" description = "Internationalization utilities" optional = false python-versions = ">=3.8" groups = ["dev"] files = [ - {file = "babel-2.16.0-py3-none-any.whl", hash = "sha256:368b5b98b37c06b7daf6696391c3240c938b37767d4584413e8438c5c435fa8b"}, - {file = "babel-2.16.0.tar.gz", hash = "sha256:d1f3554ca26605fe173f3de0c65f750f5a42f924499bf134de6423582298e316"}, + {file = "babel-2.17.0-py3-none-any.whl", hash = "sha256:4d0b53093fdfb4b21c92b5213dba5a1b23885afa8383709427046b21c366e5f2"}, + {file = "babel-2.17.0.tar.gz", hash = "sha256:0c54cffb19f690cdcc52a3b50bcbf71e07a808d1c80d549f2459b9d2cf0afb9d"}, ] [package.extras] -dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"] +dev = ["backports.zoneinfo ; python_version < \"3.9\"", "freezegun (>=1.0,<2.0)", "jinja2 (>=3.0)", "pytest (>=6.0)", "pytest-cov", "pytz", "setuptools", "tzdata ; sys_platform == \"win32\""] [[package]] name = "beautifulsoup4" -version = "4.12.3" +version = "4.13.4" description = "Screen-scraping library" optional = false -python-versions = ">=3.6.0" +python-versions = ">=3.7.0" groups = ["dev"] files = [ - {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"}, - {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"}, + {file = "beautifulsoup4-4.13.4-py3-none-any.whl", hash = "sha256:9bbbb14bfde9d79f38b8cd5f8c7c85f4b8f2523190ebed90e950a8dea4cb1c4b"}, + {file = "beautifulsoup4-4.13.4.tar.gz", hash = "sha256:dbb3c4e1ceae6aefebdaf2423247260cd062430a410e38c66f2baa50a8437195"}, ] [package.dependencies] soupsieve = ">1.2" +typing-extensions = ">=4.0.0" [package.extras] cchardet = ["cchardet"] @@ -70,288 +71,272 @@ lxml = ["lxml"] [[package]] name = "bitarray" -version = "3.0.0" +version = "3.6.0" description 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["pytest (>=6.0.0)", "setuptools (>=65)"] [metadata] lock-version = "2.1" python-versions = "^3.12" -content-hash = "39cb164105bc42d0880084e72c11894dfd5381d9f39a17beeda770b54e881949" +content-hash = "ca8c4ce733e53da7e9b9208c3341bcc8043863f16f8e4300e5cf2212495690c2" diff --git a/pyproject.toml b/pyproject.toml index ea94664..506d7f0 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -11,7 +11,7 @@ package-mode = true [tool.poetry.dependencies] python = "^3.12" -rcrs_core = { git = "https://github.com/adf-python/rcrs-core-python" } +rcrs_core = { git = "https://github.com/adf-python/rcrs-core-python", tag = "v0.1.0" } pyyaml = "^6.0.2" types-pyyaml = "^6.0.12.20240808" scikit-learn = "^1.5.2" From 1ddc2e837a144db283a3a37c19319806f1a09373 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 10:53:16 +0900 Subject: [PATCH 232/249] =?UTF-8?q?feat:=20=E3=83=90=E3=83=BC=E3=82=B8?= =?UTF-8?q?=E3=83=A7=E3=83=B3=E3=82=920.1.4=E3=81=8B=E3=82=890.1.5?= =?UTF-8?q?=E3=81=AB=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 506d7f0..e2bb97b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.poetry] name = "adf_core_python" -version = "0.1.4" +version = "0.1.5" description = "Agent Development Framework for Python" authors = [ "Haruki Uehara ", From 9477e587a22cf1a8204488fd89e4b5d80c1c7845 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 00:52:08 +0900 Subject: [PATCH 233/249] Update Python version and rcrs_core dependency in pyproject.toml - Bump Python version from 3.12 to 3.13 - Change rcrs_core dependency to point to the "improve" branch of the repository --- .../module/complex/sample_human_detector.py | 28 ++-- .../module/complex/sample_road_detector.py | 14 +- .../team_name/module/complex/sample_search.py | 7 +- adf_core_python/core/agent/action/action.py | 4 +- .../agent/action/ambulance/action_load.py | 11 +- .../agent/action/ambulance/action_rescue.py | 11 +- .../agent/action/ambulance/action_unload.py | 11 +- .../core/agent/action/common/action_move.py | 18 +-- .../core/agent/action/common/action_rest.py | 11 +- .../agent/action/fire/action_extinguish.py | 14 +- .../core/agent/action/fire/action_refill.py | 11 +- .../core/agent/action/fire/action_rescue.py | 11 +- .../core/agent/action/police/action_clear.py | 14 +- .../agent/action/police/action_clear_area.py | 11 +- adf_core_python/core/agent/agent.py | 138 ++++++++++-------- .../bundle/centralized/command_ambulance.py | 2 +- .../bundle/centralized/command_fire.py | 2 +- .../bundle/centralized/command_police.py | 2 +- .../bundle/centralized/command_scout.py | 2 +- .../bundle/centralized/message_report.py | 2 +- .../information/message_ambulance_team.py | 7 +- .../bundle/information/message_building.py | 6 +- .../bundle/information/message_civilian.py | 6 +- .../information/message_fire_brigade.py | 5 +- .../information/message_police_force.py | 5 +- .../bundle/information/message_road.py | 12 +- .../standard/bundle/standard_message.py | 2 +- .../standard/standard_communication_module.py | 4 +- .../standard/utility/apply_to_world_info.py | 20 +-- .../core/agent/config/module_config.py | 2 +- adf_core_python/core/agent/info/agent_info.py | 22 +-- adf_core_python/core/agent/info/world_info.py | 28 ++-- adf_core_python/core/agent/office/office.py | 2 +- .../core/agent/office/office_ambulance.py | 4 +- .../core/agent/office/office_fire.py | 2 +- .../core/agent/office/office_police.py | 2 +- adf_core_python/core/agent/platoon/platoon.py | 2 +- .../core/agent/platoon/platoon_ambulance.py | 2 +- .../core/agent/platoon/platoon_fire.py | 2 +- .../core/agent/platoon/platoon_police.py | 2 +- .../core/component/action/extend_action.py | 2 +- .../component/centralized/command_picker.py | 2 +- .../component/module/algorithm/clustering.py | 4 +- .../module/algorithm/path_planning.py | 2 +- .../complex/ambulance_target_allocator.py | 2 +- .../module/complex/fire_target_allocator.py | 2 +- .../module/complex/human_detector.py | 2 +- .../module/complex/police_target_allocator.py | 2 +- .../component/module/complex/road_detector.py | 2 +- .../core/component/module/complex/search.py | 2 +- .../module/complex/target_allocator.py | 2 +- .../module/complex/target_detector.py | 4 +- .../module/algorithm/gateway_clustering.py | 12 +- .../module/algorithm/gateway_path_planning.py | 8 +- .../module/complex/gateway_human_detector.py | 2 +- .../module/complex/gateway_road_detector.py | 2 +- .../complex/gateway_target_allocator.py | 2 +- .../module/complex/gateway_target_detector.py | 8 +- adf_core_python/core/gateway/gateway_agent.py | 9 +- .../core/gateway/gateway_module.py | 2 +- .../core/gateway/message/am_agent.py | 31 ++-- .../core/gateway/message/am_exec.py | 25 ++-- .../core/gateway/message/am_module.py | 23 ++- .../core/gateway/message/am_update.py | 31 ++-- .../core/gateway/message/ma_exec_response.py | 33 ++--- .../gateway/message/ma_module_response.py | 30 ++-- .../gateway/message/moduleMessageFactory.py | 4 +- adf_core_python/core/logger/logger.py | 6 +- .../action/default_extend_action_clear.py | 69 +++++---- .../action/default_extend_action_move.py | 14 +- .../action/default_extend_action_rescue.py | 25 ++-- .../action/default_extend_action_transport.py | 27 ++-- .../default_command_executor_ambulance.py | 7 +- .../default_command_executor_fire.py | 6 +- .../default_command_executor_police.py | 7 +- .../default_command_executor_scout.py | 14 +- .../default_command_executor_scout_police.py | 14 +- .../default_command_picker_ambulance.py | 9 +- .../default_command_picker_fire.py | 9 +- .../default_command_picker_police.py | 8 +- .../module/algorithm/a_star_path_planning.py | 8 +- .../algorithm/dijkstra_path_planning.py | 7 +- .../module/algorithm/k_means_clustering.py | 36 +++-- .../default_channel_subscriber.py | 6 +- .../default_message_coordinator.py | 4 +- .../default_ambulance_target_allocator.py | 19 +-- .../complex/default_fire_target_allocator.py | 19 +-- .../module/complex/default_human_detector.py | 26 ++-- .../default_police_target_allocator.py | 42 +++--- .../module/complex/default_road_detector.py | 14 +- .../module/complex/default_search.py | 7 +- .../default_tactics_ambulance_center.py | 2 +- .../tactics/default_tactics_ambulance_team.py | 2 +- .../tactics/default_tactics_fire_brigade.py | 2 +- .../tactics/default_tactics_fire_station.py | 2 +- .../tactics/default_tactics_police_force.py | 2 +- .../tactics/default_tactics_police_office.py | 2 +- poetry.lock | 18 +-- pyproject.toml | 4 +- 99 files changed, 533 insertions(+), 615 deletions(-) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py index 8b44545..1768cfc 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py @@ -1,10 +1,7 @@ from typing import Optional, cast -from rcrs_core.connection.URN import Entity as EntityURN -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Civilian, Entity, EntityID, Human +from rcrscore.urn import EntityURN from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -46,7 +43,7 @@ def __init__( def calculate(self) -> HumanDetector: transport_human: Optional[Human] = self._agent_info.some_one_on_board() if transport_human is not None: - self._result = transport_human.get_id() + self._result = transport_human.get_entity_id() return self if self._result is not None: @@ -72,44 +69,45 @@ def _select_target(self) -> Optional[EntityID]: cluster_valid_human_entities: list[Entity] = [ entity for entity in cluster_entities - if self._is_valid_human(entity.get_id()) and isinstance(entity, Civilian) + if self._is_valid_human(entity.get_entity_id()) + and isinstance(entity, Civilian) ] if len(cluster_valid_human_entities) != 0: nearest_human_entity = cluster_valid_human_entities[0] nearest_distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - nearest_human_entity.get_id(), + nearest_human_entity.get_entity_id(), ) for entity in cluster_valid_human_entities: distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - entity.get_id(), + entity.get_entity_id(), ) if distance < nearest_distance: nearest_distance = distance nearest_human_entity = entity - return nearest_human_entity.get_id() + return nearest_human_entity.get_entity_id() world_valid_human_entities: list[Entity] = [ entity for entity in self._world_info.get_entities_of_types([Civilian]) - if self._is_valid_human(entity.get_id()) + if self._is_valid_human(entity.get_entity_id()) ] if len(world_valid_human_entities) != 0: nearest_human_entity = world_valid_human_entities[0] nearest_distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - nearest_human_entity.get_id(), + nearest_human_entity.get_entity_id(), ) for entity in world_valid_human_entities: distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - entity.get_id(), + entity.get_entity_id(), ) if distance < nearest_distance: nearest_distance = distance nearest_human_entity = entity - return nearest_human_entity.get_id() + return nearest_human_entity.get_entity_id() return None @@ -126,6 +124,8 @@ def _is_valid_human(self, target_entity_id: EntityID) -> bool: if buriedness is None: return False myself = self._agent_info.get_myself() + if myself is None: + return False if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: return False if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index 2f554db..87e188a 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -1,10 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.building import Building -from rcrs_core.entities.gasStation import GasStation -from rcrs_core.entities.refuge import Refuge -from rcrs_core.entities.road import Road -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Building, EntityID, GasStation, Refuge, Road from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -59,7 +55,7 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: for entity in entities: if not isinstance(entity, Building): continue - for entity_id in entity.get_neighbours(): + for entity_id in entity.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._target_areas.add(entity_id) @@ -68,7 +64,7 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: for entity in self._world_info.get_entities_of_types([Refuge]): if not isinstance(entity, Building): continue - for entity_id in entity.get_neighbours(): + for entity_id in entity.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._priority_roads.add(entity_id) @@ -86,7 +82,7 @@ def prepare(self) -> RoadDetector: ) for entity in entities: building: Building = cast(Building, entity) - for entity_id in building.get_neighbours(): + for entity_id in building.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._target_areas.add(entity_id) @@ -94,7 +90,7 @@ def prepare(self) -> RoadDetector: self._priority_roads = set() for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbours(): + for entity_id in refuge.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._priority_roads.add(entity_id) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py index d495c49..a441a07 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py @@ -1,9 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.building import Building -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.refuge import Refuge -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Building, Entity, EntityID, Refuge from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -98,7 +95,7 @@ def _get_search_targets(self) -> set[EntityID]: cluster_index ) building_entity_ids: list[EntityID] = [ - entity.get_id() + entity.get_entity_id() for entity in cluster_entities if isinstance(entity, Building) and not isinstance(entity, Refuge) ] diff --git a/adf_core_python/core/agent/action/action.py b/adf_core_python/core/agent/action/action.py index c7ab198..911b028 100644 --- a/adf_core_python/core/agent/action/action.py +++ b/adf_core_python/core/agent/action/action.py @@ -1,7 +1,7 @@ from abc import ABC, abstractmethod -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import Command +from rcrscore.entities import EntityID class Action(ABC): diff --git a/adf_core_python/core/agent/action/ambulance/action_load.py b/adf_core_python/core/agent/action/ambulance/action_load.py index c7ee299..1e9eee5 100644 --- a/adf_core_python/core/agent/action/ambulance/action_load.py +++ b/adf_core_python/core/agent/action/ambulance/action_load.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKLoad import AKLoad -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKLoad, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionLoad(Action): def __init__(self, target_id: EntityID) -> None: diff --git a/adf_core_python/core/agent/action/ambulance/action_rescue.py b/adf_core_python/core/agent/action/ambulance/action_rescue.py index e4bfb1d..e3ad8e1 100644 --- a/adf_core_python/core/agent/action/ambulance/action_rescue.py +++ b/adf_core_python/core/agent/action/ambulance/action_rescue.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKRescue import AKRescue -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKRescue, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionRescue(Action): def __init__(self, target_id: EntityID) -> None: diff --git a/adf_core_python/core/agent/action/ambulance/action_unload.py b/adf_core_python/core/agent/action/ambulance/action_unload.py index afe3f1a..2f725cb 100644 --- a/adf_core_python/core/agent/action/ambulance/action_unload.py +++ b/adf_core_python/core/agent/action/ambulance/action_unload.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKUnload import AKUnload -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKUnload, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionUnload(Action): def get_command(self, agent_id: EntityID, time: int) -> Command: diff --git a/adf_core_python/core/agent/action/common/action_move.py b/adf_core_python/core/agent/action/common/action_move.py index 2baaba4..c2829a8 100644 --- a/adf_core_python/core/agent/action/common/action_move.py +++ b/adf_core_python/core/agent/action/common/action_move.py @@ -1,15 +1,10 @@ -from typing import TYPE_CHECKING, Optional +from typing import Optional -from rcrs_core.commands.AKMove import AKMove -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKMove, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionMove(Action): def __init__( @@ -32,11 +27,12 @@ def get_destination_y(self) -> Optional[int]: return self.destination_y def get_command(self, agent_id: EntityID, time: int) -> Command: - path: list[int] = [p.get_value() for p in self.path] if self.destination_x is not None and self.destination_y is not None: - return AKMove(agent_id, time, path, self.destination_x, self.destination_y) + return AKMove( + agent_id, time, self.path, self.destination_x, self.destination_y + ) else: - return AKMove(agent_id, time, path) + return AKMove(agent_id, time, self.path) def __str__(self) -> str: path: str = ", ".join([str(p) for p in self.path]) diff --git a/adf_core_python/core/agent/action/common/action_rest.py b/adf_core_python/core/agent/action/common/action_rest.py index ab86c82..94bfaea 100644 --- a/adf_core_python/core/agent/action/common/action_rest.py +++ b/adf_core_python/core/agent/action/common/action_rest.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKRest import AKRest -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKRest, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionRest(Action): def get_command(self, agent_id: EntityID, time: int) -> Command: diff --git a/adf_core_python/core/agent/action/fire/action_extinguish.py b/adf_core_python/core/agent/action/fire/action_extinguish.py index 296bef6..64713a9 100644 --- a/adf_core_python/core/agent/action/fire/action_extinguish.py +++ b/adf_core_python/core/agent/action/fire/action_extinguish.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKExtinguish import AKExtinguish -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKExtinguish, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionExtinguish(Action): def __init__(self, target_id: EntityID, max_power: int) -> None: @@ -17,8 +10,7 @@ def __init__(self, target_id: EntityID, max_power: int) -> None: self.max_power = max_power def get_command(self, agent_id: EntityID, time: int) -> Command: - # TODO: Implement AKEExtinguish - return AKExtinguish() + return AKExtinguish(agent_id, time, self.target_id, self.max_power) def __str__(self) -> str: return ( diff --git a/adf_core_python/core/agent/action/fire/action_refill.py b/adf_core_python/core/agent/action/fire/action_refill.py index bae2cc8..15c0242 100644 --- a/adf_core_python/core/agent/action/fire/action_refill.py +++ b/adf_core_python/core/agent/action/fire/action_refill.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKRest import AKRest -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKRest, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionRefill(Action): def get_command(self, agent_id: EntityID, time: int) -> Command: diff --git a/adf_core_python/core/agent/action/fire/action_rescue.py b/adf_core_python/core/agent/action/fire/action_rescue.py index e4bfb1d..e3ad8e1 100644 --- a/adf_core_python/core/agent/action/fire/action_rescue.py +++ b/adf_core_python/core/agent/action/fire/action_rescue.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKRescue import AKRescue -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKRescue, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionRescue(Action): def __init__(self, target_id: EntityID) -> None: diff --git a/adf_core_python/core/agent/action/police/action_clear.py b/adf_core_python/core/agent/action/police/action_clear.py index b343336..6ba35d3 100644 --- a/adf_core_python/core/agent/action/police/action_clear.py +++ b/adf_core_python/core/agent/action/police/action_clear.py @@ -1,23 +1,15 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKClear import AKClear -from rcrs_core.commands.Command import Command -from rcrs_core.entities.blockade import Blockade -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKClear, Command +from rcrscore.entities import Blockade, EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionClear(Action): def __init__(self, blockade: Blockade) -> None: self.blockade = blockade def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKClear(agent_id, time, self.blockade.get_id()) + return AKClear(agent_id, time, self.blockade.get_entity_id()) def __str__(self) -> str: return f"ActionClear(blockade={self.blockade})" diff --git a/adf_core_python/core/agent/action/police/action_clear_area.py b/adf_core_python/core/agent/action/police/action_clear_area.py index 2531dd5..be92c8a 100644 --- a/adf_core_python/core/agent/action/police/action_clear_area.py +++ b/adf_core_python/core/agent/action/police/action_clear_area.py @@ -1,15 +1,8 @@ -from typing import TYPE_CHECKING - -from rcrs_core.commands.AKClearArea import AKClearArea -from rcrs_core.commands.Command import Command -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKClearArea, Command +from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action -if TYPE_CHECKING: - from rcrs_core.commands.Command import Command - from rcrs_core.worldmodel.entityID import EntityID - class ActionClearArea(Action): def __init__(self, position_x: int, position_y: int) -> None: diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index b18fb67..e3409c4 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -5,32 +5,49 @@ from typing import Any, Callable, NoReturn, Optional from bitarray import bitarray -from rcrs_core.commands.AKClear import AKClear -from rcrs_core.commands.AKClearArea import AKClearArea -from rcrs_core.commands.AKLoad import AKLoad -from rcrs_core.commands.AKMove import AKMove -from rcrs_core.commands.AKRescue import AKRescue -from rcrs_core.commands.AKRest import AKRest -from rcrs_core.commands.AKSay import AKSay -from rcrs_core.commands.AKSpeak import AKSpeak -from rcrs_core.commands.AKSubscribe import AKSubscribe -from rcrs_core.commands.AKTell import AKTell -from rcrs_core.commands.AKUnload import AKUnload -from rcrs_core.commands.Command import Command -from rcrs_core.config.config import Config as RCRSConfig -from rcrs_core.connection.URN import Command as CommandURN -from rcrs_core.connection.URN import ComponentCommand as ComponentCommandMessageID -from rcrs_core.connection.URN import ComponentControlMSG as ComponentControlMessageID -from rcrs_core.connection.URN import Entity as EntityURN -from rcrs_core.messages.AKAcknowledge import AKAcknowledge -from rcrs_core.messages.AKConnect import AKConnect -from rcrs_core.messages.controlMessageFactory import ControlMessageFactory -from rcrs_core.messages.KAConnectError import KAConnectError -from rcrs_core.messages.KAConnectOK import KAConnectOK -from rcrs_core.messages.KASense import KASense -from rcrs_core.worldmodel.changeSet import ChangeSet -from rcrs_core.worldmodel.entityID import EntityID -from rcrs_core.worldmodel.worldmodel import WorldModel +from rcrscore.commands import ( + AKClear, + AKClearArea, + AKLoad, + AKMove, + AKRescue, + AKRest, + AKSay, + AKSpeak, + AKSubscribe, + AKTell, + AKUnload, + Command, +) +from rcrscore.config.config import Config as RCRSConfig + +# from rcrscore.connection.URN import Command as CommandURN +# from rcrscore.connection.URN import ComponentCommand as ComponentCommandMessageID +# from rcrscore.connection.URN import ComponentControlMSG as ComponentControlMessageID +# from rcrscore.connection.URN import Entity as EntityURN +from rcrscore.entities import EntityID + +# from rcrscore.messages.AKAcknowledge import AKAcknowledge +# from rcrscore.messages.AKConnect import AKConnect +# from rcrscore.messages.controlMessageFactory import ControlMessageFactory +# from rcrscore.messages.KAConnectError import KAConnectError +# from rcrscore.messages.KAConnectOK import KAConnectOK +# from rcrscore.messages.KASense import KASense +from rcrscore.messages import ( + AKAcknowledge, + AKConnect, + ControlMessageFactory, + KAConnectError, + KAConnectOK, + KASense, +) +from rcrscore.urn import ( + CommandURN, + ComponentCommandURN, + ComponentControlMessageURN, + EntityURN, +) +from rcrscore.worldmodel import ChangeSet, WorldModel from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( @@ -229,7 +246,9 @@ def get_requested_entities(self) -> list[EntityURN]: def start_up(self, request_id: int) -> None: ak_connect = AKConnect() - self.send_msg(ak_connect.write(request_id, self)) + self.send_msg( + ak_connect.write(request_id, self.name, self.get_requested_entities()) + ) def message_received(self, msg: Any) -> None: c_msg = ControlMessageFactory().make_message(msg) @@ -264,14 +283,7 @@ def handle_connect_ok(self, msg: Any) -> None: if config is not None: for key, value in config.data.items(): self.config.set_value(key, value) - for key, value in config.int_data.items(): - self.config.set_value(key, value) - for key, value in config.float_data.items(): - self.config.set_value(key, value) - for key, value in config.boolean_data.items(): - self.config.set_value(key, value) - for key, value in config.array_data.items(): - self.config.set_value(key, value) + self.send_acknowledge(msg.request_id) self.post_connect() self.logger.info( @@ -284,8 +296,8 @@ def handle_connect_ok(self, msg: Any) -> None: self.finish_post_connect_event.set() - def handler_sense(self, msg: Any) -> None: - _id = EntityID(msg.agent_id) + def handler_sense(self, msg: KASense) -> None: + _id = msg.agent_id time = msg.time change_set = msg.change_set heard = msg.hear.commands @@ -295,24 +307,20 @@ def handler_sense(self, msg: Any) -> None: return heard_commands: list[Command] = [] - for herad_command in heard: - if herad_command.urn == CommandURN.AK_SPEAK: + for heard_command in heard: + if heard_command.urn == CommandURN.AK_SPEAK: heard_commands.append( AKSpeak( EntityID( - herad_command.components[ - ComponentControlMessageID.AgentID + heard_command.components[ + ComponentControlMessageURN.AgentID ].entityID ), - herad_command.components[ - ComponentControlMessageID.Time - ].intValue, - herad_command.components[ - ComponentCommandMessageID.Message - ].rawData, - herad_command.components[ - ComponentCommandMessageID.Channel + heard_command.components[ + ComponentControlMessageURN.Time ].intValue, + heard_command.components[ComponentCommandURN.Message].rawData, + heard_command.components[ComponentCommandURN.Channel].intValue, ) ) self.world_model.merge(change_set) @@ -328,55 +336,57 @@ def send_acknowledge(self, request_id: int) -> None: def send_clear(self, time: int, target: EntityID) -> None: cmd = AKClear(self.get_entity_id(), time, target) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) def send_clear_area(self, time: int, x: int = -1, y: int = -1) -> None: cmd = AKClearArea(self.get_entity_id(), time, x, y) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) def send_load(self, time: int, target: EntityID) -> None: cmd = AKLoad(self.get_entity_id(), time, target) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) - def send_move(self, time: int, path: list[int], x: int = -1, y: int = -1) -> None: - cmd = AKMove(self.get_entity_id(), time, path[:], x, y) - msg = cmd.prepare_cmd() + def send_move( + self, time: int, path: list[EntityID], x: int = -1, y: int = -1 + ) -> None: + cmd = AKMove(self.get_entity_id(), time, path, x, y) + msg = cmd.to_message_proto() self.send_msg(msg) def send_rescue(self, time: int, target: EntityID) -> None: cmd = AKRescue(self.get_entity_id(), time, target) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) def send_rest(self, time: int) -> None: cmd = AKRest(self.get_entity_id(), time) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) - def send_say(self, time_step: int, message: str) -> None: + def send_say(self, time_step: int, message: bytes) -> None: cmd = AKSay(self.get_entity_id(), time_step, message) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) def send_speak(self, time_step: int, message: bitarray, channel: int) -> None: cmd = AKSpeak(self.get_entity_id(), time_step, bytes(message), channel) # type: ignore - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) def send_subscribe(self, time: int, channels: list[int]) -> None: cmd = AKSubscribe(self.get_entity_id(), time, channels) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) - def send_tell(self, time: int, message: str) -> None: + def send_tell(self, time: int, message: bytes) -> None: cmd = AKTell(self.get_entity_id(), time, message) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) def send_unload(self, time: int) -> None: cmd = AKUnload(self.get_entity_id(), time) - msg = cmd.prepare_cmd() + msg = cmd.to_message_proto() self.send_msg(msg) diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py index a5d6984..1a0a2f0 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py index cf61131..a4bd8ae 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py index 64b8e34..c57f2fb 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py index 138a1dd..4d82478 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py b/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py index 55f8907..99cf589 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py +++ b/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py @@ -1,7 +1,7 @@ from __future__ import annotations from bitarray import bitarray -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py index 3a74aba..2fbe0ea 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py @@ -3,8 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import AmbulanceTeam, EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, @@ -44,7 +43,9 @@ def __init__( ttl: Optional[int] = None, ): super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._ambulance_team_entity_id: Optional[EntityID] = ambulance_team.get_id() + self._ambulance_team_entity_id: Optional[EntityID] = ( + ambulance_team.get_entity_id() + ) self._ambulance_team_hp: Optional[int] = ambulance_team.get_hp() or None self._ambulance_team_buriedness: Optional[int] = ( ambulance_team.get_buriedness() or None diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py index be9f911..586f836 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py @@ -3,8 +3,8 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.building import Building -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID +from rcrscore.entities.building import Building from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, @@ -33,7 +33,7 @@ def __init__( ttl: Optional[int] = None, ): super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._building_entity_id: Optional[EntityID] = building.get_id() + self._building_entity_id: Optional[EntityID] = building.get_entity_id() self._building_brokenness: Optional[int] = building.get_brokenness() or None self._building_fireyness: Optional[int] = building.get_fieryness() or None self._building_temperature: Optional[int] = building.get_temperature() or None diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py index a5a62b4..79b4ae7 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py @@ -3,8 +3,8 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.civilian import Civilian -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID +from rcrscore.entities.civilian import Civilian from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, @@ -34,7 +34,7 @@ def __init__( ttl: Optional[int] = None, ): super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._civilian_entity_id: Optional[EntityID] = civilian.get_id() + self._civilian_entity_id: Optional[EntityID] = civilian.get_entity_id() self._civilian_hp: Optional[int] = civilian.get_hp() or None self._civilian_buriedness: Optional[int] = civilian.get_buriedness() or None self._civilian_damage: Optional[int] = civilian.get_damage() or None diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py index feefd51..0f41702 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py @@ -3,8 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.fireBrigade import FireBrigade -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID, FireBrigade from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, @@ -45,7 +44,7 @@ def __init__( ttl: Optional[int] = None, ): super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._fire_brigade_entity_id: Optional[EntityID] = fire_brigade.get_id() + self._fire_brigade_entity_id: Optional[EntityID] = fire_brigade.get_entity_id() self._fire_brigade_hp: Optional[int] = fire_brigade.get_hp() or None self._fire_brigade_buriedness: Optional[int] = ( fire_brigade.get_buriedness() or None diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py index f37432d..f4b72d0 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py @@ -3,8 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.policeForce import PoliceForce -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID, PoliceForce from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, @@ -42,7 +41,7 @@ def __init__( ttl: Optional[int] = None, ): super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._police_force_entity_id: Optional[EntityID] = police_force.get_id() + self._police_force_entity_id: Optional[EntityID] = police_force.get_entity_id() self._police_force_hp: Optional[int] = police_force.get_hp() or None self._police_force_buriedness: Optional[int] = ( police_force.get_buriedness() or None diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py b/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py index 474421c..747bfb5 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py +++ b/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py @@ -3,9 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.road import Road -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Blockade, EntityID, Road from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( StandardMessage, @@ -43,15 +41,15 @@ def __init__( ttl: Optional[int] = None, ): super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._road_entity_id: Optional[EntityID] = road.get_id() + self._road_entity_id: Optional[EntityID] = road.get_entity_id() self._road_blockade_entity_id: Optional[EntityID] = None self._road_blockade_repair_cost: Optional[int] = None self._road_blockade_x: Optional[int] = None self._road_blockade_y: Optional[int] = None if blockade: - self._road_blockade_entity_id = blockade.get_id() - self._road_blockade_repair_cost = blockade.get_repaire_cost() + self._road_blockade_entity_id = blockade.get_entity_id() + self._road_blockade_repair_cost = blockade.get_repair_cost() if is_send_blockade_location: self._road_blockade_x = blockade.get_x() or None self._road_blockade_y = blockade.get_y() or None @@ -146,7 +144,7 @@ def from_bits( ) road = Road(road_id or -1) blockade = Blockade(road_blockade_id or -1) - blockade.set_repaire_cost(road_blockade_repair_cost) + blockade.set_repair_cost(road_blockade_repair_cost) blockade.set_x(road_blockade_x) blockade.set_y(road_blockade_y) return MessageRoad( diff --git a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py index bdec11b..34ec8f9 100644 --- a/adf_core_python/core/agent/communication/standard/bundle/standard_message.py +++ b/adf_core_python/core/agent/communication/standard/bundle/standard_message.py @@ -3,7 +3,7 @@ from typing import Optional from bitarray import bitarray -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, diff --git a/adf_core_python/core/agent/communication/standard/standard_communication_module.py b/adf_core_python/core/agent/communication/standard/standard_communication_module.py index 3fdffb3..f502651 100644 --- a/adf_core_python/core/agent/communication/standard/standard_communication_module.py +++ b/adf_core_python/core/agent/communication/standard/standard_communication_module.py @@ -3,8 +3,8 @@ from typing import TYPE_CHECKING from bitarray import bitarray -from rcrs_core.commands.AKSpeak import AKSpeak -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.commands import AKSpeak +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( diff --git a/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py b/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py index c1e7020..56b1f8f 100644 --- a/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py +++ b/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py @@ -1,10 +1,12 @@ -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam -from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.building import Building -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.fireBrigade import FireBrigade -from rcrs_core.entities.policeForce import PoliceForce -from rcrs_core.entities.road import Road +from rcrscore.entities import ( + AmbulanceTeam, + Blockade, + Building, + Civilian, + FireBrigade, + PoliceForce, + Road, +) from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( MessageAmbulanceTeam, @@ -317,7 +319,7 @@ def _apply_to_world_info_road( if blockade is None: road_blockade = Blockade(blockade_entity_id.get_value()) if (repair_cost := message_road.get_road_blockade_repair_cost()) is not None: - road_blockade.set_repaire_cost(repair_cost) + road_blockade.set_repair_cost(repair_cost) if (x := message_road.get_road_blockade_x()) is not None: road_blockade.set_x(x) if (y := message_road.get_road_blockade_y()) is not None: @@ -328,7 +330,7 @@ def _apply_to_world_info_road( if ( repair_cost := message_road.get_road_blockade_repair_cost() ) is not None: - blockade.set_repaire_cost(repair_cost) + blockade.set_repair_cost(repair_cost) if (x := message_road.get_road_blockade_x()) is not None: blockade.set_x(x) if (y := message_road.get_road_blockade_y()) is not None: diff --git a/adf_core_python/core/agent/config/module_config.py b/adf_core_python/core/agent/config/module_config.py index 72a292a..7c65649 100644 --- a/adf_core_python/core/agent/config/module_config.py +++ b/adf_core_python/core/agent/config/module_config.py @@ -1,6 +1,6 @@ from typing import Any, Final -from rcrs_core.config.config import Config +from rcrscore.config.config import Config from yaml import safe_load diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py index 23f6657..5dea6a5 100644 --- a/adf_core_python/core/agent/info/agent_info.py +++ b/adf_core_python/core/agent/info/agent_info.py @@ -3,13 +3,12 @@ from time import time from typing import TYPE_CHECKING -from rcrs_core.commands.Command import Command -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.changeSet import ChangeSet -from rcrs_core.worldmodel.entityID import EntityID -from rcrs_core.worldmodel.worldmodel import WorldModel +from rcrscore.commands import Command +from rcrscore.entities import EntityID +from rcrscore.entities.civilian import Civilian +from rcrscore.entities.entity import Entity +from rcrscore.entities.human import Human +from rcrscore.worldmodel import ChangeSet, WorldModel from adf_core_python.core.agent.action.action import Action @@ -83,7 +82,7 @@ def get_entity_id(self) -> EntityID: # TODO: Agent class should return EntityID instead of EntityID | None return self._agent.get_entity_id() - def get_myself(self) -> Entity: + def get_myself(self) -> Entity | None: """ Get the entity of the agent @@ -94,7 +93,7 @@ def get_myself(self) -> Entity: """ return self._world_model.get_entity(self.get_entity_id()) - def get_position_entity_id(self) -> EntityID: + def get_position_entity_id(self) -> EntityID | None: """ Get the position entity ID of the agent @@ -104,10 +103,13 @@ def get_position_entity_id(self) -> EntityID: Position entity ID of the agent """ entity = self._world_model.get_entity(self.get_entity_id()) + if entity is None: + return None + if isinstance(entity, Human): return entity.get_position() else: - return entity.get_id() + return entity.get_entity_id() def set_change_set(self, change_set: ChangeSet) -> None: """ diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index c4dec84..8ac55c9 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -1,12 +1,11 @@ from typing import Any, Optional, cast -from rcrs_core.entities.area import Area -from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.changeSet import ChangeSet -from rcrs_core.worldmodel.entityID import EntityID -from rcrs_core.worldmodel.worldmodel import WorldModel +from rcrscore.entities import EntityID +from rcrscore.entities.area import Area +from rcrscore.entities.blockade import Blockade +from rcrscore.entities.entity import Entity +from rcrscore.entities.human import Human +from rcrscore.worldmodel import ChangeSet, WorldModel class WorldInfo: @@ -74,7 +73,7 @@ def get_entity_ids_of_types( entity_ids: list[EntityID] = [] for entity in self._world_model.get_entities(): if any(isinstance(entity, entity_type) for entity_type in entity_types): - entity_ids.append(entity.get_id()) + entity_ids.append(entity.get_entity_id()) return entity_ids @@ -145,7 +144,7 @@ def get_distance(self, entity_id1: EntityID, entity_id2: EntityID) -> float: return distance - def get_entity_position(self, entity_id: EntityID) -> EntityID: + def get_entity_position(self, entity_id: EntityID) -> EntityID | None: """ Get the entity position @@ -168,7 +167,7 @@ def get_entity_position(self, entity_id: EntityID) -> EntityID: if entity is None: raise ValueError(f"Invalid entity: entity_id={entity_id}, entity={entity}") if isinstance(entity, Area): - return entity.get_id() + return entity.get_entity_id() if isinstance(entity, Human): return entity.get_position() if isinstance(entity, Blockade): @@ -196,10 +195,11 @@ def get_blockades(self, area: Area) -> set[Blockade]: Blockade """ blockades = set() - for blockade_entity_id in area.get_blockades(): - blockades_entity = self.get_entity(blockade_entity_id) - if isinstance(blockades_entity, Blockade): - blockades.add(cast(Blockade, blockades_entity)) + if blockade_entity_ids := area.get_blockades(): + for blockade_entity_id in blockade_entity_ids: + blockades_entity = self.get_entity(blockade_entity_id) + if isinstance(blockades_entity, Blockade): + blockades.add(cast(Blockade, blockades_entity)) return blockades def add_entity(self, entity: Entity) -> None: diff --git a/adf_core_python/core/agent/office/office.py b/adf_core_python/core/agent/office/office.py index ae06c87..ea9a3b8 100644 --- a/adf_core_python/core/agent/office/office.py +++ b/adf_core_python/core/agent/office/office.py @@ -129,5 +129,5 @@ def think(self) -> None: self.send_msg( ActionRest() .get_command(self.agent_id, self._agent_info.get_time()) - .prepare_cmd() + .to_message_proto() ) diff --git a/adf_core_python/core/agent/office/office_ambulance.py b/adf_core_python/core/agent/office/office_ambulance.py index f746fd5..1df7e5e 100644 --- a/adf_core_python/core/agent/office/office_ambulance.py +++ b/adf_core_python/core/agent/office/office_ambulance.py @@ -1,7 +1,7 @@ from threading import Event from typing import Optional -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -39,4 +39,4 @@ def precompute(self) -> None: pass def get_requested_entities(self) -> list[EntityURN]: - return [EntityURN.AMBULANCE_CENTRE] + return [EntityURN.AMBULANCE_CENTER] diff --git a/adf_core_python/core/agent/office/office_fire.py b/adf_core_python/core/agent/office/office_fire.py index 6128edd..766e35a 100644 --- a/adf_core_python/core/agent/office/office_fire.py +++ b/adf_core_python/core/agent/office/office_fire.py @@ -1,7 +1,7 @@ from threading import Event from typing import Optional -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/agent/office/office_police.py b/adf_core_python/core/agent/office/office_police.py index 9717ac2..67d4cc3 100644 --- a/adf_core_python/core/agent/office/office_police.py +++ b/adf_core_python/core/agent/office/office_police.py @@ -1,7 +1,7 @@ from threading import Event from typing import Optional -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 2f2781c..8e9788c 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -133,5 +133,5 @@ def think(self) -> None: self.send_msg( action.get_command( self.agent_id, self._agent_info.get_time() - ).prepare_cmd() + ).to_message_proto() ) diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py index 0daad4a..16a1127 100644 --- a/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -1,7 +1,7 @@ from threading import Event from typing import Optional -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/agent/platoon/platoon_fire.py b/adf_core_python/core/agent/platoon/platoon_fire.py index 8debf99..13db7e0 100644 --- a/adf_core_python/core/agent/platoon/platoon_fire.py +++ b/adf_core_python/core/agent/platoon/platoon_fire.py @@ -1,7 +1,7 @@ from threading import Event from typing import Optional -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/agent/platoon/platoon_police.py b/adf_core_python/core/agent/platoon/platoon_police.py index 441602f..8f9c33a 100644 --- a/adf_core_python/core/agent/platoon/platoon_police.py +++ b/adf_core_python/core/agent/platoon/platoon_police.py @@ -1,7 +1,7 @@ from threading import Event from typing import Optional -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/action/extend_action.py b/adf_core_python/core/component/action/extend_action.py index fece605..1688e62 100644 --- a/adf_core_python/core/component/action/extend_action.py +++ b/adf_core_python/core/component/action/extend_action.py @@ -4,7 +4,7 @@ from typing import TYPE_CHECKING, Optional if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.communication.message_manager import MessageManager diff --git a/adf_core_python/core/component/centralized/command_picker.py b/adf_core_python/core/component/centralized/command_picker.py index 19c869a..8fcea2f 100644 --- a/adf_core_python/core/component/centralized/command_picker.py +++ b/adf_core_python/core/component/centralized/command_picker.py @@ -3,7 +3,7 @@ from abc import ABC, abstractmethod from typing import TYPE_CHECKING -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID if TYPE_CHECKING: from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/module/algorithm/clustering.py b/adf_core_python/core/component/module/algorithm/clustering.py index 0a6bfdc..2594cb9 100644 --- a/adf_core_python/core/component/module/algorithm/clustering.py +++ b/adf_core_python/core/component/module/algorithm/clustering.py @@ -6,8 +6,8 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrs_core.entities.entity import Entity - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID + from rcrscore.entities.entity import Entity from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/module/algorithm/path_planning.py b/adf_core_python/core/component/module/algorithm/path_planning.py index 6445ac0..d7318f1 100644 --- a/adf_core_python/core/component/module/algorithm/path_planning.py +++ b/adf_core_python/core/component/module/algorithm/path_planning.py @@ -6,7 +6,7 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/module/complex/ambulance_target_allocator.py b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py index 7359e68..63e5a5f 100644 --- a/adf_core_python/core/component/module/complex/ambulance_target_allocator.py +++ b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py @@ -8,7 +8,7 @@ ) if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/module/complex/fire_target_allocator.py b/adf_core_python/core/component/module/complex/fire_target_allocator.py index 9e35373..2cf3ec2 100644 --- a/adf_core_python/core/component/module/complex/fire_target_allocator.py +++ b/adf_core_python/core/component/module/complex/fire_target_allocator.py @@ -8,7 +8,7 @@ ) if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/module/complex/human_detector.py b/adf_core_python/core/component/module/complex/human_detector.py index 10a31e2..0e7ae6c 100644 --- a/adf_core_python/core/component/module/complex/human_detector.py +++ b/adf_core_python/core/component/module/complex/human_detector.py @@ -3,7 +3,7 @@ from abc import abstractmethod from typing import TYPE_CHECKING -from rcrs_core.entities.human import Human +from rcrscore.entities.human import Human from adf_core_python.core.component.module.complex.target_detector import ( TargetDetector, diff --git a/adf_core_python/core/component/module/complex/police_target_allocator.py b/adf_core_python/core/component/module/complex/police_target_allocator.py index bf31d15..a066304 100644 --- a/adf_core_python/core/component/module/complex/police_target_allocator.py +++ b/adf_core_python/core/component/module/complex/police_target_allocator.py @@ -8,7 +8,7 @@ ) if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/module/complex/road_detector.py b/adf_core_python/core/component/module/complex/road_detector.py index 08b552d..888ea96 100644 --- a/adf_core_python/core/component/module/complex/road_detector.py +++ b/adf_core_python/core/component/module/complex/road_detector.py @@ -3,7 +3,7 @@ from abc import abstractmethod from typing import TYPE_CHECKING -from rcrs_core.entities.road import Road +from rcrscore.entities.road import Road from adf_core_python.core.component.module.complex.target_detector import ( TargetDetector, diff --git a/adf_core_python/core/component/module/complex/search.py b/adf_core_python/core/component/module/complex/search.py index 7715831..bfeddef 100644 --- a/adf_core_python/core/component/module/complex/search.py +++ b/adf_core_python/core/component/module/complex/search.py @@ -3,7 +3,7 @@ from abc import abstractmethod from typing import TYPE_CHECKING -from rcrs_core.entities.area import Area +from rcrscore.entities.area import Area from adf_core_python.core.component.module.complex.target_detector import ( TargetDetector, diff --git a/adf_core_python/core/component/module/complex/target_allocator.py b/adf_core_python/core/component/module/complex/target_allocator.py index 55869c9..88ef50f 100644 --- a/adf_core_python/core/component/module/complex/target_allocator.py +++ b/adf_core_python/core/component/module/complex/target_allocator.py @@ -6,7 +6,7 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/component/module/complex/target_detector.py b/adf_core_python/core/component/module/complex/target_detector.py index 29fb4df..21a79e4 100644 --- a/adf_core_python/core/component/module/complex/target_detector.py +++ b/adf_core_python/core/component/module/complex/target_detector.py @@ -3,12 +3,12 @@ from abc import abstractmethod from typing import TYPE_CHECKING, Generic, Optional, TypeVar -from rcrs_core.entities.entity import Entity +from rcrscore.entities.entity import Entity from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrs_core.worldmodel.entityID import EntityID + from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py b/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py index 6518770..ade93a0 100644 --- a/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py +++ b/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py @@ -3,7 +3,7 @@ import json from typing import TYPE_CHECKING -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.component.module.algorithm.clustering import Clustering from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( @@ -11,7 +11,7 @@ ) if TYPE_CHECKING: - from rcrs_core.entities.entity import Entity + from rcrscore.entities.entity import Entity from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -64,17 +64,17 @@ def calculate(self) -> GatewayClustering: def get_cluster_number(self) -> int: result = self._gateway_module.execute("getClusterNumber") - return int(result.get_value_or_default("ClusterNumber", "0")) + return int(result.get_value("ClusterNumber") or 0) def get_cluster_index(self, entity_id: EntityID) -> int: arguments: dict[str, str] = {"EntityID": str(entity_id.get_value())} result = self._gateway_module.execute("getClusterIndex(EntityID)", arguments) - return int(result.get_value_or_default("ClusterIndex", "0")) + return int(result.get_value("ClusterIndex") or 0) def get_cluster_entities(self, cluster_index: int) -> list[Entity]: arguments: dict[str, str] = {"Index": str(cluster_index)} result = self._gateway_module.execute("getClusterEntities(int)", arguments) - json_str = result.get_value_or_default("EntityIDs", "[]") + json_str = result.get_value("EntityIDs") or "[]" entity_ids: list[int] = json.loads(json_str) entities: list[Entity] = [] for entity_id in entity_ids: @@ -84,7 +84,7 @@ def get_cluster_entities(self, cluster_index: int) -> list[Entity]: def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: arguments: dict[str, str] = {"Index": str(cluster_index)} result = self._gateway_module.execute("getClusterEntityIDs(int)", arguments) - json_str = result.get_value_or_default("EntityIDs", "[]") + json_str = result.get_value("EntityIDs") or "[]" raw_entity_ids: list[int] = json.loads(json_str) entity_ids: list[EntityID] = [] for entity_id in raw_entity_ids: diff --git a/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py b/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py index 6a2bc4e..ef4df09 100644 --- a/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py +++ b/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py @@ -3,7 +3,7 @@ import json from typing import TYPE_CHECKING -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( @@ -70,7 +70,7 @@ def get_path( result = self._gateway_module.execute( "getResult(EntityID, EntityID)", arguments ) - json_str = result.get_value_or_default("Result", "[]") + json_str = result.get_value("Result") or "[]" raw_entity_ids: list[int] = json.loads(json_str) entity_ids: list[EntityID] = [] for entity_id in raw_entity_ids: @@ -89,7 +89,7 @@ def get_path_to_multiple_destinations( result = self._gateway_module.execute( "getResult(EntityID, List[EntityID])", arguments ) - json_str = result.get_value_or_default("Result", "[]") + json_str = result.get_value("Result") or "[]" raw_entity_ids: list[int] = json.loads(json_str) entity_ids: list[EntityID] = [] for entity_id in raw_entity_ids: @@ -104,4 +104,4 @@ def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> floa result = self._gateway_module.execute( "getDistance(EntityID, EntityID)", arguments ) - return float(result.get_value_or_default("Result", "0.0")) + return float(result.get_value("Result") or 0.0) diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py b/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py index 7fc6fe7..7692f07 100644 --- a/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py +++ b/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py @@ -2,7 +2,7 @@ from typing import TYPE_CHECKING -from rcrs_core.entities.human import Human +from rcrscore.entities.human import Human from adf_core_python.core.component.module.complex.human_detector import ( HumanDetector, diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py b/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py index da275b9..bfceb81 100644 --- a/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py +++ b/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py @@ -2,7 +2,7 @@ from typing import TYPE_CHECKING -from rcrs_core.entities.road import Road +from rcrscore.entities.road import Road from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.component.module.complex.road_detector import RoadDetector diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py b/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py index 98649a4..1f7a57f 100644 --- a/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py +++ b/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py @@ -2,7 +2,7 @@ from typing import TYPE_CHECKING -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.component.module.complex.target_allocator import ( TargetAllocator, diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py b/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py index a58b25f..1f50383 100644 --- a/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py +++ b/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py @@ -1,9 +1,9 @@ from __future__ import annotations -from typing import Optional, Generic, TypeVar, TYPE_CHECKING +from typing import TYPE_CHECKING, Generic, Optional, TypeVar -from rcrs_core.entities.entity import Entity -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID +from rcrscore.entities.entity import Entity from adf_core_python.core.component.module.complex.target_detector import TargetDetector from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( @@ -64,7 +64,7 @@ def calculate(self) -> GatewayTargetDetector[T]: def get_target_entity_id(self) -> Optional[EntityID]: result = self._gateway_module.execute("getTarget") - entity_id_str = result.get_value_or_default("EntityID", "-1") + entity_id_str = result.get_value("EntityID") or "-1" if entity_id_str == "-1": return None return EntityID(int(entity_id_str)) diff --git a/adf_core_python/core/gateway/gateway_agent.py b/adf_core_python/core/gateway/gateway_agent.py index 31008bb..7f04e19 100644 --- a/adf_core_python/core/gateway/gateway_agent.py +++ b/adf_core_python/core/gateway/gateway_agent.py @@ -1,8 +1,9 @@ from __future__ import annotations -from typing import Optional, TYPE_CHECKING, Callable +from typing import TYPE_CHECKING, Callable, Optional -from rcrs_core.connection import RCRSProto_pb2, URN +from rcrscore.proto import RCRSProto_pb2 +from rcrscore.urn import CommandURN from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo @@ -95,7 +96,7 @@ def update(self) -> None: def set_send_msg(self, connection_send_func: Callable) -> None: self.send_msg = connection_send_func - def message_received(self, msg: RCRSProto_pb2) -> None: + def message_received(self, msg: RCRSProto_pb2.MessageProto) -> None: c_msg = ModuleMessageFactory().make_message(msg) if isinstance(c_msg, MAModuleResponse): if c_msg.module_id is None or c_msg.class_name is None: @@ -112,7 +113,7 @@ def message_received(self, msg: RCRSProto_pb2) -> None: self._gateway_modules[c_msg.module_id].set_execute_response(c_msg.result) self._gateway_modules[c_msg.module_id].set_is_executed(True) - if msg.urn == URN.Command.AK_SPEAK: + if msg.urn == CommandURN.AK_SPEAK: if self.send_msg is None: raise RuntimeError("send_msg is None") self.send_msg(msg) diff --git a/adf_core_python/core/gateway/gateway_module.py b/adf_core_python/core/gateway/gateway_module.py index e79b239..99f9115 100644 --- a/adf_core_python/core/gateway/gateway_module.py +++ b/adf_core_python/core/gateway/gateway_module.py @@ -1,7 +1,7 @@ import uuid from typing import Optional -from rcrs_core.config.config import Config +from rcrscore.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent from adf_core_python.core.gateway.message.am_exec import AMExec diff --git a/adf_core_python/core/gateway/message/am_agent.py b/adf_core_python/core/gateway/message/am_agent.py index 3d6bc8d..aac4850 100644 --- a/adf_core_python/core/gateway/message/am_agent.py +++ b/adf_core_python/core/gateway/message/am_agent.py @@ -1,35 +1,30 @@ from typing import Any -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.entities.entity import Entity -from rcrs_core.messages.message import Message -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID +from rcrscore.entities.entity import Entity +from rcrscore.messages import AKControlMessage +from rcrscore.proto import RCRSProto_pb2 +from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ModuleMSG, ComponentModuleMSG, + ModuleMSG, ) -class AMAgent(Message): - def __init__(self) -> None: - super().__init__(ModuleMSG.AM_AGENT) - - def read(self) -> None: - pass - +class AMAgent(AKControlMessage): + @staticmethod def write( - self, agent_id: EntityID, entities: list[Entity], config: dict[str, Any], mode: int, - ) -> Any: + ) -> RCRSProto_pb2.MessageProto: entity_proto_list = [] for entity in entities: entity_proto = RCRSProto_pb2.EntityProto() entity_proto.urn = entity.get_urn() - entity_proto.entityID = entity.get_id().get_value() + entity_proto.entityID = entity.get_entity_id().get_value() property_proto_list = [] for k, v in entity.get_properties().items(): @@ -45,7 +40,7 @@ def write( config_proto.data[str(key)] = str(value) msg = RCRSProto_pb2.MessageProto() - msg.urn = self.get_urn() + msg.urn = AMAgent.get_urn() msg.components[ComponentModuleMSG.AgentID].entityID = agent_id.get_value() msg.components[ComponentModuleMSG.Entities].entityList.CopyFrom( entity_list_proto @@ -53,3 +48,7 @@ def write( msg.components[ComponentModuleMSG.Config].config.CopyFrom(config_proto) msg.components[ComponentModuleMSG.Mode].intValue = mode return msg + + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_AGENT # type: ignore diff --git a/adf_core_python/core/gateway/message/am_exec.py b/adf_core_python/core/gateway/message/am_exec.py index 9bd36be..dd8508b 100644 --- a/adf_core_python/core/gateway/message/am_exec.py +++ b/adf_core_python/core/gateway/message/am_exec.py @@ -1,25 +1,20 @@ -from abc import ABC from typing import Any -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.messages.message import Message +from rcrscore.messages import AKControlMessage +from rcrscore.proto import RCRSProto_pb2 +from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ModuleMSG, ComponentModuleMSG, + ModuleMSG, ) -class AMExec(Message, ABC): - def __init__(self) -> None: - super().__init__(ModuleMSG.AM_EXEC) - - def read(self) -> None: - pass - - def write(self, module_id: str, method_name: str, arguments: dict[str, str]) -> Any: +class AMExec(AKControlMessage): + @staticmethod + def write(module_id: str, method_name: str, arguments: dict[str, str]) -> Any: msg = RCRSProto_pb2.MessageProto() - msg.urn = self.get_urn() + msg.urn = AMExec.get_urn() msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id msg.components[ComponentModuleMSG.MethodName].stringValue = method_name config_proto = RCRSProto_pb2.ConfigProto() @@ -28,3 +23,7 @@ def write(self, module_id: str, method_name: str, arguments: dict[str, str]) -> msg.components[ComponentModuleMSG.Arguments].config.CopyFrom(config_proto) return msg + + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_EXEC # type: ignore diff --git a/adf_core_python/core/gateway/message/am_module.py b/adf_core_python/core/gateway/message/am_module.py index 0dd26bc..6b31662 100644 --- a/adf_core_python/core/gateway/message/am_module.py +++ b/adf_core_python/core/gateway/message/am_module.py @@ -1,29 +1,24 @@ from typing import Any -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.messages.message import Message +from rcrscore.messages import AKControlMessage +from rcrscore.proto import RCRSProto_pb2 +from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ModuleMSG, ComponentModuleMSG, + ModuleMSG, ) -class AMModule(Message): - def __init__(self) -> None: - super().__init__(ModuleMSG.AM_MODULE) - - def read(self) -> None: - pass - +class AMModule(AKControlMessage): + @staticmethod def write( - self, module_id: str, module_name: str, default_class_name: str, ) -> Any: msg = RCRSProto_pb2.MessageProto() - msg.urn = self.get_urn() + msg.urn = AMModule.get_urn() msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id msg.components[ComponentModuleMSG.ModuleName].stringValue = module_name msg.components[ @@ -31,3 +26,7 @@ def write( ].stringValue = default_class_name return msg + + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_MODULE # type: ignore diff --git a/adf_core_python/core/gateway/message/am_update.py b/adf_core_python/core/gateway/message/am_update.py index 0988920..e6baa79 100644 --- a/adf_core_python/core/gateway/message/am_update.py +++ b/adf_core_python/core/gateway/message/am_update.py @@ -1,27 +1,22 @@ -from abc import ABC from typing import Any -from rcrs_core.commands.Command import Command -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.messages.message import Message -from rcrs_core.worldmodel.changeSet import ChangeSet +from rcrscore.commands import Command +from rcrscore.messages import AKControlMessage +from rcrscore.proto import RCRSProto_pb2 +from rcrscore.urn.control_message import ControlMessageURN +from rcrscore.worldmodel import ChangeSet from adf_core_python.core.gateway.message.urn.urn import ( - ModuleMSG, ComponentModuleMSG, + ModuleMSG, ) -class AMUpdate(Message, ABC): - def __init__(self) -> None: - super().__init__(ModuleMSG.AM_UPDATE) - - def read(self) -> None: - pass - - def write(self, time: int, changed: ChangeSet, heard: list[Command]) -> Any: +class AMUpdate(AKControlMessage): + @staticmethod + def write(time: int, changed: ChangeSet, heard: list[Command]) -> Any: msg = RCRSProto_pb2.MessageProto() - msg.urn = self.get_urn() + msg.urn = AMUpdate.get_urn() msg.components[ComponentModuleMSG.Time].intValue = time msg.components[ComponentModuleMSG.Changed].changeSet.CopyFrom( changed.to_change_set_proto() @@ -30,9 +25,13 @@ def write(self, time: int, changed: ChangeSet, heard: list[Command]) -> Any: message_proto_list = [] if heard is not None: for h in heard: - message_proto_list.append(h.prepare_cmd()) + message_proto_list.append(h.to_message_proto()) message_list_proto.commands.extend(message_proto_list) msg.components[ComponentModuleMSG.Heard].commandList.CopyFrom( message_list_proto ) return msg + + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_UPDATE # type: ignore diff --git a/adf_core_python/core/gateway/message/ma_exec_response.py b/adf_core_python/core/gateway/message/ma_exec_response.py index 8c68fbc..1e84021 100644 --- a/adf_core_python/core/gateway/message/ma_exec_response.py +++ b/adf_core_python/core/gateway/message/ma_exec_response.py @@ -1,28 +1,27 @@ -from abc import ABC - -from rcrs_core.config.config import Config -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.messages.message import Message +from rcrscore.config.config import Config +from rcrscore.messages import KAControlMessage +from rcrscore.proto import RCRSProto_pb2 +from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ModuleMSG, ComponentModuleMSG, + ModuleMSG, ) -class MAExecResponse(Message, ABC): - def __init__(self, data: RCRSProto_pb2) -> None: - super().__init__(ModuleMSG.MA_EXEC_RESPONSE) - self.module_id = None +class MAExecResponse(KAControlMessage): + def __init__(self, message_proto: RCRSProto_pb2.MessageProto) -> None: self.result = Config() - self.data = data - self.read() + self.read(message_proto) - def read(self) -> None: - self.module_id = self.data.components[ComponentModuleMSG.ModuleID].stringValue - result = self.data.components[ComponentModuleMSG.Result].config + def read(self, message_proto: RCRSProto_pb2.MessageProto) -> None: + self.module_id: str = message_proto.components[ + ComponentModuleMSG.ModuleID + ].stringValue + result = message_proto.components[ComponentModuleMSG.Result].config for key, value in result.data.items(): self.result.set_value(key, value) - def write(self) -> None: - pass + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.MA_EXEC_RESPONSE # type: ignore diff --git a/adf_core_python/core/gateway/message/ma_module_response.py b/adf_core_python/core/gateway/message/ma_module_response.py index c680419..8e879f3 100644 --- a/adf_core_python/core/gateway/message/ma_module_response.py +++ b/adf_core_python/core/gateway/message/ma_module_response.py @@ -1,26 +1,30 @@ from abc import ABC from typing import Optional -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.messages.message import Message +from rcrscore.messages import KAControlMessage +from rcrscore.proto import RCRSProto_pb2 +from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ModuleMSG, ComponentModuleMSG, + ModuleMSG, ) -class MAModuleResponse(Message, ABC): - def __init__(self, data: RCRSProto_pb2) -> None: - super().__init__(ModuleMSG.MA_MODULE_RESPONSE) +class MAModuleResponse(KAControlMessage, ABC): + def __init__(self, message_proto: RCRSProto_pb2.MessageProto) -> None: self.module_id: Optional[str] = None self.class_name: Optional[str] = None - self.data = data - self.read() + self.read(message_proto) - def read(self) -> None: - self.module_id = self.data.components[ComponentModuleMSG.ModuleID].stringValue - self.class_name = self.data.components[ComponentModuleMSG.ClassName].stringValue + def read(self, message_proto: RCRSProto_pb2.MessageProto) -> None: + self.module_id = message_proto.components[ + ComponentModuleMSG.ModuleID + ].stringValue + self.class_name = message_proto.components[ + ComponentModuleMSG.ClassName + ].stringValue - def write(self) -> None: - pass + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.MA_MODULE_RESPONSE # type: ignore diff --git a/adf_core_python/core/gateway/message/moduleMessageFactory.py b/adf_core_python/core/gateway/message/moduleMessageFactory.py index 6fac9d8..3874b25 100644 --- a/adf_core_python/core/gateway/message/moduleMessageFactory.py +++ b/adf_core_python/core/gateway/message/moduleMessageFactory.py @@ -1,6 +1,6 @@ from typing import Optional -from rcrs_core.connection import RCRSProto_pb2 +from rcrscore.proto import RCRSProto_pb2 from adf_core_python.core.gateway.message.ma_exec_response import MAExecResponse from adf_core_python.core.gateway.message.ma_module_response import ( @@ -14,7 +14,7 @@ def __init__(self) -> None: pass def make_message( - self, msg: RCRSProto_pb2 + self, msg: RCRSProto_pb2.MessageProto ) -> Optional[MAModuleResponse | MAExecResponse]: if msg.urn == ModuleMSG.MA_MODULE_RESPONSE: return MAModuleResponse(msg) diff --git a/adf_core_python/core/logger/logger.py b/adf_core_python/core/logger/logger.py index 16797e8..8b8f2f6 100644 --- a/adf_core_python/core/logger/logger.py +++ b/adf_core_python/core/logger/logger.py @@ -45,9 +45,13 @@ def get_agent_logger(name: str, agent_info: AgentInfo) -> structlog.BoundLogger: structlog.BoundLogger The logger with the given name and agent information. """ + agent = agent_info.get_myself() + if agent is None: + raise ValueError("Agent information is not available") + return structlog.get_logger(name).bind( agent_id=str(agent_info.get_entity_id()), - agent_type=str(agent_info.get_myself().get_urn().name), + agent_type=str(agent.get_urn().name), ) diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index d0a1912..879cbdf 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -2,16 +2,18 @@ import sys from typing import Optional, cast -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam -from rcrs_core.entities.area import Area -from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.building import Building -from rcrs_core.entities.fireBrigade import FireBrigade -from rcrs_core.entities.human import Human -from rcrs_core.entities.policeForce import PoliceForce -from rcrs_core.entities.refuge import Refuge -from rcrs_core.entities.road import Road -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import ( + AmbulanceTeam, + Area, + Blockade, + Building, + EntityID, + FireBrigade, + Human, + PoliceForce, + Refuge, + Road, +) from shapely import LineString, Point, Polygon from adf_core_python.core.agent.action.action import Action @@ -261,7 +263,7 @@ def _get_rescue_action( for agent_entity in agent_entities: human = cast(Human, agent_entity) - if human.get_position().get_value() != road.get_id().get_value(): + if human.get_position().get_value() != road.get_entity_id().get_value(): continue human_x = human.get_x() @@ -294,10 +296,11 @@ def _get_rescue_action( return ActionClear(clear_blockade) another_distance = self.world_info.get_distance( - police_entity.get_id(), clear_blockade.get_id() + police_entity.get_entity_id(), + clear_blockade.get_entity_id(), ) blockade_distance = self.world_info.get_distance( - police_entity.get_id(), blockade.get_id() + police_entity.get_entity_id(), blockade.get_entity_id() ) if blockade_distance < another_distance: return action @@ -334,10 +337,12 @@ def _get_rescue_action( return ActionClear(clear_blockade) distance1 = self.world_info.get_distance( - police_entity.get_id(), clear_blockade.get_id() + police_entity.get_entity_id(), + clear_blockade.get_entity_id(), ) distance2 = self.world_info.get_distance( - police_entity.get_id(), blockade.get_id() + police_entity.get_entity_id(), + blockade.get_entity_id(), ) if distance1 > distance2: return ActionClearArea(clear_x, clear_y) @@ -346,7 +351,9 @@ def _get_rescue_action( elif distance < min_distance: min_distance = distance - move_action = ActionMove([road.get_id()], human_x, human_y) + move_action = ActionMove( + [road.get_entity_id()], human_x, human_y + ) if action_clear is not None: return action_clear @@ -412,7 +419,7 @@ def _get_intersect_edge_action( if best_point is not None: bp_x, bp_y = best_point if road.get_blockades() is None: - return ActionMove([road.get_id()], int(bp_x), int(bp_y)) + return ActionMove([road.get_entity_id()], int(bp_x), int(bp_y)) action_clear: Optional[ActionClearArea] = None clear_blockade: Optional[Blockade] = None @@ -446,7 +453,9 @@ def _get_intersect_edge_action( return ActionClear(clear_blockade) return action_clear elif action_move is None: - action_move = ActionMove([road.get_id()], int(bp_x), int(bp_y)) + action_move = ActionMove( + [road.get_entity_id()], int(bp_x), int(bp_y) + ) if action_clear is not None: return action_clear @@ -457,12 +466,12 @@ def _get_intersect_edge_action( cast(PoliceForce, self.agent_info.get_myself()), road ) if action is None: - action = ActionMove([road.get_id()], int(point_x), int(point_y)) + action = ActionMove([road.get_entity_id()], int(point_x), int(point_y)) return action def _get_move_points(self, road: Road) -> set[tuple[float, float]]: points: Optional[set[tuple[float, float]]] = self._move_point_cache.get( - road.get_id() + road.get_entity_id() ) if points is None: points = set() @@ -480,7 +489,7 @@ def _get_move_points(self, road: Road) -> set[tuple[float, float]]: if (mid_x, mid_y) in points: points.remove((mid_x, mid_y)) - self._move_point_cache[road.get_id()] = points + self._move_point_cache[road.get_entity_id()] = points return points @@ -568,10 +577,10 @@ def _get_area_clear_action( if self._is_intersecting_blockades(blockade, another): distance1 = self.world_info.get_distance( - police_entity.get_id(), blockade.get_id() + police_entity.get_entity_id(), blockade.get_entity_id() ) distance2 = self.world_info.get_distance( - police_entity.get_id(), another.get_id() + police_entity.get_entity_id(), another.get_entity_id() ) if distance1 <= distance2 and distance1 < min_distance: min_distance = distance1 @@ -632,7 +641,7 @@ def _get_neighbour_position_action( if position is None: return None - edge = target.get_edge_to(position.get_id()) + edge = target.get_edge_to(position.get_entity_id()) if edge is None: return None @@ -680,7 +689,9 @@ def _get_neighbour_position_action( if self.count >= self._forced_move: self.count = 0 return ActionMove( - [road.get_id()], int(clear_x), int(clear_y) + [road.get_entity_id()], + int(clear_x), + int(clear_y), ) self.count += 1 @@ -696,7 +707,7 @@ def _get_neighbour_position_action( return action_clear elif action_move is None: action_move = ActionMove( - [road.get_id()], int(mid_x), int(mid_y) + [road.get_entity_id()], int(mid_x), int(mid_y) ) if action_clear is not None: @@ -707,7 +718,7 @@ def _get_neighbour_position_action( if isinstance(target, Road): road = cast(Road, target) if road.get_blockades() == []: - return ActionMove([position.get_id(), target.get_id()]) + return ActionMove([position.get_entity_id(), target.get_entity_id()]) target_blockade: Optional[Blockade] = None min_point_distance = sys.float_info.max @@ -739,11 +750,11 @@ def _get_neighbour_position_action( ): if self.count >= self._forced_move: self.count = 0 - return ActionMove([road.get_id()], clear_x, clear_y) + return ActionMove([road.get_entity_id()], clear_x, clear_y) self.count += 1 self._old_clear_x = clear_x self._old_clear_y = clear_y return ActionClearArea(clear_x, clear_y) - return ActionMove([position.get_id(), target.get_id()]) + return ActionMove([position.get_entity_id(), target.get_entity_id()]) diff --git a/adf_core_python/implement/action/default_extend_action_move.py b/adf_core_python/implement/action/default_extend_action_move.py index e4936a4..b14baf3 100644 --- a/adf_core_python/implement/action/default_extend_action_move.py +++ b/adf_core_python/implement/action/default_extend_action_move.py @@ -1,10 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.area import Area -from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, Blockade, Entity, EntityID, Human from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -83,7 +79,7 @@ def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: entity = self.world_info.get_entity(position) if entity is not None and isinstance(entity, Area): - self._target_entity_id = entity.get_id() + self._target_entity_id = entity.get_entity_id() return self @@ -94,8 +90,12 @@ def calculate(self) -> ExtendAction: if self._target_entity_id is None: return self + agent_position = agent.get_position() + if agent_position is None: + return self + path: list[EntityID] = self._path_planning.get_path( - agent.get_position(), self._target_entity_id + agent_position, self._target_entity_id ) if path is not None and len(path) != 0: diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py index e76e96a..df1e067 100644 --- a/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -1,10 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.area import Area -from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.fireBrigade import FireBrigade -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, Blockade, EntityID, FireBrigade, Human from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.ambulance.action_rescue import ActionRescue @@ -117,16 +113,19 @@ def _calc_rescue( return None agent_position_entity_id = agent.get_position() + if agent_position_entity_id is None: + return None + if isinstance(target_entity, Human): human = cast(Human, target_entity) if human.get_hp() == 0: return None target_position_entity_id = human.get_position() - if ( - agent_position_entity_id.get_value() - == target_position_entity_id.get_value() - ): + if target_position_entity_id is None: + return None + + if agent_position_entity_id == target_position_entity_id: buriedness = human.get_buriedness() if buriedness is not None and buriedness > 0: return ActionRescue(target_entity_id) @@ -141,10 +140,14 @@ def _calc_rescue( if isinstance(target_entity, Blockade): blockade = cast(Blockade, target_entity) - target_entity = self.world_info.get_entity(blockade.get_position()) + blockade_position = blockade.get_position() + if blockade_position is None: + return None + + target_entity = self.world_info.get_entity(blockade_position) if isinstance(target_entity, Area): path = self._path_planning.get_path( - agent_position_entity_id, target_entity.get_id() + agent_position_entity_id, target_entity.get_entity_id() ) if path != []: return ActionMove(path) diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py index b1c9629..a64b23c 100644 --- a/adf_core_python/implement/action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -1,12 +1,14 @@ from typing import Optional, Union, cast -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam -from rcrs_core.entities.area import Area -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.human import Human -from rcrs_core.entities.refuge import Refuge -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import ( + AmbulanceTeam, + Area, + Civilian, + Entity, + EntityID, + Human, + Refuge, +) from adf_core_python.core.agent.action.ambulance.action_load import ActionLoad from adf_core_python.core.agent.action.ambulance.action_unload import ActionUnload @@ -98,7 +100,7 @@ def calculate(self) -> ExtendAction: agent: AmbulanceTeam = cast(AmbulanceTeam, self.agent_info.get_myself()) transport_human: Optional[Human] = self.agent_info.some_one_on_board() if transport_human is not None: - self._logger.debug(f"transport_human: {transport_human.get_id()}") + self._logger.debug(f"transport_human: {transport_human.get_entity_id()}") self.result = self.calc_unload( agent, self._path_planning, transport_human, self._target_entity_id ) @@ -133,7 +135,7 @@ def calc_rescue( target_position = human.get_position() if agent_position == target_position: if isinstance(human, Civilian) and ((human.get_buriedness() or 0) == 0): - return ActionLoad(human.get_id()) + return ActionLoad(human.get_entity_id()) else: path = path_planning.get_path(agent_position, target_position) if path is not None and len(path) > 0: @@ -141,7 +143,7 @@ def calc_rescue( return None if isinstance(target_entity, Area): - path = path_planning.get_path(agent_position, target_entity.get_id()) + path = path_planning.get_path(agent_position, target_entity.get_entity_id()) if path is not None and len(path) > 0: return ActionMove(path) @@ -161,10 +163,7 @@ def calc_unload( return ActionUnload() agent_position = agent.get_position() - if ( - target_id is None - or transport_human.get_id().get_value() == target_id.get_value() - ): + if target_id is None or transport_human.get_entity_id() == target_id: position = self.world_info.get_entity(agent_position) if position is None: return None diff --git a/adf_core_python/implement/centralized/default_command_executor_ambulance.py b/adf_core_python/implement/centralized/default_command_executor_ambulance.py index adfb80b..aa6bf81 100644 --- a/adf_core_python/implement/centralized/default_command_executor_ambulance.py +++ b/adf_core_python/implement/centralized/default_command_executor_ambulance.py @@ -1,11 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam -from rcrs_core.entities.area import Area -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.human import Human -from rcrs_core.entities.refuge import Refuge -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import AmbulanceTeam, Area, Civilian, EntityID, Human, Refuge from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.action.common.action_rest import ActionRest diff --git a/adf_core_python/implement/centralized/default_command_executor_fire.py b/adf_core_python/implement/centralized/default_command_executor_fire.py index c4fdf64..7def460 100644 --- a/adf_core_python/implement/centralized/default_command_executor_fire.py +++ b/adf_core_python/implement/centralized/default_command_executor_fire.py @@ -1,10 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.area import Area -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.human import Human -from rcrs_core.entities.refuge import Refuge -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, Civilian, EntityID, Human, Refuge from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.action.common.action_rest import ActionRest diff --git a/adf_core_python/implement/centralized/default_command_executor_police.py b/adf_core_python/implement/centralized/default_command_executor_police.py index b137337..c5d756b 100644 --- a/adf_core_python/implement/centralized/default_command_executor_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_police.py @@ -1,11 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.area import Area -from rcrs_core.entities.blockade import Blockade -from rcrs_core.entities.human import Human -from rcrs_core.entities.refuge import Refuge -from rcrs_core.entities.road import Road -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, Blockade, EntityID, Human, Refuge, Road from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.action.common.action_rest import ActionRest diff --git a/adf_core_python/implement/centralized/default_command_executor_scout.py b/adf_core_python/implement/centralized/default_command_executor_scout.py index 28fdd78..0ff628b 100644 --- a/adf_core_python/implement/centralized/default_command_executor_scout.py +++ b/adf_core_python/implement/centralized/default_command_executor_scout.py @@ -1,9 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.area import Area -from rcrs_core.entities.human import Human -from rcrs_core.entities.refuge import Refuge -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, EntityID, Human, Refuge from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -72,8 +69,11 @@ def set_command(self, command: CommandScout) -> CommandExecutor: for entity in self._world_info.get_entities_of_types([Area]): if isinstance(entity, Refuge): continue - if self._world_info.get_distance(target, entity.get_id()) <= scout_distance: - self._targets.append(entity.get_id()) + if ( + self._world_info.get_distance(target, entity.get_entity_id()) + <= scout_distance + ): + self._targets.append(entity.get_entity_id()) return self @@ -151,7 +151,7 @@ def _is_command_completed(self) -> bool: case self.ACTION_SCOUT: if len(self._targets) != 0: for entity in self._world_info.get_entities_of_types([Area]): - self._targets.remove(entity.get_id()) + self._targets.remove(entity.get_entity_id()) return len(self._targets) == 0 case _: return True diff --git a/adf_core_python/implement/centralized/default_command_executor_scout_police.py b/adf_core_python/implement/centralized/default_command_executor_scout_police.py index e0345a5..c80d68a 100644 --- a/adf_core_python/implement/centralized/default_command_executor_scout_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_scout_police.py @@ -1,9 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.area import Area -from rcrs_core.entities.human import Human -from rcrs_core.entities.refuge import Refuge -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, EntityID, Human, Refuge from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -77,8 +74,11 @@ def set_command(self, command: CommandScout) -> CommandExecutor: for entity in self._world_info.get_entities_of_types([Area]): if isinstance(entity, Refuge): continue - if self._world_info.get_distance(target, entity.get_id()) <= scout_distance: - self._targets.append(entity.get_id()) + if ( + self._world_info.get_distance(target, entity.get_entity_id()) + <= scout_distance + ): + self._targets.append(entity.get_entity_id()) return self @@ -163,7 +163,7 @@ def _is_command_completed(self) -> bool: case self.ACTION_SCOUT: if len(self._targets) != 0: for entity in self._world_info.get_entities_of_types([Area]): - self._targets.remove(entity.get_id()) + self._targets.remove(entity.get_entity_id()) return len(self._targets) == 0 case _: return True diff --git a/adf_core_python/implement/centralized/default_command_picker_ambulance.py b/adf_core_python/implement/centralized/default_command_picker_ambulance.py index b2a507d..edddf4e 100644 --- a/adf_core_python/implement/centralized/default_command_picker_ambulance.py +++ b/adf_core_python/implement/centralized/default_command_picker_ambulance.py @@ -1,9 +1,6 @@ from __future__ import annotations -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam -from rcrs_core.entities.area import Area -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import AmbulanceTeam, Area, EntityID, Human from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( CommandAmbulance, @@ -69,7 +66,7 @@ def calculate(self) -> CommandPicker: self._agent_info.get_entity_id(), CommandAmbulance.ACTION_RESCUE, StandardMessagePriority.NORMAL, - target.get_id(), + target.get_entity_id(), ) self.messages.append(command) @@ -80,7 +77,7 @@ def calculate(self) -> CommandPicker: self._agent_info.get_entity_id(), self.scout_distance, StandardMessagePriority.NORMAL, - target.get_id(), + target.get_entity_id(), ) self.messages.append(command) return self diff --git a/adf_core_python/implement/centralized/default_command_picker_fire.py b/adf_core_python/implement/centralized/default_command_picker_fire.py index bacb996..a5c8017 100644 --- a/adf_core_python/implement/centralized/default_command_picker_fire.py +++ b/adf_core_python/implement/centralized/default_command_picker_fire.py @@ -1,9 +1,6 @@ from __future__ import annotations -from rcrs_core.entities.area import Area -from rcrs_core.entities.fireBrigade import FireBrigade -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, EntityID, FireBrigade, Human from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( CommandAmbulance, @@ -69,7 +66,7 @@ def calculate(self) -> CommandPicker: self._agent_info.get_entity_id(), CommandAmbulance.ACTION_RESCUE, StandardMessagePriority.NORMAL, - target.get_id(), + target.get_entity_id(), ) self.messages.append(command) @@ -80,7 +77,7 @@ def calculate(self) -> CommandPicker: self._agent_info.get_entity_id(), self.scout_distance, StandardMessagePriority.NORMAL, - target.get_id(), + target.get_entity_id(), ) self.messages.append(command) return self diff --git a/adf_core_python/implement/centralized/default_command_picker_police.py b/adf_core_python/implement/centralized/default_command_picker_police.py index bbda78e..0dbde23 100644 --- a/adf_core_python/implement/centralized/default_command_picker_police.py +++ b/adf_core_python/implement/centralized/default_command_picker_police.py @@ -1,8 +1,6 @@ from __future__ import annotations -from rcrs_core.entities.area import Area -from rcrs_core.entities.policeForce import PoliceForce -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, EntityID, PoliceForce from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( CommandPolice, @@ -59,11 +57,11 @@ def calculate(self) -> CommandPicker: if isinstance(target, Area): command = CommandPolice( True, - agent.get_id(), + agent.get_entity_id(), self._agent_info.get_entity_id(), CommandPolice.ACTION_AUTONOMY, StandardMessagePriority.NORMAL, - target.get_id(), + target.get_entity_id(), ) self.messages.append(command) return self diff --git a/adf_core_python/implement/module/algorithm/a_star_path_planning.py b/adf_core_python/implement/module/algorithm/a_star_path_planning.py index 6f2fce5..5a80339 100644 --- a/adf_core_python/implement/module/algorithm/a_star_path_planning.py +++ b/adf_core_python/implement/module/algorithm/a_star_path_planning.py @@ -1,8 +1,6 @@ from __future__ import annotations -from rcrs_core.entities.area import Area -from rcrs_core.entities.entity import Entity -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, Entity, EntityID from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -30,9 +28,9 @@ def __init__( self._graph: dict[EntityID, set[EntityID]] = {} for entity in entities: if isinstance(entity, Area): - self._graph[entity.get_id()] = set( + self._graph[entity.get_entity_id()] = set( neighbor - for neighbor in entity.get_neighbours() # TODO: Fix rcrs_core typo + for neighbor in entity.get_neighbors() if neighbor != EntityID(0) ) diff --git a/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py b/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py index e8697d6..1a592a8 100644 --- a/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py +++ b/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py @@ -3,8 +3,7 @@ import heapq from typing import Optional -from rcrs_core.entities.area import Area -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Area, EntityID from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -31,9 +30,9 @@ def __init__( for area in self._world_info.get_entities_of_types([Area]): if not isinstance(area, Area): continue - if (neighbors := area.get_neighbours()) is None: + if (neighbors := area.get_neighbors()) is None: continue - area_id = area.get_id() + area_id = area.get_entity_id() self.graph[area_id] = [ ( neighbor, diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index 57228b7..9fe0517 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -1,15 +1,17 @@ import numpy as np -from rcrs_core.connection.URN import Entity as EntityURN -from rcrs_core.entities.ambulanceCenter import AmbulanceCentre -from rcrs_core.entities.building import Building -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.fireStation import FireStation -from rcrs_core.entities.gasStation import GasStation -from rcrs_core.entities.hydrant import Hydrant -from rcrs_core.entities.policeOffice import PoliceOffice -from rcrs_core.entities.refuge import Refuge -from rcrs_core.entities.road import Road -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import ( + AmbulanceCenter, + Building, + Entity, + EntityID, + FireStation, + GasStation, + Hydrant, + PoliceOffice, + Refuge, + Road, +) +from rcrscore.urn import EntityURN from sklearn.cluster import KMeans from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -64,16 +66,16 @@ def __init__( agent_info.get_myself().__class__, ] ), - key=lambda entity: entity.get_id().get_value(), + key=lambda entity: entity.get_entity_id().get_value(), ) self.entity_cluster_indices = { - entity.get_id(): idx for idx, entity in enumerate(sorted_entities) + entity.get_entity_id(): idx for idx, entity in enumerate(sorted_entities) } self.cluster_entities: list[list[Entity]] = [] self.entities: list[Entity] = world_info.get_entities_of_types( [ - AmbulanceCentre, + AmbulanceCenter, FireStation, GasStation, Hydrant, @@ -92,7 +94,7 @@ def precompute(self, precompute_data: PrecomputeData) -> Clustering: precompute_data.write_json_data( { "cluster_entities": [ - [entity.get_id().get_value() for entity in cluster] + [entity.get_entity_id().get_value() for entity in cluster] for cluster in cluster_entities ] }, @@ -127,7 +129,9 @@ def get_cluster_entities(self, cluster_index: int) -> list[Entity]: def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: if cluster_index >= len(self.cluster_entities): return [] - return [entity.get_id() for entity in self.cluster_entities[cluster_index]] + return [ + entity.get_entity_id() for entity in self.cluster_entities[cluster_index] + ] def prepare(self) -> Clustering: super().prepare() diff --git a/adf_core_python/implement/module/communication/default_channel_subscriber.py b/adf_core_python/implement/module/communication/default_channel_subscriber.py index d195c9a..398b720 100644 --- a/adf_core_python/implement/module/communication/default_channel_subscriber.py +++ b/adf_core_python/implement/module/communication/default_channel_subscriber.py @@ -2,7 +2,7 @@ from typing import TYPE_CHECKING -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.info.scenario_info import ScenarioInfoKeys from adf_core_python.core.component.communication.channel_subscriber import ( @@ -69,7 +69,7 @@ def get_channel_number( agent_index = 2 elif ( agent_type == EntityURN.AMBULANCE_TEAM - or agent_type == EntityURN.AMBULANCE_CENTRE + or agent_type == EntityURN.AMBULANCE_CENTER ): agent_index = 3 @@ -97,5 +97,5 @@ def get_channel_number( for i in range(max_channels): print( - f"AMB-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.AMBULANCE_CENTRE, i, num_channels)}" + f"AMB-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.AMBULANCE_CENTER, i, num_channels)}" ) diff --git a/adf_core_python/implement/module/communication/default_message_coordinator.py b/adf_core_python/implement/module/communication/default_message_coordinator.py index 92e1555..28c8490 100644 --- a/adf_core_python/implement/module/communication/default_message_coordinator.py +++ b/adf_core_python/implement/module/communication/default_message_coordinator.py @@ -1,6 +1,6 @@ from typing import Optional -from rcrs_core.connection.URN import Entity as EntityURN +from rcrscore.urn import EntityURN from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( @@ -96,7 +96,7 @@ def coordinate( fire_brigade_messages.append(msg) elif agent_type == EntityURN.POLICE_OFFICE: police_messages.append(msg) - elif agent_type == EntityURN.AMBULANCE_CENTRE: + elif agent_type == EntityURN.AMBULANCE_CENTER: ambulance_messages.append(msg) elif isinstance(msg, MessageReport): if agent_type == EntityURN.FIRE_BRIGADE: diff --git a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py index 912638b..50f0f35 100644 --- a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py @@ -1,10 +1,7 @@ from functools import cmp_to_key from typing import Callable, Optional -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import AmbulanceTeam, Entity, EntityID, Human from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -70,12 +67,12 @@ def calculate(self) -> AmbulanceTargetAllocator: agents, key=cmp_to_key(self._compare_by_distance(target_entity)) ) result = agents.pop(0) - info = self._ambulance_team_info_map[result.get_id()] + info = self._ambulance_team_info_map[result.get_entity_id()] if info is not None: info._can_new_action = False info._target = target info.command_time = current_time - self._ambulance_team_info_map[result.get_id()] = info + self._ambulance_team_info_map[result.get_entity_id()] = info removes.append(target) for r in removes: @@ -90,12 +87,12 @@ def calculate(self) -> AmbulanceTargetAllocator: agents, key=cmp_to_key(self._compare_by_distance(target_entity)) ) result = agents.pop(0) - info = self._ambulance_team_info_map[result.get_id()] + info = self._ambulance_team_info_map[result.get_entity_id()] if info is not None: info._can_new_action = False info._target = target info.command_time = current_time - self._ambulance_team_info_map[result.get_id()] = info + self._ambulance_team_info_map[result.get_entity_id()] = info removes.append(target) for r in removes: @@ -112,7 +109,7 @@ def _get_action_agents( ) -> list[AmbulanceTeam]: result = [] for entity in self._world_info.get_entities_of_types([AmbulanceTeam]): - info = info_map[entity.get_id()] + info = info_map[entity.get_entity_id()] if info is not None and info._can_new_action: result.append(entity) return result @@ -122,10 +119,10 @@ def _compare_by_distance( ) -> Callable[[Entity, Entity], int]: def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: distance_a = self._world_info.get_distance( - target_entity.get_id(), entity_a.get_id() + target_entity.get_entity_id(), entity_a.get_entity_id() ) distance_b = self._world_info.get_distance( - target_entity.get_id(), entity_b.get_id() + target_entity.get_entity_id(), entity_b.get_entity_id() ) if distance_a < distance_b: return -1 diff --git a/adf_core_python/implement/module/complex/default_fire_target_allocator.py b/adf_core_python/implement/module/complex/default_fire_target_allocator.py index 56711c1..c32e716 100644 --- a/adf_core_python/implement/module/complex/default_fire_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_fire_target_allocator.py @@ -1,10 +1,7 @@ from functools import cmp_to_key from typing import Callable, Optional -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.fireBrigade import FireBrigade -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Entity, EntityID, FireBrigade, Human from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -70,12 +67,12 @@ def calculate(self) -> FireTargetAllocator: agents, key=cmp_to_key(self._compare_by_distance(target_entity)) ) result = agents.pop(0) - info = self._fire_brigade_info_map[result.get_id()] + info = self._fire_brigade_info_map[result.get_entity_id()] if info is not None: info._can_new_action = False info._target = target info.command_time = current_time - self._fire_brigade_info_map[result.get_id()] = info + self._fire_brigade_info_map[result.get_entity_id()] = info removes.append(target) for r in removes: @@ -90,12 +87,12 @@ def calculate(self) -> FireTargetAllocator: agents, key=cmp_to_key(self._compare_by_distance(target_entity)) ) result = agents.pop(0) - info = self._fire_brigade_info_map[result.get_id()] + info = self._fire_brigade_info_map[result.get_entity_id()] if info is not None: info._can_new_action = False info._target = target info.command_time = current_time - self._fire_brigade_info_map[result.get_id()] = info + self._fire_brigade_info_map[result.get_entity_id()] = info removes.append(target) for r in removes: @@ -111,7 +108,7 @@ def _get_action_agents( ) -> list[FireBrigade]: result = [] for entity in self._world_info.get_entities_of_types([FireBrigade]): - info = info_map[entity.get_id()] + info = info_map[entity.get_entity_id()] if info is not None and info._can_new_action: result.append(entity) return result @@ -121,10 +118,10 @@ def _compare_by_distance( ) -> Callable[[Entity, Entity], int]: def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: distance_a = self._world_info.get_distance( - target_entity.get_id(), entity_a.get_id() + target_entity.get_entity_id(), entity_a.get_entity_id() ) distance_b = self._world_info.get_distance( - target_entity.get_id(), entity_b.get_id() + target_entity.get_entity_id(), entity_b.get_entity_id() ) if distance_a < distance_b: return -1 diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index 4720226..a667524 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -1,10 +1,7 @@ from typing import Optional, cast -from rcrs_core.connection.URN import Entity as EntityURN -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.human import Human -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Civilian, Entity, EntityID, Human +from rcrscore.urn import EntityURN from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -46,7 +43,7 @@ def __init__( def calculate(self) -> HumanDetector: transport_human: Optional[Human] = self._agent_info.some_one_on_board() if transport_human is not None: - self._result = transport_human.get_id() + self._result = transport_human.get_entity_id() return self if self._result is not None: @@ -72,44 +69,45 @@ def _select_target(self) -> Optional[EntityID]: cluster_valid_human_entities: list[Entity] = [ entity for entity in cluster_entities - if self._is_valid_human(entity.get_id()) and isinstance(entity, Civilian) + if self._is_valid_human(entity.get_entity_id()) + and isinstance(entity, Civilian) ] if len(cluster_valid_human_entities) != 0: nearest_human_entity = cluster_valid_human_entities[0] nearest_distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - nearest_human_entity.get_id(), + nearest_human_entity.get_entity_id(), ) for entity in cluster_valid_human_entities: distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - entity.get_id(), + entity.get_entity_id(), ) if distance < nearest_distance: nearest_distance = distance nearest_human_entity = entity - return nearest_human_entity.get_id() + return nearest_human_entity.get_entity_id() world_valid_human_entities: list[Entity] = [ entity for entity in self._world_info.get_entities_of_types([Civilian]) - if self._is_valid_human(entity.get_id()) + if self._is_valid_human(entity.get_entity_id()) ] if len(world_valid_human_entities) != 0: nearest_human_entity = world_valid_human_entities[0] nearest_distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - nearest_human_entity.get_id(), + nearest_human_entity.get_entity_id(), ) for entity in world_valid_human_entities: distance = self._world_info.get_distance( self._agent_info.get_entity_id(), - entity.get_id(), + entity.get_entity_id(), ) if distance < nearest_distance: nearest_distance = distance nearest_human_entity = entity - return nearest_human_entity.get_id() + return nearest_human_entity.get_entity_id() return None diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/adf_core_python/implement/module/complex/default_police_target_allocator.py index 00d6702..0de8b3f 100644 --- a/adf_core_python/implement/module/complex/default_police_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -1,13 +1,15 @@ from functools import cmp_to_key from typing import Callable, Optional, cast -from rcrs_core.entities.building import Building -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.gasStation import GasStation -from rcrs_core.entities.policeForce import PoliceForce -from rcrs_core.entities.refuge import Refuge -from rcrs_core.entities.road import Road -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import ( + Building, + Entity, + EntityID, + GasStation, + PoliceForce, + Refuge, + Road, +) from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -50,14 +52,14 @@ def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: [Refuge, Building, GasStation] ): building: Building = cast(Building, entity) - for entity_id in building.get_neighbours(): + for entity_id in building.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._target_areas.add(entity_id) for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbours(): + for entity_id in refuge.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._priority_areas.add(entity_id) @@ -75,14 +77,14 @@ def prepare(self) -> PoliceTargetAllocator: [Refuge, Building, GasStation] ): building: Building = cast(Building, entity) - for entity_id in building.get_neighbours(): + for entity_id in building.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._target_areas.add(entity_id) for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbours(): + for entity_id in refuge.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._priority_areas.add(entity_id) @@ -107,12 +109,12 @@ def calculate(self) -> PoliceTargetAllocator: agents, key=cmp_to_key(self._compare_by_distance(target_entity)) ) result = agents.pop(0) - info = self._agent_info_map[result.get_id()] + info = self._agent_info_map[result.get_entity_id()] if info is not None: info._can_new_action = False info._target = target info.command_time = current_time - self._agent_info_map[result.get_id()] = info + self._agent_info_map[result.get_entity_id()] = info removes.append(target) for r in removes: @@ -128,13 +130,13 @@ def calculate(self) -> PoliceTargetAllocator: if len(areas) > 0: areas.sort(key=cmp_to_key(self._compare_by_distance(agent))) result = areas.pop(0) - self._target_areas.remove(result.get_id()) - info = self._agent_info_map[agent.get_id()] + self._target_areas.remove(result.get_entity_id()) + info = self._agent_info_map[agent.get_entity_id()] if info is not None: info._can_new_action = False - info._target = result.get_id() + info._target = result.get_entity_id() info.command_time = current_time - self._agent_info_map[agent.get_id()] = info + self._agent_info_map[agent.get_entity_id()] = info return self @@ -146,7 +148,7 @@ def _get_action_agents( ) -> list[PoliceForce]: result = [] for entity in self._world_info.get_entities_of_types([PoliceForce]): - info = info_map[entity.get_id()] + info = info_map[entity.get_entity_id()] if info is not None and info._can_new_action: result.append(entity) return result @@ -156,10 +158,10 @@ def _compare_by_distance( ) -> Callable[[Entity, Entity], int]: def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: distance_a = self._world_info.get_distance( - target_entity.get_id(), entity_a.get_id() + target_entity.get_entity_id(), entity_a.get_entity_id() ) distance_b = self._world_info.get_distance( - target_entity.get_id(), entity_b.get_id() + target_entity.get_entity_id(), entity_b.get_entity_id() ) if distance_a < distance_b: return -1 diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index 035cc61..ad837a4 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -1,10 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.building import Building -from rcrs_core.entities.gasStation import GasStation -from rcrs_core.entities.refuge import Refuge -from rcrs_core.entities.road import Road -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Building, EntityID, GasStation, Refuge, Road from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -59,7 +55,7 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: for entity in entities: if not isinstance(entity, Building): continue - for entity_id in entity.get_neighbours(): + for entity_id in entity.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._target_areas.add(entity_id) @@ -68,7 +64,7 @@ def resume(self, precompute_data: PrecomputeData) -> RoadDetector: for entity in self._world_info.get_entities_of_types([Refuge]): if not isinstance(entity, Building): continue - for entity_id in entity.get_neighbours(): + for entity_id in entity.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._priority_roads.add(entity_id) @@ -86,7 +82,7 @@ def prepare(self) -> RoadDetector: ) for entity in entities: building: Building = cast(Building, entity) - for entity_id in building.get_neighbours(): + for entity_id in building.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._target_areas.add(entity_id) @@ -94,7 +90,7 @@ def prepare(self) -> RoadDetector: self._priority_roads = set() for entity in self._world_info.get_entities_of_types([Refuge]): refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbours(): + for entity_id in refuge.get_neighbors(): neighbor = self._world_info.get_entity(entity_id) if isinstance(neighbor, Road): self._priority_roads.add(entity_id) diff --git a/adf_core_python/implement/module/complex/default_search.py b/adf_core_python/implement/module/complex/default_search.py index 05d7c88..0d5c714 100644 --- a/adf_core_python/implement/module/complex/default_search.py +++ b/adf_core_python/implement/module/complex/default_search.py @@ -1,9 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.building import Building -from rcrs_core.entities.entity import Entity -from rcrs_core.entities.refuge import Refuge -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import Building, Entity, EntityID, Refuge from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -98,7 +95,7 @@ def _get_search_targets(self) -> set[EntityID]: cluster_index ) building_entity_ids: list[EntityID] = [ - entity.get_id() + entity.get_entity_id() for entity in cluster_entities if isinstance(entity, Building) and not isinstance(entity, Refuge) ] diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index 23a9d85..68c9ff8 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -1,6 +1,6 @@ from typing import cast -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 76b6c47..688c845 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -1,6 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.ambulanceTeam import AmbulanceTeam +from rcrscore.entities import AmbulanceTeam from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index 0d9740e..de4f706 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -1,6 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.fireBrigade import FireBrigade +from rcrscore.entities import FireBrigade from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py index 0b15a3e..ef6425d 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -1,6 +1,6 @@ from typing import cast -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 6a1f2f6..8b75a07 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -1,6 +1,6 @@ from typing import Optional, cast -from rcrs_core.entities.policeForce import PoliceForce +from rcrscore.entities import PoliceForce from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py index df095cc..d605244 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -1,6 +1,6 @@ from typing import cast -from rcrs_core.worldmodel.entityID import EntityID +from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData diff --git a/poetry.lock b/poetry.lock index 0dc5c07..371973e 100644 --- a/poetry.lock +++ b/poetry.lock @@ -980,24 +980,24 @@ files = [ ] [[package]] -name = "rcrs_core" +name = "rcrscore" version = "0.1.0" -description = "RoboCup Rescue Simulation(RCRS Agent Development Library)" +description = "Add your description here" optional = false -python-versions = "*" +python-versions = ">=3.13" groups = ["main"] files = [] develop = false [package.dependencies] -protobuf = ">=5.28" -rtree = "*" +protobuf = ">=6.31.1" +rtree = ">=1.4.0" [package.source] type = "git" url = "https://github.com/adf-python/rcrs-core-python" -reference = "v0.1.0" -resolved_reference = "42a20e312de20ea46f1e0622a82f41e81fc3514f" +reference = "improve" +resolved_reference = "288c666003039b77c09e91d0067f61ad2b125ce4" [[package]] name = "requests" @@ -1743,5 +1743,5 @@ test = ["pytest (>=6.0.0)", "setuptools (>=65)"] [metadata] lock-version = "2.1" -python-versions = "^3.12" -content-hash = "ca8c4ce733e53da7e9b9208c3341bcc8043863f16f8e4300e5cf2212495690c2" +python-versions = "^3.13" +content-hash = "0f25d8ec7e7a27c7ea9006b97135f44ede3114ec3a9a6f19702345464d0d7b51" diff --git a/pyproject.toml b/pyproject.toml index e2bb97b..080aba5 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -10,8 +10,8 @@ readme = "README.md" package-mode = true [tool.poetry.dependencies] -python = "^3.12" -rcrs_core = { git = "https://github.com/adf-python/rcrs-core-python", tag = "v0.1.0" } +python = "^3.13" +rcrscore = { git = "https://github.com/adf-python/rcrs-core-python", branch = "improve" } pyyaml = "^6.0.2" types-pyyaml = "^6.0.12.20240808" scikit-learn = "^1.5.2" From 58a94b739d6abb1b940443f99bc0d387556640c4 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 02:58:30 +0900 Subject: [PATCH 234/249] Refactor code for improved type safety and null handling --- .../module/complex/sample_road_detector.py | 21 ++-- .../team_name/module/complex/sample_search.py | 3 +- adf_core_python/core/agent/info/world_info.py | 4 +- .../module/algorithm/gateway_clustering.py | 4 +- .../complex/gateway_target_allocator.py | 5 +- .../core/gateway/gateway_module.py | 2 + .../action/default_extend_action_clear.py | 97 +++++++++++++------ .../action/default_extend_action_rescue.py | 4 +- .../action/default_extend_action_transport.py | 19 +++- .../default_command_executor_ambulance.py | 4 +- .../default_command_executor_police.py | 19 ++-- .../default_command_executor_scout.py | 17 ++-- .../default_command_executor_scout_police.py | 17 ++-- .../module/algorithm/a_star_path_planning.py | 6 +- .../algorithm/dijkstra_path_planning.py | 12 +-- .../module/algorithm/k_means_clustering.py | 7 +- .../default_ambulance_target_allocator.py | 7 +- .../complex/default_fire_target_allocator.py | 7 +- .../module/complex/default_human_detector.py | 2 + .../default_police_target_allocator.py | 19 ++-- .../module/complex/default_road_detector.py | 21 ++-- .../module/complex/default_search.py | 3 +- 22 files changed, 197 insertions(+), 103 deletions(-) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index 87e188a..2e71d61 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -37,7 +37,7 @@ def __init__( ) self.register_sub_module(self._path_planning) - self._result = None + self._result: Optional[EntityID] = None def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: super().precompute(precompute_data) @@ -108,7 +108,7 @@ def update_info(self, message_manager: MessageManager) -> RoadDetector: if isinstance(entity, Building): self._result = None elif isinstance(entity, Road): - road: Road = cast(Road, entity) + road = entity if road.get_blockades() == []: self._target_areas.remove(self._result) self._result = None @@ -117,7 +117,9 @@ def update_info(self, message_manager: MessageManager) -> RoadDetector: def calculate(self) -> RoadDetector: if self._result is None: - position_entity_id: EntityID = self._agent_info.get_position_entity_id() + position_entity_id = self._agent_info.get_position_entity_id() + if position_entity_id is None: + return self if position_entity_id in self._target_areas: self._result = position_entity_id return self @@ -128,21 +130,22 @@ def calculate(self) -> RoadDetector: self._priority_roads = self._priority_roads - set(remove_list) if len(self._priority_roads) > 0: - _nearest_target_area = self._agent_info.get_position_entity_id() + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + _nearest_target_area = agent_position _nearest_distance = float("inf") for target_area in self._target_areas: if ( - self._world_info.get_distance( - self._agent_info.get_position_entity_id(), target_area - ) + self._world_info.get_distance(agent_position, target_area) < _nearest_distance ): _nearest_target_area = target_area _nearest_distance = self._world_info.get_distance( - self._agent_info.get_position_entity_id(), target_area + agent_position, target_area ) path: list[EntityID] = self._path_planning.get_path( - self._agent_info.get_position_entity_id(), _nearest_target_area + agent_position, _nearest_target_area ) if path is not None and len(path) > 0: self._result = path[-1] diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py index a441a07..888f657 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py @@ -64,7 +64,8 @@ def update_info(self, message_manager: MessageManager) -> Search: ) searched_building_id = self._agent_info.get_position_entity_id() - self._unreached_building_ids.discard(searched_building_id) + if searched_building_id is not None: + self._unreached_building_ids.discard(searched_building_id) if len(self._unreached_building_ids) == 0: self._unreached_building_ids = self._get_search_targets() diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index 8ac55c9..acea5da 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -1,4 +1,4 @@ -from typing import Any, Optional, cast +from typing import Any, Optional from rcrscore.entities import EntityID from rcrscore.entities.area import Area @@ -199,7 +199,7 @@ def get_blockades(self, area: Area) -> set[Blockade]: for blockade_entity_id in blockade_entity_ids: blockades_entity = self.get_entity(blockade_entity_id) if isinstance(blockades_entity, Blockade): - blockades.add(cast(Blockade, blockades_entity)) + blockades.add(blockades_entity) return blockades def add_entity(self, entity: Entity) -> None: diff --git a/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py b/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py index ade93a0..c01047f 100644 --- a/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py +++ b/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py @@ -78,7 +78,9 @@ def get_cluster_entities(self, cluster_index: int) -> list[Entity]: entity_ids: list[int] = json.loads(json_str) entities: list[Entity] = [] for entity_id in entity_ids: - entities.append(self._world_info.get_entity(EntityID(entity_id))) + entity = self._world_info.get_entity(EntityID(entity_id)) + if entity is not None: + entities.append(entity) return entities def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py b/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py index 1f7a57f..df35491 100644 --- a/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py +++ b/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py @@ -63,11 +63,12 @@ def calculate(self) -> GatewayTargetAllocator: def get_result(self) -> dict[EntityID, EntityID]: response = self._gateway_module.execute("getResult") - response_keys = response.get_all_keys() + response_keys = response.data.keys() result: dict[EntityID, EntityID] = {} for key in response_keys: + value = response.get_value(key) result[EntityID(int(key))] = EntityID( - int(response.get_value_or_default(key, "-1")) + int(value if value is not None else "-1") ) return result diff --git a/adf_core_python/core/gateway/gateway_module.py b/adf_core_python/core/gateway/gateway_module.py index 99f9115..68bb446 100644 --- a/adf_core_python/core/gateway/gateway_module.py +++ b/adf_core_python/core/gateway/gateway_module.py @@ -54,6 +54,8 @@ def initialize(self, module_name: str, default_class_name: str) -> str: return self.get_gateway_class_name() def get_execute_response(self) -> Config: + if self._result is None: + raise RuntimeError("No execution result available") return self._result def set_execute_response(self, result: Config) -> None: diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index 879cbdf..7e09b41 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -59,7 +59,7 @@ def __init__( ) ) - self._target_entity_id = None + self._target_entity_id: Optional[EntityID] = None self._move_point_cache: dict[EntityID, Optional[set[tuple[float, float]]]] = {} self._old_clear_x = 0 self._old_clear_y = 0 @@ -135,14 +135,14 @@ def calculate(self) -> ExtendAction: return self agent_position_entity_id = police_force.get_position() + if agent_position_entity_id is None: + return self target_entity = self.world_info.get_entity(self._target_entity_id) position_entity = self.world_info.get_entity(agent_position_entity_id) if target_entity is None or isinstance(target_entity, Area) is False: return self if isinstance(position_entity, Road): - self.result = self._get_rescue_action( - police_force, cast(Road, position_entity) - ) + self.result = self._get_rescue_action(police_force, position_entity) if self.result is not None: return self @@ -180,7 +180,7 @@ def calculate(self) -> ExtendAction: police_force, cast(Area, entity) ) if self.result is not None and isinstance(self.result, ActionMove): - action_move = cast(ActionMove, self.result) + action_move = self.result if action_move.is_destination_defined(): self.result = None @@ -193,15 +193,16 @@ def _need_rest(self, police_force: PoliceForce) -> bool: hp = police_force.get_hp() damage = police_force.get_damage() - if hp == 0 or damage == 0: + if hp is None or damage is None or hp == 0 or damage == 0: return False active_time = (hp / damage) + (1 if (hp % damage) != 0 else 0) if self._kernel_time == -1: self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) - return damage >= self._threshold_rest or ( - active_time + self.agent_info.get_time() < self._kernel_time + return damage is not None and ( + damage >= self._threshold_rest + or (active_time + self.agent_info.get_time() < self._kernel_time) ) def _calc_rest( @@ -211,6 +212,8 @@ def _calc_rest( target_entity_ids: list[EntityID], ) -> Optional[Action]: position_entity_id = police_force.get_position() + if position_entity_id is None: + return None refuges = self.world_info.get_entity_ids_of_types([Refuge]) current_size = len(refuges) if position_entity_id in refuges: @@ -244,12 +247,13 @@ def _calc_rest( def _get_rescue_action( self, police_entity: PoliceForce, road: Road ) -> Optional[Action]: + road_blockades = road.get_blockades() blockades = set( [] - if road.get_blockades() is None + if road_blockades is None else [ cast(Blockade, self.world_info.get_entity(blockade_entity_id)) - for blockade_entity_id in road.get_blockades() + for blockade_entity_id in road_blockades ] ) agent_entities = set( @@ -263,15 +267,30 @@ def _get_rescue_action( for agent_entity in agent_entities: human = cast(Human, agent_entity) - if human.get_position().get_value() != road.get_entity_id().get_value(): + human_position = human.get_position() + if ( + human_position is None + or human_position.get_value() != road.get_entity_id().get_value() + ): continue human_x = human.get_x() human_y = human.get_y() + if ( + human_x is None + or human_y is None + or police_x is None + or police_y is None + ): + continue + action_clear: Optional[ActionClear | ActionClearArea] = None clear_blockade: Optional[Blockade] = None for blockade in blockades: - if not self._is_inside(human_x, human_y, blockade.get_apexes()): + blockade_apexes = blockade.get_apexes() + if blockade_apexes is None or not self._is_inside( + human_x, human_y, blockade_apexes + ): continue distance = self._get_distance(police_x, police_y, human_x, human_y) @@ -373,7 +392,10 @@ def _get_distance(self, x1: float, y1: float, x2: float, y2: float) -> float: def _is_intersecting_area( self, agent_x: float, agent_y: float, point_x: float, point_y: float, area: Area ) -> bool: - for edge in area.get_edges(): + edges = area.get_edges() + if edges is None: + return False + for edge in edges: start_x = edge.get_start_x() start_y = edge.get_start_y() end_x = edge.get_end_x() @@ -483,11 +505,13 @@ def _get_move_points(self, road: Road) -> set[tuple[float, float]]: if self._is_inside(mid_x, mid_y, apex): points.add((mid_x, mid_y)) - for edge in road.get_edges(): - mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 - mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 - if (mid_x, mid_y) in points: - points.remove((mid_x, mid_y)) + edges = road.get_edges() + if edges is not None: + for edge in edges: + mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 + mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 + if (mid_x, mid_y) in points: + points.remove((mid_x, mid_y)) self._move_point_cache[road.get_entity_id()] = points @@ -518,6 +542,8 @@ def _is_intersecting_blockade( blockade: Blockade, ) -> bool: apexes = blockade.get_apexes() + if apexes is None or len(apexes) < 4: + return False for i in range(0, len(apexes) - 3, 2): line1 = LineString( [(apexes[i], apexes[i + 1]), (apexes[i + 2], apexes[i + 3])] @@ -532,6 +558,8 @@ def _is_intersecting_blockades( ) -> bool: apexes1 = blockade1.get_apexes() apexes2 = blockade2.get_apexes() + if apexes1 is None or apexes2 is None or len(apexes1) < 4 or len(apexes2) < 4: + return False for i in range(0, len(apexes1) - 2, 2): for j in range(0, len(apexes2) - 2, 2): line1 = LineString( @@ -593,20 +621,26 @@ def _get_area_clear_action( if min_distance < self._clear_distance: return ActionClear(clear_blockade) else: - return ActionMove( - [police_entity.get_position()], - clear_blockade.get_x(), - clear_blockade.get_y(), - ) + position = police_entity.get_position() + if position is not None: + return ActionMove( + [position], + clear_blockade.get_x(), + clear_blockade.get_y(), + ) agent_x = police_entity.get_x() agent_y = police_entity.get_y() + if agent_x is None or agent_y is None: + return None clear_blockade = None min_point_distance = sys.float_info.max clear_x = 0 clear_y = 0 for blockade in blockades: apexes = blockade.get_apexes() + if apexes is None or len(apexes) < 4: + continue for i in range(0, len(apexes) - 2, 2): distance = self._get_distance( agent_x, agent_y, apexes[i], apexes[i + 1] @@ -625,7 +659,9 @@ def _get_area_clear_action( clear_x = int(agent_x + vector[0]) clear_y = int(agent_y + vector[1]) return ActionClearArea(clear_x, clear_y) - return ActionMove([police_entity.get_position()], clear_x, clear_y) + position = police_entity.get_position() + if position is not None: + return ActionMove([position], clear_x, clear_y) return None @@ -637,7 +673,12 @@ def _get_neighbour_position_action( ) -> Optional[Action]: agent_x = police_entity.get_x() agent_y = police_entity.get_y() - position = self.world_info.get_entity(police_entity.get_position()) + if agent_x is None or agent_y is None: + return None + position_id = police_entity.get_position() + if position_id is None: + return None + position = self.world_info.get_entity(position_id) if position is None: return None @@ -646,7 +687,7 @@ def _get_neighbour_position_action( return None if isinstance(position, Road): - road = cast(Road, position) + road = position if road.get_blockades() != []: mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 @@ -716,7 +757,7 @@ def _get_neighbour_position_action( return action_move if isinstance(target, Road): - road = cast(Road, target) + road = target if road.get_blockades() == []: return ActionMove([position.get_entity_id(), target.get_entity_id()]) @@ -726,6 +767,8 @@ def _get_neighbour_position_action( clear_y = 0 for blockade in self.world_info.get_blockades(road): apexes = blockade.get_apexes() + if apexes is None or len(apexes) < 4: + continue for i in range(0, len(apexes) - 2, 2): distance = self._get_distance( agent_x, agent_y, apexes[i], apexes[i + 1] diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py index df1e067..b4624bb 100644 --- a/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -117,7 +117,7 @@ def _calc_rescue( return None if isinstance(target_entity, Human): - human = cast(Human, target_entity) + human = target_entity if human.get_hp() == 0: return None @@ -139,7 +139,7 @@ def _calc_rescue( return None if isinstance(target_entity, Blockade): - blockade = cast(Blockade, target_entity) + blockade = target_entity blockade_position = blockade.get_position() if blockade_position is None: return None diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py index a64b23c..5fe0b9d 100644 --- a/adf_core_python/implement/action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -125,6 +125,8 @@ def calc_rescue( return None agent_position = agent.get_position() + if agent_position is None: + return None if isinstance(target_entity, Human): human = target_entity if human.get_position() is None: @@ -133,6 +135,8 @@ def calc_rescue( return None target_position = human.get_position() + if target_position is None: + return None if agent_position == target_position: if isinstance(human, Civilian) and ((human.get_buriedness() or 0) == 0): return ActionLoad(human.get_entity_id()) @@ -143,6 +147,8 @@ def calc_rescue( return None if isinstance(target_entity, Area): + if agent_position is None: + return None path = path_planning.get_path(agent_position, target_entity.get_entity_id()) if path is not None and len(path) > 0: return ActionMove(path) @@ -163,6 +169,8 @@ def calc_unload( return ActionUnload() agent_position = agent.get_position() + if agent_position is None: + return None if target_id is None or transport_human.get_entity_id() == target_id: position = self.world_info.get_entity(agent_position) if position is None: @@ -181,10 +189,11 @@ def calc_unload( target_entity = self.world_info.get_entity(target_id) if isinstance(target_entity, Human): - human = cast(Human, target_entity) - if human.get_position() is not None: + human = target_entity + human_position = human.get_position() + if human_position is not None: return self.calc_refuge_action( - agent, path_planning, human.get_position(), True + agent, path_planning, human_position, True ) path = self.get_nearest_refuge_path(agent, path_planning) if path is not None and len(path) > 0: @@ -200,6 +209,8 @@ def calc_refuge_action( is_unload: bool, ) -> Optional[ActionMove | ActionUnload | ActionRest]: position = human.get_position() + if position is None: + return None refuges = self.world_info.get_entity_ids_of_types([Refuge]) size = len(refuges) @@ -235,6 +246,8 @@ def get_nearest_refuge_path( self, human: Human, path_planning: PathPlanning ) -> list[EntityID]: position = human.get_position() + if position is None: + return [] refuges = self.world_info.get_entity_ids_of_types([Refuge]) nearest_path = None diff --git a/adf_core_python/implement/centralized/default_command_executor_ambulance.py b/adf_core_python/implement/centralized/default_command_executor_ambulance.py index aa6bf81..d4783c6 100644 --- a/adf_core_python/implement/centralized/default_command_executor_ambulance.py +++ b/adf_core_python/implement/centralized/default_command_executor_ambulance.py @@ -254,8 +254,8 @@ def _is_command_completed(self) -> bool: if isinstance(human, Civilian): self._command_type = self.ACTION_RESCUE return self._is_command_completed() - if human.get_position() is not None: - position = human.get_position() + position = human.get_position() + if position is not None: if position in self._world_info.get_entity_ids_of_types( [AmbulanceTeam] ): diff --git a/adf_core_python/implement/centralized/default_command_executor_police.py b/adf_core_python/implement/centralized/default_command_executor_police.py index c5d756b..abfb51f 100644 --- a/adf_core_python/implement/centralized/default_command_executor_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_police.py @@ -202,11 +202,13 @@ def _is_command_completed(self) -> bool: match self._command_type: case self.ACTION_REST: if self._target is None: - return agent.get_damage() == 0 + damage = agent.get_damage() + return damage is not None and damage == 0 if (target_entity := self._world_info.get_entity(self._target)) is None: return False if isinstance(target_entity, Refuge): - return agent.get_damage() == 0 + damage = agent.get_damage() + return damage is not None and damage == 0 return False case self.ACTION_MOVE: return ( @@ -218,17 +220,19 @@ def _is_command_completed(self) -> bool: return True entity = self._world_info.get_entity(self._target) if isinstance(entity, Road): - if entity.get_blockades is not None: - return len(entity.get_blockades()) == 0 + blockades = entity.get_blockades() + if blockades is not None: + return len(blockades) == 0 return self._agent_info.get_position_entity_id() == self._target return True case self.ACTION_AUTONOMY: if self._target is not None: target_entity = self._world_info.get_entity(self._target) if isinstance(target_entity, Refuge): + damage = agent.get_damage() self._command_type = ( self.ACTION_REST - if agent.get_damage() > 0 + if damage is not None and damage > 0 else self.ACTION_CLEAR ) return self._is_command_completed() @@ -238,8 +242,9 @@ def _is_command_completed(self) -> bool: elif isinstance(target_entity, Human): if target_entity.get_hp() == 0: return True - if target_entity.get_position() is not None and isinstance( - self._world_info.get_entity(target_entity.get_position()), + position = target_entity.get_position() + if position is not None and isinstance( + self._world_info.get_entity(position), Area, ): self._target = target_entity.get_position() diff --git a/adf_core_python/implement/centralized/default_command_executor_scout.py b/adf_core_python/implement/centralized/default_command_executor_scout.py index 0ff628b..7941ed5 100644 --- a/adf_core_python/implement/centralized/default_command_executor_scout.py +++ b/adf_core_python/implement/centralized/default_command_executor_scout.py @@ -1,6 +1,6 @@ from typing import Optional, cast -from rcrscore.entities import Area, EntityID, Human, Refuge +from rcrscore.entities import Building, EntityID, Human, Refuge, Road from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -59,6 +59,8 @@ def set_command(self, command: CommandScout) -> CommandExecutor: target = command.get_command_target_entity_id() if target is None: target = self._agent_info.get_position_entity_id() + if target is None: + return self self._command_type = self.ACTION_SCOUT self._commander = command.get_sender_entity_id() @@ -66,7 +68,7 @@ def set_command(self, command: CommandScout) -> CommandExecutor: if (scout_distance := command.get_scout_range()) is None: return self - for entity in self._world_info.get_entities_of_types([Area]): + for entity in self._world_info.get_entities_of_types([Road, Building]): if isinstance(entity, Refuge): continue if ( @@ -83,9 +85,10 @@ def calculate(self) -> CommandExecutor: case self.ACTION_SCOUT: if len(self._targets) == 0: return self - path = self._path_planning.get_path( - self._agent_info.get_position_entity_id(), self._targets[0] - ) + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + path = self._path_planning.get_path(agent_position, self._targets[0]) if path is None: return self self._result = ActionMove(path) @@ -150,7 +153,9 @@ def _is_command_completed(self) -> bool: match self._command_type: case self.ACTION_SCOUT: if len(self._targets) != 0: - for entity in self._world_info.get_entities_of_types([Area]): + for entity in self._world_info.get_entities_of_types( + [Road, Building] + ): self._targets.remove(entity.get_entity_id()) return len(self._targets) == 0 case _: diff --git a/adf_core_python/implement/centralized/default_command_executor_scout_police.py b/adf_core_python/implement/centralized/default_command_executor_scout_police.py index c80d68a..f1806ad 100644 --- a/adf_core_python/implement/centralized/default_command_executor_scout_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_scout_police.py @@ -1,6 +1,6 @@ from typing import Optional, cast -from rcrscore.entities import Area, EntityID, Human, Refuge +from rcrscore.entities import Building, EntityID, Human, Refuge, Road from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -64,6 +64,8 @@ def set_command(self, command: CommandScout) -> CommandExecutor: target = command.get_command_target_entity_id() if target is None: target = self._agent_info.get_position_entity_id() + if target is None: + return self self._command_type = self.ACTION_SCOUT self._commander = command.get_sender_entity_id() @@ -71,7 +73,7 @@ def set_command(self, command: CommandScout) -> CommandExecutor: if (scout_distance := command.get_scout_range()) is None: return self - for entity in self._world_info.get_entities_of_types([Area]): + for entity in self._world_info.get_entities_of_types([Road, Building, Refuge]): if isinstance(entity, Refuge): continue if ( @@ -88,9 +90,10 @@ def calculate(self) -> CommandExecutor: case self.ACTION_SCOUT: if len(self._targets) == 0: return self - path = self._path_planning.get_path( - self._agent_info.get_position_entity_id(), self._targets[0] - ) + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + path = self._path_planning.get_path(agent_position, self._targets[0]) if path is None: return self action = ( @@ -162,7 +165,9 @@ def _is_command_completed(self) -> bool: match self._command_type: case self.ACTION_SCOUT: if len(self._targets) != 0: - for entity in self._world_info.get_entities_of_types([Area]): + for entity in self._world_info.get_entities_of_types( + [Road, Building, Refuge] + ): self._targets.remove(entity.get_entity_id()) return len(self._targets) == 0 case _: diff --git a/adf_core_python/implement/module/algorithm/a_star_path_planning.py b/adf_core_python/implement/module/algorithm/a_star_path_planning.py index 5a80339..e31cef3 100644 --- a/adf_core_python/implement/module/algorithm/a_star_path_planning.py +++ b/adf_core_python/implement/module/algorithm/a_star_path_planning.py @@ -1,6 +1,6 @@ from __future__ import annotations -from rcrscore.entities import Area, Entity, EntityID +from rcrscore.entities import Area, Building, Entity, EntityID, Road from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -24,7 +24,9 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - entities: list[Entity] = self._world_info.get_entities_of_types([Area]) + entities: list[Entity] = self._world_info.get_entities_of_types( + [Building, Road] + ) self._graph: dict[EntityID, set[EntityID]] = {} for entity in entities: if isinstance(entity, Area): diff --git a/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py b/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py index 1a592a8..dac1549 100644 --- a/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py +++ b/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py @@ -3,7 +3,7 @@ import heapq from typing import Optional -from rcrscore.entities import Area, EntityID +from rcrscore.entities import Area, Building, EntityID, Road from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -27,7 +27,7 @@ def __init__( ) self.graph: dict[EntityID, list[tuple[EntityID, float]]] = {} # グラフの構築 - for area in self._world_info.get_entities_of_types([Area]): + for area in self._world_info.get_entities_of_types([Road, Building]): if not isinstance(area, Area): continue if (neighbors := area.get_neighbors()) is None: @@ -71,10 +71,10 @@ def get_path( previous[neighbor] = current_node path: list[EntityID] = [] - current_node = to_entity_id - while current_node is not None: - path.append(current_node) - current_node = previous[current_node] + current_path_node: Optional[EntityID] = to_entity_id + while current_path_node is not None: + path.append(current_path_node) + current_path_node = previous.get(current_path_node) return path[::-1] diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index 9fe0517..a567abe 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -35,7 +35,10 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - match agent_info.get_myself().get_urn(): + myself = agent_info.get_myself() + if myself is None: + raise RuntimeError("Could not get agent entity") + match myself.get_urn(): case EntityURN.AMBULANCE_TEAM: self._cluster_number = int( scenario_info.get_value( @@ -63,7 +66,7 @@ def __init__( sorted_entities = sorted( world_info.get_entities_of_types( [ - agent_info.get_myself().__class__, + myself.__class__, ] ), key=lambda entity: entity.get_entity_id().get_value(), diff --git a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py index 50f0f35..bdeb89a 100644 --- a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py @@ -109,9 +109,10 @@ def _get_action_agents( ) -> list[AmbulanceTeam]: result = [] for entity in self._world_info.get_entities_of_types([AmbulanceTeam]): - info = info_map[entity.get_entity_id()] - if info is not None and info._can_new_action: - result.append(entity) + if isinstance(entity, AmbulanceTeam): + info = info_map[entity.get_entity_id()] + if info is not None and info._can_new_action: + result.append(entity) return result def _compare_by_distance( diff --git a/adf_core_python/implement/module/complex/default_fire_target_allocator.py b/adf_core_python/implement/module/complex/default_fire_target_allocator.py index c32e716..4373d5d 100644 --- a/adf_core_python/implement/module/complex/default_fire_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_fire_target_allocator.py @@ -108,9 +108,10 @@ def _get_action_agents( ) -> list[FireBrigade]: result = [] for entity in self._world_info.get_entities_of_types([FireBrigade]): - info = info_map[entity.get_entity_id()] - if info is not None and info._can_new_action: - result.append(entity) + if isinstance(entity, FireBrigade): + info = info_map[entity.get_entity_id()] + if info is not None and info._can_new_action: + result.append(entity) return result def _compare_by_distance( diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/adf_core_python/implement/module/complex/default_human_detector.py index a667524..8f5e860 100644 --- a/adf_core_python/implement/module/complex/default_human_detector.py +++ b/adf_core_python/implement/module/complex/default_human_detector.py @@ -124,6 +124,8 @@ def _is_valid_human(self, target_entity_id: EntityID) -> bool: if buriedness is None: return False myself = self._agent_info.get_myself() + if myself is None: + return False if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: return False if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/adf_core_python/implement/module/complex/default_police_target_allocator.py index 0de8b3f..9499ebb 100644 --- a/adf_core_python/implement/module/complex/default_police_target_allocator.py +++ b/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -108,13 +108,13 @@ def calculate(self) -> PoliceTargetAllocator: agents = sorted( agents, key=cmp_to_key(self._compare_by_distance(target_entity)) ) - result = agents.pop(0) - info = self._agent_info_map[result.get_entity_id()] + selected_agent = agents.pop(0) + info = self._agent_info_map[selected_agent.get_entity_id()] if info is not None: info._can_new_action = False info._target = target info.command_time = current_time - self._agent_info_map[result.get_entity_id()] = info + self._agent_info_map[selected_agent.get_entity_id()] = info removes.append(target) for r in removes: @@ -129,12 +129,12 @@ def calculate(self) -> PoliceTargetAllocator: for agent in agents: if len(areas) > 0: areas.sort(key=cmp_to_key(self._compare_by_distance(agent))) - result = areas.pop(0) - self._target_areas.remove(result.get_entity_id()) + target_area: Entity = areas.pop(0) + self._target_areas.remove(target_area.get_entity_id()) info = self._agent_info_map[agent.get_entity_id()] if info is not None: info._can_new_action = False - info._target = result.get_entity_id() + info._target = target_area.get_entity_id() info.command_time = current_time self._agent_info_map[agent.get_entity_id()] = info @@ -148,9 +148,10 @@ def _get_action_agents( ) -> list[PoliceForce]: result = [] for entity in self._world_info.get_entities_of_types([PoliceForce]): - info = info_map[entity.get_entity_id()] - if info is not None and info._can_new_action: - result.append(entity) + if isinstance(entity, PoliceForce): + info = info_map[entity.get_entity_id()] + if info is not None and info._can_new_action: + result.append(entity) return result def _compare_by_distance( diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index ad837a4..ed7a02d 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -37,7 +37,7 @@ def __init__( ) self.register_sub_module(self._path_planning) - self._result = None + self._result: Optional[EntityID] = None def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: super().precompute(precompute_data) @@ -108,7 +108,7 @@ def update_info(self, message_manager: MessageManager) -> RoadDetector: if isinstance(entity, Building): self._result = None elif isinstance(entity, Road): - road: Road = cast(Road, entity) + road = entity if road.get_blockades() == []: self._target_areas.remove(self._result) self._result = None @@ -117,7 +117,9 @@ def update_info(self, message_manager: MessageManager) -> RoadDetector: def calculate(self) -> RoadDetector: if self._result is None: - position_entity_id: EntityID = self._agent_info.get_position_entity_id() + position_entity_id = self._agent_info.get_position_entity_id() + if position_entity_id is None: + return self if position_entity_id in self._target_areas: self._result = position_entity_id return self @@ -128,21 +130,22 @@ def calculate(self) -> RoadDetector: self._priority_roads = self._priority_roads - set(remove_list) if len(self._priority_roads) > 0: - _nearest_target_area = self._agent_info.get_position_entity_id() + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + _nearest_target_area = agent_position _nearest_distance = float("inf") for target_area in self._target_areas: if ( - self._world_info.get_distance( - self._agent_info.get_position_entity_id(), target_area - ) + self._world_info.get_distance(agent_position, target_area) < _nearest_distance ): _nearest_target_area = target_area _nearest_distance = self._world_info.get_distance( - self._agent_info.get_position_entity_id(), target_area + agent_position, target_area ) path: list[EntityID] = self._path_planning.get_path( - self._agent_info.get_position_entity_id(), _nearest_target_area + agent_position, _nearest_target_area ) if path is not None and len(path) > 0: self._result = path[-1] diff --git a/adf_core_python/implement/module/complex/default_search.py b/adf_core_python/implement/module/complex/default_search.py index 0d5c714..1050029 100644 --- a/adf_core_python/implement/module/complex/default_search.py +++ b/adf_core_python/implement/module/complex/default_search.py @@ -64,7 +64,8 @@ def update_info(self, message_manager: MessageManager) -> Search: ) searched_building_id = self._agent_info.get_position_entity_id() - self._unreached_building_ids.discard(searched_building_id) + if searched_building_id is not None: + self._unreached_building_ids.discard(searched_building_id) if len(self._unreached_building_ids) == 0: self._unreached_building_ids = self._get_search_targets() From 44d72c52ffc62006d414411f74a4d67fac7be99d Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:05:48 +0900 Subject: [PATCH 235/249] move: add src file --- .../core/agent/precompute/precompute_data.py | 75 ------------------- adf_core_python/implement/tactics/__init__.py | 0 .../adf_core_python}/__init__.py | 0 .../adf_core_python}/cli/__init__.py | 0 .../adf_core_python}/cli/cli.py | 0 .../cli/template/config/development.json | 0 .../cli/template/config/launcher.yaml | 0 .../cli/template/config/module.yaml | 0 .../adf_core_python}/cli/template/main.py | 0 .../cli/template/src/team_name/__init__.py | 0 .../template/src/team_name/module/__init__.py | 0 .../src/team_name/module/complex/__init__.py | 0 .../module/complex/sample_human_detector.py | 0 .../module/complex/sample_road_detector.py | 0 .../team_name/module/complex/sample_search.py | 0 .../adf_core_python}/core/__init__.py | 0 .../adf_core_python}/core/agent/__init__.py | 0 .../core/agent/action/__init__.py | 0 .../core/agent/action/action.py | 0 .../core/agent/action/ambulance/__init__.py | 0 .../agent/action/ambulance/action_load.py | 0 .../agent/action/ambulance/action_rescue.py | 0 .../agent/action/ambulance/action_unload.py | 0 .../core/agent/action/common/__init__.py | 0 .../core/agent/action/common/action_move.py | 0 .../core/agent/action/common/action_rest.py | 0 .../core/agent/action/fire/__init__.py | 0 .../agent/action/fire/action_extinguish.py | 0 .../core/agent/action/fire/action_refill.py | 0 .../core/agent/action/fire/action_rescue.py | 0 .../core/agent/action/police/__init__.py | 0 .../core/agent/action/police/action_clear.py | 0 .../agent/action/police/action_clear_area.py | 0 .../adf_core_python}/core/agent/agent.py | 0 .../core/agent/communication/__init__.py | 0 .../agent/communication/message_manager.py | 0 .../agent/communication/standard/__init__.py | 0 .../communication/standard/bundle/__init__.py | 0 .../standard/bundle/centralized/__init__.py | 0 .../bundle/centralized/command_ambulance.py | 0 .../bundle/centralized/command_fire.py | 0 .../bundle/centralized/command_police.py | 0 .../bundle/centralized/command_scout.py | 0 .../bundle/centralized/message_report.py | 0 .../standard/bundle/information/__init__.py | 0 .../information/message_ambulance_team.py | 0 .../bundle/information/message_building.py | 0 .../bundle/information/message_civilian.py | 0 .../information/message_fire_brigade.py | 0 .../information/message_police_force.py | 0 .../bundle/information/message_road.py | 0 .../standard/bundle/standard_message.py | 0 .../bundle/standard_message_priority.py | 0 .../standard/standard_communication_module.py | 0 .../standard/utility/__init__.py | 0 .../standard/utility/apply_to_world_info.py | 0 .../utility/bitarray_with_exits_flag.py | 0 .../core/agent/config/__init__.py | 0 .../core/agent/config/module_config.py | 0 .../core/agent/develop/__init__.py | 0 .../core/agent/develop/develop_data.py | 0 .../core/agent/info/__init__.py | 0 .../core/agent/info/agent_info.py | 0 .../core/agent/info/scenario_info.py | 0 .../core/agent/info/world_info.py | 0 .../core/agent/module/__init__.py | 0 .../core/agent/module/module_manager.py | 0 .../core/agent/office/office.py | 0 .../core/agent/office/office_ambulance.py | 0 .../core/agent/office/office_fire.py | 0 .../core/agent/office/office_police.py | 0 .../core/agent/platoon/__init__.py | 0 .../core/agent/platoon/platoon.py | 0 .../core/agent/platoon/platoon_ambulance.py | 0 .../core/agent/platoon/platoon_fire.py | 0 .../core/agent/platoon/platoon_police.py | 0 .../core/component}/__init__.py | 0 .../core/component/abstract_loader.py | 0 .../core/component/action}/__init__.py | 0 .../core/component/action/extend_action.py | 0 .../component/centralized/command_executor.py | 0 .../component/centralized/command_picker.py | 0 .../core/component/communication}/__init__.py | 0 .../communication/channel_subscriber.py | 0 .../communication/communication_message.py | 0 .../communication/communication_module.py | 0 .../communication/message_coordinator.py | 0 .../core/component/module}/__init__.py | 0 .../core/component/module/abstract_module.py | 0 .../component/module/algorithm}/__init__.py | 0 .../component/module/algorithm/clustering.py | 0 .../module/algorithm/path_planning.py | 0 .../component/module/complex}/__init__.py | 0 .../complex/ambulance_target_allocator.py | 0 .../module/complex/fire_target_allocator.py | 0 .../module/complex/human_detector.py | 0 .../module/complex/police_target_allocator.py | 0 .../component/module/complex/road_detector.py | 0 .../core/component/module/complex/search.py | 0 .../module/complex/target_allocator.py | 0 .../module/complex/target_detector.py | 0 .../core/component/tactics}/__init__.py | 0 .../core/component/tactics/tactics_agent.py | 0 .../tactics/tactics_ambulance_center.py | 0 .../tactics/tactics_ambulance_team.py | 0 .../core/component/tactics/tactics_center.py | 0 .../component/tactics/tactics_fire_brigade.py | 0 .../component/tactics/tactics_fire_station.py | 0 .../component/tactics/tactics_police_force.py | 0 .../tactics/tactics_police_office.py | 0 .../adf_core_python/core/config}/__init__.py | 0 .../adf_core_python}/core/config/config.py | 0 .../adf_core_python/core/gateway}/__init__.py | 0 .../core/gateway/component}/__init__.py | 0 .../gateway/component/module}/__init__.py | 0 .../component/module/algorithm}/__init__.py | 0 .../module/algorithm/gateway_clustering.py | 0 .../module/algorithm/gateway_path_planning.py | 0 .../component/module/complex}/__init__.py | 0 .../gateway_ambulance_target_allocator.py | 0 .../complex/gateway_fire_target_allocator.py | 0 .../module/complex/gateway_human_detector.py | 0 .../gateway_police_target_allocator.py | 0 .../module/complex/gateway_road_detector.py | 0 .../module/complex/gateway_search.py | 0 .../complex/gateway_target_allocator.py | 0 .../module/complex/gateway_target_detector.py | 0 .../module/gateway_abstract_module.py | 0 .../core/gateway/gateway_agent.py | 0 .../core/gateway/gateway_launcher.py | 0 .../core/gateway/gateway_module.py | 0 .../core/gateway/message}/__init__.py | 0 .../core/gateway/message/am_agent.py | 0 .../core/gateway/message/am_exec.py | 0 .../core/gateway/message/am_module.py | 0 .../core/gateway/message/am_update.py | 0 .../core/gateway/message/ma_exec_response.py | 0 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.../default_ambulance_target_allocator.py | 0 .../complex/default_fire_target_allocator.py | 0 .../module/complex/default_human_detector.py | 0 .../default_police_target_allocator.py | 0 .../module/complex/default_road_detector.py | 0 .../module/complex/default_search.py | 0 .../implement/tactics}/__init__.py | 0 .../default_tactics_ambulance_center.py | 0 .../tactics/default_tactics_ambulance_team.py | 0 .../tactics/default_tactics_fire_brigade.py | 0 .../tactics/default_tactics_fire_station.py | 0 .../tactics/default_tactics_police_force.py | 0 .../tactics/default_tactics_police_office.py | 0 .../adf_core_python}/launcher.py | 0 197 files changed, 75 deletions(-) delete mode 100644 adf_core_python/core/agent/precompute/precompute_data.py delete mode 100644 adf_core_python/implement/tactics/__init__.py rename {adf_core_python => src/adf_core_python}/__init__.py (100%) rename {adf_core_python => src/adf_core_python}/cli/__init__.py (100%) rename {adf_core_python => 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src/adf_core_python}/implement/centralized/default_command_executor_ambulance.py (100%) rename {adf_core_python => src/adf_core_python}/implement/centralized/default_command_executor_fire.py (100%) rename {adf_core_python => src/adf_core_python}/implement/centralized/default_command_executor_police.py (100%) rename {adf_core_python => src/adf_core_python}/implement/centralized/default_command_executor_scout.py (100%) rename {adf_core_python => src/adf_core_python}/implement/centralized/default_command_executor_scout_police.py (100%) rename {adf_core_python => src/adf_core_python}/implement/centralized/default_command_picker_ambulance.py (100%) rename {adf_core_python => src/adf_core_python}/implement/centralized/default_command_picker_fire.py (100%) rename {adf_core_python => src/adf_core_python}/implement/centralized/default_command_picker_police.py (100%) rename {adf_core_python => src/adf_core_python}/implement/default_loader.py (100%) rename {adf_core_python/implement/action => src/adf_core_python/implement/module}/__init__.py (100%) rename {adf_core_python/implement/module => src/adf_core_python/implement/module/algorithm}/__init__.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/algorithm/a_star_path_planning.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/algorithm/dijkstra_path_planning.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/algorithm/k_means_clustering.py (100%) rename {adf_core_python/implement/module/algorithm => src/adf_core_python/implement/module/communication}/__init__.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/communication/default_channel_subscriber.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/communication/default_message_coordinator.py (100%) rename {adf_core_python/implement/module/communication => src/adf_core_python/implement/module/complex}/__init__.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/complex/default_ambulance_target_allocator.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/complex/default_fire_target_allocator.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/complex/default_human_detector.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/complex/default_police_target_allocator.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/complex/default_road_detector.py (100%) rename {adf_core_python => src/adf_core_python}/implement/module/complex/default_search.py (100%) rename {adf_core_python/implement/module/complex => src/adf_core_python/implement/tactics}/__init__.py (100%) rename {adf_core_python => src/adf_core_python}/implement/tactics/default_tactics_ambulance_center.py (100%) rename {adf_core_python => src/adf_core_python}/implement/tactics/default_tactics_ambulance_team.py (100%) rename {adf_core_python => src/adf_core_python}/implement/tactics/default_tactics_fire_brigade.py (100%) rename {adf_core_python => src/adf_core_python}/implement/tactics/default_tactics_fire_station.py (100%) rename {adf_core_python => src/adf_core_python}/implement/tactics/default_tactics_police_force.py (100%) rename {adf_core_python => src/adf_core_python}/implement/tactics/default_tactics_police_office.py (100%) rename {adf_core_python => src/adf_core_python}/launcher.py (100%) diff --git a/adf_core_python/core/agent/precompute/precompute_data.py b/adf_core_python/core/agent/precompute/precompute_data.py deleted file mode 100644 index 41b2029..0000000 --- a/adf_core_python/core/agent/precompute/precompute_data.py +++ /dev/null @@ -1,75 +0,0 @@ -import json -import os - -ENCODE = "utf-8" - - -class PrecomputeData: - def __init__(self, dir_path: str) -> None: - """ - Initialize the PrecomputeData object. - - Parameters - ---------- - dir_path : str - The directory path to save the precompute data. - - Raises - ------ - Exception - """ - self._dir_path = dir_path - - def read_json_data(self, module_name: str) -> dict: - """ - Read the precompute data from the file. - - Returns - ------- - dict - The precompute data. - - Raises - ------ - Exception - """ - - with open(f"{self._dir_path}/{module_name}.json", "r", encoding=ENCODE) as file: - return json.load(file) - - def write_json_data(self, data: dict, module_name: str) -> None: - """ - Write the precompute data to the file. - - Parameters - ---------- - data : dict - The data to write. - - Raises - ------ - Exception - """ - if not os.path.exists(self._dir_path): - os.makedirs(self._dir_path) - - with open(f"{self._dir_path}/{module_name}.json", "w", encoding=ENCODE) as file: - json.dump(data, file, indent=4) - - def remove_precompute_data(self) -> None: - """ - Remove the precompute data file. - """ - if os.path.exists(self._dir_path): - os.remove(self._dir_path) - - def is_available(self) -> bool: - """ - Check if the precompute data is available. - - Returns - ------- - bool - True if the precompute data is available, False otherwise. - """ - return os.path.exists(self._dir_path) diff --git a/adf_core_python/implement/tactics/__init__.py b/adf_core_python/implement/tactics/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/adf_core_python/__init__.py b/src/adf_core_python/__init__.py similarity index 100% rename from adf_core_python/__init__.py rename to src/adf_core_python/__init__.py diff --git a/adf_core_python/cli/__init__.py b/src/adf_core_python/cli/__init__.py similarity index 100% rename from adf_core_python/cli/__init__.py rename to src/adf_core_python/cli/__init__.py diff --git a/adf_core_python/cli/cli.py b/src/adf_core_python/cli/cli.py similarity index 100% rename from adf_core_python/cli/cli.py rename to src/adf_core_python/cli/cli.py diff --git a/adf_core_python/cli/template/config/development.json b/src/adf_core_python/cli/template/config/development.json similarity index 100% rename from adf_core_python/cli/template/config/development.json rename to src/adf_core_python/cli/template/config/development.json diff --git a/adf_core_python/cli/template/config/launcher.yaml b/src/adf_core_python/cli/template/config/launcher.yaml similarity index 100% rename from adf_core_python/cli/template/config/launcher.yaml rename to src/adf_core_python/cli/template/config/launcher.yaml diff --git a/adf_core_python/cli/template/config/module.yaml b/src/adf_core_python/cli/template/config/module.yaml similarity index 100% rename from adf_core_python/cli/template/config/module.yaml rename to src/adf_core_python/cli/template/config/module.yaml diff --git a/adf_core_python/cli/template/main.py b/src/adf_core_python/cli/template/main.py similarity index 100% rename from adf_core_python/cli/template/main.py rename to src/adf_core_python/cli/template/main.py diff --git a/adf_core_python/cli/template/src/team_name/__init__.py b/src/adf_core_python/cli/template/src/team_name/__init__.py similarity index 100% rename from adf_core_python/cli/template/src/team_name/__init__.py rename to src/adf_core_python/cli/template/src/team_name/__init__.py diff --git a/adf_core_python/cli/template/src/team_name/module/__init__.py b/src/adf_core_python/cli/template/src/team_name/module/__init__.py similarity index 100% rename from adf_core_python/cli/template/src/team_name/module/__init__.py rename to src/adf_core_python/cli/template/src/team_name/module/__init__.py diff --git a/adf_core_python/cli/template/src/team_name/module/complex/__init__.py b/src/adf_core_python/cli/template/src/team_name/module/complex/__init__.py similarity index 100% rename from adf_core_python/cli/template/src/team_name/module/complex/__init__.py rename to src/adf_core_python/cli/template/src/team_name/module/complex/__init__.py diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py similarity index 100% rename from adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py rename to src/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py similarity index 100% rename from adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py rename to src/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py similarity index 100% rename from adf_core_python/cli/template/src/team_name/module/complex/sample_search.py rename to src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py diff --git a/adf_core_python/core/__init__.py b/src/adf_core_python/core/__init__.py similarity index 100% rename from adf_core_python/core/__init__.py rename to src/adf_core_python/core/__init__.py diff --git a/adf_core_python/core/agent/__init__.py b/src/adf_core_python/core/agent/__init__.py similarity index 100% rename from adf_core_python/core/agent/__init__.py rename to src/adf_core_python/core/agent/__init__.py diff --git a/adf_core_python/core/agent/action/__init__.py b/src/adf_core_python/core/agent/action/__init__.py similarity index 100% rename from adf_core_python/core/agent/action/__init__.py rename to src/adf_core_python/core/agent/action/__init__.py diff --git a/adf_core_python/core/agent/action/action.py b/src/adf_core_python/core/agent/action/action.py similarity index 100% rename from adf_core_python/core/agent/action/action.py rename to src/adf_core_python/core/agent/action/action.py diff --git a/adf_core_python/core/agent/action/ambulance/__init__.py b/src/adf_core_python/core/agent/action/ambulance/__init__.py similarity index 100% rename from adf_core_python/core/agent/action/ambulance/__init__.py rename to src/adf_core_python/core/agent/action/ambulance/__init__.py diff --git a/adf_core_python/core/agent/action/ambulance/action_load.py b/src/adf_core_python/core/agent/action/ambulance/action_load.py similarity index 100% rename from adf_core_python/core/agent/action/ambulance/action_load.py rename to src/adf_core_python/core/agent/action/ambulance/action_load.py diff --git a/adf_core_python/core/agent/action/ambulance/action_rescue.py b/src/adf_core_python/core/agent/action/ambulance/action_rescue.py similarity index 100% rename from adf_core_python/core/agent/action/ambulance/action_rescue.py rename to src/adf_core_python/core/agent/action/ambulance/action_rescue.py diff --git a/adf_core_python/core/agent/action/ambulance/action_unload.py b/src/adf_core_python/core/agent/action/ambulance/action_unload.py similarity index 100% rename from adf_core_python/core/agent/action/ambulance/action_unload.py rename to src/adf_core_python/core/agent/action/ambulance/action_unload.py diff --git a/adf_core_python/core/agent/action/common/__init__.py b/src/adf_core_python/core/agent/action/common/__init__.py similarity index 100% rename from adf_core_python/core/agent/action/common/__init__.py rename to src/adf_core_python/core/agent/action/common/__init__.py diff --git a/adf_core_python/core/agent/action/common/action_move.py b/src/adf_core_python/core/agent/action/common/action_move.py similarity index 100% rename from adf_core_python/core/agent/action/common/action_move.py rename to src/adf_core_python/core/agent/action/common/action_move.py diff --git a/adf_core_python/core/agent/action/common/action_rest.py b/src/adf_core_python/core/agent/action/common/action_rest.py similarity index 100% rename from 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--git a/adf_core_python/core/agent/action/fire/action_rescue.py b/src/adf_core_python/core/agent/action/fire/action_rescue.py similarity index 100% rename from adf_core_python/core/agent/action/fire/action_rescue.py rename to src/adf_core_python/core/agent/action/fire/action_rescue.py diff --git a/adf_core_python/core/agent/action/police/__init__.py b/src/adf_core_python/core/agent/action/police/__init__.py similarity index 100% rename from adf_core_python/core/agent/action/police/__init__.py rename to src/adf_core_python/core/agent/action/police/__init__.py diff --git a/adf_core_python/core/agent/action/police/action_clear.py b/src/adf_core_python/core/agent/action/police/action_clear.py similarity index 100% rename from adf_core_python/core/agent/action/police/action_clear.py rename to src/adf_core_python/core/agent/action/police/action_clear.py diff --git a/adf_core_python/core/agent/action/police/action_clear_area.py b/src/adf_core_python/core/agent/action/police/action_clear_area.py similarity index 100% rename from adf_core_python/core/agent/action/police/action_clear_area.py rename to src/adf_core_python/core/agent/action/police/action_clear_area.py diff --git a/adf_core_python/core/agent/agent.py b/src/adf_core_python/core/agent/agent.py similarity index 100% rename from adf_core_python/core/agent/agent.py rename to src/adf_core_python/core/agent/agent.py diff --git a/adf_core_python/core/agent/communication/__init__.py b/src/adf_core_python/core/agent/communication/__init__.py similarity index 100% rename from adf_core_python/core/agent/communication/__init__.py rename to src/adf_core_python/core/agent/communication/__init__.py diff --git a/adf_core_python/core/agent/communication/message_manager.py b/src/adf_core_python/core/agent/communication/message_manager.py similarity index 100% rename from adf_core_python/core/agent/communication/message_manager.py rename to 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src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py similarity index 100% rename from adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py rename to src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py similarity index 100% rename from adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py rename to src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py diff --git a/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py similarity index 100% rename from adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py rename to src/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/__init__.py b/src/adf_core_python/core/agent/communication/standard/bundle/information/__init__.py similarity index 100% rename from adf_core_python/core/agent/communication/standard/bundle/information/__init__.py rename to src/adf_core_python/core/agent/communication/standard/bundle/information/__init__.py diff --git a/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py 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src/adf_core_python/core/gateway/message/ma_module_response.py diff --git a/adf_core_python/core/gateway/message/moduleMessageFactory.py b/src/adf_core_python/core/gateway/message/moduleMessageFactory.py similarity index 100% rename from adf_core_python/core/gateway/message/moduleMessageFactory.py rename to src/adf_core_python/core/gateway/message/moduleMessageFactory.py diff --git a/adf_core_python/core/gateway/message/__init__.py b/src/adf_core_python/core/gateway/message/urn/__init__.py similarity index 100% rename from adf_core_python/core/gateway/message/__init__.py rename to src/adf_core_python/core/gateway/message/urn/__init__.py diff --git a/adf_core_python/core/gateway/message/urn/urn.py b/src/adf_core_python/core/gateway/message/urn/urn.py similarity index 100% rename from adf_core_python/core/gateway/message/urn/urn.py rename to src/adf_core_python/core/gateway/message/urn/urn.py diff --git a/adf_core_python/core/gateway/module_dict.py b/src/adf_core_python/core/gateway/module_dict.py similarity index 100% rename from adf_core_python/core/gateway/module_dict.py rename to src/adf_core_python/core/gateway/module_dict.py diff --git a/adf_core_python/core/gateway/message/urn/__init__.py b/src/adf_core_python/core/launcher/__init__.py similarity index 100% rename from adf_core_python/core/gateway/message/urn/__init__.py rename to src/adf_core_python/core/launcher/__init__.py diff --git a/adf_core_python/core/launcher/agent_launcher.py b/src/adf_core_python/core/launcher/agent_launcher.py similarity index 100% rename from adf_core_python/core/launcher/agent_launcher.py rename to src/adf_core_python/core/launcher/agent_launcher.py diff --git a/adf_core_python/core/launcher/config_key.py b/src/adf_core_python/core/launcher/config_key.py similarity index 100% rename from adf_core_python/core/launcher/config_key.py rename to src/adf_core_python/core/launcher/config_key.py diff --git a/adf_core_python/core/launcher/__init__.py b/src/adf_core_python/core/launcher/connect/__init__.py similarity index 100% rename from adf_core_python/core/launcher/__init__.py rename to src/adf_core_python/core/launcher/connect/__init__.py diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/src/adf_core_python/core/launcher/connect/component_launcher.py similarity index 100% rename from adf_core_python/core/launcher/connect/component_launcher.py rename to src/adf_core_python/core/launcher/connect/component_launcher.py diff --git a/adf_core_python/core/launcher/connect/connection.py b/src/adf_core_python/core/launcher/connect/connection.py similarity index 100% rename from adf_core_python/core/launcher/connect/connection.py rename to src/adf_core_python/core/launcher/connect/connection.py diff --git a/adf_core_python/core/launcher/connect/connector.py b/src/adf_core_python/core/launcher/connect/connector.py similarity index 100% rename from adf_core_python/core/launcher/connect/connector.py rename to src/adf_core_python/core/launcher/connect/connector.py diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/src/adf_core_python/core/launcher/connect/connector_ambulance_center.py similarity index 100% rename from adf_core_python/core/launcher/connect/connector_ambulance_center.py rename to src/adf_core_python/core/launcher/connect/connector_ambulance_center.py diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/src/adf_core_python/core/launcher/connect/connector_ambulance_team.py similarity index 100% rename from adf_core_python/core/launcher/connect/connector_ambulance_team.py rename to src/adf_core_python/core/launcher/connect/connector_ambulance_team.py diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/src/adf_core_python/core/launcher/connect/connector_fire_brigade.py similarity index 100% rename from adf_core_python/core/launcher/connect/connector_fire_brigade.py rename to src/adf_core_python/core/launcher/connect/connector_fire_brigade.py diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/src/adf_core_python/core/launcher/connect/connector_fire_station.py similarity index 100% rename from adf_core_python/core/launcher/connect/connector_fire_station.py rename to src/adf_core_python/core/launcher/connect/connector_fire_station.py diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/src/adf_core_python/core/launcher/connect/connector_police_force.py similarity index 100% rename from adf_core_python/core/launcher/connect/connector_police_force.py rename to src/adf_core_python/core/launcher/connect/connector_police_force.py diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/src/adf_core_python/core/launcher/connect/connector_police_office.py similarity index 100% rename from adf_core_python/core/launcher/connect/connector_police_office.py rename to src/adf_core_python/core/launcher/connect/connector_police_office.py diff --git a/adf_core_python/core/launcher/connect/error/agent_error.py b/src/adf_core_python/core/launcher/connect/error/agent_error.py similarity index 100% rename from adf_core_python/core/launcher/connect/error/agent_error.py rename to src/adf_core_python/core/launcher/connect/error/agent_error.py diff --git a/adf_core_python/core/launcher/connect/error/server_error.py b/src/adf_core_python/core/launcher/connect/error/server_error.py similarity index 100% rename from adf_core_python/core/launcher/connect/error/server_error.py rename to src/adf_core_python/core/launcher/connect/error/server_error.py diff --git a/adf_core_python/core/launcher/connect/__init__.py b/src/adf_core_python/core/logger/__init__.py similarity index 100% rename from adf_core_python/core/launcher/connect/__init__.py rename to src/adf_core_python/core/logger/__init__.py diff --git a/adf_core_python/core/logger/logger.py 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a/adf_core_python/implement/action/default_extend_action_move.py b/src/adf_core_python/implement/action/default_extend_action_move.py similarity index 100% rename from adf_core_python/implement/action/default_extend_action_move.py rename to src/adf_core_python/implement/action/default_extend_action_move.py diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/src/adf_core_python/implement/action/default_extend_action_rescue.py similarity index 100% rename from adf_core_python/implement/action/default_extend_action_rescue.py rename to src/adf_core_python/implement/action/default_extend_action_rescue.py diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/src/adf_core_python/implement/action/default_extend_action_transport.py similarity index 100% rename from adf_core_python/implement/action/default_extend_action_transport.py rename to src/adf_core_python/implement/action/default_extend_action_transport.py diff --git a/adf_core_python/implement/centralized/default_command_executor_ambulance.py b/src/adf_core_python/implement/centralized/default_command_executor_ambulance.py similarity index 100% rename from adf_core_python/implement/centralized/default_command_executor_ambulance.py rename to src/adf_core_python/implement/centralized/default_command_executor_ambulance.py diff --git a/adf_core_python/implement/centralized/default_command_executor_fire.py b/src/adf_core_python/implement/centralized/default_command_executor_fire.py similarity index 100% rename from adf_core_python/implement/centralized/default_command_executor_fire.py rename to src/adf_core_python/implement/centralized/default_command_executor_fire.py diff --git a/adf_core_python/implement/centralized/default_command_executor_police.py b/src/adf_core_python/implement/centralized/default_command_executor_police.py similarity index 100% rename from adf_core_python/implement/centralized/default_command_executor_police.py rename to src/adf_core_python/implement/centralized/default_command_executor_police.py diff --git a/adf_core_python/implement/centralized/default_command_executor_scout.py b/src/adf_core_python/implement/centralized/default_command_executor_scout.py similarity index 100% rename from adf_core_python/implement/centralized/default_command_executor_scout.py rename to src/adf_core_python/implement/centralized/default_command_executor_scout.py diff --git a/adf_core_python/implement/centralized/default_command_executor_scout_police.py b/src/adf_core_python/implement/centralized/default_command_executor_scout_police.py similarity index 100% rename from adf_core_python/implement/centralized/default_command_executor_scout_police.py rename to src/adf_core_python/implement/centralized/default_command_executor_scout_police.py diff --git a/adf_core_python/implement/centralized/default_command_picker_ambulance.py b/src/adf_core_python/implement/centralized/default_command_picker_ambulance.py similarity index 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a/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py b/src/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py similarity index 100% rename from adf_core_python/implement/module/algorithm/dijkstra_path_planning.py rename to src/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/src/adf_core_python/implement/module/algorithm/k_means_clustering.py similarity index 100% rename from adf_core_python/implement/module/algorithm/k_means_clustering.py rename to src/adf_core_python/implement/module/algorithm/k_means_clustering.py diff --git a/adf_core_python/implement/module/algorithm/__init__.py b/src/adf_core_python/implement/module/communication/__init__.py similarity index 100% rename from adf_core_python/implement/module/algorithm/__init__.py rename to src/adf_core_python/implement/module/communication/__init__.py diff --git a/adf_core_python/implement/module/communication/default_channel_subscriber.py b/src/adf_core_python/implement/module/communication/default_channel_subscriber.py similarity index 100% rename from adf_core_python/implement/module/communication/default_channel_subscriber.py rename to src/adf_core_python/implement/module/communication/default_channel_subscriber.py diff --git a/adf_core_python/implement/module/communication/default_message_coordinator.py b/src/adf_core_python/implement/module/communication/default_message_coordinator.py similarity index 100% rename from adf_core_python/implement/module/communication/default_message_coordinator.py rename to src/adf_core_python/implement/module/communication/default_message_coordinator.py diff --git a/adf_core_python/implement/module/communication/__init__.py b/src/adf_core_python/implement/module/complex/__init__.py similarity index 100% rename from adf_core_python/implement/module/communication/__init__.py rename to src/adf_core_python/implement/module/complex/__init__.py diff --git a/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py b/src/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py similarity index 100% rename from adf_core_python/implement/module/complex/default_ambulance_target_allocator.py rename to src/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py diff --git a/adf_core_python/implement/module/complex/default_fire_target_allocator.py b/src/adf_core_python/implement/module/complex/default_fire_target_allocator.py similarity index 100% rename from adf_core_python/implement/module/complex/default_fire_target_allocator.py rename to src/adf_core_python/implement/module/complex/default_fire_target_allocator.py diff --git a/adf_core_python/implement/module/complex/default_human_detector.py b/src/adf_core_python/implement/module/complex/default_human_detector.py similarity index 100% rename from adf_core_python/implement/module/complex/default_human_detector.py rename to src/adf_core_python/implement/module/complex/default_human_detector.py diff --git a/adf_core_python/implement/module/complex/default_police_target_allocator.py b/src/adf_core_python/implement/module/complex/default_police_target_allocator.py similarity index 100% rename from adf_core_python/implement/module/complex/default_police_target_allocator.py rename to src/adf_core_python/implement/module/complex/default_police_target_allocator.py diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/src/adf_core_python/implement/module/complex/default_road_detector.py similarity index 100% rename from adf_core_python/implement/module/complex/default_road_detector.py rename to src/adf_core_python/implement/module/complex/default_road_detector.py diff --git a/adf_core_python/implement/module/complex/default_search.py b/src/adf_core_python/implement/module/complex/default_search.py similarity index 100% rename from adf_core_python/implement/module/complex/default_search.py rename to src/adf_core_python/implement/module/complex/default_search.py diff --git a/adf_core_python/implement/module/complex/__init__.py b/src/adf_core_python/implement/tactics/__init__.py similarity index 100% rename from adf_core_python/implement/module/complex/__init__.py rename to src/adf_core_python/implement/tactics/__init__.py diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/src/adf_core_python/implement/tactics/default_tactics_ambulance_center.py similarity index 100% rename from adf_core_python/implement/tactics/default_tactics_ambulance_center.py rename to src/adf_core_python/implement/tactics/default_tactics_ambulance_center.py diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/src/adf_core_python/implement/tactics/default_tactics_ambulance_team.py similarity index 100% rename from adf_core_python/implement/tactics/default_tactics_ambulance_team.py rename to src/adf_core_python/implement/tactics/default_tactics_ambulance_team.py diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/src/adf_core_python/implement/tactics/default_tactics_fire_brigade.py similarity index 100% rename from adf_core_python/implement/tactics/default_tactics_fire_brigade.py rename to src/adf_core_python/implement/tactics/default_tactics_fire_brigade.py diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/src/adf_core_python/implement/tactics/default_tactics_fire_station.py similarity index 100% rename from adf_core_python/implement/tactics/default_tactics_fire_station.py rename to src/adf_core_python/implement/tactics/default_tactics_fire_station.py diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/src/adf_core_python/implement/tactics/default_tactics_police_force.py similarity index 100% rename from adf_core_python/implement/tactics/default_tactics_police_force.py rename to src/adf_core_python/implement/tactics/default_tactics_police_force.py diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/src/adf_core_python/implement/tactics/default_tactics_police_office.py similarity index 100% rename from adf_core_python/implement/tactics/default_tactics_police_office.py rename to src/adf_core_python/implement/tactics/default_tactics_police_office.py diff --git a/adf_core_python/launcher.py b/src/adf_core_python/launcher.py similarity index 100% rename from adf_core_python/launcher.py rename to src/adf_core_python/launcher.py From 016423596410e9c9fea97c3b01342f5fee35daf3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:06:13 +0900 Subject: [PATCH 236/249] feat: poetry to uv --- .github/workflows/ci.yaml | 14 +- .github/workflows/document.yaml | 6 +- .python-version | 1 + poetry.lock | 1747 ------------------------------- poetry.toml | 2 - pyproject.toml | 101 +- uv.lock | 947 +++++++++++++++++ 7 files changed, 1006 insertions(+), 1812 deletions(-) create mode 100644 .python-version delete mode 100644 poetry.lock delete mode 100644 poetry.toml create mode 100644 uv.lock diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index b10f9d2..24ebbf5 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -27,7 +27,7 @@ jobs: uses: actions/cache@v4 with: path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + key: ${{ runner.os }}-venv-${{ hashFiles('**/uv.lock') }} - name: Install dependencies if: steps.cached-virtualenv.outputs.cache-hit != 'true' @@ -35,8 +35,8 @@ jobs: python -m venv .venv source .venv/bin/activate pip install --upgrade pip - pip install poetry - poetry install + pip install uv + uv sync ruff-format: needs: setup @@ -49,7 +49,7 @@ jobs: uses: actions/cache@v4 with: path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + key: ${{ runner.os }}-venv-${{ hashFiles('**/uv.lock') }} - name: Set path run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH @@ -132,12 +132,12 @@ jobs: - uses: actions/checkout@v4 - uses: actions/setup-java@v4 with: - java-version: '17' - distribution: 'temurin' + java-version: "17" + distribution: "temurin" - name: Setup Gradle uses: gradle/actions/setup-gradle@v3 - name: Publish package run: cd java && ./gradlew publish env: - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} \ No newline at end of file + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml index 986bc11..a70bca9 100644 --- a/.github/workflows/document.yaml +++ b/.github/workflows/document.yaml @@ -40,7 +40,7 @@ jobs: uses: actions/cache@v4 with: path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} + key: ${{ runner.os }}-venv-${{ hashFiles('**/uv.lock') }} - name: Install dependencies if: steps.cached-virtualenv.outputs.cache-hit != 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622574f24c46332b4850cdc064224d5f510d66df Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:15:15 +0900 Subject: [PATCH 237/249] chore: format --- src/adf_core_python/cli/cli.py | 72 +- src/adf_core_python/cli/template/main.py | 4 +- .../module/complex/sample_human_detector.py | 261 ++- .../module/complex/sample_road_detector.py | 264 ++- .../team_name/module/complex/sample_search.py | 174 +- .../core/agent/action/action.py | 10 +- .../agent/action/ambulance/action_load.py | 12 +- .../agent/action/ambulance/action_rescue.py | 12 +- .../agent/action/ambulance/action_unload.py | 8 +- .../core/agent/action/common/action_move.py | 58 +- .../core/agent/action/common/action_rest.py | 8 +- .../agent/action/fire/action_extinguish.py | 16 +- .../core/agent/action/fire/action_refill.py | 8 +- .../core/agent/action/fire/action_rescue.py | 12 +- .../core/agent/action/police/action_clear.py | 12 +- .../agent/action/police/action_clear_area.py | 24 +- src/adf_core_python/core/agent/agent.py | 638 ++++---- .../agent/communication/message_manager.py | 724 ++++----- .../bundle/centralized/command_ambulance.py | 236 ++- .../bundle/centralized/command_fire.py | 238 ++- .../bundle/centralized/command_police.py | 234 ++- .../bundle/centralized/command_scout.py | 224 ++- .../bundle/centralized/message_report.py | 130 +- .../information/message_ambulance_team.py | 336 ++-- .../bundle/information/message_building.py | 184 +-- .../bundle/information/message_civilian.py | 232 ++- .../information/message_fire_brigade.py | 352 ++-- .../information/message_police_force.py | 316 ++-- .../bundle/information/message_road.py | 314 ++-- .../standard/bundle/standard_message.py | 92 +- .../bundle/standard_message_priority.py | 32 +- .../standard/standard_communication_module.py | 298 ++-- .../standard/utility/apply_to_world_info.py | 542 +++---- .../utility/bitarray_with_exits_flag.py | 108 +- .../core/agent/config/module_config.py | 144 +- .../core/agent/develop/develop_data.py | 108 +- .../core/agent/info/agent_info.py | 346 ++-- .../core/agent/info/scenario_info.py | 204 +-- .../core/agent/info/world_info.py | 404 +++-- .../core/agent/module/module_manager.py | 470 +++--- .../core/agent/office/office.py | 218 +-- .../core/agent/office/office_ambulance.py | 54 +- .../core/agent/office/office_fire.py | 50 +- .../core/agent/office/office_police.py | 50 +- .../core/agent/platoon/platoon.py | 226 +-- .../core/agent/platoon/platoon_ambulance.py | 50 +- .../core/agent/platoon/platoon_fire.py | 50 +- .../core/agent/platoon/platoon_police.py | 50 +- .../core/component/abstract_loader.py | 56 +- .../core/component/action/extend_action.py | 158 +- .../component/centralized/command_executor.py | 164 +- .../component/centralized/command_picker.py | 168 +- .../communication/channel_subscriber.py | 52 +- .../communication/communication_message.py | 26 +- .../communication/communication_module.py | 16 +- .../communication/message_coordinator.py | 36 +- .../core/component/module/abstract_module.py | 186 +-- .../component/module/algorithm/clustering.py | 94 +- .../module/algorithm/path_planning.py | 94 +- .../complex/ambulance_target_allocator.py | 88 +- .../module/complex/fire_target_allocator.py | 88 +- .../module/complex/human_detector.py | 68 +- .../module/complex/police_target_allocator.py | 88 +- .../component/module/complex/road_detector.py | 68 +- .../core/component/module/complex/search.py | 68 +- .../module/complex/target_allocator.py | 86 +- .../module/complex/target_detector.py | 86 +- .../core/component/tactics/tactics_agent.py | 318 ++-- .../tactics/tactics_ambulance_center.py | 4 +- .../tactics/tactics_ambulance_team.py | 4 +- .../core/component/tactics/tactics_center.py | 230 +-- .../component/tactics/tactics_fire_brigade.py | 4 +- .../component/tactics/tactics_fire_station.py | 4 +- .../component/tactics/tactics_police_force.py | 4 +- .../tactics/tactics_police_office.py | 4 +- src/adf_core_python/core/config/config.py | 74 +- .../module/algorithm/gateway_clustering.py | 156 +- .../module/algorithm/gateway_path_planning.py | 164 +- .../gateway_ambulance_target_allocator.py | 94 +- .../complex/gateway_fire_target_allocator.py | 96 +- .../module/complex/gateway_human_detector.py | 94 +- .../gateway_police_target_allocator.py | 100 +- .../module/complex/gateway_road_detector.py | 90 +- .../module/complex/gateway_search.py | 92 +- .../complex/gateway_target_allocator.py | 102 +- .../module/complex/gateway_target_detector.py | 94 +- .../module/gateway_abstract_module.py | 90 +- .../core/gateway/gateway_agent.py | 190 ++- .../core/gateway/gateway_launcher.py | 68 +- .../core/gateway/gateway_module.py | 146 +- .../core/gateway/message/am_agent.py | 80 +- .../core/gateway/message/am_exec.py | 32 +- .../core/gateway/message/am_module.py | 36 +- .../core/gateway/message/am_update.py | 44 +- .../core/gateway/message/ma_exec_response.py | 30 +- .../gateway/message/ma_module_response.py | 28 +- .../gateway/message/moduleMessageFactory.py | 22 +- .../core/gateway/message/urn/urn.py | 40 +- .../core/gateway/module_dict.py | 52 +- .../core/launcher/agent_launcher.py | 204 ++- .../core/launcher/config_key.py | 54 +- .../launcher/connect/component_launcher.py | 174 +- .../core/launcher/connect/connection.py | 149 +- .../core/launcher/connect/connector.py | 26 +- .../connect/connector_ambulance_center.py | 132 +- .../connect/connector_ambulance_team.py | 130 +- .../connect/connector_fire_brigade.py | 128 +- .../connect/connector_fire_station.py | 128 +- .../connect/connector_police_force.py | 128 +- .../connect/connector_police_office.py | 130 +- .../launcher/connect/error/agent_error.py | 2 +- .../launcher/connect/error/server_error.py | 2 +- src/adf_core_python/core/logger/logger.py | 150 +- .../action/default_extend_action_clear.py | 1445 ++++++++--------- .../action/default_extend_action_move.py | 156 +- .../action/default_extend_action_rescue.py | 254 +-- .../action/default_extend_action_transport.py | 456 +++--- .../default_command_executor_ambulance.py | 502 +++--- .../default_command_executor_fire.py | 414 ++--- .../default_command_executor_police.py | 438 ++--- .../default_command_executor_scout.py | 257 ++- .../default_command_executor_scout_police.py | 281 ++-- .../default_command_picker_ambulance.py | 116 +- .../default_command_picker_fire.py | 116 +- .../default_command_picker_police.py | 90 +- .../implement/default_loader.py | 48 +- .../module/algorithm/a_star_path_planning.py | 146 +- .../algorithm/dijkstra_path_planning.py | 230 ++- .../module/algorithm/k_means_clustering.py | 279 ++-- .../default_channel_subscriber.py | 161 +- .../default_message_coordinator.py | 397 +++-- .../default_ambulance_target_allocator.py | 272 ++-- .../complex/default_fire_target_allocator.py | 268 +-- .../module/complex/default_human_detector.py | 261 ++- .../default_police_target_allocator.py | 346 ++-- .../module/complex/default_road_detector.py | 264 ++- .../module/complex/default_search.py | 174 +- .../default_tactics_ambulance_center.py | 152 +- .../tactics/default_tactics_ambulance_team.py | 346 ++-- .../tactics/default_tactics_fire_brigade.py | 338 ++-- .../tactics/default_tactics_fire_station.py | 152 +- .../tactics/default_tactics_police_force.py | 346 ++-- .../tactics/default_tactics_police_office.py | 152 +- src/adf_core_python/launcher.py | 244 +-- tests/core/agent/config/test_module_config.py | 78 +- tests/core/agent/develop/test_develop.py | 24 +- .../core/agent/module/test_module_manager.py | 42 +- 147 files changed, 11722 insertions(+), 11945 deletions(-) diff --git a/src/adf_core_python/cli/cli.py b/src/adf_core_python/cli/cli.py index b14a1c7..abaf673 100644 --- a/src/adf_core_python/cli/cli.py +++ b/src/adf_core_python/cli/cli.py @@ -8,49 +8,49 @@ @click.command() @click.option( - "--name", prompt="Your agent team name", help="The name of your agent team" + "--name", prompt="Your agent team name", help="The name of your agent team" ) def cli(name: str) -> None: - # load template dir and create a new agent team - click.echo(f"Creating a new agent team with name: {name}") - # 自身がいるディレクトリを取得 - template_dir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "template") - # コマンドラインのカレントディレクトリを取得 - current_dir = os.getcwd() + # load template dir and create a new agent team + click.echo(f"Creating a new agent team with name: {name}") + # 自身がいるディレクトリを取得 + template_dir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "template") + # コマンドラインのカレントディレクトリを取得 + current_dir = os.getcwd() - _copy_template( - template_dir, - current_dir, - name, - ) + _copy_template( + template_dir, + current_dir, + name, + ) def _copy_template( - src: str, - dest: str, - name: str, + src: str, + dest: str, + name: str, ) -> None: - dest = os.path.join(dest, name) - shutil.copytree(src, dest) - - # dest以下のファイル内のNAME_PLACEHOLDERをnameに置換 - for root, dirs, files in os.walk(dest): - for file in files: - file_path = os.path.join(root, file) - with open(file_path, "r") as f: - if not file_path.endswith((".py", ".yaml", ".json")): - continue - content = f.read() - with open(file_path, "w") as f: - f.write(content.replace(NAME_PLACEHOLDER, name)) - - # ディレクトリ名のNAME_PLACEHOLDERをnameに置換 - for root, dirs, files in os.walk(dest): - for dir in dirs: - dir_path = os.path.join(root, dir) - new_dir_path = dir_path.replace(NAME_PLACEHOLDER, name) - os.rename(dir_path, new_dir_path) + dest = os.path.join(dest, name) + shutil.copytree(src, dest) + + # dest以下のファイル内のNAME_PLACEHOLDERをnameに置換 + for root, dirs, files in os.walk(dest): + for file in files: + file_path = os.path.join(root, file) + with open(file_path, "r") as f: + if not file_path.endswith((".py", ".yaml", ".json")): + continue + content = f.read() + with open(file_path, "w") as f: + f.write(content.replace(NAME_PLACEHOLDER, name)) + + # ディレクトリ名のNAME_PLACEHOLDERをnameに置換 + for root, dirs, files in os.walk(dest): + for dir in dirs: + dir_path = os.path.join(root, dir) + new_dir_path = dir_path.replace(NAME_PLACEHOLDER, name) + os.rename(dir_path, new_dir_path) if __name__ == "__main__": - cli() + cli() diff --git a/src/adf_core_python/cli/template/main.py b/src/adf_core_python/cli/template/main.py index 82ce430..8630da1 100644 --- a/src/adf_core_python/cli/template/main.py +++ b/src/adf_core_python/cli/template/main.py @@ -1,5 +1,5 @@ from adf_core_python.launcher import Launcher if __name__ == "__main__": - launcher = Launcher("./config/launcher.yaml") - launcher.launch() + launcher = Launcher("./config/launcher.yaml") + launcher.launch() diff --git a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py index 1768cfc..b782c9d 100644 --- a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py +++ b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py @@ -14,136 +14,135 @@ class SampleHumanDetector(HumanDetector): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "SampleHumanDetector.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + self.register_sub_module(self._clustering) + + self._result: Optional[EntityID] = None + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + def calculate(self) -> HumanDetector: + transport_human: Optional[Human] = self._agent_info.some_one_on_board() + if transport_human is not None: + self._result = transport_human.get_entity_id() + return self + + if self._result is not None: + if not self._is_valid_human(self._result): + self._result = None + + if self._result is None: + self._result = self._select_target() + + return self + + def _select_target(self) -> Optional[EntityID]: + if self._result is not None and self._is_valid_human(self._result): + return self._result + + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + + cluster_valid_human_entities: list[Entity] = [ + entity + for entity in cluster_entities + if self._is_valid_human(entity.get_entity_id()) and isinstance(entity, Civilian) + ] + if len(cluster_valid_human_entities) != 0: + nearest_human_entity = cluster_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + nearest_human_entity.get_entity_id(), + ) + for entity in cluster_valid_human_entities: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_entity_id(), ) - self._clustering: Clustering = cast( - Clustering, - module_manager.get_module( - "SampleHumanDetector.Clustering", - "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", - ), + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_entity_id() + + world_valid_human_entities: list[Entity] = [ + entity + for entity in self._world_info.get_entities_of_types([Civilian]) + if self._is_valid_human(entity.get_entity_id()) + ] + if len(world_valid_human_entities) != 0: + nearest_human_entity = world_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + nearest_human_entity.get_entity_id(), + ) + for entity in world_valid_human_entities: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_entity_id(), ) - self.register_sub_module(self._clustering) - - self._result: Optional[EntityID] = None - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) - - def calculate(self) -> HumanDetector: - transport_human: Optional[Human] = self._agent_info.some_one_on_board() - if transport_human is not None: - self._result = transport_human.get_entity_id() - return self - - if self._result is not None: - if not self._is_valid_human(self._result): - self._result = None - - if self._result is None: - self._result = self._select_target() - - return self - - def _select_target(self) -> Optional[EntityID]: - if self._result is not None and self._is_valid_human(self._result): - return self._result - - cluster_index: int = self._clustering.get_cluster_index( - self._agent_info.get_entity_id() - ) - cluster_entities: list[Entity] = self._clustering.get_cluster_entities( - cluster_index - ) - - cluster_valid_human_entities: list[Entity] = [ - entity - for entity in cluster_entities - if self._is_valid_human(entity.get_entity_id()) - and isinstance(entity, Civilian) - ] - if len(cluster_valid_human_entities) != 0: - nearest_human_entity = cluster_valid_human_entities[0] - nearest_distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - nearest_human_entity.get_entity_id(), - ) - for entity in cluster_valid_human_entities: - distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - entity.get_entity_id(), - ) - if distance < nearest_distance: - nearest_distance = distance - nearest_human_entity = entity - return nearest_human_entity.get_entity_id() - - world_valid_human_entities: list[Entity] = [ - entity - for entity in self._world_info.get_entities_of_types([Civilian]) - if self._is_valid_human(entity.get_entity_id()) - ] - if len(world_valid_human_entities) != 0: - nearest_human_entity = world_valid_human_entities[0] - nearest_distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - nearest_human_entity.get_entity_id(), - ) - for entity in world_valid_human_entities: - distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - entity.get_entity_id(), - ) - if distance < nearest_distance: - nearest_distance = distance - nearest_human_entity = entity - return nearest_human_entity.get_entity_id() - - return None - - def _is_valid_human(self, target_entity_id: EntityID) -> bool: - target: Optional[Entity] = self._world_info.get_entity(target_entity_id) - if target is None: - return False - if not isinstance(target, Human): - return False - hp: Optional[int] = target.get_hp() - if hp is None or hp <= 0: - return False - buriedness: Optional[int] = target.get_buriedness() - if buriedness is None: - return False - myself = self._agent_info.get_myself() - if myself is None: - return False - if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: - return False - if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: - return False - damage: Optional[int] = target.get_damage() - if damage is None or damage == 0: - return False - position_entity_id: Optional[EntityID] = target.get_position() - if position_entity_id is None: - return False - position: Optional[Entity] = self._world_info.get_entity(position_entity_id) - if position is None: - return False - urn: EntityURN = position.get_urn() - if urn == EntityURN.REFUGE or urn == EntityURN.AMBULANCE_TEAM: - return False - - return True - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._result + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_entity_id() + + return None + + def _is_valid_human(self, target_entity_id: EntityID) -> bool: + target: Optional[Entity] = self._world_info.get_entity(target_entity_id) + if target is None: + return False + if not isinstance(target, Human): + return False + hp: Optional[int] = target.get_hp() + if hp is None or hp <= 0: + return False + buriedness: Optional[int] = target.get_buriedness() + if buriedness is None: + return False + myself = self._agent_info.get_myself() + if myself is None: + return False + if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: + return False + if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: + return False + damage: Optional[int] = target.get_damage() + if damage is None or damage == 0: + return False + position_entity_id: Optional[EntityID] = target.get_position() + if position_entity_id is None: + return False + position: Optional[Entity] = self._world_info.get_entity(position_entity_id) + if position is None: + return False + urn: EntityURN = position.get_urn() + if urn == EntityURN.REFUGE or urn == EntityURN.AMBULANCE_TEAM: + return False + + return True + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result diff --git a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index 2e71d61..4ec1295 100644 --- a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py +++ b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -10,147 +10,143 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.algorithm.path_planning import ( - PathPlanning, + PathPlanning, ) from adf_core_python.core.component.module.complex.road_detector import RoadDetector class SampleRoadDetector(RoadDetector): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "SampleRoadDetector.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - self.register_sub_module(self._path_planning) - self._result: Optional[EntityID] = None - - def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: - super().precompute(precompute_data) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "SampleRoadDetector.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self.register_sub_module(self._path_planning) + self._result: Optional[EntityID] = None + + def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> RoadDetector: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + + self._target_areas: set[EntityID] = set() + entities = self._world_info.get_entities_of_types([Refuge, Building, GasStation]) + for entity in entities: + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_types([Refuge]): + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_roads.add(entity_id) + + return self + + def prepare(self) -> RoadDetector: + super().prepare() + if self.get_count_prepare() >= 2: + return self + + self._target_areas = set() + entities = self._world_info.get_entities_of_types([Refuge, Building, GasStation]) + for entity in entities: + building: Building = cast(Building, entity) + for entity_id in building.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_types([Refuge]): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_roads.add(entity_id) + + return self + + def update_info(self, message_manager: MessageManager) -> RoadDetector: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + if self._result is not None: + if self._agent_info.get_position_entity_id == self._result: + entity = self._world_info.get_entity(self._result) + if isinstance(entity, Building): + self._result = None + elif isinstance(entity, Road): + road = entity + if road.get_blockades() == []: + self._target_areas.remove(self._result) + self._result = None + + return self + + def calculate(self) -> RoadDetector: + if self._result is None: + position_entity_id = self._agent_info.get_position_entity_id() + if position_entity_id is None: return self - - def resume(self, precompute_data: PrecomputeData) -> RoadDetector: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - - self._target_areas: set[EntityID] = set() - entities = self._world_info.get_entities_of_types( - [Refuge, Building, GasStation] - ) - for entity in entities: - if not isinstance(entity, Building): - continue - for entity_id in entity.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._target_areas.add(entity_id) - - self._priority_roads = set() - for entity in self._world_info.get_entities_of_types([Refuge]): - if not isinstance(entity, Building): - continue - for entity_id in entity.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._priority_roads.add(entity_id) - + if position_entity_id in self._target_areas: + self._result = position_entity_id return self - - def prepare(self) -> RoadDetector: - super().prepare() - if self.get_count_prepare() >= 2: - return self - - self._target_areas = set() - entities = self._world_info.get_entities_of_types( - [Refuge, Building, GasStation] + remove_list = [] + for entity_id in self._priority_roads: + if entity_id not in self._target_areas: + remove_list.append(entity_id) + + self._priority_roads = self._priority_roads - set(remove_list) + if len(self._priority_roads) > 0: + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + _nearest_target_area = agent_position + _nearest_distance = float("inf") + for target_area in self._target_areas: + if ( + self._world_info.get_distance(agent_position, target_area) + < _nearest_distance + ): + _nearest_target_area = target_area + _nearest_distance = self._world_info.get_distance( + agent_position, target_area + ) + path: list[EntityID] = self._path_planning.get_path( + agent_position, _nearest_target_area ) - for entity in entities: - building: Building = cast(Building, entity) - for entity_id in building.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._target_areas.add(entity_id) - - self._priority_roads = set() - for entity in self._world_info.get_entities_of_types([Refuge]): - refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._priority_roads.add(entity_id) - - return self - - def update_info(self, message_manager: MessageManager) -> RoadDetector: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self - - if self._result is not None: - if self._agent_info.get_position_entity_id == self._result: - entity = self._world_info.get_entity(self._result) - if isinstance(entity, Building): - self._result = None - elif isinstance(entity, Road): - road = entity - if road.get_blockades() == []: - self._target_areas.remove(self._result) - self._result = None + if path is not None and len(path) > 0: + self._result = path[-1] - return self - - def calculate(self) -> RoadDetector: - if self._result is None: - position_entity_id = self._agent_info.get_position_entity_id() - if position_entity_id is None: - return self - if position_entity_id in self._target_areas: - self._result = position_entity_id - return self - remove_list = [] - for entity_id in self._priority_roads: - if entity_id not in self._target_areas: - remove_list.append(entity_id) - - self._priority_roads = self._priority_roads - set(remove_list) - if len(self._priority_roads) > 0: - agent_position = self._agent_info.get_position_entity_id() - if agent_position is None: - return self - _nearest_target_area = agent_position - _nearest_distance = float("inf") - for target_area in self._target_areas: - if ( - self._world_info.get_distance(agent_position, target_area) - < _nearest_distance - ): - _nearest_target_area = target_area - _nearest_distance = self._world_info.get_distance( - agent_position, target_area - ) - path: list[EntityID] = self._path_planning.get_path( - agent_position, _nearest_target_area - ) - if path is not None and len(path) > 0: - self._result = path[-1] - - return self + return self - def get_target_entity_id(self) -> Optional[EntityID]: - return self._result + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result diff --git a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py index 888f657..9da8af3 100644 --- a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py +++ b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py @@ -15,90 +15,90 @@ class SampleSearch(Search): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - self._unreached_building_ids: set[EntityID] = set() - self._result: Optional[EntityID] = None - - self._clustering: Clustering = cast( - Clustering, - module_manager.get_module( - "SampleSearch.Clustering", - "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", - ), - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "SampleSearch.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) - - self.register_sub_module(self._clustering) - self.register_sub_module(self._path_planning) - - def update_info(self, message_manager: MessageManager) -> Search: - super().update_info(message_manager) - if self.get_count_update_info() > 1: - return self - - self._logger.debug( - f"unreached_building_ids: {[str(id) for id in self._unreached_building_ids]}" - ) - - searched_building_id = self._agent_info.get_position_entity_id() - if searched_building_id is not None: - self._unreached_building_ids.discard(searched_building_id) - - if len(self._unreached_building_ids) == 0: - self._unreached_building_ids = self._get_search_targets() - - return self - - def calculate(self) -> Search: - nearest_building_id: Optional[EntityID] = None - nearest_distance: Optional[float] = None - for building_id in self._unreached_building_ids: - distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), building_id - ) - if nearest_distance is None or distance < nearest_distance: - nearest_building_id = building_id - nearest_distance = distance - self._result = nearest_building_id - return self - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._result - - def _get_search_targets(self) -> set[EntityID]: - cluster_index: int = self._clustering.get_cluster_index( - self._agent_info.get_entity_id() - ) - cluster_entities: list[Entity] = self._clustering.get_cluster_entities( - cluster_index - ) - building_entity_ids: list[EntityID] = [ - entity.get_entity_id() - for entity in cluster_entities - if isinstance(entity, Building) and not isinstance(entity, Refuge) - ] - - return set(building_entity_ids) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._unreached_building_ids: set[EntityID] = set() + self._result: Optional[EntityID] = None + + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "SampleSearch.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "SampleSearch.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + self.register_sub_module(self._clustering) + self.register_sub_module(self._path_planning) + + def update_info(self, message_manager: MessageManager) -> Search: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + + self._logger.debug( + f"unreached_building_ids: {[str(id) for id in self._unreached_building_ids]}" + ) + + searched_building_id = self._agent_info.get_position_entity_id() + if searched_building_id is not None: + self._unreached_building_ids.discard(searched_building_id) + + if len(self._unreached_building_ids) == 0: + self._unreached_building_ids = self._get_search_targets() + + return self + + def calculate(self) -> Search: + nearest_building_id: Optional[EntityID] = None + nearest_distance: Optional[float] = None + for building_id in self._unreached_building_ids: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), building_id + ) + if nearest_distance is None or distance < nearest_distance: + nearest_building_id = building_id + nearest_distance = distance + self._result = nearest_building_id + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result + + def _get_search_targets(self) -> set[EntityID]: + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + building_entity_ids: list[EntityID] = [ + entity.get_entity_id() + for entity in cluster_entities + if isinstance(entity, Building) and not isinstance(entity, Refuge) + ] + + return set(building_entity_ids) diff --git a/src/adf_core_python/core/agent/action/action.py b/src/adf_core_python/core/agent/action/action.py index 911b028..551d18e 100644 --- a/src/adf_core_python/core/agent/action/action.py +++ b/src/adf_core_python/core/agent/action/action.py @@ -5,9 +5,9 @@ class Action(ABC): - def __init__(self) -> None: - pass + def __init__(self) -> None: + pass - @abstractmethod - def get_command(self, agent_id: EntityID, time: int) -> Command: - raise NotImplementedError + @abstractmethod + def get_command(self, agent_id: EntityID, time: int) -> Command: + raise NotImplementedError diff --git a/src/adf_core_python/core/agent/action/ambulance/action_load.py b/src/adf_core_python/core/agent/action/ambulance/action_load.py index 1e9eee5..572b50b 100644 --- a/src/adf_core_python/core/agent/action/ambulance/action_load.py +++ b/src/adf_core_python/core/agent/action/ambulance/action_load.py @@ -5,11 +5,11 @@ class ActionLoad(Action): - def __init__(self, target_id: EntityID) -> None: - self.target_id = target_id + def __init__(self, target_id: EntityID) -> None: + self.target_id = target_id - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKLoad(agent_id, time, self.target_id) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKLoad(agent_id, time, self.target_id) - def __str__(self) -> str: - return f"ActionLoad(target_id={self.target_id})" + def __str__(self) -> str: + return f"ActionLoad(target_id={self.target_id})" diff --git a/src/adf_core_python/core/agent/action/ambulance/action_rescue.py b/src/adf_core_python/core/agent/action/ambulance/action_rescue.py index e3ad8e1..8e3ce84 100644 --- a/src/adf_core_python/core/agent/action/ambulance/action_rescue.py +++ b/src/adf_core_python/core/agent/action/ambulance/action_rescue.py @@ -5,11 +5,11 @@ class ActionRescue(Action): - def __init__(self, target_id: EntityID) -> None: - self.target_id = target_id + def __init__(self, target_id: EntityID) -> None: + self.target_id = target_id - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKRescue(agent_id, time, self.target_id) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRescue(agent_id, time, self.target_id) - def __str__(self) -> str: - return f"ActionRescue(target_id={self.target_id})" + def __str__(self) -> str: + return f"ActionRescue(target_id={self.target_id})" diff --git a/src/adf_core_python/core/agent/action/ambulance/action_unload.py b/src/adf_core_python/core/agent/action/ambulance/action_unload.py index 2f725cb..4c46458 100644 --- a/src/adf_core_python/core/agent/action/ambulance/action_unload.py +++ b/src/adf_core_python/core/agent/action/ambulance/action_unload.py @@ -5,8 +5,8 @@ class ActionUnload(Action): - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKUnload(agent_id, time) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKUnload(agent_id, time) - def __str__(self) -> str: - return "ActionUnload()" + def __str__(self) -> str: + return "ActionUnload()" diff --git a/src/adf_core_python/core/agent/action/common/action_move.py b/src/adf_core_python/core/agent/action/common/action_move.py index c2829a8..b6ddac0 100644 --- a/src/adf_core_python/core/agent/action/common/action_move.py +++ b/src/adf_core_python/core/agent/action/common/action_move.py @@ -7,33 +7,31 @@ class ActionMove(Action): - def __init__( - self, - path: list[EntityID], - destination_x: Optional[int] = None, - destination_y: Optional[int] = None, - ) -> None: - self.path = path - self.destination_x = destination_x - self.destination_y = destination_y - - def is_destination_defined(self) -> bool: - return self.destination_x is not None and self.destination_y is not None - - def get_destination_x(self) -> Optional[int]: - return self.destination_x - - def get_destination_y(self) -> Optional[int]: - return self.destination_y - - def get_command(self, agent_id: EntityID, time: int) -> Command: - if self.destination_x is not None and self.destination_y is not None: - return AKMove( - agent_id, time, self.path, self.destination_x, self.destination_y - ) - else: - return AKMove(agent_id, time, self.path) - - def __str__(self) -> str: - path: str = ", ".join([str(p) for p in self.path]) - return f"ActionMove(path={path}, destination_x={self.destination_x}, destination_y={self.destination_y})" + def __init__( + self, + path: list[EntityID], + destination_x: Optional[int] = None, + destination_y: Optional[int] = None, + ) -> None: + self.path = path + self.destination_x = destination_x + self.destination_y = destination_y + + def is_destination_defined(self) -> bool: + return self.destination_x is not None and self.destination_y is not None + + def get_destination_x(self) -> Optional[int]: + return self.destination_x + + def get_destination_y(self) -> Optional[int]: + return self.destination_y + + def get_command(self, agent_id: EntityID, time: int) -> Command: + if self.destination_x is not None and self.destination_y is not None: + return AKMove(agent_id, time, self.path, self.destination_x, self.destination_y) + else: + return AKMove(agent_id, time, self.path) + + def __str__(self) -> str: + path: str = ", ".join([str(p) for p in self.path]) + return f"ActionMove(path={path}, destination_x={self.destination_x}, destination_y={self.destination_y})" diff --git a/src/adf_core_python/core/agent/action/common/action_rest.py b/src/adf_core_python/core/agent/action/common/action_rest.py index 94bfaea..1d61001 100644 --- a/src/adf_core_python/core/agent/action/common/action_rest.py +++ b/src/adf_core_python/core/agent/action/common/action_rest.py @@ -5,8 +5,8 @@ class ActionRest(Action): - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKRest(agent_id, time) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRest(agent_id, time) - def __str__(self) -> str: - return "ActionRest()" + def __str__(self) -> str: + return "ActionRest()" diff --git a/src/adf_core_python/core/agent/action/fire/action_extinguish.py b/src/adf_core_python/core/agent/action/fire/action_extinguish.py index 64713a9..e14a663 100644 --- a/src/adf_core_python/core/agent/action/fire/action_extinguish.py +++ b/src/adf_core_python/core/agent/action/fire/action_extinguish.py @@ -5,14 +5,12 @@ class ActionExtinguish(Action): - def __init__(self, target_id: EntityID, max_power: int) -> None: - self.target_id = target_id - self.max_power = max_power + def __init__(self, target_id: EntityID, max_power: int) -> None: + self.target_id = target_id + self.max_power = max_power - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKExtinguish(agent_id, time, self.target_id, self.max_power) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKExtinguish(agent_id, time, self.target_id, self.max_power) - def __str__(self) -> str: - return ( - f"ActionExtinguish(target_id={self.target_id}, max_power={self.max_power})" - ) + def __str__(self) -> str: + return f"ActionExtinguish(target_id={self.target_id}, max_power={self.max_power})" diff --git a/src/adf_core_python/core/agent/action/fire/action_refill.py b/src/adf_core_python/core/agent/action/fire/action_refill.py index 15c0242..8d11578 100644 --- a/src/adf_core_python/core/agent/action/fire/action_refill.py +++ b/src/adf_core_python/core/agent/action/fire/action_refill.py @@ -5,8 +5,8 @@ class ActionRefill(Action): - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKRest(agent_id, time) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRest(agent_id, time) - def __str__(self) -> str: - return "ActionRefill()" + def __str__(self) -> str: + return "ActionRefill()" diff --git a/src/adf_core_python/core/agent/action/fire/action_rescue.py b/src/adf_core_python/core/agent/action/fire/action_rescue.py index e3ad8e1..8e3ce84 100644 --- a/src/adf_core_python/core/agent/action/fire/action_rescue.py +++ b/src/adf_core_python/core/agent/action/fire/action_rescue.py @@ -5,11 +5,11 @@ class ActionRescue(Action): - def __init__(self, target_id: EntityID) -> None: - self.target_id = target_id + def __init__(self, target_id: EntityID) -> None: + self.target_id = target_id - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKRescue(agent_id, time, self.target_id) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKRescue(agent_id, time, self.target_id) - def __str__(self) -> str: - return f"ActionRescue(target_id={self.target_id})" + def __str__(self) -> str: + return f"ActionRescue(target_id={self.target_id})" diff --git a/src/adf_core_python/core/agent/action/police/action_clear.py b/src/adf_core_python/core/agent/action/police/action_clear.py index 6ba35d3..2709b72 100644 --- a/src/adf_core_python/core/agent/action/police/action_clear.py +++ b/src/adf_core_python/core/agent/action/police/action_clear.py @@ -5,11 +5,11 @@ class ActionClear(Action): - def __init__(self, blockade: Blockade) -> None: - self.blockade = blockade + def __init__(self, blockade: Blockade) -> None: + self.blockade = blockade - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKClear(agent_id, time, self.blockade.get_entity_id()) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKClear(agent_id, time, self.blockade.get_entity_id()) - def __str__(self) -> str: - return f"ActionClear(blockade={self.blockade})" + def __str__(self) -> str: + return f"ActionClear(blockade={self.blockade})" diff --git a/src/adf_core_python/core/agent/action/police/action_clear_area.py b/src/adf_core_python/core/agent/action/police/action_clear_area.py index be92c8a..41dbc63 100644 --- a/src/adf_core_python/core/agent/action/police/action_clear_area.py +++ b/src/adf_core_python/core/agent/action/police/action_clear_area.py @@ -5,18 +5,20 @@ class ActionClearArea(Action): - def __init__(self, position_x: int, position_y: int) -> None: - self.position_x = position_x - self.position_y = position_y + def __init__(self, position_x: int, position_y: int) -> None: + self.position_x = position_x + self.position_y = position_y - def get_position_x(self) -> int: - return self.position_x + def get_position_x(self) -> int: + return self.position_x - def get_position_y(self) -> int: - return self.position_y + def get_position_y(self) -> int: + return self.position_y - def get_command(self, agent_id: EntityID, time: int) -> Command: - return AKClearArea(agent_id, time, self.position_x, self.position_y) + def get_command(self, agent_id: EntityID, time: int) -> Command: + return AKClearArea(agent_id, time, self.position_x, self.position_y) - def __str__(self) -> str: - return f"ActionClearArea(position_x={self.position_x}, position_y={self.position_y})" + def __str__(self) -> str: + return ( + f"ActionClearArea(position_x={self.position_x}, position_y={self.position_y})" + ) diff --git a/src/adf_core_python/core/agent/agent.py b/src/adf_core_python/core/agent/agent.py index e3409c4..f96dd58 100644 --- a/src/adf_core_python/core/agent/agent.py +++ b/src/adf_core_python/core/agent/agent.py @@ -6,18 +6,18 @@ from bitarray import bitarray from rcrscore.commands import ( - AKClear, - AKClearArea, - AKLoad, - AKMove, - AKRescue, - AKRest, - AKSay, - AKSpeak, - AKSubscribe, - AKTell, - AKUnload, - Command, + AKClear, + AKClearArea, + AKLoad, + AKMove, + AKRescue, + AKRest, + AKSay, + AKSpeak, + AKSubscribe, + AKTell, + AKUnload, + Command, ) from rcrscore.config.config import Config as RCRSConfig @@ -34,57 +34,57 @@ # from rcrscore.messages.KAConnectOK import KAConnectOK # from rcrscore.messages.KASense import KASense from rcrscore.messages import ( - AKAcknowledge, - AKConnect, - ControlMessageFactory, - KAConnectError, - KAConnectOK, - KASense, + AKAcknowledge, + AKConnect, + ControlMessageFactory, + KAConnectError, + KAConnectOK, + KASense, ) from rcrscore.urn import ( - CommandURN, - ComponentCommandURN, - ComponentControlMessageURN, - EntityURN, + CommandURN, + ComponentCommandURN, + ComponentControlMessageURN, + EntityURN, ) from rcrscore.worldmodel import ChangeSet, WorldModel from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, + CommandAmbulance, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( - CommandFire, + CommandFire, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( - CommandPolice, + CommandPolice, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( - MessageAmbulanceTeam, + MessageAmbulanceTeam, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_building import ( - MessageBuilding, + MessageBuilding, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_civilian import ( - MessageCivilian, + MessageCivilian, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade import ( - MessageFireBrigade, + MessageFireBrigade, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_police_force import ( - MessagePoliceForce, + MessagePoliceForce, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_road import ( - MessageRoad, + MessageRoad, ) from adf_core_python.core.agent.communication.standard.standard_communication_module import ( - StandardCommunicationModule, + StandardCommunicationModule, ) from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -93,7 +93,7 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.communication.communication_module import ( - CommunicationModule, + CommunicationModule, ) from adf_core_python.core.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent @@ -102,291 +102,285 @@ class Agent: - def __init__( - self, - is_precompute: bool, - name: str, - is_debug: bool, - team_name: str, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ) -> None: - self.name = name - self.connect_request_id = None - self.world_model = WorldModel() - self.config: Config - self.random = None - self.agent_id: EntityID - self.precompute_flag = is_precompute - self.logger = get_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}" + def __init__( + self, + is_precompute: bool, + name: str, + is_debug: bool, + team_name: str, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ) -> None: + self.name = name + self.connect_request_id = None + self.world_model = WorldModel() + self.config: Config + self.random = None + self.agent_id: EntityID + self.precompute_flag = is_precompute + self.logger = get_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}" + ) + self.finish_post_connect_event = finish_post_connect_event + + self.team_name = team_name + self.is_debug = is_debug + self.is_precompute = is_precompute + + if is_precompute: + self._mode = Mode.PRECOMPUTATION + + try: + self._precompute_data = PrecomputeData(data_storage_name) + except Exception as _: + pass + + self._module_config = module_config + self._develop_data = develop_data + self._message_manager: MessageManager = MessageManager() + self._communication_module: CommunicationModule = StandardCommunicationModule() + + self._gateway_agent: Optional[GatewayAgent] = gateway_agent + + def get_entity_id(self) -> EntityID: + return self.agent_id + + def set_send_msg(self, connection_send_func: Callable) -> None: + self.send_msg = connection_send_func + + def post_connect(self) -> None: + if self.is_precompute: + self._mode = Mode.PRECOMPUTATION + else: + if self._precompute_data.is_available(): + self._mode = Mode.PRECOMPUTED + else: + self._mode = Mode.NON_PRECOMPUTE + + self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, self.is_debug) + self.config.set_value( + ConfigKey.KEY_DEVELOP_FLAG, self._develop_data.is_develop_mode() + ) + self._ignore_time: int = int(self.config.get_value("kernel.agents.ignoreuntil", 3)) + + self._scenario_info: ScenarioInfo = ScenarioInfo(self.config, self._mode) + self._world_info: WorldInfo = WorldInfo(self.world_model) + self._agent_info = AgentInfo(self, self.world_model) + + if isinstance(self._gateway_agent, GatewayAgent): + self._gateway_agent.set_initialize_data( + self._agent_info, self._world_info, self._scenario_info + ) + + self.logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + self.logger.debug(f"agent_config: {self.config}") + + def update_step_info( + self, time: int, change_set: ChangeSet, hear: list[Command] + ) -> None: + self._agent_info.record_think_start_time() + self._agent_info.set_time(time) + + if time == 1: + self._message_manager.register_message_class(0, MessageAmbulanceTeam) + self._message_manager.register_message_class(1, MessageFireBrigade) + self._message_manager.register_message_class(2, MessagePoliceForce) + self._message_manager.register_message_class(3, MessageBuilding) + self._message_manager.register_message_class(4, MessageCivilian) + self._message_manager.register_message_class(5, MessageRoad) + self._message_manager.register_message_class(6, CommandAmbulance) + self._message_manager.register_message_class(7, CommandFire) + self._message_manager.register_message_class(8, CommandPolice) + self._message_manager.register_message_class(9, CommandScout) + self._message_manager.register_message_class(10, MessageReport) + + if time > self._ignore_time: + self._message_manager.subscribe( + self._agent_info, self._world_info, self._scenario_info + ) + if not self._message_manager.get_is_subscribed(): + subscribed_channels = self._message_manager.get_subscribed_channels() + if subscribed_channels: + self.logger.debug( + f"Subscribed channels: {subscribed_channels}", + message_manager=self._message_manager, + ) + self.send_subscribe(time, subscribed_channels) + self._message_manager.set_is_subscribed(True) + + self._agent_info.set_heard_commands(hear) + self._agent_info.set_change_set(change_set) + self._world_info.set_change_set(change_set) + + if ( + isinstance(self._gateway_agent, GatewayAgent) + and self._gateway_agent.is_initialized() + ): + self._gateway_agent.update() + + self._message_manager.refresh() + self._communication_module.receive(self, self._message_manager) + + self.think() + + self._message_manager.coordinate_message( + self._agent_info, self._world_info, self._scenario_info + ) + self._communication_module.send(self, self._message_manager) + + @abstractmethod + def think(self) -> None: + pass + + @abstractmethod + def get_requested_entities(self) -> list[EntityURN]: + pass + + def start_up(self, request_id: int) -> None: + ak_connect = AKConnect() + self.send_msg( + ak_connect.write(request_id, self.name, self.get_requested_entities()) + ) + + def message_received(self, msg: Any) -> None: + c_msg = ControlMessageFactory().make_message(msg) + if isinstance(c_msg, KASense): + self.handler_sense(c_msg) + elif isinstance(c_msg, KAConnectOK): + self.handle_connect_ok(c_msg) + elif isinstance(c_msg, KAConnectError): + self.handle_connect_error(c_msg) + + def handle_connect_error(self, msg: Any) -> NoReturn: + if msg.reason.startswith("No more agents"): + self.logger.debug( + "Agent already connected: %s(request_id: %s)", + msg.reason, + msg.request_id, + ) + self.finish_post_connect_event.set() + else: + self.logger.error( + "Failed to connect agent: %s(request_id: %s)", + msg.reason, + msg.request_id, + ) + sys.exit(1) + + def handle_connect_ok(self, msg: Any) -> None: + self.agent_id = EntityID(msg.agent_id) + self.world_model.add_entities(msg.world) + config: RCRSConfig = msg.config + self.config = Config() + if config is not None: + for key, value in config.data.items(): + self.config.set_value(key, value) + + self.send_acknowledge(msg.request_id) + self.post_connect() + self.logger.info( + f"Connected to kernel: {self.__class__.__qualname__} (request_id: {msg.request_id}, agent_id: {self.agent_id}, mode: {self._mode})", + request_id=msg.request_id, + ) + if self.is_precompute: + self.logger.info("Precompute finished") + exit(0) + + self.finish_post_connect_event.set() + + def handler_sense(self, msg: KASense) -> None: + _id = msg.agent_id + time = msg.time + change_set = msg.change_set + heard = msg.hear.commands + + if _id != self.get_entity_id(): + self.logger.error("Agent ID mismatch: %s != %s", _id, self.get_entity_id()) + return + + heard_commands: list[Command] = [] + for heard_command in heard: + if heard_command.urn == CommandURN.AK_SPEAK: + heard_commands.append( + AKSpeak( + EntityID( + heard_command.components[ComponentControlMessageURN.AgentID].entityID + ), + heard_command.components[ComponentControlMessageURN.Time].intValue, + heard_command.components[ComponentCommandURN.Message].rawData, + heard_command.components[ComponentCommandURN.Channel].intValue, + ) ) - self.finish_post_connect_event = finish_post_connect_event - - self.team_name = team_name - self.is_debug = is_debug - self.is_precompute = is_precompute - - if is_precompute: - self._mode = Mode.PRECOMPUTATION - - try: - self._precompute_data = PrecomputeData(data_storage_name) - except Exception as _: - pass - - self._module_config = module_config - self._develop_data = develop_data - self._message_manager: MessageManager = MessageManager() - self._communication_module: CommunicationModule = StandardCommunicationModule() - - self._gateway_agent: Optional[GatewayAgent] = gateway_agent - - def get_entity_id(self) -> EntityID: - return self.agent_id - - def set_send_msg(self, connection_send_func: Callable) -> None: - self.send_msg = connection_send_func - - def post_connect(self) -> None: - if self.is_precompute: - self._mode = Mode.PRECOMPUTATION - else: - if self._precompute_data.is_available(): - self._mode = Mode.PRECOMPUTED - else: - self._mode = Mode.NON_PRECOMPUTE - - self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, self.is_debug) - self.config.set_value( - ConfigKey.KEY_DEVELOP_FLAG, self._develop_data.is_develop_mode() - ) - self._ignore_time: int = int( - self.config.get_value("kernel.agents.ignoreuntil", 3) - ) - - self._scenario_info: ScenarioInfo = ScenarioInfo(self.config, self._mode) - self._world_info: WorldInfo = WorldInfo(self.world_model) - self._agent_info = AgentInfo(self, self.world_model) - - if isinstance(self._gateway_agent, GatewayAgent): - self._gateway_agent.set_initialize_data( - self._agent_info, self._world_info, self._scenario_info - ) - - self.logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) - self.logger.debug(f"agent_config: {self.config}") - - def update_step_info( - self, time: int, change_set: ChangeSet, hear: list[Command] - ) -> None: - self._agent_info.record_think_start_time() - self._agent_info.set_time(time) - - if time == 1: - self._message_manager.register_message_class(0, MessageAmbulanceTeam) - self._message_manager.register_message_class(1, MessageFireBrigade) - self._message_manager.register_message_class(2, MessagePoliceForce) - self._message_manager.register_message_class(3, MessageBuilding) - self._message_manager.register_message_class(4, MessageCivilian) - self._message_manager.register_message_class(5, MessageRoad) - self._message_manager.register_message_class(6, CommandAmbulance) - self._message_manager.register_message_class(7, CommandFire) - self._message_manager.register_message_class(8, CommandPolice) - self._message_manager.register_message_class(9, CommandScout) - self._message_manager.register_message_class(10, MessageReport) - - if time > self._ignore_time: - self._message_manager.subscribe( - self._agent_info, self._world_info, self._scenario_info - ) - if not self._message_manager.get_is_subscribed(): - subscribed_channels = self._message_manager.get_subscribed_channels() - if subscribed_channels: - self.logger.debug( - f"Subscribed channels: {subscribed_channels}", - message_manager=self._message_manager, - ) - self.send_subscribe(time, subscribed_channels) - self._message_manager.set_is_subscribed(True) - - self._agent_info.set_heard_commands(hear) - self._agent_info.set_change_set(change_set) - self._world_info.set_change_set(change_set) - - if ( - isinstance(self._gateway_agent, GatewayAgent) - and self._gateway_agent.is_initialized() - ): - self._gateway_agent.update() - - self._message_manager.refresh() - self._communication_module.receive(self, self._message_manager) - - self.think() - - self._message_manager.coordinate_message( - self._agent_info, self._world_info, self._scenario_info - ) - self._communication_module.send(self, self._message_manager) - - @abstractmethod - def think(self) -> None: - pass - - @abstractmethod - def get_requested_entities(self) -> list[EntityURN]: - pass - - def start_up(self, request_id: int) -> None: - ak_connect = AKConnect() - self.send_msg( - ak_connect.write(request_id, self.name, self.get_requested_entities()) - ) - - def message_received(self, msg: Any) -> None: - c_msg = ControlMessageFactory().make_message(msg) - if isinstance(c_msg, KASense): - self.handler_sense(c_msg) - elif isinstance(c_msg, KAConnectOK): - self.handle_connect_ok(c_msg) - elif isinstance(c_msg, KAConnectError): - self.handle_connect_error(c_msg) - - def handle_connect_error(self, msg: Any) -> NoReturn: - if msg.reason.startswith("No more agents"): - self.logger.debug( - "Agent already connected: %s(request_id: %s)", - msg.reason, - msg.request_id, - ) - self.finish_post_connect_event.set() - else: - self.logger.error( - "Failed to connect agent: %s(request_id: %s)", - msg.reason, - msg.request_id, - ) - sys.exit(1) - - def handle_connect_ok(self, msg: Any) -> None: - self.agent_id = EntityID(msg.agent_id) - self.world_model.add_entities(msg.world) - config: RCRSConfig = msg.config - self.config = Config() - if config is not None: - for key, value in config.data.items(): - self.config.set_value(key, value) - - self.send_acknowledge(msg.request_id) - self.post_connect() - self.logger.info( - f"Connected to kernel: {self.__class__.__qualname__} (request_id: {msg.request_id}, agent_id: {self.agent_id}, mode: {self._mode})", - request_id=msg.request_id, - ) - if self.is_precompute: - self.logger.info("Precompute finished") - exit(0) - - self.finish_post_connect_event.set() - - def handler_sense(self, msg: KASense) -> None: - _id = msg.agent_id - time = msg.time - change_set = msg.change_set - heard = msg.hear.commands - - if _id != self.get_entity_id(): - self.logger.error("Agent ID mismatch: %s != %s", _id, self.get_entity_id()) - return - - heard_commands: list[Command] = [] - for heard_command in heard: - if heard_command.urn == CommandURN.AK_SPEAK: - heard_commands.append( - AKSpeak( - EntityID( - heard_command.components[ - ComponentControlMessageURN.AgentID - ].entityID - ), - heard_command.components[ - ComponentControlMessageURN.Time - ].intValue, - heard_command.components[ComponentCommandURN.Message].rawData, - heard_command.components[ComponentCommandURN.Channel].intValue, - ) - ) - self.world_model.merge(change_set) - start_update_info_time = _time.time() - self.update_step_info(time, change_set, heard_commands) - self.logger.debug( - f"{time} step calculation time: {_time.time() - start_update_info_time}" - ) - - def send_acknowledge(self, request_id: int) -> None: - ak_ack = AKAcknowledge() - self.send_msg(ak_ack.write(request_id, self.agent_id)) - - def send_clear(self, time: int, target: EntityID) -> None: - cmd = AKClear(self.get_entity_id(), time, target) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_clear_area(self, time: int, x: int = -1, y: int = -1) -> None: - cmd = AKClearArea(self.get_entity_id(), time, x, y) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_load(self, time: int, target: EntityID) -> None: - cmd = AKLoad(self.get_entity_id(), time, target) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_move( - self, time: int, path: list[EntityID], x: int = -1, y: int = -1 - ) -> None: - cmd = AKMove(self.get_entity_id(), time, path, x, y) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_rescue(self, time: int, target: EntityID) -> None: - cmd = AKRescue(self.get_entity_id(), time, target) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_rest(self, time: int) -> None: - cmd = AKRest(self.get_entity_id(), time) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_say(self, time_step: int, message: bytes) -> None: - cmd = AKSay(self.get_entity_id(), time_step, message) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_speak(self, time_step: int, message: bitarray, channel: int) -> None: - cmd = AKSpeak(self.get_entity_id(), time_step, bytes(message), channel) # type: ignore - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_subscribe(self, time: int, channels: list[int]) -> None: - cmd = AKSubscribe(self.get_entity_id(), time, channels) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_tell(self, time: int, message: bytes) -> None: - cmd = AKTell(self.get_entity_id(), time, message) - msg = cmd.to_message_proto() - self.send_msg(msg) - - def send_unload(self, time: int) -> None: - cmd = AKUnload(self.get_entity_id(), time) - msg = cmd.to_message_proto() - self.send_msg(msg) + self.world_model.merge(change_set) + start_update_info_time = _time.time() + self.update_step_info(time, change_set, heard_commands) + self.logger.debug( + f"{time} step calculation time: {_time.time() - start_update_info_time}" + ) + + def send_acknowledge(self, request_id: int) -> None: + ak_ack = AKAcknowledge() + self.send_msg(ak_ack.write(request_id, self.agent_id)) + + def send_clear(self, time: int, target: EntityID) -> None: + cmd = AKClear(self.get_entity_id(), time, target) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_clear_area(self, time: int, x: int = -1, y: int = -1) -> None: + cmd = AKClearArea(self.get_entity_id(), time, x, y) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_load(self, time: int, target: EntityID) -> None: + cmd = AKLoad(self.get_entity_id(), time, target) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_move( + self, time: int, path: list[EntityID], x: int = -1, y: int = -1 + ) -> None: + cmd = AKMove(self.get_entity_id(), time, path, x, y) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_rescue(self, time: int, target: EntityID) -> None: + cmd = AKRescue(self.get_entity_id(), time, target) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_rest(self, time: int) -> None: + cmd = AKRest(self.get_entity_id(), time) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_say(self, time_step: int, message: bytes) -> None: + cmd = AKSay(self.get_entity_id(), time_step, message) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_speak(self, time_step: int, message: bitarray, channel: int) -> None: + cmd = AKSpeak(self.get_entity_id(), time_step, bytes(message), channel) # type: ignore + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_subscribe(self, time: int, channels: list[int]) -> None: + cmd = AKSubscribe(self.get_entity_id(), time, channels) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_tell(self, time: int, message: bytes) -> None: + cmd = AKTell(self.get_entity_id(), time, message) + msg = cmd.to_message_proto() + self.send_msg(msg) + + def send_unload(self, time: int) -> None: + cmd = AKUnload(self.get_entity_id(), time) + msg = cmd.to_message_proto() + self.send_msg(msg) diff --git a/src/adf_core_python/core/agent/communication/message_manager.py b/src/adf_core_python/core/agent/communication/message_manager.py index fc16479..f66fc89 100644 --- a/src/adf_core_python/core/agent/communication/message_manager.py +++ b/src/adf_core_python/core/agent/communication/message_manager.py @@ -6,370 +6,366 @@ from adf_core_python.core.agent.info.world_info import WorldInfo if TYPE_CHECKING: - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.component.communication.channel_subscriber import ( - ChannelSubscriber, - ) - from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, - ) - from adf_core_python.core.component.communication.message_coordinator import ( - MessageCoordinator, - ) + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.component.communication.channel_subscriber import ( + ChannelSubscriber, + ) + from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, + ) + from adf_core_python.core.component.communication.message_coordinator import ( + MessageCoordinator, + ) class MessageManager: - MAX_MESSAGE_CLASS_COUNT = 32 - - def __init__(self) -> None: - """ - Initialize the MessageManager. - - Parameters - ---------- - __standard_message_class_count : int - The count of standard message classes. - __custom_message_class_count : int - The count of custom message classes. - __message_classes : dict[int, CommunicationMessage] - The message classes. - __subscribed_channels : list[int] - The subscribed channels. Default is [1]. - __is_subscribed : bool - The flag to indicate if the agent is subscribed to the channel. - """ - self.__standard_message_class_count = 0b0000_0001 - self.__custom_message_class_count = 0b0001_0000 - self.__message_classes: dict[int, type[CommunicationMessage]] = {} - self.__send_message_list: list[CommunicationMessage] = [] - self.__received_message_list: list[CommunicationMessage] = [] - self.__channel_send_message_list: list[list[CommunicationMessage]] = [] - self.__check_duplicate_cache: set[int] = set() - self.__message_coordinator: MessageCoordinator - self.__channel_subscriber: ChannelSubscriber - self.__heard_agent_help_message_count: int = 0 - self.__subscribed_channels: list[int] = [1] - self.__is_subscribed = False - - def set_subscribed_channels(self, subscribed_channels: list[int]) -> None: - """ - Set the subscribed channels. - - Parameters - ---------- - subscribed_channels : list[int] - The subscribed channels. - - """ - self.__subscribed_channels = subscribed_channels - self.__is_subscribed = False - - def get_subscribed_channels(self) -> list[int]: - """ - Get the subscribed channels. - - Returns - ------- - list[int] - The subscribed channels. - - """ - return self.__subscribed_channels - - def set_is_subscribed(self, is_subscribed: bool) -> None: - """ - Set the flag to indicate if the agent is subscribed to the channel. - - Parameters - ---------- - is_subscribed : bool - The flag to indicate if the agent is subscribed to the channel. - - """ - self.__is_subscribed = is_subscribed - - def get_is_subscribed(self) -> bool: - """ - Get the flag to indicate if the agent is subscribed to the channel. - - Returns - ------- - bool - The flag to indicate if the agent is subscribed to the channel. - - """ - return self.__is_subscribed - - def set_channel_subscriber(self, channel_subscriber: ChannelSubscriber) -> None: - """ - Set the channel subscriber. - - Parameters - ---------- - channel_subscriber : ChannelSubscriber - The channel subscriber. - - """ - self.__channel_subscriber = channel_subscriber - - def set_message_coordinator(self, message_coordinator: MessageCoordinator) -> None: - """ - Set the message coordinator. - - Parameters - ---------- - message_coordinator : MessageCoordinator - The message coordinator. - - """ - self.__message_coordinator = message_coordinator - - def get_channel_subscriber(self) -> ChannelSubscriber: - """ - Get the channel subscriber. - - Returns - ------- - ChannelSubscriber - The channel subscriber. - - """ - return self.__channel_subscriber - - def add_heard_agent_help_message_count(self) -> None: - """ - Add the heard agent help message count. - - """ - self.__heard_agent_help_message_count += 1 - - def get_heard_agent_help_message_count(self) -> int: - """ - Get the heard agent help message count. - - Returns - ------- - int - The heard agent help message count. - - """ - return self.__heard_agent_help_message_count - - def add_received_message(self, message: CommunicationMessage) -> None: - """ - Add the received message. - - Parameters - ---------- - message : CommunicationMessage - The received message. - - """ - self.__received_message_list.append(message) - - def get_received_message_list(self) -> list[CommunicationMessage]: - """ - Get the received message list. - - Returns - ------- - list[CommunicationMessage] - The received message list. - - """ - return self.__received_message_list - - def get_channel_send_message_list(self) -> list[list[CommunicationMessage]]: - """ - Get the channel send message list. - - Returns - ------- - list[list[CommunicationMessage]] - The channel send message list. - - """ - return self.__channel_send_message_list - - def subscribe( - self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo - ) -> None: - """ - Subscribe to the channel. - - Parameters - ---------- - agent_info : AgentInfo - The agent info. - world_info : WorldInfo - The world info. - scenario_info : ScenarioInfo - The scenario info. - - Throws - ------ - ValueError - If the ChannelSubscriber is not set. - - """ - if self.__channel_subscriber is None: - raise ValueError("ChannelSubscriber is not set.") - - if agent_info.get_time() == 1: - self.__subscribed_channels = self.__channel_subscriber.subscribe( - agent_info, world_info, scenario_info - ) - - def register_message_class( - self, index: int, message_class: type[CommunicationMessage] - ) -> None: - """ - Register the message class. - - Parameters - ---------- - message_class : type[CommunicationMessage] - The message class. - - """ - if index >= self.MAX_MESSAGE_CLASS_COUNT: - raise ValueError( - f"Possible index values are 0 to {self.MAX_MESSAGE_CLASS_COUNT - 1}" - ) - self.__message_classes[index] = message_class - - def get_message_class(self, index: int) -> type[CommunicationMessage]: - """ - Get the message class. - - Parameters - ---------- - index : int - The index. - - Returns - ------- - type[CommunicationMessage] - The message class. - - """ - return self.__message_classes[index] - - def get_message_class_index(self, message_class: type[CommunicationMessage]) -> int: - """ - Get the message class index. - - Parameters - ---------- - message_class : type[CommunicationMessage] - The message class. - - Returns - ------- - int - The message class index. - - """ - for index, cls in self.__message_classes.items(): - if cls == message_class: - return index - return -1 - - def add_message( - self, message: CommunicationMessage, check_duplicate: bool = True - ) -> None: - """ - Add the message. - - Parameters - ---------- - message : CommunicationMessage - The message. - - """ - check_key = message.__hash__() - # TODO:両方同じコードになっているが、なぜなのか調査する - if check_duplicate and check_key not in self.__check_duplicate_cache: - self.__send_message_list.append(message) - self.__check_duplicate_cache.add(check_key) - else: - self.__send_message_list.append(message) - self.__check_duplicate_cache.add(check_key) - - def get_send_message_list(self) -> list[CommunicationMessage]: - """ - Get the send message list. - - Returns - ------- - list[CommunicationMessage] - The send message list. - - """ - return self.__send_message_list - - def coordinate_message( - self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo - ) -> None: - """ - Coordinate the message. - - Parameters - ---------- - agent_info : AgentInfo - The agent info. - world_info : WorldInfo - The world info. - scenario_info : ScenarioInfo - The scenario info. - - """ - if self.__message_coordinator is None: - raise ValueError("MessageCoordinator is not set.") - - self.__channel_send_message_list = [ - [] - for _ in range( - int( - scenario_info.get_value( - ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1 - ) - ) - ) - ] - - self.__message_coordinator.coordinate( - agent_info, - world_info, - scenario_info, - self, - self.__send_message_list, - self.__channel_send_message_list, - ) - - def refresh(self) -> None: - """ - Refresh the message manager. - - """ - self.__send_message_list = [] - self.__received_message_list = [] - self.__check_duplicate_cache = set() - self.__heard_agent_help_message_count = 0 - - def __str__(self) -> str: - return ( - f"MessageManager(" - f"standard_message_class_count={self.__standard_message_class_count}, " - f"custom_message_class_count={self.__custom_message_class_count}, " - f"message_classes={self.__message_classes}, " - f"send_message_list={self.__send_message_list}, " - f"received_message_list={self.__received_message_list}, " - f"channel_send_message_list={self.__channel_send_message_list}, " - f"check_duplicate_cache={self.__check_duplicate_cache}, " - f"message_coordinator={self.__message_coordinator}, " - f"channel_subscriber={self.__channel_subscriber}, " - f"heard_agent_help_message_count={self.__heard_agent_help_message_count}, " - f"subscribed_channels={self.__subscribed_channels}, " - f"is_subscribed={self.__is_subscribed})" - ) + MAX_MESSAGE_CLASS_COUNT = 32 + + def __init__(self) -> None: + """ + Initialize the MessageManager. + + Parameters + ---------- + __standard_message_class_count : int + The count of standard message classes. + __custom_message_class_count : int + The count of custom message classes. + __message_classes : dict[int, CommunicationMessage] + The message classes. + __subscribed_channels : list[int] + The subscribed channels. Default is [1]. + __is_subscribed : bool + The flag to indicate if the agent is subscribed to the channel. + """ + self.__standard_message_class_count = 0b0000_0001 + self.__custom_message_class_count = 0b0001_0000 + self.__message_classes: dict[int, type[CommunicationMessage]] = {} + self.__send_message_list: list[CommunicationMessage] = [] + self.__received_message_list: list[CommunicationMessage] = [] + self.__channel_send_message_list: list[list[CommunicationMessage]] = [] + self.__check_duplicate_cache: set[int] = set() + self.__message_coordinator: MessageCoordinator + self.__channel_subscriber: ChannelSubscriber + self.__heard_agent_help_message_count: int = 0 + self.__subscribed_channels: list[int] = [1] + self.__is_subscribed = False + + def set_subscribed_channels(self, subscribed_channels: list[int]) -> None: + """ + Set the subscribed channels. + + Parameters + ---------- + subscribed_channels : list[int] + The subscribed channels. + + """ + self.__subscribed_channels = subscribed_channels + self.__is_subscribed = False + + def get_subscribed_channels(self) -> list[int]: + """ + Get the subscribed channels. + + Returns + ------- + list[int] + The subscribed channels. + + """ + return self.__subscribed_channels + + def set_is_subscribed(self, is_subscribed: bool) -> None: + """ + Set the flag to indicate if the agent is subscribed to the channel. + + Parameters + ---------- + is_subscribed : bool + The flag to indicate if the agent is subscribed to the channel. + + """ + self.__is_subscribed = is_subscribed + + def get_is_subscribed(self) -> bool: + """ + Get the flag to indicate if the agent is subscribed to the channel. + + Returns + ------- + bool + The flag to indicate if the agent is subscribed to the channel. + + """ + return self.__is_subscribed + + def set_channel_subscriber(self, channel_subscriber: ChannelSubscriber) -> None: + """ + Set the channel subscriber. + + Parameters + ---------- + channel_subscriber : ChannelSubscriber + The channel subscriber. + + """ + self.__channel_subscriber = channel_subscriber + + def set_message_coordinator(self, message_coordinator: MessageCoordinator) -> None: + """ + Set the message coordinator. + + Parameters + ---------- + message_coordinator : MessageCoordinator + The message coordinator. + + """ + self.__message_coordinator = message_coordinator + + def get_channel_subscriber(self) -> ChannelSubscriber: + """ + Get the channel subscriber. + + Returns + ------- + ChannelSubscriber + The channel subscriber. + + """ + return self.__channel_subscriber + + def add_heard_agent_help_message_count(self) -> None: + """ + Add the heard agent help message count. + + """ + self.__heard_agent_help_message_count += 1 + + def get_heard_agent_help_message_count(self) -> int: + """ + Get the heard agent help message count. + + Returns + ------- + int + The heard agent help message count. + + """ + return self.__heard_agent_help_message_count + + def add_received_message(self, message: CommunicationMessage) -> None: + """ + Add the received message. + + Parameters + ---------- + message : CommunicationMessage + The received message. + + """ + self.__received_message_list.append(message) + + def get_received_message_list(self) -> list[CommunicationMessage]: + """ + Get the received message list. + + Returns + ------- + list[CommunicationMessage] + The received message list. + + """ + return self.__received_message_list + + def get_channel_send_message_list(self) -> list[list[CommunicationMessage]]: + """ + Get the channel send message list. + + Returns + ------- + list[list[CommunicationMessage]] + The channel send message list. + + """ + return self.__channel_send_message_list + + def subscribe( + self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo + ) -> None: + """ + Subscribe to the channel. + + Parameters + ---------- + agent_info : AgentInfo + The agent info. + world_info : WorldInfo + The world info. + scenario_info : ScenarioInfo + The scenario info. + + Throws + ------ + ValueError + If the ChannelSubscriber is not set. + + """ + if self.__channel_subscriber is None: + raise ValueError("ChannelSubscriber is not set.") + + if agent_info.get_time() == 1: + self.__subscribed_channels = self.__channel_subscriber.subscribe( + agent_info, world_info, scenario_info + ) + + def register_message_class( + self, index: int, message_class: type[CommunicationMessage] + ) -> None: + """ + Register the message class. + + Parameters + ---------- + message_class : type[CommunicationMessage] + The message class. + + """ + if index >= self.MAX_MESSAGE_CLASS_COUNT: + raise ValueError( + f"Possible index values are 0 to {self.MAX_MESSAGE_CLASS_COUNT - 1}" + ) + self.__message_classes[index] = message_class + + def get_message_class(self, index: int) -> type[CommunicationMessage]: + """ + Get the message class. + + Parameters + ---------- + index : int + The index. + + Returns + ------- + type[CommunicationMessage] + The message class. + + """ + return self.__message_classes[index] + + def get_message_class_index(self, message_class: type[CommunicationMessage]) -> int: + """ + Get the message class index. + + Parameters + ---------- + message_class : type[CommunicationMessage] + The message class. + + Returns + ------- + int + The message class index. + + """ + for index, cls in self.__message_classes.items(): + if cls == message_class: + return index + return -1 + + def add_message( + self, message: CommunicationMessage, check_duplicate: bool = True + ) -> None: + """ + Add the message. + + Parameters + ---------- + message : CommunicationMessage + The message. + + """ + check_key = message.__hash__() + # TODO:両方同じコードになっているが、なぜなのか調査する + if check_duplicate and check_key not in self.__check_duplicate_cache: + self.__send_message_list.append(message) + self.__check_duplicate_cache.add(check_key) + else: + self.__send_message_list.append(message) + self.__check_duplicate_cache.add(check_key) + + def get_send_message_list(self) -> list[CommunicationMessage]: + """ + Get the send message list. + + Returns + ------- + list[CommunicationMessage] + The send message list. + + """ + return self.__send_message_list + + def coordinate_message( + self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo + ) -> None: + """ + Coordinate the message. + + Parameters + ---------- + agent_info : AgentInfo + The agent info. + world_info : WorldInfo + The world info. + scenario_info : ScenarioInfo + The scenario info. + + """ + if self.__message_coordinator is None: + raise ValueError("MessageCoordinator is not set.") + + self.__channel_send_message_list = [ + [] + for _ in range( + int(scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1)) + ) + ] + + self.__message_coordinator.coordinate( + agent_info, + world_info, + scenario_info, + self, + self.__send_message_list, + self.__channel_send_message_list, + ) + + def refresh(self) -> None: + """ + Refresh the message manager. + + """ + self.__send_message_list = [] + self.__received_message_list = [] + self.__check_duplicate_cache = set() + self.__heard_agent_help_message_count = 0 + + def __str__(self) -> str: + return ( + f"MessageManager(" + f"standard_message_class_count={self.__standard_message_class_count}, " + f"custom_message_class_count={self.__custom_message_class_count}, " + f"message_classes={self.__message_classes}, " + f"send_message_list={self.__send_message_list}, " + f"received_message_list={self.__received_message_list}, " + f"channel_send_message_list={self.__channel_send_message_list}, " + f"check_duplicate_cache={self.__check_duplicate_cache}, " + f"message_coordinator={self.__message_coordinator}, " + f"channel_subscriber={self.__channel_subscriber}, " + f"heard_agent_help_message_count={self.__heard_agent_help_message_count}, " + f"subscribed_channels={self.__subscribed_channels}, " + f"is_subscribed={self.__is_subscribed})" + ) diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py index 1a0a2f0..6398af7 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_ambulance.py @@ -6,130 +6,128 @@ from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class CommandAmbulance(StandardMessage): - ACTION_REST: int = 0 - ACTION_MOVE: int = 1 - ACTION_RESCUE: int = 2 - ACTION_LOAD: int = 3 - ACTION_UNLOAD: int = 4 - ACTION_AUTONOMY: int = 5 - - SIZE_AMBULANCE_TEAM_ENTITY_ID: int = 32 - SIZE_TARGET_ENTITY_ID: int = 32 - SIZE_ACTION: int = 4 - - def __init__( - self, - is_wireless_message: bool, - command_executor_agent_entity_id: EntityID, - sender_entity_id: EntityID, - execute_action: int, - priority: StandardMessagePriority, - command_target_entity_id: Optional[EntityID] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id) - self._command_executor_agent_entity_id: Optional[EntityID] = ( - command_executor_agent_entity_id - ) - self._command_target_entity_id: Optional[EntityID] = command_target_entity_id - self._is_bloadcast: bool = command_target_entity_id is None - self._execute_action: Optional[int] = execute_action - - def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: - return self._command_executor_agent_entity_id - - def get_command_target_entity_id(self) -> Optional[EntityID]: - return self._command_target_entity_id - - def get_execute_action(self) -> Optional[int]: - return self._execute_action - - def is_broadcast(self) -> bool: - return self._is_bloadcast - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - raw_command_executor_agent_entity_id = ( - self._command_executor_agent_entity_id.get_value() - if self._command_executor_agent_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, - raw_command_executor_agent_entity_id, - self.SIZE_AMBULANCE_TEAM_ENTITY_ID, - ) - raw_command_target_entity_id = ( - self._command_target_entity_id.get_value() - if self._command_target_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID - ) - write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) - return bit_array - - @classmethod - def from_bits( - cls, - bit_array: bitarray, - is_wireless_message: bool, - sender_entity_id: EntityID, - ) -> CommandAmbulance: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - raw_command_executor_agent_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID - ) - command_executor_agent_id = ( - EntityID(raw_command_executor_agent_entity_id) - if raw_command_executor_agent_entity_id is not None - else None - ) - raw_command_target_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_TARGET_ENTITY_ID - ) - command_target_id = ( - EntityID(raw_command_target_entity_id) - if raw_command_target_entity_id is not None - else None - ) - execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - return cls( - is_wireless_message, - command_executor_agent_id or EntityID(-1), - sender_entity_id, - execute_action if execute_action is not None else -1, - std_message.get_priority(), - command_target_id, - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._command_executor_agent_entity_id, - self._command_target_entity_id, - self._execute_action, - ) - ) - - def __str__(self) -> str: - return f"CommandAmbulance(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_RESCUE: int = 2 + ACTION_LOAD: int = 3 + ACTION_UNLOAD: int = 4 + ACTION_AUTONOMY: int = 5 + + SIZE_AMBULANCE_TEAM_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + execute_action: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._execute_action: Optional[int] = execute_action + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_execute_action(self) -> Optional[int]: + return self._execute_action + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_AMBULANCE_TEAM_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandAmbulance: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + execute_action if execute_action is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._execute_action, + ) + ) + + def __str__(self) -> str: + return f"CommandAmbulance(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py index a4bd8ae..3dc7d02 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_fire.py @@ -6,131 +6,129 @@ from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class CommandFire(StandardMessage): - ACTION_REST: int = 0 - ACTION_MOVE: int = 1 - ACTION_EXTINGUISH: int = 2 - ACTION_REFILL: int = 3 - ACTION_RESCUE: int = 4 - ACTION_AUTONOMY: int = 5 - - SIZE_FIRE_BRIGADE_ENTITY_ID: int = 32 - SIZE_TARGET_ENTITY_ID: int = 32 - SIZE_ACTION: int = 4 - - def __init__( - self, - is_wireless_message: bool, - command_executor_agent_entity_id: EntityID, - sender_entity_id: EntityID, - execute_action: int, - priority: StandardMessagePriority, - command_target_entity_id: Optional[EntityID] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id) - self._command_executor_agent_entity_id: Optional[EntityID] = ( - command_executor_agent_entity_id - ) - self._command_target_entity_id: Optional[EntityID] = command_target_entity_id - self._is_bloadcast: bool = command_target_entity_id is None - self._execute_action: Optional[int] = execute_action - - def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: - return self._command_executor_agent_entity_id - - def get_command_target_entity_id(self) -> Optional[EntityID]: - return self._command_target_entity_id - - def get_execute_action(self) -> Optional[int]: - return self._execute_action - - def is_broadcast(self) -> bool: - return self._is_bloadcast - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - raw_command_executor_agent_entity_id = ( - self._command_executor_agent_entity_id.get_value() - if self._command_executor_agent_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, - raw_command_executor_agent_entity_id, - self.SIZE_FIRE_BRIGADE_ENTITY_ID, - ) - raw_command_target_entity_id = ( - self._command_target_entity_id.get_value() - if self._command_target_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID - ) - write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) - - return bit_array - - @classmethod - def from_bits( - cls, - bit_array: bitarray, - is_wireless_message: bool, - sender_entity_id: EntityID, - ) -> CommandFire: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - raw_command_executor_agent_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID - ) - command_executor_agent_id = ( - EntityID(raw_command_executor_agent_entity_id) - if raw_command_executor_agent_entity_id is not None - else None - ) - raw_command_target_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_TARGET_ENTITY_ID - ) - command_target_id = ( - EntityID(raw_command_target_entity_id) - if raw_command_target_entity_id is not None - else None - ) - execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - return cls( - is_wireless_message, - command_executor_agent_id or EntityID(-1), - sender_entity_id, - execute_action if execute_action is not None else -1, - std_message.get_priority(), - command_target_id, - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._command_executor_agent_entity_id, - self._command_target_entity_id, - self._execute_action, - ) - ) - - def __str__(self) -> str: - return f"CommandFire(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_EXTINGUISH: int = 2 + ACTION_REFILL: int = 3 + ACTION_RESCUE: int = 4 + ACTION_AUTONOMY: int = 5 + + SIZE_FIRE_BRIGADE_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + execute_action: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._execute_action: Optional[int] = execute_action + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_execute_action(self) -> Optional[int]: + return self._execute_action + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_FIRE_BRIGADE_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) + + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandFire: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + execute_action if execute_action is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._execute_action, + ) + ) + + def __str__(self) -> str: + return f"CommandFire(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py index c57f2fb..2c70726 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_police.py @@ -6,129 +6,127 @@ from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class CommandPolice(StandardMessage): - ACTION_REST: int = 0 - ACTION_MOVE: int = 1 - ACTION_CLEAR: int = 2 - ACTION_AUTONOMY: int = 3 - - SIZE_POLICE_FORCE_ENTITY_ID: int = 32 - SIZE_TARGET_ENTITY_ID: int = 32 - SIZE_ACTION: int = 4 - - def __init__( - self, - is_wireless_message: bool, - command_executor_agent_entity_id: EntityID, - sender_entity_id: EntityID, - execute_action: int, - priority: StandardMessagePriority, - command_target_entity_id: Optional[EntityID] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id) - self._command_executor_agent_entity_id: Optional[EntityID] = ( - command_executor_agent_entity_id - ) - self._command_target_entity_id: Optional[EntityID] = command_target_entity_id - self._is_bloadcast: bool = command_target_entity_id is None - self._execute_action: Optional[int] = execute_action - - def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: - return self._command_executor_agent_entity_id - - def get_command_target_entity_id(self) -> Optional[EntityID]: - return self._command_target_entity_id - - def get_execute_action(self) -> Optional[int]: - return self._execute_action - - def is_broadcast(self) -> bool: - return self._is_bloadcast - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - raw_command_executor_agent_entity_id = ( - self._command_executor_agent_entity_id.get_value() - if self._command_executor_agent_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, - raw_command_executor_agent_entity_id, - self.SIZE_POLICE_FORCE_ENTITY_ID, - ) - raw_command_target_entity_id = ( - self._command_target_entity_id.get_value() - if self._command_target_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID - ) - write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) - - return bit_array - - @classmethod - def from_bits( - cls, - bit_array: bitarray, - is_wireless_message: bool, - sender_entity_id: EntityID, - ) -> CommandPolice: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - raw_command_executor_agent_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID - ) - command_executor_agent_id = ( - EntityID(raw_command_executor_agent_entity_id) - if raw_command_executor_agent_entity_id is not None - else None - ) - raw_command_target_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_TARGET_ENTITY_ID - ) - command_target_id = ( - EntityID(raw_command_target_entity_id) - if raw_command_target_entity_id is not None - else None - ) - execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - return cls( - is_wireless_message, - command_executor_agent_id or EntityID(-1), - sender_entity_id, - execute_action if execute_action is not None else -1, - std_message.get_priority(), - command_target_id, - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._command_executor_agent_entity_id, - self._command_target_entity_id, - self._execute_action, - ) - ) - - def __str__(self) -> str: - return f"CommandPolice(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_CLEAR: int = 2 + ACTION_AUTONOMY: int = 3 + + SIZE_POLICE_FORCE_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + execute_action: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._execute_action: Optional[int] = execute_action + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_execute_action(self) -> Optional[int]: + return self._execute_action + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_POLICE_FORCE_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._execute_action, self.SIZE_ACTION) + + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandPolice: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + execute_action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + execute_action if execute_action is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._execute_action, + ) + ) + + def __str__(self) -> str: + return f"CommandPolice(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, action={self._execute_action})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py index 4d82478..9c2ae38 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/command_scout.py @@ -6,124 +6,122 @@ from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class CommandScout(StandardMessage): - SIZE_AGENT_ENTITY_ID: int = 32 - SIZE_TARGET_ENTITY_ID: int = 32 - SIZE_SCOUT_RANGE: int = 32 - - def __init__( - self, - is_wireless_message: bool, - command_executor_agent_entity_id: EntityID, - sender_entity_id: EntityID, - scout_range: int, - priority: StandardMessagePriority, - command_target_entity_id: Optional[EntityID] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id) - self._command_executor_agent_entity_id: Optional[EntityID] = ( - command_executor_agent_entity_id - ) - self._command_target_entity_id: Optional[EntityID] = command_target_entity_id - self._is_bloadcast: bool = command_target_entity_id is None - self._scout_range: Optional[int] = scout_range - - def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: - return self._command_executor_agent_entity_id - - def get_command_target_entity_id(self) -> Optional[EntityID]: - return self._command_target_entity_id - - def get_scout_range(self) -> Optional[int]: - return self._scout_range - - def is_broadcast(self) -> bool: - return self._is_bloadcast - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - raw_command_executor_agent_entity_id = ( - self._command_executor_agent_entity_id.get_value() - if self._command_executor_agent_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, - raw_command_executor_agent_entity_id, - self.SIZE_AGENT_ENTITY_ID, - ) - raw_command_target_entity_id = ( - self._command_target_entity_id.get_value() - if self._command_target_entity_id is not None - else None - ) - write_with_exist_flag( - bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID - ) - write_with_exist_flag(bit_array, self._scout_range, self.SIZE_SCOUT_RANGE) - - return bit_array - - @classmethod - def from_bits( - cls, - bit_array: bitarray, - is_wireless_message: bool, - sender_entity_id: EntityID, - ) -> CommandScout: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - raw_command_executor_agent_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_AGENT_ENTITY_ID - ) - command_executor_agent_id = ( - EntityID(raw_command_executor_agent_entity_id) - if raw_command_executor_agent_entity_id is not None - else None - ) - raw_command_target_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_TARGET_ENTITY_ID - ) - command_target_id = ( - EntityID(raw_command_target_entity_id) - if raw_command_target_entity_id is not None - else None - ) - scout_range = read_with_exist_flag(bit_array, cls.SIZE_SCOUT_RANGE) - return cls( - is_wireless_message, - command_executor_agent_id or EntityID(-1), - sender_entity_id, - scout_range if scout_range is not None else -1, - std_message.get_priority(), - command_target_id, - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._command_executor_agent_entity_id, - self._command_target_entity_id, - self._scout_range, - ) - ) - - def __str__(self) -> str: - return f"CommandScout(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, scout_range={self._scout_range})" + SIZE_AGENT_ENTITY_ID: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_SCOUT_RANGE: int = 32 + + def __init__( + self, + is_wireless_message: bool, + command_executor_agent_entity_id: EntityID, + sender_entity_id: EntityID, + scout_range: int, + priority: StandardMessagePriority, + command_target_entity_id: Optional[EntityID] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._command_executor_agent_entity_id: Optional[EntityID] = ( + command_executor_agent_entity_id + ) + self._command_target_entity_id: Optional[EntityID] = command_target_entity_id + self._is_bloadcast: bool = command_target_entity_id is None + self._scout_range: Optional[int] = scout_range + + def get_command_executor_agent_entity_id(self) -> Optional[EntityID]: + return self._command_executor_agent_entity_id + + def get_command_target_entity_id(self) -> Optional[EntityID]: + return self._command_target_entity_id + + def get_scout_range(self) -> Optional[int]: + return self._scout_range + + def is_broadcast(self) -> bool: + return self._is_bloadcast + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + raw_command_executor_agent_entity_id = ( + self._command_executor_agent_entity_id.get_value() + if self._command_executor_agent_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, + raw_command_executor_agent_entity_id, + self.SIZE_AGENT_ENTITY_ID, + ) + raw_command_target_entity_id = ( + self._command_target_entity_id.get_value() + if self._command_target_entity_id is not None + else None + ) + write_with_exist_flag( + bit_array, raw_command_target_entity_id, self.SIZE_TARGET_ENTITY_ID + ) + write_with_exist_flag(bit_array, self._scout_range, self.SIZE_SCOUT_RANGE) + + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> CommandScout: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + raw_command_executor_agent_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_AGENT_ENTITY_ID + ) + command_executor_agent_id = ( + EntityID(raw_command_executor_agent_entity_id) + if raw_command_executor_agent_entity_id is not None + else None + ) + raw_command_target_entity_id = read_with_exist_flag( + bit_array, cls.SIZE_TARGET_ENTITY_ID + ) + command_target_id = ( + EntityID(raw_command_target_entity_id) + if raw_command_target_entity_id is not None + else None + ) + scout_range = read_with_exist_flag(bit_array, cls.SIZE_SCOUT_RANGE) + return cls( + is_wireless_message, + command_executor_agent_id or EntityID(-1), + sender_entity_id, + scout_range if scout_range is not None else -1, + std_message.get_priority(), + command_target_id, + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._command_executor_agent_entity_id, + self._command_target_entity_id, + self._scout_range, + ) + ) + + def __str__(self) -> str: + return f"CommandScout(executor={self._command_executor_agent_entity_id}, target={self._command_target_entity_id}, scout_range={self._scout_range})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py index 99cf589..46d2283 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/centralized/message_report.py @@ -4,85 +4,83 @@ from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class MessageReport(StandardMessage): - SIZE_DONE: int = 1 - SIZE_BLOADCAST: int = 1 + SIZE_DONE: int = 1 + SIZE_BLOADCAST: int = 1 - def __init__( - self, - is_wireless_message: bool, - is_done: bool, - is_bloadcast: bool, - sender_entity_id: EntityID, - priority: StandardMessagePriority, - ): - super().__init__(is_wireless_message, priority, sender_entity_id) - self._is_done: bool = is_done - self._is_bloadcast: bool = is_bloadcast + def __init__( + self, + is_wireless_message: bool, + is_done: bool, + is_bloadcast: bool, + sender_entity_id: EntityID, + priority: StandardMessagePriority, + ): + super().__init__(is_wireless_message, priority, sender_entity_id) + self._is_done: bool = is_done + self._is_bloadcast: bool = is_bloadcast - def is_done(self) -> bool: - return self._is_done + def is_done(self) -> bool: + return self._is_done - def is_broadcast(self) -> bool: - return self._is_bloadcast + def is_broadcast(self) -> bool: + return self._is_bloadcast - def get_bit_size(self) -> int: - return self.to_bits().__len__() + def get_bit_size(self) -> int: + return self.to_bits().__len__() - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - write_with_exist_flag( - bit_array, - self._is_done, - self.SIZE_DONE, - ) - write_with_exist_flag( - bit_array, - self._is_bloadcast, - self.SIZE_BLOADCAST, - ) - return bit_array + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._is_done, + self.SIZE_DONE, + ) + write_with_exist_flag( + bit_array, + self._is_bloadcast, + self.SIZE_BLOADCAST, + ) + return bit_array - @classmethod - def from_bits( - cls, - bit_array: bitarray, - is_wireless_message: bool, - sender_entity_id: EntityID, - ) -> MessageReport: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - is_done = read_with_exist_flag(bit_array, cls.SIZE_DONE) == 1 - is_bloadcast = read_with_exist_flag(bit_array, cls.SIZE_BLOADCAST) == 1 - return cls( - is_wireless_message, - is_done, - is_bloadcast, - std_message.get_sender_entity_id(), - std_message.get_priority(), - ) + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> MessageReport: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + is_done = read_with_exist_flag(bit_array, cls.SIZE_DONE) == 1 + is_bloadcast = read_with_exist_flag(bit_array, cls.SIZE_BLOADCAST) == 1 + return cls( + is_wireless_message, + is_done, + is_bloadcast, + std_message.get_sender_entity_id(), + std_message.get_priority(), + ) - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._is_done, - self._is_bloadcast, - ) - ) + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._is_done, + self._is_bloadcast, + ) + ) - def __str__(self) -> str: - return f"CommandReport(done={self._is_done}, broadcast={self._is_bloadcast})" + def __str__(self) -> str: + return f"CommandReport(done={self._is_done}, broadcast={self._is_bloadcast})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py index 2fbe0ea..b649c83 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_ambulance_team.py @@ -6,182 +6,176 @@ from rcrscore.entities import AmbulanceTeam, EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class MessageAmbulanceTeam(StandardMessage): - ACTION_REST: int = 0 - ACTION_MOVE: int = 1 - ACTION_RESCUE: int = 2 - ACTION_LOAD: int = 3 - ACTION_UNLOAD: int = 4 - - SIZE_AMBULANCE_TEAM_ENTITY_ID: int = 32 - SIZE_AMBULANCE_TEAM_HP: int = 14 - SIZE_AMBULANCE_TEAM_BURIEDNESS: int = 13 - SIZE_AMBULANCE_TEAM_DAMAGE: int = 14 - SIZE_AMBULANCE_TEAM_POSITION: int = 32 - SIZE_TARGET_ENTITY_ID: int = 32 - SIZE_ACTION: int = 4 - - def __init__( - self, - is_wireless_message: bool, - ambulance_team: AmbulanceTeam, - action: int, - target_entity_id: EntityID, - priority: StandardMessagePriority, - sender_entity_id: EntityID, - ttl: Optional[int] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._ambulance_team_entity_id: Optional[EntityID] = ( - ambulance_team.get_entity_id() - ) - self._ambulance_team_hp: Optional[int] = ambulance_team.get_hp() or None - self._ambulance_team_buriedness: Optional[int] = ( - ambulance_team.get_buriedness() or None - ) - self._ambulance_team_damage: Optional[int] = ambulance_team.get_damage() or None - self._ambulance_team_position: Optional[EntityID] = ( - ambulance_team.get_position() or None - ) - self._target_entity_id: Optional[EntityID] = target_entity_id - self._action: Optional[int] = action - - def get_ambulance_team_entity_id(self) -> Optional[EntityID]: - return self._ambulance_team_entity_id - - def get_ambulance_team_hp(self) -> Optional[int]: - return self._ambulance_team_hp - - def get_ambulance_team_buriedness(self) -> Optional[int]: - return self._ambulance_team_buriedness - - def get_ambulance_team_damage(self) -> Optional[int]: - return self._ambulance_team_damage - - def get_ambulance_team_position(self) -> Optional[EntityID]: - return self._ambulance_team_position - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._target_entity_id - - def get_action(self) -> Optional[int]: - return self._action - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - write_with_exist_flag( - bit_array, - self._ambulance_team_entity_id.get_value() - if self._ambulance_team_entity_id - else None, - self.SIZE_AMBULANCE_TEAM_ENTITY_ID, - ) - write_with_exist_flag( - bit_array, self._ambulance_team_hp, self.SIZE_AMBULANCE_TEAM_HP - ) - write_with_exist_flag( - bit_array, - self._ambulance_team_buriedness, - self.SIZE_AMBULANCE_TEAM_BURIEDNESS, - ) - write_with_exist_flag( - bit_array, self._ambulance_team_damage, self.SIZE_AMBULANCE_TEAM_DAMAGE - ) - write_with_exist_flag( - bit_array, - self._ambulance_team_position.get_value() - if self._ambulance_team_position - else None, - self.SIZE_AMBULANCE_TEAM_POSITION, - ) - write_with_exist_flag( - bit_array, - self._target_entity_id.get_value() if self._target_entity_id else None, - self.SIZE_TARGET_ENTITY_ID, - ) - write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) - return bit_array - - @classmethod - def from_bits( - cls, - bit_array: bitarray, - is_wireless_message: bool, - sender_entity_id: EntityID, - ) -> MessageAmbulanceTeam: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - ambulance_team_id = read_with_exist_flag( - bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID - ) - ambulance_team_hp = read_with_exist_flag(bit_array, cls.SIZE_AMBULANCE_TEAM_HP) - ambulance_team_buriedness = read_with_exist_flag( - bit_array, cls.SIZE_AMBULANCE_TEAM_BURIEDNESS - ) - ambulance_team_damage = read_with_exist_flag( - bit_array, cls.SIZE_AMBULANCE_TEAM_DAMAGE - ) - raw_ambulance_team_position = read_with_exist_flag( - bit_array, cls.SIZE_AMBULANCE_TEAM_POSITION - ) - ambulance_team_position = ( - EntityID(raw_ambulance_team_position) - if raw_ambulance_team_position is not None - else None - ) - raw_target_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_TARGET_ENTITY_ID - ) - target_entity_id = ( - EntityID(raw_target_entity_id) - if raw_target_entity_id is not None - else EntityID(-1) - ) - action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - ambulance_team = AmbulanceTeam(ambulance_team_id or -1) - ambulance_team.set_hp(ambulance_team_hp) - ambulance_team.set_buriedness(ambulance_team_buriedness) - ambulance_team.set_damage(ambulance_team_damage) - ambulance_team.set_position(ambulance_team_position) - return MessageAmbulanceTeam( - False, - ambulance_team, - action if action is not None else -1, - target_entity_id, - StandardMessagePriority.NORMAL, - sender_entity_id, - std_message.get_ttl(), - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._ambulance_team_entity_id, - self._ambulance_team_hp, - self._ambulance_team_buriedness, - self._ambulance_team_damage, - self._ambulance_team_position, - self._target_entity_id, - self._action, - ) - ) - - def __str__(self) -> str: - return f"MessageAmbulanceTeam(ambulance_team_entity_id={self._ambulance_team_entity_id}, ambulance_team_hp={self._ambulance_team_hp}, ambulance_team_buriedness={self._ambulance_team_buriedness}, ambulance_team_damage={self._ambulance_team_damage}, ambulance_team_position={self._ambulance_team_position}, target_entity_id={self._target_entity_id}, action={self._action}, ttl={self._ttl})" + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_RESCUE: int = 2 + ACTION_LOAD: int = 3 + ACTION_UNLOAD: int = 4 + + SIZE_AMBULANCE_TEAM_ENTITY_ID: int = 32 + SIZE_AMBULANCE_TEAM_HP: int = 14 + SIZE_AMBULANCE_TEAM_BURIEDNESS: int = 13 + SIZE_AMBULANCE_TEAM_DAMAGE: int = 14 + SIZE_AMBULANCE_TEAM_POSITION: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + ambulance_team: AmbulanceTeam, + action: int, + target_entity_id: EntityID, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) + self._ambulance_team_entity_id: Optional[EntityID] = ambulance_team.get_entity_id() + self._ambulance_team_hp: Optional[int] = ambulance_team.get_hp() or None + self._ambulance_team_buriedness: Optional[int] = ( + ambulance_team.get_buriedness() or None + ) + self._ambulance_team_damage: Optional[int] = ambulance_team.get_damage() or None + self._ambulance_team_position: Optional[EntityID] = ( + ambulance_team.get_position() or None + ) + self._target_entity_id: Optional[EntityID] = target_entity_id + self._action: Optional[int] = action + + def get_ambulance_team_entity_id(self) -> Optional[EntityID]: + return self._ambulance_team_entity_id + + def get_ambulance_team_hp(self) -> Optional[int]: + return self._ambulance_team_hp + + def get_ambulance_team_buriedness(self) -> Optional[int]: + return self._ambulance_team_buriedness + + def get_ambulance_team_damage(self) -> Optional[int]: + return self._ambulance_team_damage + + def get_ambulance_team_position(self) -> Optional[EntityID]: + return self._ambulance_team_position + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._ambulance_team_entity_id.get_value() + if self._ambulance_team_entity_id + else None, + self.SIZE_AMBULANCE_TEAM_ENTITY_ID, + ) + write_with_exist_flag( + bit_array, self._ambulance_team_hp, self.SIZE_AMBULANCE_TEAM_HP + ) + write_with_exist_flag( + bit_array, + self._ambulance_team_buriedness, + self.SIZE_AMBULANCE_TEAM_BURIEDNESS, + ) + write_with_exist_flag( + bit_array, self._ambulance_team_damage, self.SIZE_AMBULANCE_TEAM_DAMAGE + ) + write_with_exist_flag( + bit_array, + self._ambulance_team_position.get_value() + if self._ambulance_team_position + else None, + self.SIZE_AMBULANCE_TEAM_POSITION, + ) + write_with_exist_flag( + bit_array, + self._target_entity_id.get_value() if self._target_entity_id else None, + self.SIZE_TARGET_ENTITY_ID, + ) + write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array + + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> MessageAmbulanceTeam: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + ambulance_team_id = read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_ENTITY_ID + ) + ambulance_team_hp = read_with_exist_flag(bit_array, cls.SIZE_AMBULANCE_TEAM_HP) + ambulance_team_buriedness = read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_BURIEDNESS + ) + ambulance_team_damage = read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_DAMAGE + ) + raw_ambulance_team_position = read_with_exist_flag( + bit_array, cls.SIZE_AMBULANCE_TEAM_POSITION + ) + ambulance_team_position = ( + EntityID(raw_ambulance_team_position) + if raw_ambulance_team_position is not None + else None + ) + raw_target_entity_id = read_with_exist_flag(bit_array, cls.SIZE_TARGET_ENTITY_ID) + target_entity_id = ( + EntityID(raw_target_entity_id) + if raw_target_entity_id is not None + else EntityID(-1) + ) + action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + ambulance_team = AmbulanceTeam(ambulance_team_id or -1) + ambulance_team.set_hp(ambulance_team_hp) + ambulance_team.set_buriedness(ambulance_team_buriedness) + ambulance_team.set_damage(ambulance_team_damage) + ambulance_team.set_position(ambulance_team_position) + return MessageAmbulanceTeam( + False, + ambulance_team, + action if action is not None else -1, + target_entity_id, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._ambulance_team_entity_id, + self._ambulance_team_hp, + self._ambulance_team_buriedness, + self._ambulance_team_damage, + self._ambulance_team_position, + self._target_entity_id, + self._action, + ) + ) + + def __str__(self) -> str: + return f"MessageAmbulanceTeam(ambulance_team_entity_id={self._ambulance_team_entity_id}, ambulance_team_hp={self._ambulance_team_hp}, ambulance_team_buriedness={self._ambulance_team_buriedness}, ambulance_team_damage={self._ambulance_team_damage}, ambulance_team_position={self._ambulance_team_position}, target_entity_id={self._target_entity_id}, action={self._action}, ttl={self._ttl})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py index 586f836..8a909a5 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_building.py @@ -7,116 +7,110 @@ from rcrscore.entities.building import Building from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class MessageBuilding(StandardMessage): - SIZE_BUILDING_ENTITY_ID: int = 32 - SIZE_BUILDING_BROKENNESS: int = 32 - SIZE_BUILDING_FIREYNESS: int = 32 - SIZE_BUILDING_TEMPERATURE: int = 32 + SIZE_BUILDING_ENTITY_ID: int = 32 + SIZE_BUILDING_BROKENNESS: int = 32 + SIZE_BUILDING_FIREYNESS: int = 32 + SIZE_BUILDING_TEMPERATURE: int = 32 - def __init__( - self, - is_wireless_message: bool, - building: Building, - priority: StandardMessagePriority, - sender_entity_id: EntityID, - ttl: Optional[int] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._building_entity_id: Optional[EntityID] = building.get_entity_id() - self._building_brokenness: Optional[int] = building.get_brokenness() or None - self._building_fireyness: Optional[int] = building.get_fieryness() or None - self._building_temperature: Optional[int] = building.get_temperature() or None + def __init__( + self, + is_wireless_message: bool, + building: Building, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) + self._building_entity_id: Optional[EntityID] = building.get_entity_id() + self._building_brokenness: Optional[int] = building.get_brokenness() or None + self._building_fireyness: Optional[int] = building.get_fieryness() or None + self._building_temperature: Optional[int] = building.get_temperature() or None - def get_building_entity_id(self) -> Optional[EntityID]: - return self._building_entity_id + def get_building_entity_id(self) -> Optional[EntityID]: + return self._building_entity_id - def get_building_brokenness(self) -> Optional[int]: - return self._building_brokenness + def get_building_brokenness(self) -> Optional[int]: + return self._building_brokenness - def get_building_fireyness(self) -> Optional[int]: - return self._building_fireyness + def get_building_fireyness(self) -> Optional[int]: + return self._building_fireyness - def get_building_temperature(self) -> Optional[int]: - return self._building_temperature + def get_building_temperature(self) -> Optional[int]: + return self._building_temperature - def get_bit_size(self) -> int: - return self.to_bits().__len__() + def get_bit_size(self) -> int: + return self.to_bits().__len__() - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - write_with_exist_flag( - bit_array, - self._building_entity_id.get_value() if self._building_entity_id else None, - self.SIZE_BUILDING_ENTITY_ID, - ) - write_with_exist_flag( - bit_array, - self._building_brokenness, - self.SIZE_BUILDING_BROKENNESS, - ) - write_with_exist_flag( - bit_array, - self._building_fireyness, - self.SIZE_BUILDING_FIREYNESS, - ) - write_with_exist_flag( - bit_array, - self._building_temperature, - self.SIZE_BUILDING_TEMPERATURE, - ) - return bit_array + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._building_entity_id.get_value() if self._building_entity_id else None, + self.SIZE_BUILDING_ENTITY_ID, + ) + write_with_exist_flag( + bit_array, + self._building_brokenness, + self.SIZE_BUILDING_BROKENNESS, + ) + write_with_exist_flag( + bit_array, + self._building_fireyness, + self.SIZE_BUILDING_FIREYNESS, + ) + write_with_exist_flag( + bit_array, + self._building_temperature, + self.SIZE_BUILDING_TEMPERATURE, + ) + return bit_array - @classmethod - def from_bits( - cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID - ) -> MessageBuilding: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - building_id = read_with_exist_flag(bit_array, cls.SIZE_BUILDING_ENTITY_ID) - building_brokenness = read_with_exist_flag( - bit_array, cls.SIZE_BUILDING_BROKENNESS - ) - building_fireyness = read_with_exist_flag( - bit_array, cls.SIZE_BUILDING_FIREYNESS - ) - building_temperature = read_with_exist_flag( - bit_array, cls.SIZE_BUILDING_TEMPERATURE - ) - building = Building(building_id or -1) - building.set_brokenness(building_brokenness) - building.set_fieryness(building_fireyness) - building.set_temperature(building_temperature) - return MessageBuilding( - False, - building, - StandardMessagePriority.NORMAL, - sender_entity_id, - std_message.get_ttl(), - ) + @classmethod + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageBuilding: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + building_id = read_with_exist_flag(bit_array, cls.SIZE_BUILDING_ENTITY_ID) + building_brokenness = read_with_exist_flag(bit_array, cls.SIZE_BUILDING_BROKENNESS) + building_fireyness = read_with_exist_flag(bit_array, cls.SIZE_BUILDING_FIREYNESS) + building_temperature = read_with_exist_flag( + bit_array, cls.SIZE_BUILDING_TEMPERATURE + ) + building = Building(building_id or -1) + building.set_brokenness(building_brokenness) + building.set_fieryness(building_fireyness) + building.set_temperature(building_temperature) + return MessageBuilding( + False, + building, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._building_entity_id, - self._building_brokenness, - self._building_fireyness, - self._building_temperature, - ) - ) + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._building_entity_id, + self._building_brokenness, + self._building_fireyness, + self._building_temperature, + ) + ) - def __str__(self) -> str: - return f"MessageBuilding(building_entity_id={self._building_entity_id}, building_brokenness={self._building_brokenness}, building_fireyness={self._building_fireyness}, building_temperature={self._building_temperature})" + def __str__(self) -> str: + return f"MessageBuilding(building_entity_id={self._building_entity_id}, building_brokenness={self._building_brokenness}, building_fireyness={self._building_fireyness}, building_temperature={self._building_temperature})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py index 79b4ae7..c1918c5 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_civilian.py @@ -7,130 +7,124 @@ from rcrscore.entities.civilian import Civilian from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class MessageCivilian(StandardMessage): - SIZE_CIVILIAN_ENTITY_ID: int = 32 - SIZE_CIVILIAN_HP: int = 14 - SIZE_CIVILIAN_BURIEDNESS: int = 13 - SIZE_CIVILIAN_DAMAGE: int = 14 - SIZE_CIVILIAN_POSITION: int = 32 - - def __init__( - self, - is_wireless_message: bool, - civilian: Civilian, - priority: StandardMessagePriority, - sender_entity_id: EntityID, - ttl: Optional[int] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._civilian_entity_id: Optional[EntityID] = civilian.get_entity_id() - self._civilian_hp: Optional[int] = civilian.get_hp() or None - self._civilian_buriedness: Optional[int] = civilian.get_buriedness() or None - self._civilian_damage: Optional[int] = civilian.get_damage() or None - self._civilian_position: Optional[EntityID] = civilian.get_position() or None - - def get_civilian_entity_id(self) -> Optional[EntityID]: - return self._civilian_entity_id - - def get_civilian_hp(self) -> Optional[int]: - return self._civilian_hp - - def get_civilian_buriedness(self) -> Optional[int]: - return self._civilian_buriedness - - def get_civilian_damage(self) -> Optional[int]: - return self._civilian_damage - - def get_civilian_position(self) -> Optional[EntityID]: - return self._civilian_position - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - write_with_exist_flag( - bit_array, - self._civilian_entity_id.get_value() if self._civilian_entity_id else None, - self.SIZE_CIVILIAN_ENTITY_ID, - ) - write_with_exist_flag( - bit_array, - self._civilian_hp, - self.SIZE_CIVILIAN_HP, - ) - write_with_exist_flag( - bit_array, - self._civilian_buriedness, - self.SIZE_CIVILIAN_BURIEDNESS, - ) - write_with_exist_flag( - bit_array, - self._civilian_damage, - self.SIZE_CIVILIAN_DAMAGE, - ) - write_with_exist_flag( - bit_array, - self._civilian_position.get_value() if self._civilian_position else None, - self.SIZE_CIVILIAN_POSITION, - ) - return bit_array - - @classmethod - def from_bits( - cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID - ) -> MessageCivilian: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - civilian_id = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_ENTITY_ID) - civilian_hp = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_HP) - civilian_buriedness = read_with_exist_flag( - bit_array, cls.SIZE_CIVILIAN_BURIEDNESS - ) - civilian_damage = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_DAMAGE) - raw_civilian_position = read_with_exist_flag( - bit_array, cls.SIZE_CIVILIAN_POSITION - ) - civilian_position = ( - EntityID(raw_civilian_position) if raw_civilian_position else None - ) - civilian = Civilian(civilian_id or -1) - civilian.set_hp(civilian_hp) - civilian.set_buriedness(civilian_buriedness) - civilian.set_damage(civilian_damage) - civilian.set_position(civilian_position) - return MessageCivilian( - False, - civilian, - StandardMessagePriority.NORMAL, - sender_entity_id, - std_message.get_ttl(), - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._civilian_entity_id, - self._civilian_hp, - self._civilian_buriedness, - self._civilian_damage, - self._civilian_position, - ) - ) - - def __str__(self) -> str: - return f"MessageCivilian(civilian_entity_id={self._civilian_entity_id}, civilian_hp={self._civilian_hp}, civilian_buriedness={self._civilian_buriedness}, civilian_damage={self._civilian_damage}, civilian_position={self._civilian_position})" + SIZE_CIVILIAN_ENTITY_ID: int = 32 + SIZE_CIVILIAN_HP: int = 14 + SIZE_CIVILIAN_BURIEDNESS: int = 13 + SIZE_CIVILIAN_DAMAGE: int = 14 + SIZE_CIVILIAN_POSITION: int = 32 + + def __init__( + self, + is_wireless_message: bool, + civilian: Civilian, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) + self._civilian_entity_id: Optional[EntityID] = civilian.get_entity_id() + self._civilian_hp: Optional[int] = civilian.get_hp() or None + self._civilian_buriedness: Optional[int] = civilian.get_buriedness() or None + self._civilian_damage: Optional[int] = civilian.get_damage() or None + self._civilian_position: Optional[EntityID] = civilian.get_position() or None + + def get_civilian_entity_id(self) -> Optional[EntityID]: + return self._civilian_entity_id + + def get_civilian_hp(self) -> Optional[int]: + return self._civilian_hp + + def get_civilian_buriedness(self) -> Optional[int]: + return self._civilian_buriedness + + def get_civilian_damage(self) -> Optional[int]: + return self._civilian_damage + + def get_civilian_position(self) -> Optional[EntityID]: + return self._civilian_position + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._civilian_entity_id.get_value() if self._civilian_entity_id else None, + self.SIZE_CIVILIAN_ENTITY_ID, + ) + write_with_exist_flag( + bit_array, + self._civilian_hp, + self.SIZE_CIVILIAN_HP, + ) + write_with_exist_flag( + bit_array, + self._civilian_buriedness, + self.SIZE_CIVILIAN_BURIEDNESS, + ) + write_with_exist_flag( + bit_array, + self._civilian_damage, + self.SIZE_CIVILIAN_DAMAGE, + ) + write_with_exist_flag( + bit_array, + self._civilian_position.get_value() if self._civilian_position else None, + self.SIZE_CIVILIAN_POSITION, + ) + return bit_array + + @classmethod + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageCivilian: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + civilian_id = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_ENTITY_ID) + civilian_hp = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_HP) + civilian_buriedness = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_BURIEDNESS) + civilian_damage = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_DAMAGE) + raw_civilian_position = read_with_exist_flag(bit_array, cls.SIZE_CIVILIAN_POSITION) + civilian_position = ( + EntityID(raw_civilian_position) if raw_civilian_position else None + ) + civilian = Civilian(civilian_id or -1) + civilian.set_hp(civilian_hp) + civilian.set_buriedness(civilian_buriedness) + civilian.set_damage(civilian_damage) + civilian.set_position(civilian_position) + return MessageCivilian( + False, + civilian, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._civilian_entity_id, + self._civilian_hp, + self._civilian_buriedness, + self._civilian_damage, + self._civilian_position, + ) + ) + + def __str__(self) -> str: + return f"MessageCivilian(civilian_entity_id={self._civilian_entity_id}, civilian_hp={self._civilian_hp}, civilian_buriedness={self._civilian_buriedness}, civilian_damage={self._civilian_damage}, civilian_position={self._civilian_position})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py index 0f41702..1670b13 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_fire_brigade.py @@ -6,194 +6,180 @@ from rcrscore.entities import EntityID, FireBrigade from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class MessageFireBrigade(StandardMessage): - ACTION_REST: int = 0 - ACTION_MOVE: int = 1 - ACTION_EXTINGUISH: int = 2 - ACTION_REFILL: int = 3 - ACTION_RESCUE: int = 4 - - SIZE_FIRE_BRIGADE_ENTITY_ID: int = 32 - SIZE_FIRE_BRIGADE_HP: int = 14 - SIZE_FIRE_BRIGADE_BURIEDNESS: int = 13 - SIZE_FIRE_BRIGADE_DAMAGE: int = 14 - SIZE_FIRE_BRIGADE_POSITION: int = 32 - SIZE_FIRE_BRIGADE_WATER: int = 14 - SIZE_TARGET_ENTITY_ID: int = 32 - SIZE_ACTION: int = 4 - - def __init__( - self, - is_wireless_message: bool, - fire_brigade: FireBrigade, - action: int, - target_entity_id: EntityID, - priority: StandardMessagePriority, - sender_entity_id: EntityID, - ttl: Optional[int] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._fire_brigade_entity_id: Optional[EntityID] = fire_brigade.get_entity_id() - self._fire_brigade_hp: Optional[int] = fire_brigade.get_hp() or None - self._fire_brigade_buriedness: Optional[int] = ( - fire_brigade.get_buriedness() or None - ) - self._fire_brigade_damage: Optional[int] = fire_brigade.get_damage() or None - self._fire_brigade_position: Optional[EntityID] = ( - fire_brigade.get_position() or None - ) - self._fire_brigade_water: Optional[int] = fire_brigade.get_water() or None - self._target_entity_id: Optional[EntityID] = target_entity_id - self._action: Optional[int] = action - - def get_fire_brigade_entity_id(self) -> Optional[EntityID]: - return self._fire_brigade_entity_id - - def get_fire_brigade_hp(self) -> Optional[int]: - return self._fire_brigade_hp - - def get_fire_brigade_buriedness(self) -> Optional[int]: - return self._fire_brigade_buriedness - - def get_fire_brigade_damage(self) -> Optional[int]: - return self._fire_brigade_damage - - def get_fire_brigade_position(self) -> Optional[EntityID]: - return self._fire_brigade_position - - def get_fire_brigade_water(self) -> Optional[int]: - return self._fire_brigade_water - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._target_entity_id - - def get_action(self) -> Optional[int]: - return self._action - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - write_with_exist_flag( - bit_array, - self._fire_brigade_entity_id.get_value() - if self._fire_brigade_entity_id - else None, - self.SIZE_FIRE_BRIGADE_ENTITY_ID, - ) - write_with_exist_flag( - bit_array, - self._fire_brigade_hp, - self.SIZE_FIRE_BRIGADE_HP, - ) - write_with_exist_flag( - bit_array, - self._fire_brigade_buriedness, - self.SIZE_FIRE_BRIGADE_BURIEDNESS, - ) - write_with_exist_flag( - bit_array, - self._fire_brigade_damage, - self.SIZE_FIRE_BRIGADE_DAMAGE, - ) - write_with_exist_flag( - bit_array, - self._fire_brigade_position.get_value() - if self._fire_brigade_position - else None, - self.SIZE_FIRE_BRIGADE_POSITION, - ) - write_with_exist_flag( - bit_array, - self._fire_brigade_water, - self.SIZE_FIRE_BRIGADE_WATER, - ) - write_with_exist_flag( - bit_array, - self._target_entity_id.get_value() if self._target_entity_id else None, - self.SIZE_TARGET_ENTITY_ID, - ) - write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) - return bit_array - - @classmethod - def from_bits( - cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID - ) -> MessageFireBrigade: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - fire_brigade_id = read_with_exist_flag( - bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID - ) - fire_brigade_hp = read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_HP) - fire_brigade_buriedness = read_with_exist_flag( - bit_array, cls.SIZE_FIRE_BRIGADE_BURIEDNESS - ) - fire_brigade_damage = read_with_exist_flag( - bit_array, cls.SIZE_FIRE_BRIGADE_DAMAGE - ) - raw_fire_brigade_position = read_with_exist_flag( - bit_array, cls.SIZE_FIRE_BRIGADE_POSITION - ) - fire_brigade_position = ( - EntityID(raw_fire_brigade_position) if raw_fire_brigade_position else None - ) - fire_brigade_water = read_with_exist_flag( - bit_array, cls.SIZE_FIRE_BRIGADE_WATER - ) - raw_target_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_TARGET_ENTITY_ID - ) - target_entity_id = ( - EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) - ) - action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - fire_brigade = FireBrigade( - fire_brigade_id or -1, - ) - fire_brigade.set_hp(fire_brigade_hp) - fire_brigade.set_buriedness(fire_brigade_buriedness) - fire_brigade.set_damage(fire_brigade_damage) - fire_brigade.set_position(fire_brigade_position) - fire_brigade.set_water(fire_brigade_water) - return MessageFireBrigade( - False, - fire_brigade, - action if action is not None else -1, - target_entity_id, - StandardMessagePriority.NORMAL, - sender_entity_id, - std_message.get_ttl(), - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._fire_brigade_entity_id, - self._fire_brigade_hp, - self._fire_brigade_buriedness, - self._fire_brigade_damage, - self._fire_brigade_position, - self._fire_brigade_water, - self._target_entity_id, - self._action, - ) - ) - - def __str__(self) -> str: - return f"MessageFireBrigade(fire_brigade_entity_id={self._fire_brigade_entity_id}, fire_brigade_hp={self._fire_brigade_hp}, fire_brigade_buriedness={self._fire_brigade_buriedness}, fire_brigade_damage={self._fire_brigade_damage}, fire_brigade_position={self._fire_brigade_position}, fire_brigade_water={self._fire_brigade_water}, target_entity_id={self._target_entity_id}, action={self._action})" + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_EXTINGUISH: int = 2 + ACTION_REFILL: int = 3 + ACTION_RESCUE: int = 4 + + SIZE_FIRE_BRIGADE_ENTITY_ID: int = 32 + SIZE_FIRE_BRIGADE_HP: int = 14 + SIZE_FIRE_BRIGADE_BURIEDNESS: int = 13 + SIZE_FIRE_BRIGADE_DAMAGE: int = 14 + SIZE_FIRE_BRIGADE_POSITION: int = 32 + SIZE_FIRE_BRIGADE_WATER: int = 14 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + fire_brigade: FireBrigade, + action: int, + target_entity_id: EntityID, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) + self._fire_brigade_entity_id: Optional[EntityID] = fire_brigade.get_entity_id() + self._fire_brigade_hp: Optional[int] = fire_brigade.get_hp() or None + self._fire_brigade_buriedness: Optional[int] = fire_brigade.get_buriedness() or None + self._fire_brigade_damage: Optional[int] = fire_brigade.get_damage() or None + self._fire_brigade_position: Optional[EntityID] = ( + fire_brigade.get_position() or None + ) + self._fire_brigade_water: Optional[int] = fire_brigade.get_water() or None + self._target_entity_id: Optional[EntityID] = target_entity_id + self._action: Optional[int] = action + + def get_fire_brigade_entity_id(self) -> Optional[EntityID]: + return self._fire_brigade_entity_id + + def get_fire_brigade_hp(self) -> Optional[int]: + return self._fire_brigade_hp + + def get_fire_brigade_buriedness(self) -> Optional[int]: + return self._fire_brigade_buriedness + + def get_fire_brigade_damage(self) -> Optional[int]: + return self._fire_brigade_damage + + def get_fire_brigade_position(self) -> Optional[EntityID]: + return self._fire_brigade_position + + def get_fire_brigade_water(self) -> Optional[int]: + return self._fire_brigade_water + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._fire_brigade_entity_id.get_value() + if self._fire_brigade_entity_id + else None, + self.SIZE_FIRE_BRIGADE_ENTITY_ID, + ) + write_with_exist_flag( + bit_array, + self._fire_brigade_hp, + self.SIZE_FIRE_BRIGADE_HP, + ) + write_with_exist_flag( + bit_array, + self._fire_brigade_buriedness, + self.SIZE_FIRE_BRIGADE_BURIEDNESS, + ) + write_with_exist_flag( + bit_array, + self._fire_brigade_damage, + self.SIZE_FIRE_BRIGADE_DAMAGE, + ) + write_with_exist_flag( + bit_array, + self._fire_brigade_position.get_value() if self._fire_brigade_position else None, + self.SIZE_FIRE_BRIGADE_POSITION, + ) + write_with_exist_flag( + bit_array, + self._fire_brigade_water, + self.SIZE_FIRE_BRIGADE_WATER, + ) + write_with_exist_flag( + bit_array, + self._target_entity_id.get_value() if self._target_entity_id else None, + self.SIZE_TARGET_ENTITY_ID, + ) + write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array + + @classmethod + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageFireBrigade: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + fire_brigade_id = read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_ENTITY_ID) + fire_brigade_hp = read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_HP) + fire_brigade_buriedness = read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_BURIEDNESS + ) + fire_brigade_damage = read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_DAMAGE) + raw_fire_brigade_position = read_with_exist_flag( + bit_array, cls.SIZE_FIRE_BRIGADE_POSITION + ) + fire_brigade_position = ( + EntityID(raw_fire_brigade_position) if raw_fire_brigade_position else None + ) + fire_brigade_water = read_with_exist_flag(bit_array, cls.SIZE_FIRE_BRIGADE_WATER) + raw_target_entity_id = read_with_exist_flag(bit_array, cls.SIZE_TARGET_ENTITY_ID) + target_entity_id = ( + EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) + ) + action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + fire_brigade = FireBrigade( + fire_brigade_id or -1, + ) + fire_brigade.set_hp(fire_brigade_hp) + fire_brigade.set_buriedness(fire_brigade_buriedness) + fire_brigade.set_damage(fire_brigade_damage) + fire_brigade.set_position(fire_brigade_position) + fire_brigade.set_water(fire_brigade_water) + return MessageFireBrigade( + False, + fire_brigade, + action if action is not None else -1, + target_entity_id, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._fire_brigade_entity_id, + self._fire_brigade_hp, + self._fire_brigade_buriedness, + self._fire_brigade_damage, + self._fire_brigade_position, + self._fire_brigade_water, + self._target_entity_id, + self._action, + ) + ) + + def __str__(self) -> str: + return f"MessageFireBrigade(fire_brigade_entity_id={self._fire_brigade_entity_id}, fire_brigade_hp={self._fire_brigade_hp}, fire_brigade_buriedness={self._fire_brigade_buriedness}, fire_brigade_damage={self._fire_brigade_damage}, fire_brigade_position={self._fire_brigade_position}, fire_brigade_water={self._fire_brigade_water}, target_entity_id={self._target_entity_id}, action={self._action})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py index f4b72d0..d6f9682 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_police_force.py @@ -6,175 +6,163 @@ from rcrscore.entities import EntityID, PoliceForce from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class MessagePoliceForce(StandardMessage): - ACTION_REST: int = 0 - ACTION_MOVE: int = 1 - ACTION_CLEAR: int = 2 - - SIZE_POLICE_FORCE_ENTITY_ID: int = 32 - SIZE_POLICE_FORCE_HP: int = 14 - SIZE_POLICE_FORCE_BURIEDNESS: int = 13 - SIZE_POLICE_FORCE_DAMAGE: int = 14 - SIZE_POLICE_FORCE_POSITION: int = 32 - SIZE_TARGET_ENTITY_ID: int = 32 - SIZE_ACTION: int = 4 - - def __init__( - self, - is_wireless_message: bool, - police_force: PoliceForce, - action: int, - target_entity_id: EntityID, - priority: StandardMessagePriority, - sender_entity_id: EntityID, - ttl: Optional[int] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._police_force_entity_id: Optional[EntityID] = police_force.get_entity_id() - self._police_force_hp: Optional[int] = police_force.get_hp() or None - self._police_force_buriedness: Optional[int] = ( - police_force.get_buriedness() or None - ) - self._police_force_damage: Optional[int] = police_force.get_damage() or None - self._police_force_position: Optional[EntityID] = ( - police_force.get_position() or None - ) - self._target_entity_id: Optional[EntityID] = target_entity_id - self._action: Optional[int] = action - - def get_police_force_entity_id(self) -> Optional[EntityID]: - return self._police_force_entity_id - - def get_police_force_hp(self) -> Optional[int]: - return self._police_force_hp - - def get_police_force_buriedness(self) -> Optional[int]: - return self._police_force_buriedness - - def get_police_force_damage(self) -> Optional[int]: - return self._police_force_damage - - def get_police_force_position(self) -> Optional[EntityID]: - return self._police_force_position - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._target_entity_id - - def get_action(self) -> Optional[int]: - return self._action - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - write_with_exist_flag( - bit_array, - self._police_force_entity_id.get_value() - if self._police_force_entity_id - else None, - self.SIZE_POLICE_FORCE_ENTITY_ID, - ) - write_with_exist_flag( - bit_array, - self._police_force_hp, - self.SIZE_POLICE_FORCE_HP, - ) - write_with_exist_flag( - bit_array, - self._police_force_buriedness, - self.SIZE_POLICE_FORCE_BURIEDNESS, - ) - write_with_exist_flag( - bit_array, - self._police_force_damage, - self.SIZE_POLICE_FORCE_DAMAGE, - ) - write_with_exist_flag( - bit_array, - self._police_force_position.get_value() - if self._police_force_position - else None, - self.SIZE_POLICE_FORCE_POSITION, - ) - write_with_exist_flag( - bit_array, - self._target_entity_id.get_value() if self._target_entity_id else None, - self.SIZE_TARGET_ENTITY_ID, - ) - write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) - return bit_array - - @classmethod - def from_bits( - cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID - ) -> MessagePoliceForce: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - police_force_id = read_with_exist_flag( - bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID - ) - police_force_hp = read_with_exist_flag(bit_array, cls.SIZE_POLICE_FORCE_HP) - police_force_buriedness = read_with_exist_flag( - bit_array, cls.SIZE_POLICE_FORCE_BURIEDNESS - ) - police_force_damage = read_with_exist_flag( - bit_array, cls.SIZE_POLICE_FORCE_DAMAGE - ) - raw_police_force_position = read_with_exist_flag( - bit_array, cls.SIZE_POLICE_FORCE_POSITION - ) - police_force_position = ( - EntityID(raw_police_force_position) if raw_police_force_position else None - ) - raw_target_entity_id = read_with_exist_flag( - bit_array, cls.SIZE_TARGET_ENTITY_ID - ) - target_entity_id = ( - EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) - ) - action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) - police_force = PoliceForce(police_force_id or -1) - police_force.set_hp(police_force_hp) - police_force.set_buriedness(police_force_buriedness) - police_force.set_damage(police_force_damage) - police_force.set_position(police_force_position) - return MessagePoliceForce( - False, - police_force, - action if action is not None else -1, - target_entity_id, - StandardMessagePriority.NORMAL, - sender_entity_id, - std_message.get_ttl(), - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._police_force_entity_id, - self._police_force_hp, - self._police_force_buriedness, - self._police_force_damage, - self._police_force_position, - self._target_entity_id, - self._action, - ) - ) - - def __str__(self) -> str: - return f"MessagePoliceForce(police_force_entity_id={self._police_force_entity_id}, police_force_hp={self._police_force_hp}, police_force_buriedness={self._police_force_buriedness}, police_force_damage={self._police_force_damage}, police_force_position={self._police_force_position}, target_entity_id={self._target_entity_id}, action={self._action})" + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_CLEAR: int = 2 + + SIZE_POLICE_FORCE_ENTITY_ID: int = 32 + SIZE_POLICE_FORCE_HP: int = 14 + SIZE_POLICE_FORCE_BURIEDNESS: int = 13 + SIZE_POLICE_FORCE_DAMAGE: int = 14 + SIZE_POLICE_FORCE_POSITION: int = 32 + SIZE_TARGET_ENTITY_ID: int = 32 + SIZE_ACTION: int = 4 + + def __init__( + self, + is_wireless_message: bool, + police_force: PoliceForce, + action: int, + target_entity_id: EntityID, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) + self._police_force_entity_id: Optional[EntityID] = police_force.get_entity_id() + self._police_force_hp: Optional[int] = police_force.get_hp() or None + self._police_force_buriedness: Optional[int] = police_force.get_buriedness() or None + self._police_force_damage: Optional[int] = police_force.get_damage() or None + self._police_force_position: Optional[EntityID] = ( + police_force.get_position() or None + ) + self._target_entity_id: Optional[EntityID] = target_entity_id + self._action: Optional[int] = action + + def get_police_force_entity_id(self) -> Optional[EntityID]: + return self._police_force_entity_id + + def get_police_force_hp(self) -> Optional[int]: + return self._police_force_hp + + def get_police_force_buriedness(self) -> Optional[int]: + return self._police_force_buriedness + + def get_police_force_damage(self) -> Optional[int]: + return self._police_force_damage + + def get_police_force_position(self) -> Optional[EntityID]: + return self._police_force_position + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._target_entity_id + + def get_action(self) -> Optional[int]: + return self._action + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._police_force_entity_id.get_value() + if self._police_force_entity_id + else None, + self.SIZE_POLICE_FORCE_ENTITY_ID, + ) + write_with_exist_flag( + bit_array, + self._police_force_hp, + self.SIZE_POLICE_FORCE_HP, + ) + write_with_exist_flag( + bit_array, + self._police_force_buriedness, + self.SIZE_POLICE_FORCE_BURIEDNESS, + ) + write_with_exist_flag( + bit_array, + self._police_force_damage, + self.SIZE_POLICE_FORCE_DAMAGE, + ) + write_with_exist_flag( + bit_array, + self._police_force_position.get_value() if self._police_force_position else None, + self.SIZE_POLICE_FORCE_POSITION, + ) + write_with_exist_flag( + bit_array, + self._target_entity_id.get_value() if self._target_entity_id else None, + self.SIZE_TARGET_ENTITY_ID, + ) + write_with_exist_flag(bit_array, self._action, self.SIZE_ACTION) + return bit_array + + @classmethod + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessagePoliceForce: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + police_force_id = read_with_exist_flag(bit_array, cls.SIZE_POLICE_FORCE_ENTITY_ID) + police_force_hp = read_with_exist_flag(bit_array, cls.SIZE_POLICE_FORCE_HP) + police_force_buriedness = read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_BURIEDNESS + ) + police_force_damage = read_with_exist_flag(bit_array, cls.SIZE_POLICE_FORCE_DAMAGE) + raw_police_force_position = read_with_exist_flag( + bit_array, cls.SIZE_POLICE_FORCE_POSITION + ) + police_force_position = ( + EntityID(raw_police_force_position) if raw_police_force_position else None + ) + raw_target_entity_id = read_with_exist_flag(bit_array, cls.SIZE_TARGET_ENTITY_ID) + target_entity_id = ( + EntityID(raw_target_entity_id) if raw_target_entity_id else EntityID(-1) + ) + action = read_with_exist_flag(bit_array, cls.SIZE_ACTION) + police_force = PoliceForce(police_force_id or -1) + police_force.set_hp(police_force_hp) + police_force.set_buriedness(police_force_buriedness) + police_force.set_damage(police_force_damage) + police_force.set_position(police_force_position) + return MessagePoliceForce( + False, + police_force, + action if action is not None else -1, + target_entity_id, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._police_force_entity_id, + self._police_force_hp, + self._police_force_buriedness, + self._police_force_damage, + self._police_force_position, + self._target_entity_id, + self._action, + ) + ) + + def __str__(self) -> str: + return f"MessagePoliceForce(police_force_entity_id={self._police_force_entity_id}, police_force_hp={self._police_force_hp}, police_force_buriedness={self._police_force_buriedness}, police_force_damage={self._police_force_damage}, police_force_position={self._police_force_position}, target_entity_id={self._target_entity_id}, action={self._action})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py index 747bfb5..d43b9d4 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/information/message_road.py @@ -6,172 +6,164 @@ from rcrscore.entities import Blockade, EntityID, Road from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) class MessageRoad(StandardMessage): - ACTION_REST: int = 0 - ACTION_MOVE: int = 1 - ACTION_CLEAR: int = 2 - - SIZE_ROAD_ENTITY_ID: int = 32 - SIZE_ROAD_BLOCKADE_ENTITY_ID: int = 32 - SIZE_ROAD_BLOCKADE_REPAIR_COST: int = 32 - SIZE_ROAD_BLOCKADE_X: int = 32 - SIZE_ROAD_BLOCKADE_Y: int = 32 - SIZE_PASSABLE: int = 1 - - def __init__( - self, - is_wireless_message: bool, - road: Road, - is_send_blockade_location: bool, - is_passable: Optional[bool], - blockade: Optional[Blockade], - priority: StandardMessagePriority, - sender_entity_id: EntityID, - ttl: Optional[int] = None, - ): - super().__init__(is_wireless_message, priority, sender_entity_id, ttl) - self._road_entity_id: Optional[EntityID] = road.get_entity_id() - self._road_blockade_entity_id: Optional[EntityID] = None - self._road_blockade_repair_cost: Optional[int] = None - self._road_blockade_x: Optional[int] = None - self._road_blockade_y: Optional[int] = None - - if blockade: - self._road_blockade_entity_id = blockade.get_entity_id() - self._road_blockade_repair_cost = blockade.get_repair_cost() - if is_send_blockade_location: - self._road_blockade_x = blockade.get_x() or None - self._road_blockade_y = blockade.get_y() or None - - self._is_passable: Optional[bool] = is_passable - self._is_send_blockade_location: bool = is_send_blockade_location - - def get_road_entity_id(self) -> Optional[EntityID]: - return self._road_entity_id - - def get_road_blockade_entity_id(self) -> Optional[EntityID]: - return self._road_blockade_entity_id - - def get_road_blockade_repair_cost(self) -> Optional[int]: - return self._road_blockade_repair_cost - - def get_road_blockade_x(self) -> Optional[int]: - return self._road_blockade_x - - def get_road_blockade_y(self) -> Optional[int]: - return self._road_blockade_y - - def get_is_passable(self) -> Optional[bool]: - return self._is_passable - - def get_is_send_blockade_location(self) -> bool: - return self._is_send_blockade_location - - def get_bit_size(self) -> int: - return self.to_bits().__len__() - - def to_bits(self) -> bitarray: - bit_array = super().to_bits() - write_with_exist_flag( - bit_array, - self._road_entity_id.get_value() if self._road_entity_id else None, - self.SIZE_ROAD_ENTITY_ID, - ) - write_with_exist_flag( - bit_array, - self._road_blockade_entity_id.get_value() - if self._road_blockade_entity_id - else None, - self.SIZE_ROAD_BLOCKADE_ENTITY_ID, - ) - write_with_exist_flag( - bit_array, - self._road_blockade_repair_cost - if self._road_blockade_repair_cost - else None, - self.SIZE_ROAD_BLOCKADE_REPAIR_COST, - ) - if self._is_send_blockade_location: - write_with_exist_flag( - bit_array, - self._road_blockade_x if self._road_blockade_x else None, - self.SIZE_ROAD_BLOCKADE_X, - ) - write_with_exist_flag( - bit_array, - self._road_blockade_y if self._road_blockade_y else None, - self.SIZE_ROAD_BLOCKADE_Y, - ) - else: - write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_X) - write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_Y) - write_with_exist_flag( - bit_array, - self._is_passable if self._is_passable else None, - self.SIZE_PASSABLE, - ) - return bit_array - - @classmethod - def from_bits( - cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID - ) -> MessageRoad: - std_message = super().from_bits( - bit_array, is_wireless_message, sender_entity_id - ) - road_id = read_with_exist_flag(bit_array, cls.SIZE_ROAD_ENTITY_ID) - road_blockade_id = read_with_exist_flag( - bit_array, cls.SIZE_ROAD_BLOCKADE_ENTITY_ID - ) - road_blockade_repair_cost = read_with_exist_flag( - bit_array, cls.SIZE_ROAD_BLOCKADE_REPAIR_COST - ) - road_blockade_x = read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_X) - road_blockade_y = read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_Y) - is_passable = ( - True if read_with_exist_flag(bit_array, cls.SIZE_PASSABLE) else False - ) - road = Road(road_id or -1) - blockade = Blockade(road_blockade_id or -1) - blockade.set_repair_cost(road_blockade_repair_cost) - blockade.set_x(road_blockade_x) - blockade.set_y(road_blockade_y) - return MessageRoad( - is_wireless_message, - road, - False, - is_passable, - blockade, - StandardMessagePriority.NORMAL, - sender_entity_id, - std_message.get_ttl(), - ) - - def __hash__(self) -> int: - h = super().__hash__() - return hash( - ( - h, - self._road_entity_id, - self._road_blockade_entity_id, - self._road_blockade_repair_cost, - self._road_blockade_x, - self._road_blockade_y, - self._is_passable, - self._is_send_blockade_location, - ) - ) - - def __str__(self) -> str: - return f"MessageRoad(road_entity_id={self._road_entity_id}, road_blockade_entity_id={self._road_blockade_entity_id}, road_blockade_repair_cost={self._road_blockade_repair_cost}, road_blockade_x={self._road_blockade_x}, road_blockade_y={self._road_blockade_y}, is_passable={self._is_passable}, is_send_blockade_location={self._is_send_blockade_location})" + ACTION_REST: int = 0 + ACTION_MOVE: int = 1 + ACTION_CLEAR: int = 2 + + SIZE_ROAD_ENTITY_ID: int = 32 + SIZE_ROAD_BLOCKADE_ENTITY_ID: int = 32 + SIZE_ROAD_BLOCKADE_REPAIR_COST: int = 32 + SIZE_ROAD_BLOCKADE_X: int = 32 + SIZE_ROAD_BLOCKADE_Y: int = 32 + SIZE_PASSABLE: int = 1 + + def __init__( + self, + is_wireless_message: bool, + road: Road, + is_send_blockade_location: bool, + is_passable: Optional[bool], + blockade: Optional[Blockade], + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, + ): + super().__init__(is_wireless_message, priority, sender_entity_id, ttl) + self._road_entity_id: Optional[EntityID] = road.get_entity_id() + self._road_blockade_entity_id: Optional[EntityID] = None + self._road_blockade_repair_cost: Optional[int] = None + self._road_blockade_x: Optional[int] = None + self._road_blockade_y: Optional[int] = None + + if blockade: + self._road_blockade_entity_id = blockade.get_entity_id() + self._road_blockade_repair_cost = blockade.get_repair_cost() + if is_send_blockade_location: + self._road_blockade_x = blockade.get_x() or None + self._road_blockade_y = blockade.get_y() or None + + self._is_passable: Optional[bool] = is_passable + self._is_send_blockade_location: bool = is_send_blockade_location + + def get_road_entity_id(self) -> Optional[EntityID]: + return self._road_entity_id + + def get_road_blockade_entity_id(self) -> Optional[EntityID]: + return self._road_blockade_entity_id + + def get_road_blockade_repair_cost(self) -> Optional[int]: + return self._road_blockade_repair_cost + + def get_road_blockade_x(self) -> Optional[int]: + return self._road_blockade_x + + def get_road_blockade_y(self) -> Optional[int]: + return self._road_blockade_y + + def get_is_passable(self) -> Optional[bool]: + return self._is_passable + + def get_is_send_blockade_location(self) -> bool: + return self._is_send_blockade_location + + def get_bit_size(self) -> int: + return self.to_bits().__len__() + + def to_bits(self) -> bitarray: + bit_array = super().to_bits() + write_with_exist_flag( + bit_array, + self._road_entity_id.get_value() if self._road_entity_id else None, + self.SIZE_ROAD_ENTITY_ID, + ) + write_with_exist_flag( + bit_array, + self._road_blockade_entity_id.get_value() + if self._road_blockade_entity_id + else None, + self.SIZE_ROAD_BLOCKADE_ENTITY_ID, + ) + write_with_exist_flag( + bit_array, + self._road_blockade_repair_cost if self._road_blockade_repair_cost else None, + self.SIZE_ROAD_BLOCKADE_REPAIR_COST, + ) + if self._is_send_blockade_location: + write_with_exist_flag( + bit_array, + self._road_blockade_x if self._road_blockade_x else None, + self.SIZE_ROAD_BLOCKADE_X, + ) + write_with_exist_flag( + bit_array, + self._road_blockade_y if self._road_blockade_y else None, + self.SIZE_ROAD_BLOCKADE_Y, + ) + else: + write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_X) + write_with_exist_flag(bit_array, None, self.SIZE_ROAD_BLOCKADE_Y) + write_with_exist_flag( + bit_array, + self._is_passable if self._is_passable else None, + self.SIZE_PASSABLE, + ) + return bit_array + + @classmethod + def from_bits( + cls, bit_array: bitarray, is_wireless_message: bool, sender_entity_id: EntityID + ) -> MessageRoad: + std_message = super().from_bits(bit_array, is_wireless_message, sender_entity_id) + road_id = read_with_exist_flag(bit_array, cls.SIZE_ROAD_ENTITY_ID) + road_blockade_id = read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_ENTITY_ID) + road_blockade_repair_cost = read_with_exist_flag( + bit_array, cls.SIZE_ROAD_BLOCKADE_REPAIR_COST + ) + road_blockade_x = read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_X) + road_blockade_y = read_with_exist_flag(bit_array, cls.SIZE_ROAD_BLOCKADE_Y) + is_passable = True if read_with_exist_flag(bit_array, cls.SIZE_PASSABLE) else False + road = Road(road_id or -1) + blockade = Blockade(road_blockade_id or -1) + blockade.set_repair_cost(road_blockade_repair_cost) + blockade.set_x(road_blockade_x) + blockade.set_y(road_blockade_y) + return MessageRoad( + is_wireless_message, + road, + False, + is_passable, + blockade, + StandardMessagePriority.NORMAL, + sender_entity_id, + std_message.get_ttl(), + ) + + def __hash__(self) -> int: + h = super().__hash__() + return hash( + ( + h, + self._road_entity_id, + self._road_blockade_entity_id, + self._road_blockade_repair_cost, + self._road_blockade_x, + self._road_blockade_y, + self._is_passable, + self._is_send_blockade_location, + ) + ) + + def __str__(self) -> str: + return f"MessageRoad(road_entity_id={self._road_entity_id}, road_blockade_entity_id={self._road_blockade_entity_id}, road_blockade_repair_cost={self._road_blockade_repair_cost}, road_blockade_x={self._road_blockade_x}, road_blockade_y={self._road_blockade_y}, is_passable={self._is_passable}, is_send_blockade_location={self._is_send_blockade_location})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/standard_message.py b/src/adf_core_python/core/agent/communication/standard/bundle/standard_message.py index 34ec8f9..296cfd3 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/standard_message.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/standard_message.py @@ -6,66 +6,66 @@ from rcrscore.entities import EntityID from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, + CommunicationMessage, ) class StandardMessage(CommunicationMessage): - SIZE_TTL: int = 3 + SIZE_TTL: int = 3 - def __init__( - self, - is_wireless_message: bool, - priority: StandardMessagePriority, - sender_entity_id: EntityID, - ttl: Optional[int] = None, - ): - super().__init__(is_wireless_message) - self._priority = priority - self._sender_entity_id = sender_entity_id - self._ttl = ttl + def __init__( + self, + is_wireless_message: bool, + priority: StandardMessagePriority, + sender_entity_id: EntityID, + ttl: Optional[int] = None, + ): + super().__init__(is_wireless_message) + self._priority = priority + self._sender_entity_id = sender_entity_id + self._ttl = ttl - def get_sender_entity_id(self) -> EntityID: - return self._sender_entity_id + def get_sender_entity_id(self) -> EntityID: + return self._sender_entity_id - def get_priority(self) -> StandardMessagePriority: - return self._priority + def get_priority(self) -> StandardMessagePriority: + return self._priority - def get_ttl(self) -> Optional[int]: - return self._ttl + def get_ttl(self) -> Optional[int]: + return self._ttl - @classmethod - def from_bits( - cls, - bit_array: bitarray, - is_wireless_message: bool, - sender_entity_id: EntityID, - ) -> StandardMessage: - ttl = read_with_exist_flag(bit_array, cls.SIZE_TTL) - return StandardMessage( - is_wireless_message, - StandardMessagePriority.NORMAL, - sender_entity_id, - ttl, - ) + @classmethod + def from_bits( + cls, + bit_array: bitarray, + is_wireless_message: bool, + sender_entity_id: EntityID, + ) -> StandardMessage: + ttl = read_with_exist_flag(bit_array, cls.SIZE_TTL) + return StandardMessage( + is_wireless_message, + StandardMessagePriority.NORMAL, + sender_entity_id, + ttl, + ) - def to_bits(self) -> bitarray: - bit_array = bitarray() - write_with_exist_flag(bit_array, self._ttl, self.SIZE_TTL) - return bit_array + def to_bits(self) -> bitarray: + bit_array = bitarray() + write_with_exist_flag(bit_array, self._ttl, self.SIZE_TTL) + return bit_array - def get_bit_size(self) -> int: - raise NotImplementedError + def get_bit_size(self) -> int: + raise NotImplementedError - def __hash__(self) -> int: - return hash((self._sender_entity_id, self._priority, self._ttl)) + def __hash__(self) -> int: + return hash((self._sender_entity_id, self._priority, self._ttl)) - def __str__(self) -> str: - return f"StandardMessage(sender_entity_id={self._sender_entity_id}, priority={self._priority}, ttl={self._ttl})" + def __str__(self) -> str: + return f"StandardMessage(sender_entity_id={self._sender_entity_id}, priority={self._priority}, ttl={self._ttl})" diff --git a/src/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py b/src/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py index 9e45154..357a9ac 100644 --- a/src/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py +++ b/src/adf_core_python/core/agent/communication/standard/bundle/standard_message_priority.py @@ -2,23 +2,23 @@ class StandardMessagePriority(Enum): - """ - Standard message priorities. - """ + """ + Standard message priorities. + """ - LOW = 0 - NORMAL = 1 - HIGH = 2 + LOW = 0 + NORMAL = 1 + HIGH = 2 - def __str__(self) -> str: - return self.name.lower() + def __str__(self) -> str: + return self.name.lower() - def __lt__(self, other: object) -> bool: - if isinstance(other, StandardMessagePriority): - return self.value < other.value - return NotImplemented + def __lt__(self, other: object) -> bool: + if isinstance(other, StandardMessagePriority): + return self.value < other.value + return NotImplemented - def __le__(self, other: object) -> bool: - if isinstance(other, StandardMessagePriority): - return self.value <= other.value - return NotImplemented + def __le__(self, other: object) -> bool: + if isinstance(other, StandardMessagePriority): + return self.value <= other.value + return NotImplemented diff --git a/src/adf_core_python/core/agent/communication/standard/standard_communication_module.py b/src/adf_core_python/core/agent/communication/standard/standard_communication_module.py index f502651..1a91c03 100644 --- a/src/adf_core_python/core/agent/communication/standard/standard_communication_module.py +++ b/src/adf_core_python/core/agent/communication/standard/standard_communication_module.py @@ -8,169 +8,161 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.utility.bitarray_with_exits_flag import ( - read_with_exist_flag, - write_with_exist_flag, + read_with_exist_flag, + write_with_exist_flag, ) from adf_core_python.core.component.communication.communication_module import ( - CommunicationModule, + CommunicationModule, ) from adf_core_python.core.logger.logger import get_logger if TYPE_CHECKING: - from adf_core_python.core.agent.agent import Agent + from adf_core_python.core.agent.agent import Agent class StandardCommunicationModule(CommunicationModule): - ESCAPE_CHAR = bitarray("11111111") - SIZE_ID: int = 5 - SIZE_TTL: int = 3 - - def receive(self, agent: Agent, message_manager: MessageManager) -> None: - heard_commands = agent._agent_info.get_heard_commands() - for command in heard_commands: - if isinstance(command, AKSpeak): - sender_entity_id = command.agent_id - if sender_entity_id == agent.get_entity_id(): - continue - data = command.message - is_wireless_message = command.channel != 0 - - if len(data) == 0: - continue - - if is_wireless_message: - bit_array = bitarray() - bit_array.frombytes(data) - self.add_received_message( - message_manager, - is_wireless_message, - sender_entity_id, - bit_array, - ) - else: - try: - voice_message = data.decode("utf-8") - if voice_message.startswith("Help") or voice_message.startswith( - "Ouch" - ): - message_manager.add_heard_agent_help_message_count() - continue - except UnicodeDecodeError: - pass - - escape_char = self.ESCAPE_CHAR.tobytes()[0] - i = 0 - bit_array = bitarray() - a = bitarray() - a.frombytes(data) - while i < len(data): - if data[i] == escape_char: - if (i + 1) >= len(data): - self.add_received_message( - message_manager, - False, - sender_entity_id, - bit_array, - ) - break - elif data[i + 1] != escape_char: - self.add_received_message( - message_manager, - False, - sender_entity_id, - bit_array, - ) - bit_array.clear() - i += 1 # Skip the next character - continue - i += 1 # Skip the escaped character - bits = bitarray() - bits.frombytes(data[i].to_bytes(1, "big")) - bit_array.extend(bits) - i += 1 - - def send(self, agent: Agent, message_manager: MessageManager) -> None: - voice_message_limit_bytes = agent._scenario_info.get_value( - "comms.channels.0.messages.size", 256 - ) - left_voice_message_limit_bits = voice_message_limit_bytes * 8 - voice_message_bit_array = bitarray() - - send_messages = message_manager.get_channel_send_message_list() - - for channel in range(len(send_messages)): - for message in send_messages[channel]: - message_class_index = message_manager.get_message_class_index( - type(message) + ESCAPE_CHAR = bitarray("11111111") + SIZE_ID: int = 5 + SIZE_TTL: int = 3 + + def receive(self, agent: Agent, message_manager: MessageManager) -> None: + heard_commands = agent._agent_info.get_heard_commands() + for command in heard_commands: + if isinstance(command, AKSpeak): + sender_entity_id = command.agent_id + if sender_entity_id == agent.get_entity_id(): + continue + data = command.message + is_wireless_message = command.channel != 0 + + if len(data) == 0: + continue + + if is_wireless_message: + bit_array = bitarray() + bit_array.frombytes(data) + self.add_received_message( + message_manager, + is_wireless_message, + sender_entity_id, + bit_array, + ) + else: + try: + voice_message = data.decode("utf-8") + if voice_message.startswith("Help") or voice_message.startswith("Ouch"): + message_manager.add_heard_agent_help_message_count() + continue + except UnicodeDecodeError: + pass + + escape_char = self.ESCAPE_CHAR.tobytes()[0] + i = 0 + bit_array = bitarray() + a = bitarray() + a.frombytes(data) + while i < len(data): + if data[i] == escape_char: + if (i + 1) >= len(data): + self.add_received_message( + message_manager, + False, + sender_entity_id, + bit_array, + ) + break + elif data[i + 1] != escape_char: + self.add_received_message( + message_manager, + False, + sender_entity_id, + bit_array, ) - bit_array = bitarray() - - write_with_exist_flag(bit_array, message_class_index, self.SIZE_ID) - - bit_array.extend(message.to_bits()) - - if channel > 0: - agent.send_speak( - agent._agent_info.get_time(), - bit_array, - channel, - ) - else: - # bit_arrayを8bitごとに区切れるようにして、エスケープ処理を行う - if len(bit_array) % 8 != 0: - bit_array.extend([False] * (8 - len(bit_array) % 8)) - message_bit_size = len(bit_array) - if message_bit_size <= left_voice_message_limit_bits: - esceped_message_data = bitarray() - for i in range(len(bit_array) // 8): - if bit_array[(i * 8) : ((i + 1) * 8)] == self.ESCAPE_CHAR: - esceped_message_data.extend(self.ESCAPE_CHAR) - esceped_message_data.extend( - bit_array[(i * 8) : ((i + 1) * 8)] - ) - esceped_message_data.extend(self.ESCAPE_CHAR) - if len(esceped_message_data) <= voice_message_limit_bytes: - left_voice_message_limit_bits -= len(esceped_message_data) - voice_message_bit_array.extend(esceped_message_data) - - if len(voice_message_bit_array) > 0: - agent.send_speak( - agent._agent_info.get_time(), - voice_message_bit_array, - 0, - ) - - def add_received_message( - self, - message_manager: MessageManager, - is_wireless_message: bool, - sender_entity_id: EntityID, - data: bitarray, - ) -> None: - message_class_index = read_with_exist_flag(data, self.SIZE_ID) - if message_class_index is None or message_class_index < 0: - get_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}" - ).warning(f"Invalid message class index: {message_class_index}") - return - - message = message_manager.get_message_class(message_class_index) - if message is None: - get_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}" - ).warning(f"Invalid message class index: {message_class_index}") - return - - if issubclass(message, StandardMessage): - message_instance = message.from_bits( - data, is_wireless_message, sender_entity_id - ) - message_manager.add_received_message(message_instance) + bit_array.clear() + i += 1 # Skip the next character + continue + i += 1 # Skip the escaped character + bits = bitarray() + bits.frombytes(data[i].to_bytes(1, "big")) + bit_array.extend(bits) + i += 1 + + def send(self, agent: Agent, message_manager: MessageManager) -> None: + voice_message_limit_bytes = agent._scenario_info.get_value( + "comms.channels.0.messages.size", 256 + ) + left_voice_message_limit_bits = voice_message_limit_bytes * 8 + voice_message_bit_array = bitarray() + + send_messages = message_manager.get_channel_send_message_list() + + for channel in range(len(send_messages)): + for message in send_messages[channel]: + message_class_index = message_manager.get_message_class_index(type(message)) + bit_array = bitarray() + + write_with_exist_flag(bit_array, message_class_index, self.SIZE_ID) + + bit_array.extend(message.to_bits()) + + if channel > 0: + agent.send_speak( + agent._agent_info.get_time(), + bit_array, + channel, + ) else: - get_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}" - ).warning(f"Invalid message class: {message}") - return + # bit_arrayを8bitごとに区切れるようにして、エスケープ処理を行う + if len(bit_array) % 8 != 0: + bit_array.extend([False] * (8 - len(bit_array) % 8)) + message_bit_size = len(bit_array) + if message_bit_size <= left_voice_message_limit_bits: + esceped_message_data = bitarray() + for i in range(len(bit_array) // 8): + if bit_array[(i * 8) : ((i + 1) * 8)] == self.ESCAPE_CHAR: + esceped_message_data.extend(self.ESCAPE_CHAR) + esceped_message_data.extend(bit_array[(i * 8) : ((i + 1) * 8)]) + esceped_message_data.extend(self.ESCAPE_CHAR) + if len(esceped_message_data) <= voice_message_limit_bytes: + left_voice_message_limit_bits -= len(esceped_message_data) + voice_message_bit_array.extend(esceped_message_data) + + if len(voice_message_bit_array) > 0: + agent.send_speak( + agent._agent_info.get_time(), + voice_message_bit_array, + 0, + ) + + def add_received_message( + self, + message_manager: MessageManager, + is_wireless_message: bool, + sender_entity_id: EntityID, + data: bitarray, + ) -> None: + message_class_index = read_with_exist_flag(data, self.SIZE_ID) + if message_class_index is None or message_class_index < 0: + get_logger(f"{self.__class__.__module__}.{self.__class__.__qualname__}").warning( + f"Invalid message class index: {message_class_index}" + ) + return + + message = message_manager.get_message_class(message_class_index) + if message is None: + get_logger(f"{self.__class__.__module__}.{self.__class__.__qualname__}").warning( + f"Invalid message class index: {message_class_index}" + ) + return + + if issubclass(message, StandardMessage): + message_instance = message.from_bits(data, is_wireless_message, sender_entity_id) + message_manager.add_received_message(message_instance) + else: + get_logger(f"{self.__class__.__module__}.{self.__class__.__qualname__}").warning( + f"Invalid message class: {message}" + ) + return diff --git a/src/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py b/src/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py index 56b1f8f..3c0efb9 100644 --- a/src/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py +++ b/src/adf_core_python/core/agent/communication/standard/utility/apply_to_world_info.py @@ -1,337 +1,317 @@ from rcrscore.entities import ( - AmbulanceTeam, - Blockade, - Building, - Civilian, - FireBrigade, - PoliceForce, - Road, + AmbulanceTeam, + Blockade, + Building, + Civilian, + FireBrigade, + PoliceForce, + Road, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( - MessageAmbulanceTeam, + MessageAmbulanceTeam, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_building import ( - MessageBuilding, + MessageBuilding, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_civilian import ( - MessageCivilian, + MessageCivilian, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade import ( - MessageFireBrigade, + MessageFireBrigade, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_police_force import ( - MessagePoliceForce, + MessagePoliceForce, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_road import ( - MessageRoad, + MessageRoad, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.info.world_info import WorldInfo def apply_to_world_info( - world_info: WorldInfo, - standard_message: StandardMessage, + world_info: WorldInfo, + standard_message: StandardMessage, ) -> None: - """ - Apply to world info. + """ + Apply to world info. - PARAMETERS - ---------- - world_info: WorldInfo - The world info to apply to. - standard_message: StandardMessage - The standard message to apply to world info. - """ + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ - if isinstance(standard_message, MessageAmbulanceTeam): - _apply_to_world_info_ambulance_team(world_info, standard_message) - elif isinstance(standard_message, MessageFireBrigade): - _apply_to_world_info_fire_brigade(world_info, standard_message) - elif isinstance(standard_message, MessagePoliceForce): - _apply_to_world_info_police_force(world_info, standard_message) - elif isinstance(standard_message, MessageCivilian): - _apply_to_world_info_civilian(world_info, standard_message) - elif isinstance(standard_message, MessageBuilding): - _apply_to_world_info_building(world_info, standard_message) - elif isinstance(standard_message, MessageRoad): - _apply_to_world_info_road(world_info, standard_message) - else: - return + if isinstance(standard_message, MessageAmbulanceTeam): + _apply_to_world_info_ambulance_team(world_info, standard_message) + elif isinstance(standard_message, MessageFireBrigade): + _apply_to_world_info_fire_brigade(world_info, standard_message) + elif isinstance(standard_message, MessagePoliceForce): + _apply_to_world_info_police_force(world_info, standard_message) + elif isinstance(standard_message, MessageCivilian): + _apply_to_world_info_civilian(world_info, standard_message) + elif isinstance(standard_message, MessageBuilding): + _apply_to_world_info_building(world_info, standard_message) + elif isinstance(standard_message, MessageRoad): + _apply_to_world_info_road(world_info, standard_message) + else: + return def _apply_to_world_info_ambulance_team( - world_info: WorldInfo, - message_ambulance_team: MessageAmbulanceTeam, + world_info: WorldInfo, + message_ambulance_team: MessageAmbulanceTeam, ) -> None: - """ - Apply to world info for ambulance team. + """ + Apply to world info for ambulance team. - PARAMETERS - ---------- - world_info: WorldInfo - The world info to apply to. - standard_message: StandardMessage - The standard message to apply to world info. - """ - entity_id = message_ambulance_team.get_ambulance_team_entity_id() - if entity_id is None: - return - entity = world_info.get_entity(entity_id) - if entity is None: - ambulance = AmbulanceTeam(entity_id.get_value()) - if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: - ambulance.set_hp(hp) - if (damege := message_ambulance_team.get_ambulance_team_damage()) is not None: - ambulance.set_damage(damege) - if ( - buriedness := message_ambulance_team.get_ambulance_team_buriedness() - ) is not None: - ambulance.set_buriedness(buriedness) - if ( - position := message_ambulance_team.get_ambulance_team_position() - ) is not None: - ambulance.set_position(position) - world_info.add_entity(ambulance) - else: - if isinstance(entity, AmbulanceTeam): - if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: - entity.set_hp(hp) - if ( - damege := message_ambulance_team.get_ambulance_team_damage() - ) is not None: - entity.set_damage(damege) - if ( - buriedness := message_ambulance_team.get_ambulance_team_buriedness() - ) is not None: - entity.set_buriedness(buriedness) - if ( - position := message_ambulance_team.get_ambulance_team_position() - ) is not None: - entity.set_position(position) + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_ambulance_team.get_ambulance_team_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + ambulance = AmbulanceTeam(entity_id.get_value()) + if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: + ambulance.set_hp(hp) + if (damege := message_ambulance_team.get_ambulance_team_damage()) is not None: + ambulance.set_damage(damege) + if ( + buriedness := message_ambulance_team.get_ambulance_team_buriedness() + ) is not None: + ambulance.set_buriedness(buriedness) + if (position := message_ambulance_team.get_ambulance_team_position()) is not None: + ambulance.set_position(position) + world_info.add_entity(ambulance) + else: + if isinstance(entity, AmbulanceTeam): + if (hp := message_ambulance_team.get_ambulance_team_hp()) is not None: + entity.set_hp(hp) + if (damege := message_ambulance_team.get_ambulance_team_damage()) is not None: + entity.set_damage(damege) + if ( + buriedness := message_ambulance_team.get_ambulance_team_buriedness() + ) is not None: + entity.set_buriedness(buriedness) + if (position := message_ambulance_team.get_ambulance_team_position()) is not None: + entity.set_position(position) def _apply_to_world_info_fire_brigade( - world_info: WorldInfo, - message_fire_brigade: MessageFireBrigade, + world_info: WorldInfo, + message_fire_brigade: MessageFireBrigade, ) -> None: - """ - Apply to world info for fire brigade. + """ + Apply to world info for fire brigade. - PARAMETERS - ---------- - world_info: WorldInfo - The world info to apply to. - standard_message: StandardMessage - The standard message to apply to world info. - """ - entity_id = message_fire_brigade.get_fire_brigade_entity_id() - if entity_id is None: - return - entity = world_info.get_entity(entity_id) - if entity is None: - fire_brigade = FireBrigade(entity_id.get_value()) - if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: - fire_brigade.set_hp(hp) - if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: - fire_brigade.set_damage(damage) - if ( - buriedness := message_fire_brigade.get_fire_brigade_buriedness() - ) is not None: - fire_brigade.set_buriedness(buriedness) - if (position := message_fire_brigade.get_fire_brigade_position()) is not None: - fire_brigade.set_position(position) - if (water := message_fire_brigade.get_fire_brigade_water()) is not None: - fire_brigade.set_water(water) - world_info.add_entity(fire_brigade) - else: - if isinstance(entity, FireBrigade): - if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: - entity.set_hp(hp) - if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: - entity.set_damage(damage) - if ( - buriedness := message_fire_brigade.get_fire_brigade_buriedness() - ) is not None: - entity.set_buriedness(buriedness) - if ( - position := message_fire_brigade.get_fire_brigade_position() - ) is not None: - entity.set_position(position) - if (water := message_fire_brigade.get_fire_brigade_water()) is not None: - entity.set_water(water) + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_fire_brigade.get_fire_brigade_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + fire_brigade = FireBrigade(entity_id.get_value()) + if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: + fire_brigade.set_hp(hp) + if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: + fire_brigade.set_damage(damage) + if (buriedness := message_fire_brigade.get_fire_brigade_buriedness()) is not None: + fire_brigade.set_buriedness(buriedness) + if (position := message_fire_brigade.get_fire_brigade_position()) is not None: + fire_brigade.set_position(position) + if (water := message_fire_brigade.get_fire_brigade_water()) is not None: + fire_brigade.set_water(water) + world_info.add_entity(fire_brigade) + else: + if isinstance(entity, FireBrigade): + if (hp := message_fire_brigade.get_fire_brigade_hp()) is not None: + entity.set_hp(hp) + if (damage := message_fire_brigade.get_fire_brigade_damage()) is not None: + entity.set_damage(damage) + if (buriedness := message_fire_brigade.get_fire_brigade_buriedness()) is not None: + entity.set_buriedness(buriedness) + if (position := message_fire_brigade.get_fire_brigade_position()) is not None: + entity.set_position(position) + if (water := message_fire_brigade.get_fire_brigade_water()) is not None: + entity.set_water(water) def _apply_to_world_info_police_force( - world_info: WorldInfo, - message_police_force: MessagePoliceForce, + world_info: WorldInfo, + message_police_force: MessagePoliceForce, ) -> None: - """ - Apply to world info for police force. + """ + Apply to world info for police force. - PARAMETERS - ---------- - world_info: WorldInfo - The world info to apply to. - standard_message: StandardMessage - The standard message to apply to world info. - """ - entity_id = message_police_force.get_police_force_entity_id() - if entity_id is None: - return - entity = world_info.get_entity(entity_id) - if entity is None: - police_force = PoliceForce(entity_id.get_value()) - if (hp := message_police_force.get_police_force_hp()) is not None: - police_force.set_hp(hp) - if (damage := message_police_force.get_police_force_damage()) is not None: - police_force.set_damage(damage) - if ( - buriedness := message_police_force.get_police_force_buriedness() - ) is not None: - police_force.set_buriedness(buriedness) - if (position := message_police_force.get_police_force_position()) is not None: - police_force.set_position(position) - world_info.add_entity(police_force) - else: - if isinstance(entity, PoliceForce): - if (hp := message_police_force.get_police_force_hp()) is not None: - entity.set_hp(hp) - if (damage := message_police_force.get_police_force_damage()) is not None: - entity.set_damage(damage) - if ( - buriedness := message_police_force.get_police_force_buriedness() - ) is not None: - entity.set_buriedness(buriedness) - if ( - position := message_police_force.get_police_force_position() - ) is not None: - entity.set_position(position) + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_police_force.get_police_force_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + police_force = PoliceForce(entity_id.get_value()) + if (hp := message_police_force.get_police_force_hp()) is not None: + police_force.set_hp(hp) + if (damage := message_police_force.get_police_force_damage()) is not None: + police_force.set_damage(damage) + if (buriedness := message_police_force.get_police_force_buriedness()) is not None: + police_force.set_buriedness(buriedness) + if (position := message_police_force.get_police_force_position()) is not None: + police_force.set_position(position) + world_info.add_entity(police_force) + else: + if isinstance(entity, PoliceForce): + if (hp := message_police_force.get_police_force_hp()) is not None: + entity.set_hp(hp) + if (damage := message_police_force.get_police_force_damage()) is not None: + entity.set_damage(damage) + if (buriedness := message_police_force.get_police_force_buriedness()) is not None: + entity.set_buriedness(buriedness) + if (position := message_police_force.get_police_force_position()) is not None: + entity.set_position(position) def _apply_to_world_info_civilian( - world_info: WorldInfo, - message_civilian: MessageCivilian, + world_info: WorldInfo, + message_civilian: MessageCivilian, ) -> None: - """ - Apply to world info for civilian. + """ + Apply to world info for civilian. - PARAMETERS - ---------- - world_info: WorldInfo - The world info to apply to. - standard_message: StandardMessage - The standard message to apply to world info. - """ - entity_id = message_civilian.get_civilian_entity_id() - if entity_id is None: - return - entity = world_info.get_entity(entity_id) - if entity is None: - civilian = Civilian(entity_id.get_value()) - if (hp := message_civilian.get_civilian_hp()) is not None: - civilian.set_hp(hp) - if (damage := message_civilian.get_civilian_damage()) is not None: - civilian.set_damage(damage) - if (buriedness := message_civilian.get_civilian_buriedness()) is not None: - civilian.set_buriedness(buriedness) - if (position := message_civilian.get_civilian_position()) is not None: - civilian.set_position(position) - world_info.add_entity(civilian) - else: - if isinstance(entity, Civilian): - if (hp := message_civilian.get_civilian_hp()) is not None: - entity.set_hp(hp) - if (damage := message_civilian.get_civilian_damage()) is not None: - entity.set_damage(damage) - if (buriedness := message_civilian.get_civilian_buriedness()) is not None: - entity.set_buriedness(buriedness) - if (position := message_civilian.get_civilian_position()) is not None: - entity.set_position(position) + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_civilian.get_civilian_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + civilian = Civilian(entity_id.get_value()) + if (hp := message_civilian.get_civilian_hp()) is not None: + civilian.set_hp(hp) + if (damage := message_civilian.get_civilian_damage()) is not None: + civilian.set_damage(damage) + if (buriedness := message_civilian.get_civilian_buriedness()) is not None: + civilian.set_buriedness(buriedness) + if (position := message_civilian.get_civilian_position()) is not None: + civilian.set_position(position) + world_info.add_entity(civilian) + else: + if isinstance(entity, Civilian): + if (hp := message_civilian.get_civilian_hp()) is not None: + entity.set_hp(hp) + if (damage := message_civilian.get_civilian_damage()) is not None: + entity.set_damage(damage) + if (buriedness := message_civilian.get_civilian_buriedness()) is not None: + entity.set_buriedness(buriedness) + if (position := message_civilian.get_civilian_position()) is not None: + entity.set_position(position) def _apply_to_world_info_building( - world_info: WorldInfo, - message_building: MessageBuilding, + world_info: WorldInfo, + message_building: MessageBuilding, ) -> None: - """ - Apply to world info for building. + """ + Apply to world info for building. - PARAMETERS - ---------- - world_info: WorldInfo - The world info to apply to. - standard_message: StandardMessage - The standard message to apply to world info. - """ - entity_id = message_building.get_building_entity_id() - if entity_id is None: - return - entity = world_info.get_entity(entity_id) - if entity is None: - building = Building(entity_id.get_value()) - if (fieryness := message_building.get_building_fireyness()) is not None: - building.set_fieryness(fieryness) - if (brokenness := message_building.get_building_brokenness()) is not None: - building.set_brokenness(brokenness) - if (temperature := message_building.get_building_temperature()) is not None: - building.set_temperature(temperature) - world_info.add_entity(building) - else: - if isinstance(entity, Building): - if (fieryness := message_building.get_building_fireyness()) is not None: - entity.set_fieryness(fieryness) - if (brokenness := message_building.get_building_brokenness()) is not None: - entity.set_brokenness(brokenness) - if (temperature := message_building.get_building_temperature()) is not None: - entity.set_temperature(temperature) + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_building.get_building_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if entity is None: + building = Building(entity_id.get_value()) + if (fieryness := message_building.get_building_fireyness()) is not None: + building.set_fieryness(fieryness) + if (brokenness := message_building.get_building_brokenness()) is not None: + building.set_brokenness(brokenness) + if (temperature := message_building.get_building_temperature()) is not None: + building.set_temperature(temperature) + world_info.add_entity(building) + else: + if isinstance(entity, Building): + if (fieryness := message_building.get_building_fireyness()) is not None: + entity.set_fieryness(fieryness) + if (brokenness := message_building.get_building_brokenness()) is not None: + entity.set_brokenness(brokenness) + if (temperature := message_building.get_building_temperature()) is not None: + entity.set_temperature(temperature) def _apply_to_world_info_road( - world_info: WorldInfo, - message_road: MessageRoad, + world_info: WorldInfo, + message_road: MessageRoad, ) -> None: - """ - Apply to world info for road. + """ + Apply to world info for road. - PARAMETERS - ---------- - world_info: WorldInfo - The world info to apply to. - standard_message: StandardMessage - The standard message to apply to world info. - """ - entity_id = message_road.get_road_entity_id() - if entity_id is None: - return - entity = world_info.get_entity(entity_id) - if not isinstance(entity, Road): - return + PARAMETERS + ---------- + world_info: WorldInfo + The world info to apply to. + standard_message: StandardMessage + The standard message to apply to world info. + """ + entity_id = message_road.get_road_entity_id() + if entity_id is None: + return + entity = world_info.get_entity(entity_id) + if not isinstance(entity, Road): + return - blockade_entity_id = message_road.get_road_blockade_entity_id() - if blockade_entity_id is None: - return + blockade_entity_id = message_road.get_road_blockade_entity_id() + if blockade_entity_id is None: + return - blockade = world_info.get_entity(blockade_entity_id) - if blockade is None: - road_blockade = Blockade(blockade_entity_id.get_value()) - if (repair_cost := message_road.get_road_blockade_repair_cost()) is not None: - road_blockade.set_repair_cost(repair_cost) - if (x := message_road.get_road_blockade_x()) is not None: - road_blockade.set_x(x) - if (y := message_road.get_road_blockade_y()) is not None: - road_blockade.set_y(y) - world_info.add_entity(road_blockade) - else: - if isinstance(blockade, Blockade): - if ( - repair_cost := message_road.get_road_blockade_repair_cost() - ) is not None: - blockade.set_repair_cost(repair_cost) - if (x := message_road.get_road_blockade_x()) is not None: - blockade.set_x(x) - if (y := message_road.get_road_blockade_y()) is not None: - blockade.set_y(y) + blockade = world_info.get_entity(blockade_entity_id) + if blockade is None: + road_blockade = Blockade(blockade_entity_id.get_value()) + if (repair_cost := message_road.get_road_blockade_repair_cost()) is not None: + road_blockade.set_repair_cost(repair_cost) + if (x := message_road.get_road_blockade_x()) is not None: + road_blockade.set_x(x) + if (y := message_road.get_road_blockade_y()) is not None: + road_blockade.set_y(y) + world_info.add_entity(road_blockade) + else: + if isinstance(blockade, Blockade): + if (repair_cost := message_road.get_road_blockade_repair_cost()) is not None: + blockade.set_repair_cost(repair_cost) + if (x := message_road.get_road_blockade_x()) is not None: + blockade.set_x(x) + if (y := message_road.get_road_blockade_y()) is not None: + blockade.set_y(y) diff --git a/src/adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py b/src/adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py index 64ab01b..ec6b3b3 100644 --- a/src/adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py +++ b/src/adf_core_python/core/agent/communication/standard/utility/bitarray_with_exits_flag.py @@ -7,66 +7,66 @@ def write_with_exist_flag( - bit_array: bitarray, value: Optional[int], bit_size: int + bit_array: bitarray, value: Optional[int], bit_size: int ) -> None: - """ - Write value to bit_array with an exist flag. - If value is None, write IS_NOT_EXIST_FLAG to bit_array. - If value is not None, write IS_EXIST_FLAG to bit_array and then write value to bit_array. + """ + Write value to bit_array with an exist flag. + If value is None, write IS_NOT_EXIST_FLAG to bit_array. + If value is not None, write IS_EXIST_FLAG to bit_array and then write value to bit_array. - PARAMETERS - ---------- - bit_array: bitarray - The bitarray to write to. - value: Optional[int] - The value to write. - bit_size: int - The number of bits to use to write value. + PARAMETERS + ---------- + bit_array: bitarray + The bitarray to write to. + value: Optional[int] + The value to write. + bit_size: int + The number of bits to use to write value. - RAISES - ------ - ValueError - If value is too large to fit into bit_size bits. - """ - if value is None: - bit_array.extend([IS_NOT_EXIST_FLAG]) - else: - bit_array.extend([IS_EXIST_FLAG]) - bit_value = bitarray(f"{value:0{bit_size}b}") - if len(bit_value) > bit_size: - raise ValueError(f"Value {value} is too large to fit into {bit_size} bits") - bit_array.extend(bit_value) + RAISES + ------ + ValueError + If value is too large to fit into bit_size bits. + """ + if value is None: + bit_array.extend([IS_NOT_EXIST_FLAG]) + else: + bit_array.extend([IS_EXIST_FLAG]) + bit_value = bitarray(f"{value:0{bit_size}b}") + if len(bit_value) > bit_size: + raise ValueError(f"Value {value} is too large to fit into {bit_size} bits") + bit_array.extend(bit_value) def read_with_exist_flag(bit_array: bitarray, size: int) -> Optional[int]: - """ - Read value from bit_array with an exist flag. - If the first bit is IS_NOT_EXIST_FLAG, return None. - If the first bit is IS_EXIST_FLAG, read and return value from bit_array. + """ + Read value from bit_array with an exist flag. + If the first bit is IS_NOT_EXIST_FLAG, return None. + If the first bit is IS_EXIST_FLAG, read and return value from bit_array. - PARAMETERS - ---------- - bit_array: bitarray - The bitarray to read from. - size: int - The number of bits to read to get value. + PARAMETERS + ---------- + bit_array: bitarray + The bitarray to read from. + size: int + The number of bits to read to get value. - RETURNS - ------- - Optional[int] - The value read from bit_array. + RETURNS + ------- + Optional[int] + The value read from bit_array. - RAISES - ------ - ValueError - If the first bit is not IS_EXIST_FLAG or IS_NOT_EXIST_FLAG. - """ - exist_flag = bit_array.pop(0) - if exist_flag == IS_NOT_EXIST_FLAG: - return None - elif exist_flag == IS_EXIST_FLAG: - value = int(bit_array[:size].to01(), 2) - del bit_array[:size] - return value - else: - raise ValueError("Invalid exist flag") + RAISES + ------ + ValueError + If the first bit is not IS_EXIST_FLAG or IS_NOT_EXIST_FLAG. + """ + exist_flag = bit_array.pop(0) + if exist_flag == IS_NOT_EXIST_FLAG: + return None + elif exist_flag == IS_EXIST_FLAG: + value = int(bit_array[:size].to01(), 2) + del bit_array[:size] + return value + else: + raise ValueError("Invalid exist flag") diff --git a/src/adf_core_python/core/agent/config/module_config.py b/src/adf_core_python/core/agent/config/module_config.py index 7c65649..25ff869 100644 --- a/src/adf_core_python/core/agent/config/module_config.py +++ b/src/adf_core_python/core/agent/config/module_config.py @@ -5,86 +5,86 @@ class ModuleConfig(Config): - DEFAULT_CONFIG_FILE_NAME: Final[str] = "config/module.yaml" + DEFAULT_CONFIG_FILE_NAME: Final[str] = "config/module.yaml" - def __init__(self, config_file_name: str = DEFAULT_CONFIG_FILE_NAME): - """ - Constructor + def __init__(self, config_file_name: str = DEFAULT_CONFIG_FILE_NAME): + """ + Constructor - Parameters - ---------- - config_file_name : str, optional - Configuration file name, by default DEFAULT_CONFIG_FILE_NAME + Parameters + ---------- + config_file_name : str, optional + Configuration file name, by default DEFAULT_CONFIG_FILE_NAME - Raises - ------ - FileNotFoundError - If config file not found - Exception - If error reading config file + Raises + ------ + FileNotFoundError + If config file not found + Exception + If error reading config file - Examples - -------- - >>> config = ModuleConfig("config/module.yaml") - >>> config.get_value("DefaultTacticsPoliceOffice.TargetAllocator") - "sample_team.module.complex.SamplePoliceTargetAllocator" - """ - super().__init__() - data = self._read_from_yaml(config_file_name) - flatten_data = self._flatten(data) - for key, value in flatten_data.items(): - self.set_value(key, value) + Examples + -------- + >>> config = ModuleConfig("config/module.yaml") + >>> config.get_value("DefaultTacticsPoliceOffice.TargetAllocator") + "sample_team.module.complex.SamplePoliceTargetAllocator" + """ + super().__init__() + data = self._read_from_yaml(config_file_name) + flatten_data = self._flatten(data) + for key, value in flatten_data.items(): + self.set_value(key, value) - def _read_from_yaml(self, file_name: str) -> dict[str, Any]: - """ - Read configuration from yaml file + def _read_from_yaml(self, file_name: str) -> dict[str, Any]: + """ + Read configuration from yaml file - Parameters - ---------- - file_name : str - Configuration file name + Parameters + ---------- + file_name : str + Configuration file name - Returns - ------- - dict[str, Any] - Configuration data - """ - try: - with open(file_name, mode="r", encoding="utf-8") as file: - data = safe_load(file) - except FileNotFoundError: - raise FileNotFoundError(f"Config file not found: {file_name}") - except Exception as e: - raise Exception(f"Error reading config file: {file_name}, {e}") + Returns + ------- + dict[str, Any] + Configuration data + """ + try: + with open(file_name, mode="r", encoding="utf-8") as file: + data = safe_load(file) + except FileNotFoundError: + raise FileNotFoundError(f"Config file not found: {file_name}") + except Exception as e: + raise Exception(f"Error reading config file: {file_name}, {e}") - return data + return data - def _flatten( - self, data: dict[str, Any], parent_key: str = "", sep: str = "." - ) -> dict[str, Any]: - """ - Flatten nested dictionary to a single level dictionary + def _flatten( + self, data: dict[str, Any], parent_key: str = "", sep: str = "." + ) -> dict[str, Any]: + """ + Flatten nested dictionary to a single level dictionary - Parameters - ---------- - data : dict[str, Any] - Nested dictionary - parent_key : str, optional - Parent key, by default "" - sep : str, optional - Separator, by default "." + Parameters + ---------- + data : dict[str, Any] + Nested dictionary + parent_key : str, optional + Parent key, by default "" + sep : str, optional + Separator, by default "." - Returns - ------- - dict[str, Any] - Flattened dictionary - """ - flatten_data: dict[str, Any] = {} - for key, value in data.items(): - new_key = f"{parent_key}{sep}{key}" if parent_key else key - if isinstance(value, dict): - v: dict[str, Any] = value - flatten_data.update(self._flatten(v, new_key, sep=sep)) - else: - flatten_data[new_key] = value - return flatten_data + Returns + ------- + dict[str, Any] + Flattened dictionary + """ + flatten_data: dict[str, Any] = {} + for key, value in data.items(): + new_key = f"{parent_key}{sep}{key}" if parent_key else key + if isinstance(value, dict): + v: dict[str, Any] = value + flatten_data.update(self._flatten(v, new_key, sep=sep)) + else: + flatten_data[new_key] = value + return flatten_data diff --git a/src/adf_core_python/core/agent/develop/develop_data.py b/src/adf_core_python/core/agent/develop/develop_data.py index 7d7c551..35bcb13 100644 --- a/src/adf_core_python/core/agent/develop/develop_data.py +++ b/src/adf_core_python/core/agent/develop/develop_data.py @@ -3,68 +3,68 @@ class DevelopData: - DEFAULT_FILE_NAME: Final[str] = "config/develop.json" + DEFAULT_FILE_NAME: Final[str] = "config/develop.json" - def __init__( - self, is_develop_mode: bool = False, file_name: str = DEFAULT_FILE_NAME - ) -> None: - """ - Constructor - """ - self._develop_data: dict[str, Any] = self._set_data_from_json(file_name) - self._is_develop_mode: bool = is_develop_mode + def __init__( + self, is_develop_mode: bool = False, file_name: str = DEFAULT_FILE_NAME + ) -> None: + """ + Constructor + """ + self._develop_data: dict[str, Any] = self._set_data_from_json(file_name) + self._is_develop_mode: bool = is_develop_mode - self._set_data_from_json(file_name) + self._set_data_from_json(file_name) - def _set_data_from_json(self, file_name: str) -> dict[str, Any]: - """ - Set data from json + def _set_data_from_json(self, file_name: str) -> dict[str, Any]: + """ + Set data from json - Parameters - ---------- - file_name : str, optional - Develop file name, by default DEFAULT_FILE_NAME + Parameters + ---------- + file_name : str, optional + Develop file name, by default DEFAULT_FILE_NAME - Returns - ------- - dict[str, Any] - Develop data - """ - try: - with open(file_name, mode="r", encoding="utf-8") as file: - return json.load(file) - except FileNotFoundError: - raise FileNotFoundError(f"Develop file not found: {file_name}") - except Exception as e: - raise Exception(f"Error reading develop file: {file_name}, {e}") + Returns + ------- + dict[str, Any] + Develop data + """ + try: + with open(file_name, mode="r", encoding="utf-8") as file: + return json.load(file) + except FileNotFoundError: + raise FileNotFoundError(f"Develop file not found: {file_name}") + except Exception as e: + raise Exception(f"Error reading develop file: {file_name}, {e}") - def is_develop_mode(self) -> bool: - """ - Check if develop mode is enabled + def is_develop_mode(self) -> bool: + """ + Check if develop mode is enabled - Returns - ------- - bool - True if develop mode is enabled - """ - return self._is_develop_mode + Returns + ------- + bool + True if develop mode is enabled + """ + return self._is_develop_mode - def get_value(self, key: str, default_value: Any = None) -> Any: - """ - Get value from develop data - If develop mode is disabled, return default value + def get_value(self, key: str, default_value: Any = None) -> Any: + """ + Get value from develop data + If develop mode is disabled, return default value - Parameters - ---------- - key : str - Key + Parameters + ---------- + key : str + Key - Returns - ------- - Any - Value - """ - if not self._is_develop_mode: - return default_value + Returns + ------- + Any + Value + """ + if not self._is_develop_mode: + return default_value - return self._develop_data.get(key, default_value) + return self._develop_data.get(key, default_value) diff --git a/src/adf_core_python/core/agent/info/agent_info.py b/src/adf_core_python/core/agent/info/agent_info.py index 5dea6a5..20658bb 100644 --- a/src/adf_core_python/core/agent/info/agent_info.py +++ b/src/adf_core_python/core/agent/info/agent_info.py @@ -13,179 +13,179 @@ from adf_core_python.core.agent.action.action import Action if TYPE_CHECKING: - from adf_core_python.core.agent.agent import Agent + from adf_core_python.core.agent.agent import Agent class AgentInfo: - def __init__(self, agent: Agent, world_model: WorldModel): - self._agent: Agent = agent - self._world_model: WorldModel = world_model - self._time: int = 0 - self._action_history: dict[int, Action] = {} - self._heard_commands: list[Command] = [] - self._change_set: ChangeSet = ChangeSet() - self._start_think_time: float = 0.0 - - def set_time(self, time: int) -> None: - """ - Set the current time of the agent - - Parameters - ---------- - time : int - Current time - """ - self._time = time - - def get_time(self) -> int: - """ - Get the current time of the agent - - Returns - ------- - int - Current time - """ - return self._time - - def set_heard_commands(self, heard_commands: list[Command]) -> None: - """ - Set the heard commands - - Parameters - ---------- - heard_commands : list[Command] - Heard commands - """ - self._heard_commands = heard_commands - - def get_heard_commands(self) -> list[Command]: - """ - Get the heard commands - - Returns - ------- - list[Command] - Heard commands - """ - return self._heard_commands - - def get_entity_id(self) -> EntityID: - """ - Get the entity ID of the agent - - Returns - ------- - EntityID - Entity ID of the agent - """ - # TODO: Agent class should return EntityID instead of EntityID | None - return self._agent.get_entity_id() - - def get_myself(self) -> Entity | None: - """ - Get the entity of the agent - - Returns - ------- - Entity - Entity of the agent - """ - return self._world_model.get_entity(self.get_entity_id()) - - def get_position_entity_id(self) -> EntityID | None: - """ - Get the position entity ID of the agent - - Returns - ------- - EntityID - Position entity ID of the agent - """ - entity = self._world_model.get_entity(self.get_entity_id()) - if entity is None: - return None - - if isinstance(entity, Human): - return entity.get_position() - else: - return entity.get_entity_id() - - def set_change_set(self, change_set: ChangeSet) -> None: - """ - Set the change set - - Parameters - ---------- - change_set : ChangeSet - Change set - """ - self._change_set = change_set - - def get_change_set(self) -> ChangeSet: - """ - Get the change set - - Returns - ------- - ChangeSet - Change set - """ - return self._change_set - - def some_one_on_board(self) -> Human | None: - """ - Get the human if someone is on board - - Returns - ------- - Human | None - Human if someone is on board, None otherwise - """ - entity_id: EntityID = self.get_entity_id() - for entity in self._world_model.get_entities(): - if isinstance(entity, Civilian): - if entity.get_position() == entity_id: - return entity - return None - - def get_executed_action(self, time: int) -> Action | None: - """ - Get the executed action at the given time - - Parameters - ---------- - time : int - Time - """ - return self._action_history.get(time) - - def set_executed_action(self, time: int, action: Action) -> None: - """ - Set the executed action at the given time - - Parameters - ---------- - time : int - Time - action : Action - Executed action - """ - self._action_history[time] = action - - def record_think_start_time(self) -> None: - """ - Record the start time of thinking - """ - self._start_think_time = time() - - def get_think_time(self) -> float: - """ - Get the time taken for thinking - - Returns - ------- - float - Time taken for thinking - """ - return time() - self._start_think_time + def __init__(self, agent: Agent, world_model: WorldModel): + self._agent: Agent = agent + self._world_model: WorldModel = world_model + self._time: int = 0 + self._action_history: dict[int, Action] = {} + self._heard_commands: list[Command] = [] + self._change_set: ChangeSet = ChangeSet() + self._start_think_time: float = 0.0 + + def set_time(self, time: int) -> None: + """ + Set the current time of the agent + + Parameters + ---------- + time : int + Current time + """ + self._time = time + + def get_time(self) -> int: + """ + Get the current time of the agent + + Returns + ------- + int + Current time + """ + return self._time + + def set_heard_commands(self, heard_commands: list[Command]) -> None: + """ + Set the heard commands + + Parameters + ---------- + heard_commands : list[Command] + Heard commands + """ + self._heard_commands = heard_commands + + def get_heard_commands(self) -> list[Command]: + """ + Get the heard commands + + Returns + ------- + list[Command] + Heard commands + """ + return self._heard_commands + + def get_entity_id(self) -> EntityID: + """ + Get the entity ID of the agent + + Returns + ------- + EntityID + Entity ID of the agent + """ + # TODO: Agent class should return EntityID instead of EntityID | None + return self._agent.get_entity_id() + + def get_myself(self) -> Entity | None: + """ + Get the entity of the agent + + Returns + ------- + Entity + Entity of the agent + """ + return self._world_model.get_entity(self.get_entity_id()) + + def get_position_entity_id(self) -> EntityID | None: + """ + Get the position entity ID of the agent + + Returns + ------- + EntityID + Position entity ID of the agent + """ + entity = self._world_model.get_entity(self.get_entity_id()) + if entity is None: + return None + + if isinstance(entity, Human): + return entity.get_position() + else: + return entity.get_entity_id() + + def set_change_set(self, change_set: ChangeSet) -> None: + """ + Set the change set + + Parameters + ---------- + change_set : ChangeSet + Change set + """ + self._change_set = change_set + + def get_change_set(self) -> ChangeSet: + """ + Get the change set + + Returns + ------- + ChangeSet + Change set + """ + return self._change_set + + def some_one_on_board(self) -> Human | None: + """ + Get the human if someone is on board + + Returns + ------- + Human | None + Human if someone is on board, None otherwise + """ + entity_id: EntityID = self.get_entity_id() + for entity in self._world_model.get_entities(): + if isinstance(entity, Civilian): + if entity.get_position() == entity_id: + return entity + return None + + def get_executed_action(self, time: int) -> Action | None: + """ + Get the executed action at the given time + + Parameters + ---------- + time : int + Time + """ + return self._action_history.get(time) + + def set_executed_action(self, time: int, action: Action) -> None: + """ + Set the executed action at the given time + + Parameters + ---------- + time : int + Time + action : Action + Executed action + """ + self._action_history[time] = action + + def record_think_start_time(self) -> None: + """ + Record the start time of thinking + """ + self._start_think_time = time() + + def get_think_time(self) -> float: + """ + Get the time taken for thinking + + Returns + ------- + float + Time taken for thinking + """ + return time() - self._start_think_time diff --git a/src/adf_core_python/core/agent/info/scenario_info.py b/src/adf_core_python/core/agent/info/scenario_info.py index 29f4244..6e26568 100644 --- a/src/adf_core_python/core/agent/info/scenario_info.py +++ b/src/adf_core_python/core/agent/info/scenario_info.py @@ -7,111 +7,111 @@ class Mode(IntEnum): - NON_PRECOMPUTE = 0 - PRECOMPUTED = 1 - PRECOMPUTATION = 2 + NON_PRECOMPUTE = 0 + PRECOMPUTED = 1 + PRECOMPUTATION = 2 class ScenarioInfoKeys: - KERNEL_PERCEPTION = "kernel.perception" - PERCEPTION_LOS_PRECISION_HP = "perception.los.precision.hp" - CLEAR_REPAIR_RAD = "clear.repair.rad" - FIRE_TANK_REFILL_HYDRANT_RATE = "fire.tank.refill_hydrant_rate" - SCENARIO_AGENTS_PF = "scenario.agents.pf" - SCENARIO_AGENTS_FS = "scenario.agents.fs" - VOICE_MESSAGES_SIZE = "comms.channels.0.messages.size" - FIRE_TANK_REFILL_RATE = "fire.tank.refill_rate" - KERNEL_TIMESTEPS = "kernel.timesteps" - FIRE_EXTINGUISH_MAX_SUM = "fire.extinguish.max-sum" - COMMUNICATION_CHANNELS_MAX_PLATOON = "comms.channels.max.platoon" - KERNEL_AGENTS_THINK_TIME = "kernel.agents.think-time" - FIRE_TANK_MAXIMUM = "fire.tank.maximum" - CLEAR_REPAIR_RATE = "clear.repair.rate" - KERNEL_STARTUP_CONNECT_TIME = "kernel.startup.connect-time" - KERNEL_HOST = "kernel.host" - SCENARIO_AGENTS_AT = "scenario.agents.at" - PERCEPTION_LOS_MAX_DISTANCE = "perception.los.max-distance" - SCENARIO_AGENTS_FB = "scenario.agents.fb" - SCENARIO_AGENTS_PO = "scenario.agents.po" - KERNEL_COMMUNICATION_MODEL = "kernel.communication-model" - PERCEPTION_LOS_PRECISION_DAMAGE = "perception.los.precision.damage" - SCENARIO_AGENTS_AC = "scenario.agents.ac" - COMMUNICATION_CHANNELS_MAX_OFFICE = "comms.channels.max.centre" - FIRE_EXTINGUISH_MAX_DISTANCE = "fire.extinguish.max-distance" - KERNEL_AGENTS_IGNOREUNTIL = "kernel.agents.ignoreuntil" - CLEAR_REPAIR_DISTANCE = "clear.repair.distance" - COMMUNICATION_CHANNELS_COUNT = "comms.channels.count" + KERNEL_PERCEPTION = "kernel.perception" + PERCEPTION_LOS_PRECISION_HP = "perception.los.precision.hp" + CLEAR_REPAIR_RAD = "clear.repair.rad" + FIRE_TANK_REFILL_HYDRANT_RATE = "fire.tank.refill_hydrant_rate" + SCENARIO_AGENTS_PF = "scenario.agents.pf" + SCENARIO_AGENTS_FS = "scenario.agents.fs" + VOICE_MESSAGES_SIZE = "comms.channels.0.messages.size" + FIRE_TANK_REFILL_RATE = "fire.tank.refill_rate" + KERNEL_TIMESTEPS = "kernel.timesteps" + FIRE_EXTINGUISH_MAX_SUM = "fire.extinguish.max-sum" + COMMUNICATION_CHANNELS_MAX_PLATOON = "comms.channels.max.platoon" + KERNEL_AGENTS_THINK_TIME = "kernel.agents.think-time" + FIRE_TANK_MAXIMUM = "fire.tank.maximum" + CLEAR_REPAIR_RATE = "clear.repair.rate" + KERNEL_STARTUP_CONNECT_TIME = "kernel.startup.connect-time" + KERNEL_HOST = "kernel.host" + SCENARIO_AGENTS_AT = "scenario.agents.at" + PERCEPTION_LOS_MAX_DISTANCE = "perception.los.max-distance" + SCENARIO_AGENTS_FB = "scenario.agents.fb" + SCENARIO_AGENTS_PO = "scenario.agents.po" + KERNEL_COMMUNICATION_MODEL = "kernel.communication-model" + PERCEPTION_LOS_PRECISION_DAMAGE = "perception.los.precision.damage" + SCENARIO_AGENTS_AC = "scenario.agents.ac" + COMMUNICATION_CHANNELS_MAX_OFFICE = "comms.channels.max.centre" + FIRE_EXTINGUISH_MAX_DISTANCE = "fire.extinguish.max-distance" + KERNEL_AGENTS_IGNOREUNTIL = "kernel.agents.ignoreuntil" + CLEAR_REPAIR_DISTANCE = "clear.repair.distance" + COMMUNICATION_CHANNELS_COUNT = "comms.channels.count" class ScenarioInfo: - def __init__(self, config: Config, mode: Mode): - """ - Constructor - - Parameters - ---------- - config : Config - Configuration - mode : Mode - Mode of the scenario - """ - self._config: Config = config - self._mode: Mode = mode - - def set_config(self, config: Config) -> None: - """ - Set the configuration - - Parameters - ---------- - config : Config - Configuration - """ - self._config = config - - def get_config(self) -> Config: - """ - Get the configuration - - Returns - ------- - Config - Configuration - """ - return self._config - - def get_mode(self) -> Mode: - """ - Get the mode of the scenario - - Returns - ------- - Mode - Mode of the scenario - """ - return self._mode - - def get_value(self, key: str, default: T) -> T: - """ - Get the value of the configuration - - Parameters - ---------- - key : str - Key of the configuration - default : Any - Default value of the configuration - - Returns - ------- - Any - Value of the configuration - """ - value = self._config.get_value(key, default) - if not isinstance(value, type(default)): - try: - return type(default)(value) # type: ignore - except (ValueError, TypeError): - # 型変換に失敗した場合はそのままデフォルト値を返す - return default - return value + def __init__(self, config: Config, mode: Mode): + """ + Constructor + + Parameters + ---------- + config : Config + Configuration + mode : Mode + Mode of the scenario + """ + self._config: Config = config + self._mode: Mode = mode + + def set_config(self, config: Config) -> None: + """ + Set the configuration + + Parameters + ---------- + config : Config + Configuration + """ + self._config = config + + def get_config(self) -> Config: + """ + Get the configuration + + Returns + ------- + Config + Configuration + """ + return self._config + + def get_mode(self) -> Mode: + """ + Get the mode of the scenario + + Returns + ------- + Mode + Mode of the scenario + """ + return self._mode + + def get_value(self, key: str, default: T) -> T: + """ + Get the value of the configuration + + Parameters + ---------- + key : str + Key of the configuration + default : Any + Default value of the configuration + + Returns + ------- + Any + Value of the configuration + """ + value = self._config.get_value(key, default) + if not isinstance(value, type(default)): + try: + return type(default)(value) # type: ignore + except (ValueError, TypeError): + # 型変換に失敗した場合はそのままデフォルト値を返す + return default + return value diff --git a/src/adf_core_python/core/agent/info/world_info.py b/src/adf_core_python/core/agent/info/world_info.py index acea5da..0fce3a7 100644 --- a/src/adf_core_python/core/agent/info/world_info.py +++ b/src/adf_core_python/core/agent/info/world_info.py @@ -9,206 +9,204 @@ class WorldInfo: - def __init__(self, world_model: WorldModel): - self._world_model: WorldModel = world_model - self._time: int = 0 - self._is_run_rollback: bool = False - self._rollback: dict[EntityID, dict[int, dict[int, Any]]] = {} - self._change_set: ChangeSet - - def get_world_model(self) -> WorldModel: - """ - Get the world model - - Returns - ------- - WorldModel - World model - """ - return self._world_model - - def set_change_set(self, change_set: ChangeSet) -> None: - """ - Set the change set - - Parameters - ---------- - change_set : ChangeSet - Change set - """ - self._change_set = change_set - - def get_entity(self, entity_id: EntityID) -> Optional[Entity]: - """ - Get the entity - - Parameters - ---------- - entity_id : EntityID - Entity ID - - Returns - ------- - Optional[Entity] - Entity - """ - return self._world_model.get_entity(entity_id) - - def get_entity_ids_of_types( - self, entity_types: list[type[Entity]] - ) -> list[EntityID]: - """ - Get the entity IDs of the specified types - - Parameters - ---------- - entity_types : list[type[Entity]] - List of entity types - - Returns - ------- - list[EntityID] - Entity IDs - """ - entity_ids: list[EntityID] = [] - for entity in self._world_model.get_entities(): - if any(isinstance(entity, entity_type) for entity_type in entity_types): - entity_ids.append(entity.get_entity_id()) - - return entity_ids - - def get_entities_of_types(self, entity_types: list[type[Entity]]) -> list[Entity]: - """ - Get the entities of the specified types - - Parameters - ---------- - entity_types : list[type[Entity]] - List of entity types - - Returns - ------- - list[Entity] - Entities - """ - entities: list[Entity] = [] - for entity in self._world_model.get_entities(): - if any(isinstance(entity, entity_type) for entity_type in entity_types): - entities.append(entity) - - return entities - - def get_distance(self, entity_id1: EntityID, entity_id2: EntityID) -> float: - """ - Get the distance between two entities - - Parameters - ---------- - entity_id1 : EntityID - Entity ID 1 - entity_id2 : EntityID - Entity ID 2 - - Returns - ------- - float - Distance - - Raises - ------ - ValueError - If one or both entities are invalid or the location is invalid - """ - entity1: Optional[Entity] = self.get_entity(entity_id1) - entity2: Optional[Entity] = self.get_entity(entity_id2) - if entity1 is None or entity2 is None: - raise ValueError( - f"One or both entities are invalid: entity_id1={entity_id1}, entity_id2={entity_id2}, entity1={entity1}, entity2={entity2}" - ) - - location1_x, location1_y = entity1.get_x(), entity1.get_y() - location2_x, location2_y = entity2.get_x(), entity2.get_y() - if ( - location1_x is None - or location1_y is None - or location2_x is None - or location2_y is None - ): - raise ValueError( - f"Invalid location: entity_id1={entity_id1}, entity_id2={entity_id2}, location1_x={location1_x}, location1_y={location1_y}, location2_x={location2_x}, location2_y={location2_y}" - ) - - distance: float = ( - (location1_x - location2_x) ** 2 + (location1_y - location2_y) ** 2 - ) ** 0.5 - - return distance - - def get_entity_position(self, entity_id: EntityID) -> EntityID | None: - """ - Get the entity position - - Parameters - ---------- - entity_id : EntityID - Entity ID - - Returns - ------- - EntityID - Entity position - - Raises - ------ - ValueError - If the entity is invalid - """ - entity = self.get_entity(entity_id) - if entity is None: - raise ValueError(f"Invalid entity: entity_id={entity_id}, entity={entity}") - if isinstance(entity, Area): - return entity.get_entity_id() - if isinstance(entity, Human): - return entity.get_position() - if isinstance(entity, Blockade): - return entity.get_position() - raise ValueError(f"Invalid entity type: entity_id={entity_id}, entity={entity}") - - def get_change_set(self) -> ChangeSet: - """ - Get the change set - - Returns - ------- - ChangeSet - Change set - """ - return self._change_set - - def get_blockades(self, area: Area) -> set[Blockade]: - """ - Get the blockades in the area - - Returns - ------- - ChangeSet - Blockade - """ - blockades = set() - if blockade_entity_ids := area.get_blockades(): - for blockade_entity_id in blockade_entity_ids: - blockades_entity = self.get_entity(blockade_entity_id) - if isinstance(blockades_entity, Blockade): - blockades.add(blockades_entity) - return blockades - - def add_entity(self, entity: Entity) -> None: - """ - Add the entity - - Parameters - ---------- - entity : Entity - Entity - """ - self._world_model.add_entity(entity) + def __init__(self, world_model: WorldModel): + self._world_model: WorldModel = world_model + self._time: int = 0 + self._is_run_rollback: bool = False + self._rollback: dict[EntityID, dict[int, dict[int, Any]]] = {} + self._change_set: ChangeSet + + def get_world_model(self) -> WorldModel: + """ + Get the world model + + Returns + ------- + WorldModel + World model + """ + return self._world_model + + def set_change_set(self, change_set: ChangeSet) -> None: + """ + Set the change set + + Parameters + ---------- + change_set : ChangeSet + Change set + """ + self._change_set = change_set + + def get_entity(self, entity_id: EntityID) -> Optional[Entity]: + """ + Get the entity + + Parameters + ---------- + entity_id : EntityID + Entity ID + + Returns + ------- + Optional[Entity] + Entity + """ + return self._world_model.get_entity(entity_id) + + def get_entity_ids_of_types(self, entity_types: list[type[Entity]]) -> list[EntityID]: + """ + Get the entity IDs of the specified types + + Parameters + ---------- + entity_types : list[type[Entity]] + List of entity types + + Returns + ------- + list[EntityID] + Entity IDs + """ + entity_ids: list[EntityID] = [] + for entity in self._world_model.get_entities(): + if any(isinstance(entity, entity_type) for entity_type in entity_types): + entity_ids.append(entity.get_entity_id()) + + return entity_ids + + def get_entities_of_types(self, entity_types: list[type[Entity]]) -> list[Entity]: + """ + Get the entities of the specified types + + Parameters + ---------- + entity_types : list[type[Entity]] + List of entity types + + Returns + ------- + list[Entity] + Entities + """ + entities: list[Entity] = [] + for entity in self._world_model.get_entities(): + if any(isinstance(entity, entity_type) for entity_type in entity_types): + entities.append(entity) + + return entities + + def get_distance(self, entity_id1: EntityID, entity_id2: EntityID) -> float: + """ + Get the distance between two entities + + Parameters + ---------- + entity_id1 : EntityID + Entity ID 1 + entity_id2 : EntityID + Entity ID 2 + + Returns + ------- + float + Distance + + Raises + ------ + ValueError + If one or both entities are invalid or the location is invalid + """ + entity1: Optional[Entity] = self.get_entity(entity_id1) + entity2: Optional[Entity] = self.get_entity(entity_id2) + if entity1 is None or entity2 is None: + raise ValueError( + f"One or both entities are invalid: entity_id1={entity_id1}, entity_id2={entity_id2}, entity1={entity1}, entity2={entity2}" + ) + + location1_x, location1_y = entity1.get_x(), entity1.get_y() + location2_x, location2_y = entity2.get_x(), entity2.get_y() + if ( + location1_x is None + or location1_y is None + or location2_x is None + or location2_y is None + ): + raise ValueError( + f"Invalid location: entity_id1={entity_id1}, entity_id2={entity_id2}, location1_x={location1_x}, location1_y={location1_y}, location2_x={location2_x}, location2_y={location2_y}" + ) + + distance: float = ( + (location1_x - location2_x) ** 2 + (location1_y - location2_y) ** 2 + ) ** 0.5 + + return distance + + def get_entity_position(self, entity_id: EntityID) -> EntityID | None: + """ + Get the entity position + + Parameters + ---------- + entity_id : EntityID + Entity ID + + Returns + ------- + EntityID + Entity position + + Raises + ------ + ValueError + If the entity is invalid + """ + entity = self.get_entity(entity_id) + if entity is None: + raise ValueError(f"Invalid entity: entity_id={entity_id}, entity={entity}") + if isinstance(entity, Area): + return entity.get_entity_id() + if isinstance(entity, Human): + return entity.get_position() + if isinstance(entity, Blockade): + return entity.get_position() + raise ValueError(f"Invalid entity type: entity_id={entity_id}, entity={entity}") + + def get_change_set(self) -> ChangeSet: + """ + Get the change set + + Returns + ------- + ChangeSet + Change set + """ + return self._change_set + + def get_blockades(self, area: Area) -> set[Blockade]: + """ + Get the blockades in the area + + Returns + ------- + ChangeSet + Blockade + """ + blockades = set() + if blockade_entity_ids := area.get_blockades(): + for blockade_entity_id in blockade_entity_ids: + blockades_entity = self.get_entity(blockade_entity_id) + if isinstance(blockades_entity, Blockade): + blockades.add(blockades_entity) + return blockades + + def add_entity(self, entity: Entity) -> None: + """ + Add the entity + + Parameters + ---------- + entity : Entity + Entity + """ + self._world_model.add_entity(entity) diff --git a/src/adf_core_python/core/agent/module/module_manager.py b/src/adf_core_python/core/agent/module/module_manager.py index 96c506b..6eafb42 100644 --- a/src/adf_core_python/core/agent/module/module_manager.py +++ b/src/adf_core_python/core/agent/module/module_manager.py @@ -7,14 +7,14 @@ from adf_core_python.core.component.centralized.command_executor import CommandExecutor from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.communication.channel_subscriber import ( - ChannelSubscriber, + ChannelSubscriber, ) from adf_core_python.core.component.communication.message_coordinator import ( - MessageCoordinator, + MessageCoordinator, ) from adf_core_python.core.component.module.abstract_module import AbstractModule from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( - GatewayAbstractModule, + GatewayAbstractModule, ) from adf_core_python.core.gateway.gateway_agent import GatewayAgent from adf_core_python.core.gateway.gateway_module import GatewayModule @@ -22,248 +22,248 @@ from adf_core_python.core.logger.logger import get_agent_logger if TYPE_CHECKING: - from adf_core_python.core.agent.config.module_config import ModuleConfig - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.config.module_config import ModuleConfig + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo class ModuleManager: - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_config: ModuleConfig, - develop_data: DevelopData, - gateway_agent: Optional[GatewayAgent] = None, - ) -> None: - self._agent_info = agent_info - self._world_info = world_info - self._scenario_info = scenario_info - self._module_config = module_config - self._develop_data = develop_data - self._gateway_agent = gateway_agent - self._modules: dict[str, AbstractModule] = {} - self._actions: dict[str, ExtendAction] = {} - - self._executors: dict[str, Any] = {} - self._pickers: dict[str, Any] = {} - self._channel_subscribers: dict[str, Any] = {} - self._message_coordinators: dict[str, Any] = {} - - self._module_dict: ModuleDict = ModuleDict() - - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_config: ModuleConfig, + develop_data: DevelopData, + gateway_agent: Optional[GatewayAgent] = None, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_config = module_config + self._develop_data = develop_data + self._gateway_agent = gateway_agent + self._modules: dict[str, AbstractModule] = {} + self._actions: dict[str, ExtendAction] = {} + + self._executors: dict[str, Any] = {} + self._pickers: dict[str, Any] = {} + self._channel_subscribers: dict[str, Any] = {} + self._message_coordinators: dict[str, Any] = {} + + self._module_dict: ModuleDict = ModuleDict() + + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + def get_module( + self, module_name: str, default_module_class_name: str + ) -> AbstractModule: + instance = self._modules.get(module_name) + if instance is not None: + return instance + + class_name = self._module_config.get_value(module_name) + if class_name is None: + self._logger.warning( + f"Module {module_name} not found in config. Using default module {default_module_class_name}" + ) + + if class_name is not None: + try: + module_class: type = self._load_module(class_name) + if issubclass(module_class, AbstractModule): + instance = module_class( self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._modules[module_name] = instance + return instance + except ModuleNotFoundError: + self._logger.warning( + f"Module {module_name} not found in python. " + f"If gateway flag is active, using module {module_name} in java" ) - def get_module( - self, module_name: str, default_module_class_name: str - ) -> AbstractModule: - instance = self._modules.get(module_name) - if instance is not None: - return instance - - class_name = self._module_config.get_value(module_name) - if class_name is None: - self._logger.warning( - f"Module {module_name} not found in config. Using default module {default_module_class_name}" - ) - - if class_name is not None: - try: - module_class: type = self._load_module(class_name) - if issubclass(module_class, AbstractModule): - instance = module_class( - self._agent_info, - self._world_info, - self._scenario_info, - self, - self._develop_data, - ) - self._modules[module_name] = instance - return instance - except ModuleNotFoundError: - self._logger.warning( - f"Module {module_name} not found in python. " - f"If gateway flag is active, using module {module_name} in java" - ) - - if isinstance(self._gateway_agent, GatewayAgent): - gateway_module = GatewayModule(self._gateway_agent) - java_class_name = gateway_module.initialize(module_name, "") - class_name = self._module_dict[java_class_name] - if class_name is not None: - module_class = self._load_module(class_name) - if issubclass(module_class, GatewayAbstractModule): - instance = module_class( - self._agent_info, - self._world_info, - self._scenario_info, - self, - self._develop_data, - gateway_module, - ) - self._modules[module_name] = instance - return instance - - class_name = default_module_class_name + if isinstance(self._gateway_agent, GatewayAgent): + gateway_module = GatewayModule(self._gateway_agent) + java_class_name = gateway_module.initialize(module_name, "") + class_name = self._module_dict[java_class_name] if class_name is not None: - module_class = self._load_module(class_name) - if issubclass(module_class, AbstractModule): - instance = module_class( - self._agent_info, - self._world_info, - self._scenario_info, - self, - self._develop_data, - ) - self._modules[module_name] = instance - return instance - - raise RuntimeError(f"Module {class_name} is not a subclass of AbstractModule") - - def get_extend_action( - self, action_name: str, default_action_class_name: str - ) -> ExtendAction: - class_name = self._module_config.get_value(action_name) - if class_name is None: - self._logger.warning( - f"Action {action_name} not found in config. Using default action {default_action_class_name}" - ) - class_name = default_action_class_name - - action_class: type = self._load_module(class_name) - - instance = self._actions.get(action_name) - if instance is not None: - return instance - - if issubclass(action_class, ExtendAction): - instance = action_class( - self._agent_info, - self._world_info, - self._scenario_info, - self, - self._develop_data, - ) - self._actions[action_name] = instance - return instance - - raise RuntimeError(f"Action {class_name} is not a subclass of ExtendAction") - - def get_channel_subscriber( - self, channel_subscriber_name: str, default_channel_subscriber_name: str - ) -> ChannelSubscriber: - class_name = self._module_config.get_value(channel_subscriber_name) - if class_name is None: - self._logger.warning( - f"Channel subscriber {channel_subscriber_name} not found in config. Using default channel subscriber {default_channel_subscriber_name}" - ) - class_name = default_channel_subscriber_name - - channel_subscriber_class: type = self._load_module(class_name) - - instance = self._channel_subscribers.get(channel_subscriber_name) - if instance is not None: - return instance - - if issubclass(channel_subscriber_class, ChannelSubscriber): - instance = channel_subscriber_class() - self._channel_subscribers[channel_subscriber_name] = instance - return instance - - raise RuntimeError( - f"Channel subscriber {class_name} is not a subclass of ChannelSubscriber" - ) - - def get_message_coordinator( - self, message_coordinator_name: str, default_message_coordinator_name: str - ) -> MessageCoordinator: - class_name = self._module_config.get_value(message_coordinator_name) - if class_name is None: - self._logger.warning( - f"Channel subscriber {message_coordinator_name} not found in config. Using default channel subscriber {default_message_coordinator_name}" + module_class = self._load_module(class_name) + if issubclass(module_class, GatewayAbstractModule): + instance = module_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + gateway_module, ) - class_name = default_message_coordinator_name - - message_coordinator_class: type = self._load_module(class_name) - - instance = self._message_coordinators.get(message_coordinator_name) - if instance is not None: - return instance - - if issubclass(message_coordinator_class, MessageCoordinator): - instance = message_coordinator_class() - self._message_coordinators[message_coordinator_name] = instance + self._modules[module_name] = instance return instance - raise RuntimeError( - f"Message coordinator {class_name} is not a subclass of MessageCoordinator" + class_name = default_module_class_name + if class_name is not None: + module_class = self._load_module(class_name) + if issubclass(module_class, AbstractModule): + instance = module_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, ) + self._modules[module_name] = instance + return instance + + raise RuntimeError(f"Module {class_name} is not a subclass of AbstractModule") + + def get_extend_action( + self, action_name: str, default_action_class_name: str + ) -> ExtendAction: + class_name = self._module_config.get_value(action_name) + if class_name is None: + self._logger.warning( + f"Action {action_name} not found in config. Using default action {default_action_class_name}" + ) + class_name = default_action_class_name + + action_class: type = self._load_module(class_name) + + instance = self._actions.get(action_name) + if instance is not None: + return instance + + if issubclass(action_class, ExtendAction): + instance = action_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._actions[action_name] = instance + return instance + + raise RuntimeError(f"Action {class_name} is not a subclass of ExtendAction") + + def get_channel_subscriber( + self, channel_subscriber_name: str, default_channel_subscriber_name: str + ) -> ChannelSubscriber: + class_name = self._module_config.get_value(channel_subscriber_name) + if class_name is None: + self._logger.warning( + f"Channel subscriber {channel_subscriber_name} not found in config. Using default channel subscriber {default_channel_subscriber_name}" + ) + class_name = default_channel_subscriber_name + + channel_subscriber_class: type = self._load_module(class_name) + + instance = self._channel_subscribers.get(channel_subscriber_name) + if instance is not None: + return instance + + if issubclass(channel_subscriber_class, ChannelSubscriber): + instance = channel_subscriber_class() + self._channel_subscribers[channel_subscriber_name] = instance + return instance + + raise RuntimeError( + f"Channel subscriber {class_name} is not a subclass of ChannelSubscriber" + ) + + def get_message_coordinator( + self, message_coordinator_name: str, default_message_coordinator_name: str + ) -> MessageCoordinator: + class_name = self._module_config.get_value(message_coordinator_name) + if class_name is None: + self._logger.warning( + f"Channel subscriber {message_coordinator_name} not found in config. Using default channel subscriber {default_message_coordinator_name}" + ) + class_name = default_message_coordinator_name + + message_coordinator_class: type = self._load_module(class_name) + + instance = self._message_coordinators.get(message_coordinator_name) + if instance is not None: + return instance + + if issubclass(message_coordinator_class, MessageCoordinator): + instance = message_coordinator_class() + self._message_coordinators[message_coordinator_name] = instance + return instance + + raise RuntimeError( + f"Message coordinator {class_name} is not a subclass of MessageCoordinator" + ) + + def get_command_executor( + self, command_executor_name: str, default_command_executor_name: str + ) -> CommandExecutor: + class_name = self._module_config.get_value(command_executor_name) + if class_name is None: + self._logger.warning( + f"Command executor {command_executor_name} not found in config. Using default command executor {default_command_executor_name}" + ) + class_name = default_command_executor_name + + command_executor_class: type = self._load_module(class_name) + + instance = self._executors.get(command_executor_name) + if instance is not None: + return instance + + if issubclass(command_executor_class, CommandExecutor): + instance = command_executor_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._executors[command_executor_name] = instance + return instance + + raise RuntimeError(f"Command executor {class_name} is not a subclass of object") + + def get_command_picker( + self, command_picker_name: str, default_command_picker_name: str + ) -> CommandPicker: + class_name = self._module_config.get_value(command_picker_name) + if class_name is None: + self._logger.warning( + f"Command picker {command_picker_name} not found in config. Using default command picker {default_command_picker_name}" + ) + class_name = default_command_picker_name + + command_picker_class: type = self._load_module(class_name) + + instance = self._pickers.get(command_picker_name) + if instance is not None: + return instance + + if issubclass(command_picker_class, CommandPicker): + instance = command_picker_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._pickers[command_picker_name] = instance + return instance - def get_command_executor( - self, command_executor_name: str, default_command_executor_name: str - ) -> CommandExecutor: - class_name = self._module_config.get_value(command_executor_name) - if class_name is None: - self._logger.warning( - f"Command executor {command_executor_name} not found in config. Using default command executor {default_command_executor_name}" - ) - class_name = default_command_executor_name - - command_executor_class: type = self._load_module(class_name) - - instance = self._executors.get(command_executor_name) - if instance is not None: - return instance - - if issubclass(command_executor_class, CommandExecutor): - instance = command_executor_class( - self._agent_info, - self._world_info, - self._scenario_info, - self, - self._develop_data, - ) - self._executors[command_executor_name] = instance - return instance - - raise RuntimeError(f"Command executor {class_name} is not a subclass of object") - - def get_command_picker( - self, command_picker_name: str, default_command_picker_name: str - ) -> CommandPicker: - class_name = self._module_config.get_value(command_picker_name) - if class_name is None: - self._logger.warning( - f"Command picker {command_picker_name} not found in config. Using default command picker {default_command_picker_name}" - ) - class_name = default_command_picker_name - - command_picker_class: type = self._load_module(class_name) - - instance = self._pickers.get(command_picker_name) - if instance is not None: - return instance - - if issubclass(command_picker_class, CommandPicker): - instance = command_picker_class( - self._agent_info, - self._world_info, - self._scenario_info, - self, - self._develop_data, - ) - self._pickers[command_picker_name] = instance - return instance - - raise RuntimeError(f"Command picker {class_name} is not a subclass of object") + raise RuntimeError(f"Command picker {class_name} is not a subclass of object") - def _load_module(self, class_name: str) -> type: - module_name, module_class_name = class_name.rsplit(".", 1) - module = importlib.import_module(module_name) - return getattr(module, module_class_name) + def _load_module(self, class_name: str) -> type: + module_name, module_class_name = class_name.rsplit(".", 1) + module = importlib.import_module(module_name) + return getattr(module, module_class_name) diff --git a/src/adf_core_python/core/agent/office/office.py b/src/adf_core_python/core/agent/office/office.py index ea9a3b8..12b2a8f 100644 --- a/src/adf_core_python/core/agent/office/office.py +++ b/src/adf_core_python/core/agent/office/office.py @@ -14,120 +14,120 @@ class Office(Agent): - def __init__( - self, - tactics_center: TacticsCenter, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ) -> None: - super().__init__( - is_precompute, - self.__class__.__qualname__, - is_debug, - team_name, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) - self._tactics_center = tactics_center - self._team_name = team_name - self._is_precompute = is_precompute - self._is_debug = is_debug - self._data_storage_name = data_storage_name - self._module_config = module_config - self._develop_data = develop_data + def __init__( + self, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ) -> None: + super().__init__( + is_precompute, + self.__class__.__qualname__, + is_debug, + team_name, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) + self._tactics_center = tactics_center + self._team_name = team_name + self._is_precompute = is_precompute + self._is_debug = is_debug + self._data_storage_name = data_storage_name + self._module_config = module_config + self._develop_data = develop_data - def post_connect(self) -> None: - super().post_connect() - self.precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) + def post_connect(self) -> None: + super().post_connect() + self.precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) - self._module_manager: ModuleManager = ModuleManager( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_config, - self._develop_data, - ) + self._module_manager: ModuleManager = ModuleManager( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_config, + self._develop_data, + ) - self._message_manager.set_channel_subscriber( - self._module_manager.get_channel_subscriber( - "MessageManager.PlatoonChannelSubscriber", - "adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber", - ) - ) - self._message_manager.set_message_coordinator( - self._module_manager.get_message_coordinator( - "MessageManager.PlatoonMessageCoordinator", - "adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator", - ) - ) + self._message_manager.set_channel_subscriber( + self._module_manager.get_channel_subscriber( + "MessageManager.PlatoonChannelSubscriber", + "adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber", + ) + ) + self._message_manager.set_message_coordinator( + self._module_manager.get_message_coordinator( + "MessageManager.PlatoonMessageCoordinator", + "adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator", + ) + ) - self._tactics_center.initialize( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, - ) - - match self._scenario_info.get_mode(): - case Mode.PRECOMPUTATION: - self._tactics_center.precompute( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, - ) - case Mode.PRECOMPUTED: - self._tactics_center.resume( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, - ) - case Mode.NON_PRECOMPUTE: - self._tactics_center.prepare( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self.precompute_data, - self._develop_data, - ) + self._tactics_center.initialize( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) - def think(self) -> None: - self._tactics_center.think( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, + match self._scenario_info.get_mode(): + case Mode.PRECOMPUTATION: + self._tactics_center.precompute( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, ) - self.send_msg( - ActionRest() - .get_command(self.agent_id, self._agent_info.get_time()) - .to_message_proto() + case Mode.PRECOMPUTED: + self._tactics_center.resume( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, ) + case Mode.NON_PRECOMPUTE: + self._tactics_center.prepare( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self.precompute_data, + self._develop_data, + ) + + def think(self) -> None: + self._tactics_center.think( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) + self.send_msg( + ActionRest() + .get_command(self.agent_id, self._agent_info.get_time()) + .to_message_proto() + ) diff --git a/src/adf_core_python/core/agent/office/office_ambulance.py b/src/adf_core_python/core/agent/office/office_ambulance.py index 1df7e5e..6653faa 100644 --- a/src/adf_core_python/core/agent/office/office_ambulance.py +++ b/src/adf_core_python/core/agent/office/office_ambulance.py @@ -11,32 +11,32 @@ class OfficeAmbulance(Office): - def __init__( - self, - tactics_center: TacticsCenter, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ) -> None: - super().__init__( - tactics_center, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) + def __init__( + self, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ) -> None: + super().__init__( + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) - def precompute(self) -> None: - pass + def precompute(self) -> None: + pass - def get_requested_entities(self) -> list[EntityURN]: - return [EntityURN.AMBULANCE_CENTER] + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.AMBULANCE_CENTER] diff --git a/src/adf_core_python/core/agent/office/office_fire.py b/src/adf_core_python/core/agent/office/office_fire.py index 766e35a..3ec3237 100644 --- a/src/adf_core_python/core/agent/office/office_fire.py +++ b/src/adf_core_python/core/agent/office/office_fire.py @@ -11,29 +11,29 @@ class OfficeFire(Office): - def __init__( - self, - tactics_center: TacticsCenter, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ) -> None: - super().__init__( - tactics_center, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) + def __init__( + self, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ) -> None: + super().__init__( + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) - def get_requested_entities(self) -> list[EntityURN]: - return [EntityURN.FIRE_STATION] + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.FIRE_STATION] diff --git a/src/adf_core_python/core/agent/office/office_police.py b/src/adf_core_python/core/agent/office/office_police.py index 67d4cc3..0aada9d 100644 --- a/src/adf_core_python/core/agent/office/office_police.py +++ b/src/adf_core_python/core/agent/office/office_police.py @@ -11,29 +11,29 @@ class OfficePolice(Office): - def __init__( - self, - tactics_center: TacticsCenter, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ) -> None: - super().__init__( - tactics_center, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) + def __init__( + self, + tactics_center: TacticsCenter, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ) -> None: + super().__init__( + tactics_center, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) - def get_requested_entities(self) -> list[EntityURN]: - return [EntityURN.POLICE_OFFICE] + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.POLICE_OFFICE] diff --git a/src/adf_core_python/core/agent/platoon/platoon.py b/src/adf_core_python/core/agent/platoon/platoon.py index 8e9788c..0f56dfd 100644 --- a/src/adf_core_python/core/agent/platoon/platoon.py +++ b/src/adf_core_python/core/agent/platoon/platoon.py @@ -14,124 +14,124 @@ class Platoon(Agent): - def __init__( - self, - tactics_agent: TacticsAgent, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ) -> None: - super().__init__( - is_precompute, - self.__class__.__qualname__, - is_debug, - team_name, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) - self._tactics_agent = tactics_agent - self._team_name = team_name - self._is_precompute = is_precompute - self._is_debug = is_debug - self._data_storage_name = data_storage_name - self._module_config = module_config - self._develop_data = develop_data - self._gateway_agent = gateway_agent + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ) -> None: + super().__init__( + is_precompute, + self.__class__.__qualname__, + is_debug, + team_name, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) + self._tactics_agent = tactics_agent + self._team_name = team_name + self._is_precompute = is_precompute + self._is_debug = is_debug + self._data_storage_name = data_storage_name + self._module_config = module_config + self._develop_data = develop_data + self._gateway_agent = gateway_agent - def post_connect(self) -> None: - super().post_connect() - self.precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) + def post_connect(self) -> None: + super().post_connect() + self.precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name) - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) - self._module_manager: ModuleManager = ModuleManager( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_config, - self._develop_data, - self._gateway_agent, - ) + self._module_manager: ModuleManager = ModuleManager( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_config, + self._develop_data, + self._gateway_agent, + ) + + self._message_manager.set_channel_subscriber( + self._module_manager.get_channel_subscriber( + "MessageManager.PlatoonChannelSubscriber", + "adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber", + ) + ) + self._message_manager.set_message_coordinator( + self._module_manager.get_message_coordinator( + "MessageManager.PlatoonMessageCoordinator", + "adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator", + ) + ) - self._message_manager.set_channel_subscriber( - self._module_manager.get_channel_subscriber( - "MessageManager.PlatoonChannelSubscriber", - "adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber", - ) + self._tactics_agent.initialize( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) + + match self._scenario_info.get_mode(): + case Mode.PRECOMPUTATION: + self._tactics_agent.precompute( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, ) - self._message_manager.set_message_coordinator( - self._module_manager.get_message_coordinator( - "MessageManager.PlatoonMessageCoordinator", - "adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator", - ) + case Mode.PRECOMPUTED: + self._tactics_agent.resume( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, ) - - self._tactics_agent.initialize( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, + case Mode.NON_PRECOMPUTE: + self._tactics_agent.prepare( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self.precompute_data, + self._develop_data, ) - match self._scenario_info.get_mode(): - case Mode.PRECOMPUTATION: - self._tactics_agent.precompute( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, - ) - case Mode.PRECOMPUTED: - self._tactics_agent.resume( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, - ) - case Mode.NON_PRECOMPUTE: - self._tactics_agent.prepare( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self.precompute_data, - self._develop_data, - ) - - def think(self) -> None: - action: Action = self._tactics_agent.think( - self._agent_info, - self._world_info, - self._scenario_info, - self._module_manager, - self._precompute_data, - self._message_manager, - self._develop_data, - ) - if action is not None and self.agent_id is not None: - self._agent_info.set_executed_action(self._agent_info.get_time(), action) - self.send_msg( - action.get_command( - self.agent_id, self._agent_info.get_time() - ).to_message_proto() - ) + def think(self) -> None: + action: Action = self._tactics_agent.think( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) + if action is not None and self.agent_id is not None: + self._agent_info.set_executed_action(self._agent_info.get_time(), action) + self.send_msg( + action.get_command( + self.agent_id, self._agent_info.get_time() + ).to_message_proto() + ) diff --git a/src/adf_core_python/core/agent/platoon/platoon_ambulance.py b/src/adf_core_python/core/agent/platoon/platoon_ambulance.py index 16a1127..e55de88 100644 --- a/src/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/src/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -11,29 +11,29 @@ class PlatoonAmbulance(Platoon): - def __init__( - self, - tactics_agent: TacticsAgent, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ): - super().__init__( - tactics_agent, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ): + super().__init__( + tactics_agent, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) - def get_requested_entities(self) -> list[EntityURN]: - return [EntityURN.AMBULANCE_TEAM] + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.AMBULANCE_TEAM] diff --git a/src/adf_core_python/core/agent/platoon/platoon_fire.py b/src/adf_core_python/core/agent/platoon/platoon_fire.py index 13db7e0..b5cc288 100644 --- a/src/adf_core_python/core/agent/platoon/platoon_fire.py +++ b/src/adf_core_python/core/agent/platoon/platoon_fire.py @@ -11,29 +11,29 @@ class PlatoonFire(Platoon): - def __init__( - self, - tactics_agent: TacticsAgent, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ): - super().__init__( - tactics_agent, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ): + super().__init__( + tactics_agent, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) - def get_requested_entities(self) -> list[EntityURN]: - return [EntityURN.FIRE_BRIGADE] + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.FIRE_BRIGADE] diff --git a/src/adf_core_python/core/agent/platoon/platoon_police.py b/src/adf_core_python/core/agent/platoon/platoon_police.py index 8f9c33a..8a27047 100644 --- a/src/adf_core_python/core/agent/platoon/platoon_police.py +++ b/src/adf_core_python/core/agent/platoon/platoon_police.py @@ -11,29 +11,29 @@ class PlatoonPolice(Platoon): - def __init__( - self, - tactics_agent: TacticsAgent, - team_name: str, - is_precompute: bool, - is_debug: bool, - data_storage_name: str, - module_config: ModuleConfig, - develop_data: DevelopData, - finish_post_connect_event: Event, - gateway_agent: Optional[GatewayAgent], - ): - super().__init__( - tactics_agent, - team_name, - is_precompute, - is_debug, - data_storage_name, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ) + def __init__( + self, + tactics_agent: TacticsAgent, + team_name: str, + is_precompute: bool, + is_debug: bool, + data_storage_name: str, + module_config: ModuleConfig, + develop_data: DevelopData, + finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], + ): + super().__init__( + tactics_agent, + team_name, + is_precompute, + is_debug, + data_storage_name, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ) - def get_requested_entities(self) -> list[EntityURN]: - return [EntityURN.POLICE_FORCE] + def get_requested_entities(self) -> list[EntityURN]: + return [EntityURN.POLICE_FORCE] diff --git a/src/adf_core_python/core/component/abstract_loader.py b/src/adf_core_python/core/component/abstract_loader.py index dc0feae..4cc859a 100644 --- a/src/adf_core_python/core/component/abstract_loader.py +++ b/src/adf_core_python/core/component/abstract_loader.py @@ -2,52 +2,52 @@ from typing import Optional from adf_core_python.core.component.tactics.tactics_ambulance_center import ( - TacticsAmbulanceCenter, + TacticsAmbulanceCenter, ) from adf_core_python.core.component.tactics.tactics_ambulance_team import ( - TacticsAmbulanceTeam, + TacticsAmbulanceTeam, ) from adf_core_python.core.component.tactics.tactics_fire_brigade import ( - TacticsFireBrigade, + TacticsFireBrigade, ) from adf_core_python.core.component.tactics.tactics_fire_station import ( - TacticsFireStation, + TacticsFireStation, ) from adf_core_python.core.component.tactics.tactics_police_force import ( - TacticsPoliceForce, + TacticsPoliceForce, ) from adf_core_python.core.component.tactics.tactics_police_office import ( - TacticsPoliceOffice, + TacticsPoliceOffice, ) class AbstractLoader(ABC): - def __init__(self, team_name: Optional[str] = None): - self._team_name: str = "" if team_name is None else team_name + def __init__(self, team_name: Optional[str] = None): + self._team_name: str = "" if team_name is None else team_name - def get_team_name(self) -> str: - return self._team_name + def get_team_name(self) -> str: + return self._team_name - @abstractmethod - def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: - raise NotImplementedError + @abstractmethod + def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: + raise NotImplementedError - @abstractmethod - def get_tactics_fire_brigade(self) -> TacticsFireBrigade: - raise NotImplementedError + @abstractmethod + def get_tactics_fire_brigade(self) -> TacticsFireBrigade: + raise NotImplementedError - @abstractmethod - def get_tactics_police_force(self) -> TacticsPoliceForce: - raise NotImplementedError + @abstractmethod + def get_tactics_police_force(self) -> TacticsPoliceForce: + raise NotImplementedError - @abstractmethod - def get_tactics_ambulance_center(self) -> TacticsAmbulanceCenter: - raise NotImplementedError + @abstractmethod + def get_tactics_ambulance_center(self) -> TacticsAmbulanceCenter: + raise NotImplementedError - @abstractmethod - def get_tactics_fire_station(self) -> TacticsFireStation: - raise NotImplementedError + @abstractmethod + def get_tactics_fire_station(self) -> TacticsFireStation: + raise NotImplementedError - @abstractmethod - def get_tactics_police_office(self) -> TacticsPoliceOffice: - raise NotImplementedError + @abstractmethod + def get_tactics_police_office(self) -> TacticsPoliceOffice: + raise NotImplementedError diff --git a/src/adf_core_python/core/component/action/extend_action.py b/src/adf_core_python/core/component/action/extend_action.py index 1688e62..054f433 100644 --- a/src/adf_core_python/core/component/action/extend_action.py +++ b/src/adf_core_python/core/component/action/extend_action.py @@ -4,86 +4,86 @@ from typing import TYPE_CHECKING, Optional if TYPE_CHECKING: - from rcrscore.entities import EntityID + from rcrscore.entities import EntityID - from adf_core_python.core.agent.action.action import Action - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.action.action import Action + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class ExtendAction(ABC): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ): - self.world_info = world_info - self.agent_info = agent_info - self.scenario_info = scenario_info - self.module_manager = module_manager - self.develop_data = develop_data - self.result: Optional[Action] = None - self.count_precompute: int = 0 - self.count_resume: int = 0 - self.count_prepare: int = 0 - self.count_update_info: int = 0 - self.count_update_info_current_time: int = 0 - - @abstractmethod - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: - raise NotImplementedError - - @abstractmethod - def calculate(self) -> ExtendAction: - raise NotImplementedError - - def get_action(self) -> Optional[Action]: - return self.result - - def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: - self.count_precompute += 1 - return self - - def resume(self, precompute_data: PrecomputeData) -> ExtendAction: - self.count_resume += 1 - return self - - def prepare(self) -> ExtendAction: - self.count_prepare += 1 - return self - - def update_info(self, message_manager: MessageManager) -> ExtendAction: - self.count_update_info += 1 - return self - - def get_count_precompute(self) -> int: - return self.count_precompute - - def get_count_resume(self) -> int: - return self.count_resume - - def get_count_prepare(self) -> int: - return self.count_prepare - - def get_count_update_info(self) -> int: - return self.count_update_info - - def reset_count_precompute(self) -> None: - self.count_precompute = 0 - - def reset_count_resume(self) -> None: - self.count_resume = 0 - - def reset_count_prepare(self) -> None: - self.count_prepare = 0 - - def reset_count_update_info(self) -> None: - self.count_update_info = 0 + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ): + self.world_info = world_info + self.agent_info = agent_info + self.scenario_info = scenario_info + self.module_manager = module_manager + self.develop_data = develop_data + self.result: Optional[Action] = None + self.count_precompute: int = 0 + self.count_resume: int = 0 + self.count_prepare: int = 0 + self.count_update_info: int = 0 + self.count_update_info_current_time: int = 0 + + @abstractmethod + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: + raise NotImplementedError + + @abstractmethod + def calculate(self) -> ExtendAction: + raise NotImplementedError + + def get_action(self) -> Optional[Action]: + return self.result + + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: + self.count_precompute += 1 + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: + self.count_resume += 1 + return self + + def prepare(self) -> ExtendAction: + self.count_prepare += 1 + return self + + def update_info(self, message_manager: MessageManager) -> ExtendAction: + self.count_update_info += 1 + return self + + def get_count_precompute(self) -> int: + return self.count_precompute + + def get_count_resume(self) -> int: + return self.count_resume + + def get_count_prepare(self) -> int: + return self.count_prepare + + def get_count_update_info(self) -> int: + return self.count_update_info + + def reset_count_precompute(self) -> None: + self.count_precompute = 0 + + def reset_count_resume(self) -> None: + self.count_resume = 0 + + def reset_count_prepare(self) -> None: + self.count_prepare = 0 + + def reset_count_update_info(self) -> None: + self.count_update_info = 0 diff --git a/src/adf_core_python/core/component/centralized/command_executor.py b/src/adf_core_python/core/component/centralized/command_executor.py index ebd501f..6b9bd8c 100644 --- a/src/adf_core_python/core/component/centralized/command_executor.py +++ b/src/adf_core_python/core/component/centralized/command_executor.py @@ -4,94 +4,94 @@ from typing import TYPE_CHECKING, Generic, Optional, TypeVar if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.agent.action.action import Action from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, + CommunicationMessage, ) T = TypeVar("T", bound=CommunicationMessage) class CommandExecutor(ABC, Generic[T]): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - self._agent_info = agent_info - self._world_info = world_info - self._scenario_info = scenario_info - self._module_manager = module_manager - self._develop_data = develop_data - - self._result: Optional[Action] = None - - self._count_precompute: int = 0 - self._count_prepare: int = 0 - self._count_resume: int = 0 - self._count_update_info: int = 0 - self._count_update_info_current_time: int = 0 - - @abstractmethod - def set_command(self, command: T) -> CommandExecutor: - pass - - @abstractmethod - def calculate(self) -> CommandExecutor: - pass - - def get_action(self) -> Optional[Action]: - return self._result - - def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: - self._count_precompute += 1 - return self - - def prepare(self) -> CommandExecutor: - self._count_prepare += 1 - return self - - def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: - self._count_resume += 1 - return self - - def update_info(self, message_manager: MessageManager) -> CommandExecutor: - if self._count_update_info_current_time != self._agent_info.get_time(): - self._count_update_info_current_time = self._agent_info.get_time() - self._count_update_info += 1 - return self - - def get_count_precompute(self) -> int: - return self._count_precompute - - def get_count_prepare(self) -> int: - return self._count_prepare - - def get_count_resume(self) -> int: - return self._count_resume - - def get_count_update_info(self) -> int: - return self._count_update_info - - def reset_count_precompute(self) -> None: - self._count_precompute = 0 - - def reset_count_prepare(self) -> None: - self._count_prepare = 0 - - def reset_count_resume(self) -> None: - self._count_resume = 0 - - def reset_count_update_info(self) -> None: - self._count_update_info = 0 + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_manager = module_manager + self._develop_data = develop_data + + self._result: Optional[Action] = None + + self._count_precompute: int = 0 + self._count_prepare: int = 0 + self._count_resume: int = 0 + self._count_update_info: int = 0 + self._count_update_info_current_time: int = 0 + + @abstractmethod + def set_command(self, command: T) -> CommandExecutor: + pass + + @abstractmethod + def calculate(self) -> CommandExecutor: + pass + + def get_action(self) -> Optional[Action]: + return self._result + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + self._count_precompute += 1 + return self + + def prepare(self) -> CommandExecutor: + self._count_prepare += 1 + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + self._count_resume += 1 + return self + + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + if self._count_update_info_current_time != self._agent_info.get_time(): + self._count_update_info_current_time = self._agent_info.get_time() + self._count_update_info += 1 + return self + + def get_count_precompute(self) -> int: + return self._count_precompute + + def get_count_prepare(self) -> int: + return self._count_prepare + + def get_count_resume(self) -> int: + return self._count_resume + + def get_count_update_info(self) -> int: + return self._count_update_info + + def reset_count_precompute(self) -> None: + self._count_precompute = 0 + + def reset_count_prepare(self) -> None: + self._count_prepare = 0 + + def reset_count_resume(self) -> None: + self._count_resume = 0 + + def reset_count_update_info(self) -> None: + self._count_update_info = 0 diff --git a/src/adf_core_python/core/component/centralized/command_picker.py b/src/adf_core_python/core/component/centralized/command_picker.py index 8fcea2f..a78c05d 100644 --- a/src/adf_core_python/core/component/centralized/command_picker.py +++ b/src/adf_core_python/core/component/centralized/command_picker.py @@ -6,95 +6,95 @@ from rcrscore.entities import EntityID if TYPE_CHECKING: - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, + CommunicationMessage, ) class CommandPicker(ABC): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - self._agent_info = agent_info - self._world_info = world_info - self._scenario_info = scenario_info - self._module_manager = module_manager - self._develop_data = develop_data - self._count_precompute: int = 0 - self._count_prepare: int = 0 - self._count_resume: int = 0 - self._count_update_info: int = 0 - self._count_update_info_current_time: int = 0 - - @abstractmethod - def set_allocator_result( - self, allocation_data: dict[EntityID, EntityID] - ) -> CommandPicker: - pass - - @abstractmethod - def calculate(self) -> CommandPicker: - pass - - @abstractmethod - def get_result(self) -> list[CommunicationMessage]: - pass - - def precompute(self, precompute_data: PrecomputeData) -> CommandPicker: - self._count_precompute += 1 - return self - - def prepare(self) -> CommandPicker: - self._count_prepare += 1 - return self - - def resume(self, precompute_data: PrecomputeData) -> CommandPicker: - self._count_resume += 1 - return self - - def update_info(self, message_manager: MessageManager) -> CommandPicker: - if self._count_update_info_current_time != self._agent_info.get_time(): - self._count_update_info_current_time = self._agent_info.get_time() - self._count_update_info = 0 - self._count_update_info += 1 - return self - - def get_count_precompute(self) -> int: - return self._count_precompute - - def get_count_prepare(self) -> int: - return self._count_prepare - - def get_count_resume(self) -> int: - return self._count_resume - - def get_count_update_info(self) -> int: - return self._count_update_info - - def get_count_update_info_current_time(self) -> int: - return self._count_update_info_current_time - - def reset_count_precompute(self) -> None: - self._count_precompute = 0 - - def reset_count_prepare(self) -> None: - self._count_prepare = 0 - - def reset_count_resume(self) -> None: - self._count_resume = 0 - - def reset_count_update_info(self) -> None: - self._count_update_info = 0 + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_manager = module_manager + self._develop_data = develop_data + self._count_precompute: int = 0 + self._count_prepare: int = 0 + self._count_resume: int = 0 + self._count_update_info: int = 0 + self._count_update_info_current_time: int = 0 + + @abstractmethod + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + pass + + @abstractmethod + def calculate(self) -> CommandPicker: + pass + + @abstractmethod + def get_result(self) -> list[CommunicationMessage]: + pass + + def precompute(self, precompute_data: PrecomputeData) -> CommandPicker: + self._count_precompute += 1 + return self + + def prepare(self) -> CommandPicker: + self._count_prepare += 1 + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandPicker: + self._count_resume += 1 + return self + + def update_info(self, message_manager: MessageManager) -> CommandPicker: + if self._count_update_info_current_time != self._agent_info.get_time(): + self._count_update_info_current_time = self._agent_info.get_time() + self._count_update_info = 0 + self._count_update_info += 1 + return self + + def get_count_precompute(self) -> int: + return self._count_precompute + + def get_count_prepare(self) -> int: + return self._count_prepare + + def get_count_resume(self) -> int: + return self._count_resume + + def get_count_update_info(self) -> int: + return self._count_update_info + + def get_count_update_info_current_time(self) -> int: + return self._count_update_info_current_time + + def reset_count_precompute(self) -> None: + self._count_precompute = 0 + + def reset_count_prepare(self) -> None: + self._count_prepare = 0 + + def reset_count_resume(self) -> None: + self._count_resume = 0 + + def reset_count_update_info(self) -> None: + self._count_update_info = 0 diff --git a/src/adf_core_python/core/component/communication/channel_subscriber.py b/src/adf_core_python/core/component/communication/channel_subscriber.py index d2da83f..9e1acd4 100644 --- a/src/adf_core_python/core/component/communication/channel_subscriber.py +++ b/src/adf_core_python/core/component/communication/channel_subscriber.py @@ -4,34 +4,34 @@ from typing import TYPE_CHECKING if TYPE_CHECKING: - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo class ChannelSubscriber(ABC): - @abstractmethod - def subscribe( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - ) -> list[int]: - """ - Subscribe to the channel. + @abstractmethod + def subscribe( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + ) -> list[int]: + """ + Subscribe to the channel. - Parameters - ---------- - agent_info : AgentInfo - The agent info. - world_info : WorldInfo - The world info. - scenario_info : ScenarioInfo - The scenario info. + Parameters + ---------- + agent_info : AgentInfo + The agent info. + world_info : WorldInfo + The world info. + scenario_info : ScenarioInfo + The scenario info. - Returns - ------- - list[int] - The list of subscribed channels. - """ - pass + Returns + ------- + list[int] + The list of subscribed channels. + """ + pass diff --git a/src/adf_core_python/core/component/communication/communication_message.py b/src/adf_core_python/core/component/communication/communication_message.py index 60972ff..5538b40 100644 --- a/src/adf_core_python/core/component/communication/communication_message.py +++ b/src/adf_core_python/core/component/communication/communication_message.py @@ -6,20 +6,20 @@ class CommunicationMessage(ABC): - def __init__(self, is_wireless_message: bool) -> None: - self._is_wireless_message = is_wireless_message + def __init__(self, is_wireless_message: bool) -> None: + self._is_wireless_message = is_wireless_message - def is_wireless_message(self) -> bool: - return self._is_wireless_message + def is_wireless_message(self) -> bool: + return self._is_wireless_message - @abstractmethod - def get_bit_size(self) -> int: - raise NotImplementedError + @abstractmethod + def get_bit_size(self) -> int: + raise NotImplementedError - @abstractmethod - def to_bits(self) -> bitarray: - raise NotImplementedError + @abstractmethod + def to_bits(self) -> bitarray: + raise NotImplementedError - @abstractmethod - def __hash__(self) -> int: - raise NotImplementedError + @abstractmethod + def __hash__(self) -> int: + raise NotImplementedError diff --git a/src/adf_core_python/core/component/communication/communication_module.py b/src/adf_core_python/core/component/communication/communication_module.py index 2e87e31..0959f6c 100644 --- a/src/adf_core_python/core/component/communication/communication_module.py +++ b/src/adf_core_python/core/component/communication/communication_module.py @@ -4,15 +4,15 @@ from typing import TYPE_CHECKING if TYPE_CHECKING: - from adf_core_python.core.agent.agent import Agent - from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.agent import Agent + from adf_core_python.core.agent.communication.message_manager import MessageManager class CommunicationModule(ABC): - @abstractmethod - def receive(self, agent: Agent, message_manager: MessageManager) -> None: - pass + @abstractmethod + def receive(self, agent: Agent, message_manager: MessageManager) -> None: + pass - @abstractmethod - def send(self, agent: Agent, message_manager: MessageManager) -> None: - pass + @abstractmethod + def send(self, agent: Agent, message_manager: MessageManager) -> None: + pass diff --git a/src/adf_core_python/core/component/communication/message_coordinator.py b/src/adf_core_python/core/component/communication/message_coordinator.py index 9d8cb1b..86e93f1 100644 --- a/src/adf_core_python/core/component/communication/message_coordinator.py +++ b/src/adf_core_python/core/component/communication/message_coordinator.py @@ -4,24 +4,24 @@ from typing import TYPE_CHECKING if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, - ) + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, + ) class MessageCoordinator(ABC): - @abstractmethod - def coordinate( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - message_manager: MessageManager, - send_message_list: list[CommunicationMessage], - channel_send_message_list: list[list[CommunicationMessage]], - ) -> None: - pass + @abstractmethod + def coordinate( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + message_manager: MessageManager, + send_message_list: list[CommunicationMessage], + channel_send_message_list: list[list[CommunicationMessage]], + ) -> None: + pass diff --git a/src/adf_core_python/core/component/module/abstract_module.py b/src/adf_core_python/core/component/module/abstract_module.py index 4a3f317..8f9e466 100644 --- a/src/adf_core_python/core/component/module/abstract_module.py +++ b/src/adf_core_python/core/component/module/abstract_module.py @@ -7,99 +7,99 @@ from adf_core_python.core.logger.logger import get_agent_logger if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class AbstractModule(ABC): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - self._agent_info = agent_info - self._world_info = world_info - self._scenario_info = scenario_info - self._module_manager = module_manager - self._develop_data = develop_data - self._count_precompute: int = 0 - self._count_resume: int = 0 - self._count_prepare: int = 0 - self._count_update_info: int = 0 - self._count_update_info_current_time: int = 0 - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) - - self._sub_modules: list[AbstractModule] = [] - - def register_sub_module(self, sub_module: AbstractModule) -> None: - self._sub_modules.append(sub_module) - - def unregister_sub_module(self, sub_module: AbstractModule) -> None: - self._sub_modules.remove(sub_module) - - def precompute(self, precompute_data: PrecomputeData) -> AbstractModule: - self._count_precompute += 1 - for sub_module in self._sub_modules: - sub_module.precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> AbstractModule: - self._count_resume += 1 - for sub_module in self._sub_modules: - sub_module.resume(precompute_data) - return self - - def prepare(self) -> AbstractModule: - self._count_prepare += 1 - for sub_module in self._sub_modules: - start_time = time.time() - sub_module.prepare() - self._logger.debug( - f"{self.__class__.__name__}'s sub_module {sub_module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", - ) - return self - - def update_info(self, message_manager: MessageManager) -> AbstractModule: - self._count_update_info += 1 - for sub_module in self._sub_modules: - sub_module.update_info(message_manager) - return self - - @abstractmethod - def calculate(self) -> AbstractModule: - raise NotImplementedError - - def get_count_precompute(self) -> int: - return self._count_precompute - - def get_count_resume(self) -> int: - return self._count_resume - - def get_count_prepare(self) -> int: - return self._count_prepare - - def get_count_update_info(self) -> int: - return self._count_update_info - - def reset_count_precompute(self) -> None: - self._count_precompute = 0 - - def reset_count_resume(self) -> None: - self._count_resume = 0 - - def reset_count_prepare(self) -> None: - self._count_prepare = 0 - - def reset_count_update_info(self) -> None: - self._count_update_info = 0 + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_manager = module_manager + self._develop_data = develop_data + self._count_precompute: int = 0 + self._count_resume: int = 0 + self._count_prepare: int = 0 + self._count_update_info: int = 0 + self._count_update_info_current_time: int = 0 + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + self._sub_modules: list[AbstractModule] = [] + + def register_sub_module(self, sub_module: AbstractModule) -> None: + self._sub_modules.append(sub_module) + + def unregister_sub_module(self, sub_module: AbstractModule) -> None: + self._sub_modules.remove(sub_module) + + def precompute(self, precompute_data: PrecomputeData) -> AbstractModule: + self._count_precompute += 1 + for sub_module in self._sub_modules: + sub_module.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> AbstractModule: + self._count_resume += 1 + for sub_module in self._sub_modules: + sub_module.resume(precompute_data) + return self + + def prepare(self) -> AbstractModule: + self._count_prepare += 1 + for sub_module in self._sub_modules: + start_time = time.time() + sub_module.prepare() + self._logger.debug( + f"{self.__class__.__name__}'s sub_module {sub_module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + ) + return self + + def update_info(self, message_manager: MessageManager) -> AbstractModule: + self._count_update_info += 1 + for sub_module in self._sub_modules: + sub_module.update_info(message_manager) + return self + + @abstractmethod + def calculate(self) -> AbstractModule: + raise NotImplementedError + + def get_count_precompute(self) -> int: + return self._count_precompute + + def get_count_resume(self) -> int: + return self._count_resume + + def get_count_prepare(self) -> int: + return self._count_prepare + + def get_count_update_info(self) -> int: + return self._count_update_info + + def reset_count_precompute(self) -> None: + self._count_precompute = 0 + + def reset_count_resume(self) -> None: + self._count_resume = 0 + + def reset_count_prepare(self) -> None: + self._count_prepare = 0 + + def reset_count_update_info(self) -> None: + self._count_update_info = 0 diff --git a/src/adf_core_python/core/component/module/algorithm/clustering.py b/src/adf_core_python/core/component/module/algorithm/clustering.py index 2594cb9..7a0331b 100644 --- a/src/adf_core_python/core/component/module/algorithm/clustering.py +++ b/src/adf_core_python/core/component/module/algorithm/clustering.py @@ -6,63 +6,63 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrscore.entities import EntityID - from rcrscore.entities.entity import Entity + from rcrscore.entities import EntityID + from rcrscore.entities.entity import Entity - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class Clustering(AbstractModule): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) - @abstractmethod - def get_cluster_number(self) -> int: - pass + @abstractmethod + def get_cluster_number(self) -> int: + pass - @abstractmethod - def get_cluster_index(self, entity_id: EntityID) -> int: - pass + @abstractmethod + def get_cluster_index(self, entity_id: EntityID) -> int: + pass - @abstractmethod - def get_cluster_entities(self, cluster_index: int) -> list[Entity]: - pass + @abstractmethod + def get_cluster_entities(self, cluster_index: int) -> list[Entity]: + pass - @abstractmethod - def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: - pass + @abstractmethod + def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: + pass - @abstractmethod - def calculate(self) -> Clustering: - pass + @abstractmethod + def calculate(self) -> Clustering: + pass - def precompute(self, precompute_data: PrecomputeData) -> Clustering: - super().precompute(precompute_data) - return self + def precompute(self, precompute_data: PrecomputeData) -> Clustering: + super().precompute(precompute_data) + return self - def resume(self, precompute_data: PrecomputeData) -> Clustering: - super().resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> Clustering: + super().resume(precompute_data) + return self - def prepare(self) -> Clustering: - super().prepare() - return self + def prepare(self) -> Clustering: + super().prepare() + return self - def update_info(self, message_manager: MessageManager) -> Clustering: - super().update_info(message_manager) - return self + def update_info(self, message_manager: MessageManager) -> Clustering: + super().update_info(message_manager) + return self diff --git a/src/adf_core_python/core/component/module/algorithm/path_planning.py b/src/adf_core_python/core/component/module/algorithm/path_planning.py index d7318f1..4a36bbb 100644 --- a/src/adf_core_python/core/component/module/algorithm/path_planning.py +++ b/src/adf_core_python/core/component/module/algorithm/path_planning.py @@ -6,62 +6,62 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrscore.entities import EntityID + from rcrscore.entities import EntityID - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class PathPlanning(AbstractModule): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) - @abstractmethod - def get_path( - self, from_entity_id: EntityID, to_entity_id: EntityID - ) -> list[EntityID]: - pass + @abstractmethod + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> list[EntityID]: + pass - @abstractmethod - def get_path_to_multiple_destinations( - self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] - ) -> list[EntityID]: - pass + @abstractmethod + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + pass - @abstractmethod - def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - pass + @abstractmethod + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + pass - def precompute(self, precompute_data: PrecomputeData) -> PathPlanning: - super().precompute(precompute_data) - return self + def precompute(self, precompute_data: PrecomputeData) -> PathPlanning: + super().precompute(precompute_data) + return self - def resume(self, precompute_data: PrecomputeData) -> PathPlanning: - super().resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> PathPlanning: + super().resume(precompute_data) + return self - def prepare(self) -> PathPlanning: - super().prepare() - return self + def prepare(self) -> PathPlanning: + super().prepare() + return self - def update_info(self, message_manager: MessageManager) -> PathPlanning: - super().update_info(message_manager) - return self + def update_info(self, message_manager: MessageManager) -> PathPlanning: + super().update_info(message_manager) + return self - @abstractmethod - def calculate(self) -> PathPlanning: - pass + @abstractmethod + def calculate(self) -> PathPlanning: + pass diff --git a/src/adf_core_python/core/component/module/complex/ambulance_target_allocator.py b/src/adf_core_python/core/component/module/complex/ambulance_target_allocator.py index 63e5a5f..8956ea9 100644 --- a/src/adf_core_python/core/component/module/complex/ambulance_target_allocator.py +++ b/src/adf_core_python/core/component/module/complex/ambulance_target_allocator.py @@ -4,54 +4,54 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.module.complex.target_allocator import ( - TargetAllocator, + TargetAllocator, ) if TYPE_CHECKING: - from rcrscore.entities import EntityID + from rcrscore.entities import EntityID - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class AmbulanceTargetAllocator(TargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - @abstractmethod - def get_result(self) -> dict[EntityID, EntityID]: - pass - - @abstractmethod - def calculate(self) -> AmbulanceTargetAllocator: - pass - - def precompute(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: - super().resume(precompute_data) - return self - - def prepare(self) -> AmbulanceTargetAllocator: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> AmbulanceTargetAllocator: - super().update_info(message_manager) - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> AmbulanceTargetAllocator: + pass + + def precompute(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> AmbulanceTargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> AmbulanceTargetAllocator: + super().update_info(message_manager) + return self diff --git a/src/adf_core_python/core/component/module/complex/fire_target_allocator.py b/src/adf_core_python/core/component/module/complex/fire_target_allocator.py index 2cf3ec2..79d1905 100644 --- a/src/adf_core_python/core/component/module/complex/fire_target_allocator.py +++ b/src/adf_core_python/core/component/module/complex/fire_target_allocator.py @@ -4,54 +4,54 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.module.complex.target_allocator import ( - TargetAllocator, + TargetAllocator, ) if TYPE_CHECKING: - from rcrscore.entities import EntityID + from rcrscore.entities import EntityID - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class FireTargetAllocator(TargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - @abstractmethod - def get_result(self) -> dict[EntityID, EntityID]: - pass - - @abstractmethod - def calculate(self) -> FireTargetAllocator: - pass - - def precompute(self, precompute_data: PrecomputeData) -> FireTargetAllocator: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> FireTargetAllocator: - super().resume(precompute_data) - return self - - def prepare(self) -> FireTargetAllocator: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> FireTargetAllocator: - super().update_info(message_manager) - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> FireTargetAllocator: + pass + + def precompute(self, precompute_data: PrecomputeData) -> FireTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> FireTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> FireTargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> FireTargetAllocator: + super().update_info(message_manager) + return self diff --git a/src/adf_core_python/core/component/module/complex/human_detector.py b/src/adf_core_python/core/component/module/complex/human_detector.py index 0e7ae6c..a0619b3 100644 --- a/src/adf_core_python/core/component/module/complex/human_detector.py +++ b/src/adf_core_python/core/component/module/complex/human_detector.py @@ -6,43 +6,43 @@ from rcrscore.entities.human import Human from adf_core_python.core.component.module.complex.target_detector import ( - TargetDetector, + TargetDetector, ) if TYPE_CHECKING: - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class HumanDetector(TargetDetector[Human]): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - def precompute(self, precompute_data: PrecomputeData) -> HumanDetector: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> HumanDetector: - super().resume(precompute_data) - return self - - def prepare(self) -> HumanDetector: - super().prepare() - return self - - @abstractmethod - def calculate(self) -> HumanDetector: - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + def precompute(self, precompute_data: PrecomputeData) -> HumanDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> HumanDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> HumanDetector: + super().prepare() + return self + + @abstractmethod + def calculate(self) -> HumanDetector: + return self diff --git a/src/adf_core_python/core/component/module/complex/police_target_allocator.py b/src/adf_core_python/core/component/module/complex/police_target_allocator.py index a066304..540a60b 100644 --- a/src/adf_core_python/core/component/module/complex/police_target_allocator.py +++ b/src/adf_core_python/core/component/module/complex/police_target_allocator.py @@ -4,54 +4,54 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.module.complex.target_allocator import ( - TargetAllocator, + TargetAllocator, ) if TYPE_CHECKING: - from rcrscore.entities import EntityID + from rcrscore.entities import EntityID - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class PoliceTargetAllocator(TargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - @abstractmethod - def get_result(self) -> dict[EntityID, EntityID]: - pass - - @abstractmethod - def calculate(self) -> PoliceTargetAllocator: - pass - - def precompute(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: - super().resume(precompute_data) - return self - - def prepare(self) -> PoliceTargetAllocator: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> PoliceTargetAllocator: - super().update_info(message_manager) - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> PoliceTargetAllocator: + pass + + def precompute(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> PoliceTargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> PoliceTargetAllocator: + super().update_info(message_manager) + return self diff --git a/src/adf_core_python/core/component/module/complex/road_detector.py b/src/adf_core_python/core/component/module/complex/road_detector.py index 888ea96..f742b2d 100644 --- a/src/adf_core_python/core/component/module/complex/road_detector.py +++ b/src/adf_core_python/core/component/module/complex/road_detector.py @@ -6,43 +6,43 @@ from rcrscore.entities.road import Road from adf_core_python.core.component.module.complex.target_detector import ( - TargetDetector, + TargetDetector, ) if TYPE_CHECKING: - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class RoadDetector(TargetDetector[Road]): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> RoadDetector: - super().resume(precompute_data) - return self - - def prepare(self) -> RoadDetector: - super().prepare() - return self - - @abstractmethod - def calculate(self) -> RoadDetector: - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> RoadDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> RoadDetector: + super().prepare() + return self + + @abstractmethod + def calculate(self) -> RoadDetector: + return self diff --git a/src/adf_core_python/core/component/module/complex/search.py b/src/adf_core_python/core/component/module/complex/search.py index bfeddef..59c4fde 100644 --- a/src/adf_core_python/core/component/module/complex/search.py +++ b/src/adf_core_python/core/component/module/complex/search.py @@ -6,43 +6,43 @@ from rcrscore.entities.area import Area from adf_core_python.core.component.module.complex.target_detector import ( - TargetDetector, + TargetDetector, ) if TYPE_CHECKING: - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class Search(TargetDetector[Area]): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - def precompute(self, precompute_data: PrecomputeData) -> Search: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> Search: - super().resume(precompute_data) - return self - - def prepare(self) -> Search: - super().prepare() - return self - - @abstractmethod - def calculate(self) -> Search: - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + def precompute(self, precompute_data: PrecomputeData) -> Search: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> Search: + super().resume(precompute_data) + return self + + def prepare(self) -> Search: + super().prepare() + return self + + @abstractmethod + def calculate(self) -> Search: + return self diff --git a/src/adf_core_python/core/component/module/complex/target_allocator.py b/src/adf_core_python/core/component/module/complex/target_allocator.py index 88ef50f..6979966 100644 --- a/src/adf_core_python/core/component/module/complex/target_allocator.py +++ b/src/adf_core_python/core/component/module/complex/target_allocator.py @@ -6,50 +6,50 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrscore.entities import EntityID + from rcrscore.entities import EntityID - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData class TargetAllocator(AbstractModule): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - @abstractmethod - def get_result(self) -> dict[EntityID, EntityID]: - pass - - @abstractmethod - def calculate(self) -> TargetAllocator: - pass - - def precompute(self, precompute_data: PrecomputeData) -> TargetAllocator: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: - super().resume(precompute_data) - return self - - def prepare(self) -> TargetAllocator: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> TargetAllocator: - super().update_info(message_manager) - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_result(self) -> dict[EntityID, EntityID]: + pass + + @abstractmethod + def calculate(self) -> TargetAllocator: + pass + + def precompute(self, precompute_data: PrecomputeData) -> TargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> TargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> TargetAllocator: + super().update_info(message_manager) + return self diff --git a/src/adf_core_python/core/component/module/complex/target_detector.py b/src/adf_core_python/core/component/module/complex/target_detector.py index 21a79e4..7e7285d 100644 --- a/src/adf_core_python/core/component/module/complex/target_detector.py +++ b/src/adf_core_python/core/component/module/complex/target_detector.py @@ -8,52 +8,52 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from rcrscore.entities import EntityID + from rcrscore.entities import EntityID - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData T = TypeVar("T", bound=Entity) class TargetDetector(AbstractModule, Generic[T]): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - @abstractmethod - def get_target_entity_id(self) -> Optional[EntityID]: - pass - - @abstractmethod - def calculate(self) -> TargetDetector[T]: - pass - - def precompute(self, precompute_data: PrecomputeData) -> TargetDetector[T]: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> TargetDetector[T]: - super().resume(precompute_data) - return self - - def prepare(self) -> TargetDetector[T]: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> TargetDetector[T]: - super().update_info(message_manager) - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + @abstractmethod + def get_target_entity_id(self) -> Optional[EntityID]: + pass + + @abstractmethod + def calculate(self) -> TargetDetector[T]: + pass + + def precompute(self, precompute_data: PrecomputeData) -> TargetDetector[T]: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> TargetDetector[T]: + super().resume(precompute_data) + return self + + def prepare(self) -> TargetDetector[T]: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> TargetDetector[T]: + super().update_info(message_manager) + return self diff --git a/src/adf_core_python/core/component/tactics/tactics_agent.py b/src/adf_core_python/core/component/tactics/tactics_agent.py index 3f1343e..9502a2c 100644 --- a/src/adf_core_python/core/component/tactics/tactics_agent.py +++ b/src/adf_core_python/core/component/tactics/tactics_agent.py @@ -8,165 +8,165 @@ from adf_core_python.core.logger.logger import get_agent_logger if TYPE_CHECKING: - from adf_core_python.core.agent.action.action import Action - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.component.action.extend_action import ExtendAction - from adf_core_python.core.component.module.abstract_module import AbstractModule + from adf_core_python.core.agent.action.action import Action + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.action.extend_action import ExtendAction + from adf_core_python.core.component.module.abstract_module import AbstractModule class TacticsAgent(ABC): - def __init__(self, parent: Optional[TacticsAgent] = None) -> None: - self._parent = parent - self._modules: list[AbstractModule] = [] - self._actions: list[ExtendAction] = [] - self._command_executor: list[CommandExecutor] = [] - - @abstractmethod - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", agent_info - ) - - @abstractmethod - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - @abstractmethod - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - @abstractmethod - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - @abstractmethod - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> Action: - raise NotImplementedError - - def get_parent_tactics(self) -> Optional[TacticsAgent]: - return self._parent - - def register_module(self, module: AbstractModule) -> None: - self._modules.append(module) - - def unregister_module(self, module: AbstractModule) -> None: - self._modules.remove(module) - - def register_action(self, action: ExtendAction) -> None: - self._actions.append(action) - - def unregister_action(self, action: ExtendAction) -> None: - self._actions.remove(action) - - def register_command_executor(self, command_executor: CommandExecutor) -> None: - self._command_executor.append(command_executor) - - def unregister_command_executor(self, command_executor: CommandExecutor) -> None: - self._command_executor.remove(command_executor) - - def module_precompute(self, precompute_data: PrecomputeData) -> None: - for module in self._modules: - module.precompute(precompute_data) - for action in self._actions: - action.precompute(precompute_data) - for executor in self._command_executor: - executor.precompute(precompute_data) - - def module_resume(self, precompute_data: PrecomputeData) -> None: - for module in self._modules: - module.resume(precompute_data) - for action in self._actions: - action.resume(precompute_data) - for executor in self._command_executor: - executor.resume(precompute_data) - - def module_prepare(self) -> None: - for module in self._modules: - start_time = time.time() - module.prepare() - self._logger.debug( - f"module {module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", - ) - for action in self._actions: - start_time = time.time() - action.prepare() - self._logger.debug( - f"module {action.__class__.__name__} prepare time: {time.time() - start_time:.3f}", - ) - for executor in self._command_executor: - executor.prepare() - - def module_update_info(self, message_manager: MessageManager) -> None: - for module in self._modules: - module.update_info(message_manager) - for action in self._actions: - action.update_info(message_manager) - for executor in self._command_executor: - executor.update_info(message_manager) - - def reset_count(self) -> None: - for module in self._modules: - module.reset_count_precompute() - module.reset_count_resume() - module.reset_count_prepare() - module.reset_count_update_info() - for action in self._actions: - action.reset_count_precompute() - action.reset_count_resume() - action.reset_count_prepare() - action.reset_count_update_info() - for executor in self._command_executor: - executor.reset_count_precompute() - executor.reset_count_resume() - executor.reset_count_prepare() - executor.reset_count_update_info() + def __init__(self, parent: Optional[TacticsAgent] = None) -> None: + self._parent = parent + self._modules: list[AbstractModule] = [] + self._actions: list[ExtendAction] = [] + self._command_executor: list[CommandExecutor] = [] + + @abstractmethod + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", agent_info + ) + + @abstractmethod + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> Action: + raise NotImplementedError + + def get_parent_tactics(self) -> Optional[TacticsAgent]: + return self._parent + + def register_module(self, module: AbstractModule) -> None: + self._modules.append(module) + + def unregister_module(self, module: AbstractModule) -> None: + self._modules.remove(module) + + def register_action(self, action: ExtendAction) -> None: + self._actions.append(action) + + def unregister_action(self, action: ExtendAction) -> None: + self._actions.remove(action) + + def register_command_executor(self, command_executor: CommandExecutor) -> None: + self._command_executor.append(command_executor) + + def unregister_command_executor(self, command_executor: CommandExecutor) -> None: + self._command_executor.remove(command_executor) + + def module_precompute(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.precompute(precompute_data) + for action in self._actions: + action.precompute(precompute_data) + for executor in self._command_executor: + executor.precompute(precompute_data) + + def module_resume(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.resume(precompute_data) + for action in self._actions: + action.resume(precompute_data) + for executor in self._command_executor: + executor.resume(precompute_data) + + def module_prepare(self) -> None: + for module in self._modules: + start_time = time.time() + module.prepare() + self._logger.debug( + f"module {module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + ) + for action in self._actions: + start_time = time.time() + action.prepare() + self._logger.debug( + f"module {action.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + ) + for executor in self._command_executor: + executor.prepare() + + def module_update_info(self, message_manager: MessageManager) -> None: + for module in self._modules: + module.update_info(message_manager) + for action in self._actions: + action.update_info(message_manager) + for executor in self._command_executor: + executor.update_info(message_manager) + + def reset_count(self) -> None: + for module in self._modules: + module.reset_count_precompute() + module.reset_count_resume() + module.reset_count_prepare() + module.reset_count_update_info() + for action in self._actions: + action.reset_count_precompute() + action.reset_count_resume() + action.reset_count_prepare() + action.reset_count_update_info() + for executor in self._command_executor: + executor.reset_count_precompute() + executor.reset_count_resume() + executor.reset_count_prepare() + executor.reset_count_update_info() diff --git a/src/adf_core_python/core/component/tactics/tactics_ambulance_center.py b/src/adf_core_python/core/component/tactics/tactics_ambulance_center.py index da9b2b8..04eba00 100644 --- a/src/adf_core_python/core/component/tactics/tactics_ambulance_center.py +++ b/src/adf_core_python/core/component/tactics/tactics_ambulance_center.py @@ -6,5 +6,5 @@ class TacticsAmbulanceCenter(TacticsCenter): - def __init__(self, parent: Optional[TacticsAmbulanceCenter] = None) -> None: - super().__init__(parent) + def __init__(self, parent: Optional[TacticsAmbulanceCenter] = None) -> None: + super().__init__(parent) diff --git a/src/adf_core_python/core/component/tactics/tactics_ambulance_team.py b/src/adf_core_python/core/component/tactics/tactics_ambulance_team.py index c5ad2b4..5e2257b 100644 --- a/src/adf_core_python/core/component/tactics/tactics_ambulance_team.py +++ b/src/adf_core_python/core/component/tactics/tactics_ambulance_team.py @@ -6,5 +6,5 @@ class TacticsAmbulanceTeam(TacticsAgent): - def __init__(self, parent: Optional[TacticsAmbulanceTeam] = None) -> None: - super().__init__(parent) + def __init__(self, parent: Optional[TacticsAmbulanceTeam] = None) -> None: + super().__init__(parent) diff --git a/src/adf_core_python/core/component/tactics/tactics_center.py b/src/adf_core_python/core/component/tactics/tactics_center.py index 0e76a79..3e35bde 100644 --- a/src/adf_core_python/core/component/tactics/tactics_center.py +++ b/src/adf_core_python/core/component/tactics/tactics_center.py @@ -6,121 +6,121 @@ from adf_core_python.core.component.centralized.command_picker import CommandPicker if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.component.module.abstract_module import AbstractModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.module.abstract_module import AbstractModule class TacticsCenter(ABC): - def __init__(self, parent: Optional[TacticsCenter] = None) -> None: - self._parent = parent - self._modules: list[AbstractModule] = [] - self._command_pickers: list[CommandPicker] = [] - - @abstractmethod - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - @abstractmethod - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - @abstractmethod - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - @abstractmethod - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - @abstractmethod - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - raise NotImplementedError - - def get_parent_tactics(self) -> Optional[TacticsCenter]: - return self._parent - - def register_module(self, module: AbstractModule) -> None: - self._modules.append(module) - - def unregister_module(self, module: AbstractModule) -> None: - self._modules.remove(module) - - def register_command_picker(self, command_picker: Any) -> None: - self._command_pickers.append(command_picker) - - def unregister_command_picker(self, command_picker: Any) -> None: - self._command_pickers.remove(command_picker) - - def module_precompute(self, precompute_data: PrecomputeData) -> None: - for module in self._modules: - module.precompute(precompute_data) - for command_picker in self._command_pickers: - command_picker.precompute(precompute_data) - - def module_resume(self, precompute_data: PrecomputeData) -> None: - for module in self._modules: - module.resume(precompute_data) - for command_picker in self._command_pickers: - command_picker.resume(precompute_data) - - def module_prepare(self) -> None: - for module in self._modules: - module.prepare() - for command_picker in self._command_pickers: - command_picker.prepare() - - def module_update_info(self, message_manager: MessageManager) -> None: - for module in self._modules: - module.update_info(message_manager) - for command_picker in self._command_pickers: - command_picker.update_info(message_manager) + def __init__(self, parent: Optional[TacticsCenter] = None) -> None: + self._parent = parent + self._modules: list[AbstractModule] = [] + self._command_pickers: list[CommandPicker] = [] + + @abstractmethod + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + @abstractmethod + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + + def get_parent_tactics(self) -> Optional[TacticsCenter]: + return self._parent + + def register_module(self, module: AbstractModule) -> None: + self._modules.append(module) + + def unregister_module(self, module: AbstractModule) -> None: + self._modules.remove(module) + + def register_command_picker(self, command_picker: Any) -> None: + self._command_pickers.append(command_picker) + + def unregister_command_picker(self, command_picker: Any) -> None: + self._command_pickers.remove(command_picker) + + def module_precompute(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.precompute(precompute_data) + for command_picker in self._command_pickers: + command_picker.precompute(precompute_data) + + def module_resume(self, precompute_data: PrecomputeData) -> None: + for module in self._modules: + module.resume(precompute_data) + for command_picker in self._command_pickers: + command_picker.resume(precompute_data) + + def module_prepare(self) -> None: + for module in self._modules: + module.prepare() + for command_picker in self._command_pickers: + command_picker.prepare() + + def module_update_info(self, message_manager: MessageManager) -> None: + for module in self._modules: + module.update_info(message_manager) + for command_picker in self._command_pickers: + command_picker.update_info(message_manager) diff --git a/src/adf_core_python/core/component/tactics/tactics_fire_brigade.py b/src/adf_core_python/core/component/tactics/tactics_fire_brigade.py index 1df16b3..75bc6b6 100644 --- a/src/adf_core_python/core/component/tactics/tactics_fire_brigade.py +++ b/src/adf_core_python/core/component/tactics/tactics_fire_brigade.py @@ -6,5 +6,5 @@ class TacticsFireBrigade(TacticsAgent): - def __init__(self, parent: Optional[TacticsFireBrigade] = None) -> None: - super().__init__(parent) + def __init__(self, parent: Optional[TacticsFireBrigade] = None) -> None: + super().__init__(parent) diff --git a/src/adf_core_python/core/component/tactics/tactics_fire_station.py b/src/adf_core_python/core/component/tactics/tactics_fire_station.py index 0b6ed40..acd2563 100644 --- a/src/adf_core_python/core/component/tactics/tactics_fire_station.py +++ b/src/adf_core_python/core/component/tactics/tactics_fire_station.py @@ -6,5 +6,5 @@ class TacticsFireStation(TacticsCenter): - def __init__(self, parent: Optional[TacticsFireStation] = None) -> None: - super().__init__(parent) + def __init__(self, parent: Optional[TacticsFireStation] = None) -> None: + super().__init__(parent) diff --git a/src/adf_core_python/core/component/tactics/tactics_police_force.py b/src/adf_core_python/core/component/tactics/tactics_police_force.py index a098128..750e6f2 100644 --- a/src/adf_core_python/core/component/tactics/tactics_police_force.py +++ b/src/adf_core_python/core/component/tactics/tactics_police_force.py @@ -6,5 +6,5 @@ class TacticsPoliceForce(TacticsAgent): - def __init__(self, parent: Optional[TacticsPoliceForce] = None) -> None: - super().__init__(parent) + def __init__(self, parent: Optional[TacticsPoliceForce] = None) -> None: + super().__init__(parent) diff --git a/src/adf_core_python/core/component/tactics/tactics_police_office.py b/src/adf_core_python/core/component/tactics/tactics_police_office.py index 70950e1..a47debd 100644 --- a/src/adf_core_python/core/component/tactics/tactics_police_office.py +++ b/src/adf_core_python/core/component/tactics/tactics_police_office.py @@ -6,5 +6,5 @@ class TacticsPoliceOffice(TacticsCenter): - def __init__(self, parent: Optional[TacticsPoliceOffice] = None) -> None: - super().__init__(parent) + def __init__(self, parent: Optional[TacticsPoliceOffice] = None) -> None: + super().__init__(parent) diff --git a/src/adf_core_python/core/config/config.py b/src/adf_core_python/core/config/config.py index 5f55aea..a2f98a7 100644 --- a/src/adf_core_python/core/config/config.py +++ b/src/adf_core_python/core/config/config.py @@ -4,40 +4,40 @@ class Config: - def __init__(self, config_file: Optional[str] = None) -> None: - self.config: dict[str, Any] = {} - if config_file: - self.config = self.read_from_yaml(config_file) - self.config = self.flatten(self.config) - - def set_value(self, key: str, value: Any) -> None: - self.config[key] = value - - def get_value(self, key: str, default: Any = None) -> Any: - return self.config.get(key, default) - - def read_from_yaml(self, file_name: str) -> dict[str, Any]: - try: - with open(file_name, mode="r", encoding="utf-8") as file: - data = safe_load(file) - except FileNotFoundError: - raise FileNotFoundError(f"Config file not found: {file_name}") - except Exception as e: - raise Exception(f"Error reading config file: {file_name}, {e}") - - return data - - def flatten( - self, data: dict[str, Any], parent_key: str = "", sep: str = "." - ) -> dict[str, Any]: - flatten_data = {} - for key, value in data.items(): - new_key = f"{parent_key}{sep}{key}" if parent_key else key - if isinstance(value, dict): - flatten_data.update(self.flatten(value, new_key, sep=sep)) - else: - flatten_data[new_key] = value - return flatten_data - - def __str__(self) -> str: - return str(self.config) + def __init__(self, config_file: Optional[str] = None) -> None: + self.config: dict[str, Any] = {} + if config_file: + self.config = self.read_from_yaml(config_file) + self.config = self.flatten(self.config) + + def set_value(self, key: str, value: Any) -> None: + self.config[key] = value + + def get_value(self, key: str, default: Any = None) -> Any: + return self.config.get(key, default) + + def read_from_yaml(self, file_name: str) -> dict[str, Any]: + try: + with open(file_name, mode="r", encoding="utf-8") as file: + data = safe_load(file) + except FileNotFoundError: + raise FileNotFoundError(f"Config file not found: {file_name}") + except Exception as e: + raise Exception(f"Error reading config file: {file_name}, {e}") + + return data + + def flatten( + self, data: dict[str, Any], parent_key: str = "", sep: str = "." + ) -> dict[str, Any]: + flatten_data = {} + for key, value in data.items(): + new_key = f"{parent_key}{sep}{key}" if parent_key else key + if isinstance(value, dict): + flatten_data.update(self.flatten(value, new_key, sep=sep)) + else: + flatten_data[new_key] = value + return flatten_data + + def __str__(self) -> str: + return str(self.config) diff --git a/src/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py b/src/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py index c01047f..8f0c902 100644 --- a/src/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py +++ b/src/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py @@ -7,88 +7,88 @@ from adf_core_python.core.component.module.algorithm.clustering import Clustering from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( - GatewayAbstractModule, + GatewayAbstractModule, ) if TYPE_CHECKING: - from rcrscore.entities.entity import Entity + from rcrscore.entities.entity import Entity - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayClustering(GatewayAbstractModule, Clustering): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) - - def precompute(self, precompute_data: PrecomputeData) -> GatewayClustering: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> GatewayClustering: - super().resume(precompute_data) - return self - - def prepare(self) -> GatewayClustering: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> GatewayClustering: - super().update_info(message_manager) - return self - - def calculate(self) -> GatewayClustering: - super().calculate() - return self - - def get_cluster_number(self) -> int: - result = self._gateway_module.execute("getClusterNumber") - return int(result.get_value("ClusterNumber") or 0) - - def get_cluster_index(self, entity_id: EntityID) -> int: - arguments: dict[str, str] = {"EntityID": str(entity_id.get_value())} - result = self._gateway_module.execute("getClusterIndex(EntityID)", arguments) - return int(result.get_value("ClusterIndex") or 0) - - def get_cluster_entities(self, cluster_index: int) -> list[Entity]: - arguments: dict[str, str] = {"Index": str(cluster_index)} - result = self._gateway_module.execute("getClusterEntities(int)", arguments) - json_str = result.get_value("EntityIDs") or "[]" - entity_ids: list[int] = json.loads(json_str) - entities: list[Entity] = [] - for entity_id in entity_ids: - entity = self._world_info.get_entity(EntityID(entity_id)) - if entity is not None: - entities.append(entity) - return entities - - def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: - arguments: dict[str, str] = {"Index": str(cluster_index)} - result = self._gateway_module.execute("getClusterEntityIDs(int)", arguments) - json_str = result.get_value("EntityIDs") or "[]" - raw_entity_ids: list[int] = json.loads(json_str) - entity_ids: list[EntityID] = [] - for entity_id in raw_entity_ids: - entity_ids.append(EntityID(entity_id)) - return entity_ids + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayClustering: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayClustering: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayClustering: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayClustering: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayClustering: + super().calculate() + return self + + def get_cluster_number(self) -> int: + result = self._gateway_module.execute("getClusterNumber") + return int(result.get_value("ClusterNumber") or 0) + + def get_cluster_index(self, entity_id: EntityID) -> int: + arguments: dict[str, str] = {"EntityID": str(entity_id.get_value())} + result = self._gateway_module.execute("getClusterIndex(EntityID)", arguments) + return int(result.get_value("ClusterIndex") or 0) + + def get_cluster_entities(self, cluster_index: int) -> list[Entity]: + arguments: dict[str, str] = {"Index": str(cluster_index)} + result = self._gateway_module.execute("getClusterEntities(int)", arguments) + json_str = result.get_value("EntityIDs") or "[]" + entity_ids: list[int] = json.loads(json_str) + entities: list[Entity] = [] + for entity_id in entity_ids: + entity = self._world_info.get_entity(EntityID(entity_id)) + if entity is not None: + entities.append(entity) + return entities + + def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: + arguments: dict[str, str] = {"Index": str(cluster_index)} + result = self._gateway_module.execute("getClusterEntityIDs(int)", arguments) + json_str = result.get_value("EntityIDs") or "[]" + raw_entity_ids: list[int] = json.loads(json_str) + entity_ids: list[EntityID] = [] + for entity_id in raw_entity_ids: + entity_ids.append(EntityID(entity_id)) + return entity_ids diff --git a/src/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py b/src/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py index ef4df09..76a146d 100644 --- a/src/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py +++ b/src/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py @@ -7,101 +7,97 @@ from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( - GatewayAbstractModule, + GatewayAbstractModule, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayPathPlanning(GatewayAbstractModule, PathPlanning): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) - def precompute(self, precompute_data: PrecomputeData) -> GatewayPathPlanning: - super().precompute(precompute_data) - return self + def precompute(self, precompute_data: PrecomputeData) -> GatewayPathPlanning: + super().precompute(precompute_data) + return self - def resume(self, precompute_data: PrecomputeData) -> GatewayPathPlanning: - super().resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> GatewayPathPlanning: + super().resume(precompute_data) + return self - def prepare(self) -> GatewayPathPlanning: - super().prepare() - return self + def prepare(self) -> GatewayPathPlanning: + super().prepare() + return self - def update_info(self, message_manager: MessageManager) -> GatewayPathPlanning: - super().update_info(message_manager) - return self + def update_info(self, message_manager: MessageManager) -> GatewayPathPlanning: + super().update_info(message_manager) + return self - def calculate(self) -> GatewayPathPlanning: - super().calculate() - return self + def calculate(self) -> GatewayPathPlanning: + super().calculate() + return self - def get_path( - self, from_entity_id: EntityID, to_entity_id: EntityID - ) -> list[EntityID]: - arguments: dict[str, str] = { - "From": str(from_entity_id.get_value()), - "To": str(to_entity_id.get_value()), - } - result = self._gateway_module.execute( - "getResult(EntityID, EntityID)", arguments - ) - json_str = result.get_value("Result") or "[]" - raw_entity_ids: list[int] = json.loads(json_str) - entity_ids: list[EntityID] = [] - for entity_id in raw_entity_ids: - entity_ids.append(EntityID(entity_id)) - return entity_ids + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> list[EntityID]: + arguments: dict[str, str] = { + "From": str(from_entity_id.get_value()), + "To": str(to_entity_id.get_value()), + } + result = self._gateway_module.execute("getResult(EntityID, EntityID)", arguments) + json_str = result.get_value("Result") or "[]" + raw_entity_ids: list[int] = json.loads(json_str) + entity_ids: list[EntityID] = [] + for entity_id in raw_entity_ids: + entity_ids.append(EntityID(entity_id)) + return entity_ids - def get_path_to_multiple_destinations( - self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] - ) -> list[EntityID]: - arguments: dict[str, str] = { - "From": str(from_entity_id.get_value()), - "Destinations": json.dumps( - [entity_id.get_value() for entity_id in destination_entity_ids] - ), - } - result = self._gateway_module.execute( - "getResult(EntityID, List[EntityID])", arguments - ) - json_str = result.get_value("Result") or "[]" - raw_entity_ids: list[int] = json.loads(json_str) - entity_ids: list[EntityID] = [] - for entity_id in raw_entity_ids: - entity_ids.append(EntityID(entity_id)) - return entity_ids + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + arguments: dict[str, str] = { + "From": str(from_entity_id.get_value()), + "Destinations": json.dumps( + [entity_id.get_value() for entity_id in destination_entity_ids] + ), + } + result = self._gateway_module.execute( + "getResult(EntityID, List[EntityID])", arguments + ) + json_str = result.get_value("Result") or "[]" + raw_entity_ids: list[int] = json.loads(json_str) + entity_ids: list[EntityID] = [] + for entity_id in raw_entity_ids: + entity_ids.append(EntityID(entity_id)) + return entity_ids - def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - arguments: dict[str, str] = { - "From": str(from_entity_id.get_value()), - "To": str(to_entity_id.get_value()), - } - result = self._gateway_module.execute( - "getDistance(EntityID, EntityID)", arguments - ) - return float(result.get_value("Result") or 0.0) + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + arguments: dict[str, str] = { + "From": str(from_entity_id.get_value()), + "To": str(to_entity_id.get_value()), + } + result = self._gateway_module.execute("getDistance(EntityID, EntityID)", arguments) + return float(result.get_value("Result") or 0.0) diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py index f570436..fcd4902 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py @@ -3,64 +3,62 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.module.complex.ambulance_target_allocator import ( - AmbulanceTargetAllocator, + AmbulanceTargetAllocator, ) from adf_core_python.core.gateway.component.module.complex.gateway_target_allocator import ( - GatewayTargetAllocator, + GatewayTargetAllocator, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayAmbulanceTargetAllocator(GatewayTargetAllocator, AmbulanceTargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) - def precompute( - self, precompute_data: PrecomputeData - ) -> GatewayAmbulanceTargetAllocator: - super().precompute(precompute_data) - return self + def precompute( + self, precompute_data: PrecomputeData + ) -> GatewayAmbulanceTargetAllocator: + super().precompute(precompute_data) + return self - def resume( - self, precompute_data: PrecomputeData - ) -> GatewayAmbulanceTargetAllocator: - super().resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> GatewayAmbulanceTargetAllocator: + super().resume(precompute_data) + return self - def prepare(self) -> GatewayAmbulanceTargetAllocator: - super().prepare() - return self + def prepare(self) -> GatewayAmbulanceTargetAllocator: + super().prepare() + return self - def update_info( - self, message_manager: MessageManager - ) -> GatewayAmbulanceTargetAllocator: - super().update_info(message_manager) - return self + def update_info( + self, message_manager: MessageManager + ) -> GatewayAmbulanceTargetAllocator: + super().update_info(message_manager) + return self - def calculate(self) -> GatewayAmbulanceTargetAllocator: - super().calculate() - return self + def calculate(self) -> GatewayAmbulanceTargetAllocator: + super().calculate() + return self diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py index 69fb643..c3b4a78 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py @@ -3,60 +3,58 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.module.complex.fire_target_allocator import ( - FireTargetAllocator, + FireTargetAllocator, ) from adf_core_python.core.gateway.component.module.complex.gateway_target_allocator import ( - GatewayTargetAllocator, + GatewayTargetAllocator, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayFireTargetAllocator(GatewayTargetAllocator, FireTargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) - - def precompute(self, precompute_data: PrecomputeData) -> GatewayFireTargetAllocator: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> GatewayFireTargetAllocator: - super().resume(precompute_data) - return self - - def prepare(self) -> GatewayFireTargetAllocator: - super().prepare() - return self - - def update_info( - self, message_manager: MessageManager - ) -> GatewayFireTargetAllocator: - super().update_info(message_manager) - return self - - def calculate(self) -> GatewayFireTargetAllocator: - super().calculate() - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayFireTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayFireTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayFireTargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayFireTargetAllocator: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayFireTargetAllocator: + super().calculate() + return self diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py index 7692f07..41b1520 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py @@ -5,58 +5,58 @@ from rcrscore.entities.human import Human from adf_core_python.core.component.module.complex.human_detector import ( - HumanDetector, + HumanDetector, ) from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( - GatewayTargetDetector, + GatewayTargetDetector, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayHumanDetector(GatewayTargetDetector[Human], HumanDetector): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) - - def precompute(self, precompute_data: PrecomputeData) -> GatewayHumanDetector: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> GatewayHumanDetector: - super().resume(precompute_data) - return self - - def prepare(self) -> GatewayHumanDetector: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> GatewayHumanDetector: - super().update_info(message_manager) - return self - - def calculate(self) -> GatewayHumanDetector: - super().calculate() - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayHumanDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayHumanDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayHumanDetector: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayHumanDetector: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayHumanDetector: + super().calculate() + return self diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py index bacc0bb..a9ea780 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py @@ -3,62 +3,60 @@ from typing import TYPE_CHECKING from adf_core_python.core.component.module.complex.police_target_allocator import ( - PoliceTargetAllocator, + PoliceTargetAllocator, ) from adf_core_python.core.gateway.component.module.complex.gateway_target_allocator import ( - GatewayTargetAllocator, + GatewayTargetAllocator, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayPoliceTargetAllocator(GatewayTargetAllocator, PoliceTargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) - - def precompute( - self, precompute_data: PrecomputeData - ) -> GatewayPoliceTargetAllocator: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> GatewayPoliceTargetAllocator: - super().resume(precompute_data) - return self - - def prepare(self) -> GatewayPoliceTargetAllocator: - super().prepare() - return self - - def update_info( - self, message_manager: MessageManager - ) -> GatewayPoliceTargetAllocator: - super().update_info(message_manager) - return self - - def calculate(self) -> GatewayPoliceTargetAllocator: - super().calculate() - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayPoliceTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayPoliceTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayPoliceTargetAllocator: + super().prepare() + return self + + def update_info( + self, message_manager: MessageManager + ) -> GatewayPoliceTargetAllocator: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayPoliceTargetAllocator: + super().calculate() + return self diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py index bfceb81..e5b478a 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py @@ -7,54 +7,54 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.component.module.complex.road_detector import RoadDetector from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( - GatewayTargetDetector, + GatewayTargetDetector, ) if TYPE_CHECKING: - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayRoadDetector(GatewayTargetDetector[Road], RoadDetector): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) - - def precompute(self, precompute_data: PrecomputeData) -> GatewayRoadDetector: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> GatewayRoadDetector: - super().resume(precompute_data) - return self - - def prepare(self) -> GatewayRoadDetector: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> GatewayRoadDetector: - super().update_info(message_manager) - return self - - def calculate(self) -> GatewayRoadDetector: - super().calculate() - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayRoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayRoadDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayRoadDetector: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayRoadDetector: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayRoadDetector: + super().calculate() + return self diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_search.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_search.py index bf37e2c..083f3cc 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_search.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_search.py @@ -4,55 +4,55 @@ from adf_core_python.core.component.module.complex.search import Search from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( - GatewayTargetDetector, + GatewayTargetDetector, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewaySearch(GatewayTargetDetector, Search): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) - - def precompute(self, precompute_data: PrecomputeData) -> GatewaySearch: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> GatewaySearch: - super().resume(precompute_data) - return self - - def prepare(self) -> GatewaySearch: - super().prepare() - return self - - def update_info(self, message_manager: MessageManager) -> GatewaySearch: - super().update_info(message_manager) - return self - - def calculate(self) -> GatewaySearch: - super().calculate() - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewaySearch: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewaySearch: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewaySearch: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewaySearch: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewaySearch: + super().calculate() + return self diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py index df35491..1765c47 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py @@ -5,70 +5,68 @@ from rcrscore.entities import EntityID from adf_core_python.core.component.module.complex.target_allocator import ( - TargetAllocator, + TargetAllocator, ) from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( - GatewayAbstractModule, + GatewayAbstractModule, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayTargetAllocator(GatewayAbstractModule, TargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) - def precompute(self, precompute_data: PrecomputeData) -> GatewayTargetAllocator: - super().precompute(precompute_data) - return self + def precompute(self, precompute_data: PrecomputeData) -> GatewayTargetAllocator: + super().precompute(precompute_data) + return self - def resume(self, precompute_data: PrecomputeData) -> GatewayTargetAllocator: - super().resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> GatewayTargetAllocator: + super().resume(precompute_data) + return self - def prepare(self) -> GatewayTargetAllocator: - super().prepare() - return self + def prepare(self) -> GatewayTargetAllocator: + super().prepare() + return self - def update_info(self, message_manager: MessageManager) -> GatewayTargetAllocator: - super().update_info(message_manager) - return self + def update_info(self, message_manager: MessageManager) -> GatewayTargetAllocator: + super().update_info(message_manager) + return self - def calculate(self) -> GatewayTargetAllocator: - super().calculate() - return self + def calculate(self) -> GatewayTargetAllocator: + super().calculate() + return self - def get_result(self) -> dict[EntityID, EntityID]: - response = self._gateway_module.execute("getResult") - response_keys = response.data.keys() - result: dict[EntityID, EntityID] = {} - for key in response_keys: - value = response.get_value(key) - result[EntityID(int(key))] = EntityID( - int(value if value is not None else "-1") - ) + def get_result(self) -> dict[EntityID, EntityID]: + response = self._gateway_module.execute("getResult") + response_keys = response.data.keys() + result: dict[EntityID, EntityID] = {} + for key in response_keys: + value = response.get_value(key) + result[EntityID(int(key))] = EntityID(int(value if value is not None else "-1")) - return result + return result diff --git a/src/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py b/src/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py index 1f50383..4de8f36 100644 --- a/src/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py +++ b/src/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py @@ -7,64 +7,64 @@ from adf_core_python.core.component.module.complex.target_detector import TargetDetector from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( - GatewayAbstractModule, + GatewayAbstractModule, ) if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule T = TypeVar("T", bound=Entity) class GatewayTargetDetector(GatewayAbstractModule, TargetDetector, Generic[T]): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, - world_info, - scenario_info, - module_manager, - develop_data, - gateway_module, - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) - def precompute(self, precompute_data: PrecomputeData) -> GatewayTargetDetector[T]: - super().precompute(precompute_data) - return self + def precompute(self, precompute_data: PrecomputeData) -> GatewayTargetDetector[T]: + super().precompute(precompute_data) + return self - def resume(self, precompute_data: PrecomputeData) -> GatewayTargetDetector[T]: - super().resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> GatewayTargetDetector[T]: + super().resume(precompute_data) + return self - def prepare(self) -> GatewayTargetDetector[T]: - super().prepare() - return self + def prepare(self) -> GatewayTargetDetector[T]: + super().prepare() + return self - def update_info(self, message_manager: MessageManager) -> GatewayTargetDetector[T]: - super().update_info(message_manager) - return self + def update_info(self, message_manager: MessageManager) -> GatewayTargetDetector[T]: + super().update_info(message_manager) + return self - def calculate(self) -> GatewayTargetDetector[T]: - super().calculate() - return self + def calculate(self) -> GatewayTargetDetector[T]: + super().calculate() + return self - def get_target_entity_id(self) -> Optional[EntityID]: - result = self._gateway_module.execute("getTarget") - entity_id_str = result.get_value("EntityID") or "-1" - if entity_id_str == "-1": - return None - return EntityID(int(entity_id_str)) + def get_target_entity_id(self) -> Optional[EntityID]: + result = self._gateway_module.execute("getTarget") + entity_id_str = result.get_value("EntityID") or "-1" + if entity_id_str == "-1": + return None + return EntityID(int(entity_id_str)) diff --git a/src/adf_core_python/core/gateway/component/module/gateway_abstract_module.py b/src/adf_core_python/core/gateway/component/module/gateway_abstract_module.py index 857977b..0f740a0 100644 --- a/src/adf_core_python/core/gateway/component/module/gateway_abstract_module.py +++ b/src/adf_core_python/core/gateway/component/module/gateway_abstract_module.py @@ -5,51 +5,51 @@ from adf_core_python.core.component.module.abstract_module import AbstractModule if TYPE_CHECKING: - from adf_core_python.core.agent.communication.message_manager import MessageManager - from adf_core_python.core.agent.develop.develop_data import DevelopData - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo - from adf_core_python.core.agent.module.module_manager import ModuleManager - from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayAbstractModule(AbstractModule): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - gateway_module: GatewayModule, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._gateway_module = gateway_module - - def precompute(self, precompute_data: PrecomputeData) -> GatewayAbstractModule: - super().precompute(precompute_data) - self._gateway_module.execute("precompute") - return self - - def resume(self, precompute_data: PrecomputeData) -> GatewayAbstractModule: - super().resume(precompute_data) - self._gateway_module.execute("resume") - return self - - def prepare(self) -> GatewayAbstractModule: - super().prepare() - self._gateway_module.execute("preparate") - return self - - def update_info(self, message_manager: MessageManager) -> GatewayAbstractModule: - super().update_info(message_manager) - self._gateway_module.execute("updateInfo") - return self - - def calculate(self) -> GatewayAbstractModule: - self._gateway_module.execute("calc") - return self + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._gateway_module = gateway_module + + def precompute(self, precompute_data: PrecomputeData) -> GatewayAbstractModule: + super().precompute(precompute_data) + self._gateway_module.execute("precompute") + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayAbstractModule: + super().resume(precompute_data) + self._gateway_module.execute("resume") + return self + + def prepare(self) -> GatewayAbstractModule: + super().prepare() + self._gateway_module.execute("preparate") + return self + + def update_info(self, message_manager: MessageManager) -> GatewayAbstractModule: + super().update_info(message_manager) + self._gateway_module.execute("updateInfo") + return self + + def calculate(self) -> GatewayAbstractModule: + self._gateway_module.execute("calc") + return self diff --git a/src/adf_core_python/core/gateway/gateway_agent.py b/src/adf_core_python/core/gateway/gateway_agent.py index 7f04e19..7e886d7 100644 --- a/src/adf_core_python/core/gateway/gateway_agent.py +++ b/src/adf_core_python/core/gateway/gateway_agent.py @@ -12,108 +12,106 @@ from adf_core_python.core.gateway.message.am_update import AMUpdate from adf_core_python.core.gateway.message.ma_exec_response import MAExecResponse from adf_core_python.core.gateway.message.ma_module_response import ( - MAModuleResponse, + MAModuleResponse, ) from adf_core_python.core.gateway.message.moduleMessageFactory import ( - ModuleMessageFactory, + ModuleMessageFactory, ) from adf_core_python.core.logger.logger import get_logger if TYPE_CHECKING: - from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher - from adf_core_python.core.gateway.gateway_module import GatewayModule + from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher + from adf_core_python.core.gateway.gateway_module import GatewayModule class GatewayAgent: - def __init__(self, gateway_launcher: GatewayLauncher) -> None: - self._gateway_launcher = gateway_launcher - self.send_msg: Optional[Callable] = None - self._is_initialized = False - self._agent_info: Optional[AgentInfo] = None - self._world_info: Optional[WorldInfo] = None - self._scenario_info: Optional[ScenarioInfo] = None - self._gateway_modules: dict[str, GatewayModule] = {} - self._logger = get_logger(__name__) - - def get_module_count(self) -> int: - return len(self._gateway_modules) - - def add_gateway_module(self, gateway_module: GatewayModule) -> None: - self._gateway_modules[gateway_module.get_module_id()] = gateway_module - - def is_initialized(self) -> bool: - return self._is_initialized - - def set_initialize_data( - self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo - ) -> None: - self._agent_info = agent_info - self._world_info = world_info - self._scenario_info = scenario_info - - def initialize(self) -> None: - if self.send_msg is None: - raise RuntimeError("send_msg is None") - if ( - self._agent_info is None - or self._world_info is None - or self._scenario_info is None - ): - raise RuntimeError( - "Required variables is None, " - "You must exec set_initialized_data() before calling initialize()" - ) - - am_agent = AMAgent() - self.send_msg( - am_agent.write( - self._agent_info.get_entity_id(), - list(self._world_info.get_world_model().get_entities()), - self._scenario_info.get_config().config, - int(self._scenario_info.get_mode()), - ) - ) - self._is_initialized = True - - def update(self) -> None: - if self.send_msg is None: - raise RuntimeError("send_msg is None") - if self._agent_info is None or self._world_info is None: - raise RuntimeError( - "Required variables is None, " - "You must exec set_initialized_data() before calling update()" - ) - - am_update = AMUpdate() - self.send_msg( - am_update.write( - self._agent_info.get_time(), - self._world_info.get_change_set(), - self._agent_info.get_heard_commands(), - ) - ) - - def set_send_msg(self, connection_send_func: Callable) -> None: - self.send_msg = connection_send_func - - def message_received(self, msg: RCRSProto_pb2.MessageProto) -> None: - c_msg = ModuleMessageFactory().make_message(msg) - if isinstance(c_msg, MAModuleResponse): - if c_msg.module_id is None or c_msg.class_name is None: - raise RuntimeError("Failed to receive message") - - self._gateway_modules[c_msg.module_id].set_gateway_class_name( - c_msg.class_name - ) - self._gateway_modules[c_msg.module_id].set_is_initialized(True) - if isinstance(c_msg, MAExecResponse): - if c_msg.module_id is None: - raise RuntimeError("Failed to receive message") - - self._gateway_modules[c_msg.module_id].set_execute_response(c_msg.result) - self._gateway_modules[c_msg.module_id].set_is_executed(True) - - if msg.urn == CommandURN.AK_SPEAK: - if self.send_msg is None: - raise RuntimeError("send_msg is None") - self.send_msg(msg) + def __init__(self, gateway_launcher: GatewayLauncher) -> None: + self._gateway_launcher = gateway_launcher + self.send_msg: Optional[Callable] = None + self._is_initialized = False + self._agent_info: Optional[AgentInfo] = None + self._world_info: Optional[WorldInfo] = None + self._scenario_info: Optional[ScenarioInfo] = None + self._gateway_modules: dict[str, GatewayModule] = {} + self._logger = get_logger(__name__) + + def get_module_count(self) -> int: + return len(self._gateway_modules) + + def add_gateway_module(self, gateway_module: GatewayModule) -> None: + self._gateway_modules[gateway_module.get_module_id()] = gateway_module + + def is_initialized(self) -> bool: + return self._is_initialized + + def set_initialize_data( + self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + + def initialize(self) -> None: + if self.send_msg is None: + raise RuntimeError("send_msg is None") + if ( + self._agent_info is None + or self._world_info is None + or self._scenario_info is None + ): + raise RuntimeError( + "Required variables is None, " + "You must exec set_initialized_data() before calling initialize()" + ) + + am_agent = AMAgent() + self.send_msg( + am_agent.write( + self._agent_info.get_entity_id(), + list(self._world_info.get_world_model().get_entities()), + self._scenario_info.get_config().config, + int(self._scenario_info.get_mode()), + ) + ) + self._is_initialized = True + + def update(self) -> None: + if self.send_msg is None: + raise RuntimeError("send_msg is None") + if self._agent_info is None or self._world_info is None: + raise RuntimeError( + "Required variables is None, " + "You must exec set_initialized_data() before calling update()" + ) + + am_update = AMUpdate() + self.send_msg( + am_update.write( + self._agent_info.get_time(), + self._world_info.get_change_set(), + self._agent_info.get_heard_commands(), + ) + ) + + def set_send_msg(self, connection_send_func: Callable) -> None: + self.send_msg = connection_send_func + + def message_received(self, msg: RCRSProto_pb2.MessageProto) -> None: + c_msg = ModuleMessageFactory().make_message(msg) + if isinstance(c_msg, MAModuleResponse): + if c_msg.module_id is None or c_msg.class_name is None: + raise RuntimeError("Failed to receive message") + + self._gateway_modules[c_msg.module_id].set_gateway_class_name(c_msg.class_name) + self._gateway_modules[c_msg.module_id].set_is_initialized(True) + if isinstance(c_msg, MAExecResponse): + if c_msg.module_id is None: + raise RuntimeError("Failed to receive message") + + self._gateway_modules[c_msg.module_id].set_execute_response(c_msg.result) + self._gateway_modules[c_msg.module_id].set_is_executed(True) + + if msg.urn == CommandURN.AK_SPEAK: + if self.send_msg is None: + raise RuntimeError("send_msg is None") + self.send_msg(msg) diff --git a/src/adf_core_python/core/gateway/gateway_launcher.py b/src/adf_core_python/core/gateway/gateway_launcher.py index e320d24..47053c6 100644 --- a/src/adf_core_python/core/gateway/gateway_launcher.py +++ b/src/adf_core_python/core/gateway/gateway_launcher.py @@ -7,39 +7,39 @@ class GatewayLauncher: - def __init__(self, host: str, port: int, logger: BoundLogger) -> None: - self.host = host - self.port = port - self.logger = logger - pass - - def make_connection(self) -> Connection: - return Connection(self.host, self.port) - - def connect(self, gateway_agent: GatewayAgent) -> None: + def __init__(self, host: str, port: int, logger: BoundLogger) -> None: + self.host = host + self.port = port + self.logger = logger + pass + + def make_connection(self) -> Connection: + return Connection(self.host, self.port) + + def connect(self, gateway_agent: GatewayAgent) -> None: + self.logger.info( + f"{gateway_agent.__class__.__name__} connecting to {self.host}:{self.port}" + ) + connection = self.make_connection() + try: + connection.connect() + # ソケットが使用しているPORT番号を取得 + if connection.socket is not None: self.logger.info( - f"{gateway_agent.__class__.__name__} connecting to {self.host}:{self.port}" + f"Connected to {self.host}:{self.port} on port {connection.socket.getsockname()[1]}" ) - connection = self.make_connection() - try: - connection.connect() - # ソケットが使用しているPORT番号を取得 - if connection.socket is not None: - self.logger.info( - f"Connected to {self.host}:{self.port} on port {connection.socket.getsockname()[1]}" - ) - except socket.timeout: - self.logger.warning(f"Connection to {self.host}:{self.port} timed out") - return - except socket.error as e: - self.logger.error(f"Failed to connect to {self.host}:{self.port}") - self.logger.error(e) - return - - connection.message_received(gateway_agent.message_received) - gateway_agent.set_send_msg(connection.send_msg) - - try: - connection.parse_message_from_kernel() - except Exception as e: - self.logger.error(f"Failed to connect agent: {self.host}:{self.port} {e}") + except socket.timeout: + self.logger.warning(f"Connection to {self.host}:{self.port} timed out") + return + except socket.error as e: + self.logger.error(f"Failed to connect to {self.host}:{self.port}") + self.logger.error(e) + return + + connection.message_received(gateway_agent.message_received) + gateway_agent.set_send_msg(connection.send_msg) + + try: + connection.parse_message_from_kernel() + except Exception as e: + self.logger.error(f"Failed to connect agent: {self.host}:{self.port} {e}") diff --git a/src/adf_core_python/core/gateway/gateway_module.py b/src/adf_core_python/core/gateway/gateway_module.py index 68bb446..a5fa18d 100644 --- a/src/adf_core_python/core/gateway/gateway_module.py +++ b/src/adf_core_python/core/gateway/gateway_module.py @@ -9,77 +9,75 @@ class GatewayModule: - def __init__(self, gateway_agent: GatewayAgent): - self._gateway_agent = gateway_agent - self._module_id: str = str(uuid.uuid4()) - self._is_initialized = False - self._is_executed = False - self._gateway_class_name: str = "" - self._result: Optional[Config] = None - self._gateway_agent.add_gateway_module(self) - - def get_module_id(self) -> str: - return self._module_id - - def get_gateway_class_name(self) -> str: - return self._gateway_class_name - - def set_gateway_class_name(self, gateway_class_name: str) -> None: - self._gateway_class_name = gateway_class_name - - def get_is_initialized(self) -> bool: - return self._is_initialized - - def set_is_initialized(self, is_initialized: bool) -> None: - self._is_initialized = is_initialized - - def initialize(self, module_name: str, default_class_name: str) -> str: - if not self._gateway_agent.is_initialized(): - self._gateway_agent.initialize() - if self._gateway_agent.send_msg is None: - raise RuntimeError("send_msg is None") - - am_module = AMModule() - self._gateway_agent.send_msg( - am_module.write( - self._module_id, - module_name, - default_class_name, - ) - ) - - while not self.get_is_initialized(): - pass - - return self.get_gateway_class_name() - - def get_execute_response(self) -> Config: - if self._result is None: - raise RuntimeError("No execution result available") - return self._result - - def set_execute_response(self, result: Config) -> None: - self._result = result - - def get_is_executed(self) -> bool: - return self._is_executed - - def set_is_executed(self, _is_executed: bool) -> None: - self._is_executed = _is_executed - - def execute( - self, method_name: str, args: Optional[dict[str, str]] = None - ) -> Config: - if args is None: - args = {} - if self._gateway_agent.send_msg is None: - raise RuntimeError("send_msg is None") - - am_exec = AMExec() - self._gateway_agent.send_msg(am_exec.write(self._module_id, method_name, args)) - - while not self.get_is_executed(): - pass - - self.set_is_executed(False) - return self.get_execute_response() + def __init__(self, gateway_agent: GatewayAgent): + self._gateway_agent = gateway_agent + self._module_id: str = str(uuid.uuid4()) + self._is_initialized = False + self._is_executed = False + self._gateway_class_name: str = "" + self._result: Optional[Config] = None + self._gateway_agent.add_gateway_module(self) + + def get_module_id(self) -> str: + return self._module_id + + def get_gateway_class_name(self) -> str: + return self._gateway_class_name + + def set_gateway_class_name(self, gateway_class_name: str) -> None: + self._gateway_class_name = gateway_class_name + + def get_is_initialized(self) -> bool: + return self._is_initialized + + def set_is_initialized(self, is_initialized: bool) -> None: + self._is_initialized = is_initialized + + def initialize(self, module_name: str, default_class_name: str) -> str: + if not self._gateway_agent.is_initialized(): + self._gateway_agent.initialize() + if self._gateway_agent.send_msg is None: + raise RuntimeError("send_msg is None") + + am_module = AMModule() + self._gateway_agent.send_msg( + am_module.write( + self._module_id, + module_name, + default_class_name, + ) + ) + + while not self.get_is_initialized(): + pass + + return self.get_gateway_class_name() + + def get_execute_response(self) -> Config: + if self._result is None: + raise RuntimeError("No execution result available") + return self._result + + def set_execute_response(self, result: Config) -> None: + self._result = result + + def get_is_executed(self) -> bool: + return self._is_executed + + def set_is_executed(self, _is_executed: bool) -> None: + self._is_executed = _is_executed + + def execute(self, method_name: str, args: Optional[dict[str, str]] = None) -> Config: + if args is None: + args = {} + if self._gateway_agent.send_msg is None: + raise RuntimeError("send_msg is None") + + am_exec = AMExec() + self._gateway_agent.send_msg(am_exec.write(self._module_id, method_name, args)) + + while not self.get_is_executed(): + pass + + self.set_is_executed(False) + return self.get_execute_response() diff --git a/src/adf_core_python/core/gateway/message/am_agent.py b/src/adf_core_python/core/gateway/message/am_agent.py index aac4850..416f702 100644 --- a/src/adf_core_python/core/gateway/message/am_agent.py +++ b/src/adf_core_python/core/gateway/message/am_agent.py @@ -7,48 +7,46 @@ from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ComponentModuleMSG, - ModuleMSG, + ComponentModuleMSG, + ModuleMSG, ) class AMAgent(AKControlMessage): - @staticmethod - def write( - agent_id: EntityID, - entities: list[Entity], - config: dict[str, Any], - mode: int, - ) -> RCRSProto_pb2.MessageProto: - entity_proto_list = [] - for entity in entities: - entity_proto = RCRSProto_pb2.EntityProto() - entity_proto.urn = entity.get_urn() - entity_proto.entityID = entity.get_entity_id().get_value() - - property_proto_list = [] - for k, v in entity.get_properties().items(): - property_proto_list.append(v.to_property_proto()) - entity_proto.properties.extend(property_proto_list) - entity_proto_list.append(entity_proto) - - entity_list_proto = RCRSProto_pb2.EntityListProto() - entity_list_proto.entities.extend(entity_proto_list) - - config_proto = RCRSProto_pb2.ConfigProto() - for key, value in config.items(): - config_proto.data[str(key)] = str(value) - - msg = RCRSProto_pb2.MessageProto() - msg.urn = AMAgent.get_urn() - msg.components[ComponentModuleMSG.AgentID].entityID = agent_id.get_value() - msg.components[ComponentModuleMSG.Entities].entityList.CopyFrom( - entity_list_proto - ) - msg.components[ComponentModuleMSG.Config].config.CopyFrom(config_proto) - msg.components[ComponentModuleMSG.Mode].intValue = mode - return msg - - @staticmethod - def get_urn() -> ControlMessageURN: - return ModuleMSG.AM_AGENT # type: ignore + @staticmethod + def write( + agent_id: EntityID, + entities: list[Entity], + config: dict[str, Any], + mode: int, + ) -> RCRSProto_pb2.MessageProto: + entity_proto_list = [] + for entity in entities: + entity_proto = RCRSProto_pb2.EntityProto() + entity_proto.urn = entity.get_urn() + entity_proto.entityID = entity.get_entity_id().get_value() + + property_proto_list = [] + for k, v in entity.get_properties().items(): + property_proto_list.append(v.to_property_proto()) + entity_proto.properties.extend(property_proto_list) + entity_proto_list.append(entity_proto) + + entity_list_proto = RCRSProto_pb2.EntityListProto() + entity_list_proto.entities.extend(entity_proto_list) + + config_proto = RCRSProto_pb2.ConfigProto() + for key, value in config.items(): + config_proto.data[str(key)] = str(value) + + msg = RCRSProto_pb2.MessageProto() + msg.urn = AMAgent.get_urn() + msg.components[ComponentModuleMSG.AgentID].entityID = agent_id.get_value() + msg.components[ComponentModuleMSG.Entities].entityList.CopyFrom(entity_list_proto) + msg.components[ComponentModuleMSG.Config].config.CopyFrom(config_proto) + msg.components[ComponentModuleMSG.Mode].intValue = mode + return msg + + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_AGENT # type: ignore diff --git a/src/adf_core_python/core/gateway/message/am_exec.py b/src/adf_core_python/core/gateway/message/am_exec.py index dd8508b..51f61d0 100644 --- a/src/adf_core_python/core/gateway/message/am_exec.py +++ b/src/adf_core_python/core/gateway/message/am_exec.py @@ -5,25 +5,25 @@ from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ComponentModuleMSG, - ModuleMSG, + ComponentModuleMSG, + ModuleMSG, ) class AMExec(AKControlMessage): - @staticmethod - def write(module_id: str, method_name: str, arguments: dict[str, str]) -> Any: - msg = RCRSProto_pb2.MessageProto() - msg.urn = AMExec.get_urn() - msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id - msg.components[ComponentModuleMSG.MethodName].stringValue = method_name - config_proto = RCRSProto_pb2.ConfigProto() - for key, value in arguments.items(): - config_proto.data[key] = value - msg.components[ComponentModuleMSG.Arguments].config.CopyFrom(config_proto) + @staticmethod + def write(module_id: str, method_name: str, arguments: dict[str, str]) -> Any: + msg = RCRSProto_pb2.MessageProto() + msg.urn = AMExec.get_urn() + msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id + msg.components[ComponentModuleMSG.MethodName].stringValue = method_name + config_proto = RCRSProto_pb2.ConfigProto() + for key, value in arguments.items(): + config_proto.data[key] = value + msg.components[ComponentModuleMSG.Arguments].config.CopyFrom(config_proto) - return msg + return msg - @staticmethod - def get_urn() -> ControlMessageURN: - return ModuleMSG.AM_EXEC # type: ignore + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_EXEC # type: ignore diff --git a/src/adf_core_python/core/gateway/message/am_module.py b/src/adf_core_python/core/gateway/message/am_module.py index 6b31662..9b2208f 100644 --- a/src/adf_core_python/core/gateway/message/am_module.py +++ b/src/adf_core_python/core/gateway/message/am_module.py @@ -5,28 +5,26 @@ from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ComponentModuleMSG, - ModuleMSG, + ComponentModuleMSG, + ModuleMSG, ) class AMModule(AKControlMessage): - @staticmethod - def write( - module_id: str, - module_name: str, - default_class_name: str, - ) -> Any: - msg = RCRSProto_pb2.MessageProto() - msg.urn = AMModule.get_urn() - msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id - msg.components[ComponentModuleMSG.ModuleName].stringValue = module_name - msg.components[ - ComponentModuleMSG.DefaultClassName - ].stringValue = default_class_name + @staticmethod + def write( + module_id: str, + module_name: str, + default_class_name: str, + ) -> Any: + msg = RCRSProto_pb2.MessageProto() + msg.urn = AMModule.get_urn() + msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id + msg.components[ComponentModuleMSG.ModuleName].stringValue = module_name + msg.components[ComponentModuleMSG.DefaultClassName].stringValue = default_class_name - return msg + return msg - @staticmethod - def get_urn() -> ControlMessageURN: - return ModuleMSG.AM_MODULE # type: ignore + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_MODULE # type: ignore diff --git a/src/adf_core_python/core/gateway/message/am_update.py b/src/adf_core_python/core/gateway/message/am_update.py index e6baa79..c5bf941 100644 --- a/src/adf_core_python/core/gateway/message/am_update.py +++ b/src/adf_core_python/core/gateway/message/am_update.py @@ -7,31 +7,29 @@ from rcrscore.worldmodel import ChangeSet from adf_core_python.core.gateway.message.urn.urn import ( - ComponentModuleMSG, - ModuleMSG, + ComponentModuleMSG, + ModuleMSG, ) class AMUpdate(AKControlMessage): - @staticmethod - def write(time: int, changed: ChangeSet, heard: list[Command]) -> Any: - msg = RCRSProto_pb2.MessageProto() - msg.urn = AMUpdate.get_urn() - msg.components[ComponentModuleMSG.Time].intValue = time - msg.components[ComponentModuleMSG.Changed].changeSet.CopyFrom( - changed.to_change_set_proto() - ) - message_list_proto = RCRSProto_pb2.MessageListProto() - message_proto_list = [] - if heard is not None: - for h in heard: - message_proto_list.append(h.to_message_proto()) - message_list_proto.commands.extend(message_proto_list) - msg.components[ComponentModuleMSG.Heard].commandList.CopyFrom( - message_list_proto - ) - return msg + @staticmethod + def write(time: int, changed: ChangeSet, heard: list[Command]) -> Any: + msg = RCRSProto_pb2.MessageProto() + msg.urn = AMUpdate.get_urn() + msg.components[ComponentModuleMSG.Time].intValue = time + msg.components[ComponentModuleMSG.Changed].changeSet.CopyFrom( + changed.to_change_set_proto() + ) + message_list_proto = RCRSProto_pb2.MessageListProto() + message_proto_list = [] + if heard is not None: + for h in heard: + message_proto_list.append(h.to_message_proto()) + message_list_proto.commands.extend(message_proto_list) + msg.components[ComponentModuleMSG.Heard].commandList.CopyFrom(message_list_proto) + return msg - @staticmethod - def get_urn() -> ControlMessageURN: - return ModuleMSG.AM_UPDATE # type: ignore + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.AM_UPDATE # type: ignore diff --git a/src/adf_core_python/core/gateway/message/ma_exec_response.py b/src/adf_core_python/core/gateway/message/ma_exec_response.py index 1e84021..98a50e2 100644 --- a/src/adf_core_python/core/gateway/message/ma_exec_response.py +++ b/src/adf_core_python/core/gateway/message/ma_exec_response.py @@ -4,24 +4,24 @@ from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ComponentModuleMSG, - ModuleMSG, + ComponentModuleMSG, + ModuleMSG, ) class MAExecResponse(KAControlMessage): - def __init__(self, message_proto: RCRSProto_pb2.MessageProto) -> None: - self.result = Config() - self.read(message_proto) + def __init__(self, message_proto: RCRSProto_pb2.MessageProto) -> None: + self.result = Config() + self.read(message_proto) - def read(self, message_proto: RCRSProto_pb2.MessageProto) -> None: - self.module_id: str = message_proto.components[ - ComponentModuleMSG.ModuleID - ].stringValue - result = message_proto.components[ComponentModuleMSG.Result].config - for key, value in result.data.items(): - self.result.set_value(key, value) + def read(self, message_proto: RCRSProto_pb2.MessageProto) -> None: + self.module_id: str = message_proto.components[ + ComponentModuleMSG.ModuleID + ].stringValue + result = message_proto.components[ComponentModuleMSG.Result].config + for key, value in result.data.items(): + self.result.set_value(key, value) - @staticmethod - def get_urn() -> ControlMessageURN: - return ModuleMSG.MA_EXEC_RESPONSE # type: ignore + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.MA_EXEC_RESPONSE # type: ignore diff --git a/src/adf_core_python/core/gateway/message/ma_module_response.py b/src/adf_core_python/core/gateway/message/ma_module_response.py index 8e879f3..ce74646 100644 --- a/src/adf_core_python/core/gateway/message/ma_module_response.py +++ b/src/adf_core_python/core/gateway/message/ma_module_response.py @@ -6,25 +6,21 @@ from rcrscore.urn.control_message import ControlMessageURN from adf_core_python.core.gateway.message.urn.urn import ( - ComponentModuleMSG, - ModuleMSG, + ComponentModuleMSG, + ModuleMSG, ) class MAModuleResponse(KAControlMessage, ABC): - def __init__(self, message_proto: RCRSProto_pb2.MessageProto) -> None: - self.module_id: Optional[str] = None - self.class_name: Optional[str] = None - self.read(message_proto) + def __init__(self, message_proto: RCRSProto_pb2.MessageProto) -> None: + self.module_id: Optional[str] = None + self.class_name: Optional[str] = None + self.read(message_proto) - def read(self, message_proto: RCRSProto_pb2.MessageProto) -> None: - self.module_id = message_proto.components[ - ComponentModuleMSG.ModuleID - ].stringValue - self.class_name = message_proto.components[ - ComponentModuleMSG.ClassName - ].stringValue + def read(self, message_proto: RCRSProto_pb2.MessageProto) -> None: + self.module_id = message_proto.components[ComponentModuleMSG.ModuleID].stringValue + self.class_name = message_proto.components[ComponentModuleMSG.ClassName].stringValue - @staticmethod - def get_urn() -> ControlMessageURN: - return ModuleMSG.MA_MODULE_RESPONSE # type: ignore + @staticmethod + def get_urn() -> ControlMessageURN: + return ModuleMSG.MA_MODULE_RESPONSE # type: ignore diff --git a/src/adf_core_python/core/gateway/message/moduleMessageFactory.py b/src/adf_core_python/core/gateway/message/moduleMessageFactory.py index 3874b25..d5a93ed 100644 --- a/src/adf_core_python/core/gateway/message/moduleMessageFactory.py +++ b/src/adf_core_python/core/gateway/message/moduleMessageFactory.py @@ -4,21 +4,21 @@ from adf_core_python.core.gateway.message.ma_exec_response import MAExecResponse from adf_core_python.core.gateway.message.ma_module_response import ( - MAModuleResponse, + MAModuleResponse, ) from adf_core_python.core.gateway.message.urn.urn import ModuleMSG class ModuleMessageFactory: - def __init__(self) -> None: - pass + def __init__(self) -> None: + pass - def make_message( - self, msg: RCRSProto_pb2.MessageProto - ) -> Optional[MAModuleResponse | MAExecResponse]: - if msg.urn == ModuleMSG.MA_MODULE_RESPONSE: - return MAModuleResponse(msg) - elif msg.urn == ModuleMSG.MA_EXEC_RESPONSE: - return MAExecResponse(msg) + def make_message( + self, msg: RCRSProto_pb2.MessageProto + ) -> Optional[MAModuleResponse | MAExecResponse]: + if msg.urn == ModuleMSG.MA_MODULE_RESPONSE: + return MAModuleResponse(msg) + elif msg.urn == ModuleMSG.MA_EXEC_RESPONSE: + return MAExecResponse(msg) - return None + return None diff --git a/src/adf_core_python/core/gateway/message/urn/urn.py b/src/adf_core_python/core/gateway/message/urn/urn.py index d38e435..36a15bf 100644 --- a/src/adf_core_python/core/gateway/message/urn/urn.py +++ b/src/adf_core_python/core/gateway/message/urn/urn.py @@ -2,26 +2,26 @@ class ModuleMSG(IntEnum): - AM_AGENT = 0x0301 - AM_MODULE = 0x0302 - MA_MODULE_RESPONSE = 0x0303 - AM_UPDATE = 0x0304 - AM_EXEC = 0x0305 - MA_EXEC_RESPONSE = 0x0306 + AM_AGENT = 0x0301 + AM_MODULE = 0x0302 + MA_MODULE_RESPONSE = 0x0303 + AM_UPDATE = 0x0304 + AM_EXEC = 0x0305 + MA_EXEC_RESPONSE = 0x0306 class ComponentModuleMSG(IntEnum): - AgentID = 0x0401 - Entities = 0x0402 - Config = 0x0403 - Mode = 0x0404 - ModuleID = 0x0405 - ModuleName = 0x0406 - DefaultClassName = 0x0407 - ClassName = 0x0408 - Time = 0x0409 - Changed = 0x040A - Heard = 0x040B - MethodName = 0x040C - Arguments = 0x040D - Result = 0x040E + AgentID = 0x0401 + Entities = 0x0402 + Config = 0x0403 + Mode = 0x0404 + ModuleID = 0x0405 + ModuleName = 0x0406 + DefaultClassName = 0x0407 + ClassName = 0x0408 + Time = 0x0409 + Changed = 0x040A + Heard = 0x040B + MethodName = 0x040C + Arguments = 0x040D + Result = 0x040E diff --git a/src/adf_core_python/core/gateway/module_dict.py b/src/adf_core_python/core/gateway/module_dict.py index 7f668c6..e814b77 100644 --- a/src/adf_core_python/core/gateway/module_dict.py +++ b/src/adf_core_python/core/gateway/module_dict.py @@ -2,31 +2,31 @@ class ModuleDict: - def __init__(self, module_dict: Optional[dict[str, str]] = None): - self.module_dict: dict[str, str] = { - "adf_core_python.component.module.algorithm.Clustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", - "adf_core_python.component.module.algorithm.DynamicClustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", - "adf_core_python.component.module.algorithm.StaticClustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", - "adf_core_python.component.module.algorithm.PathPlanning": "adf_core_python.core.gateway.component.module.complex.gateway_path_planning.GatewayPathPlanning", - "adf_core_python.component.module.complex.TargetDetector": "adf_core_python.core.gateway.component.module.complex.gateway_target_detector.GatewayTargetDetector", - "adf_core_python.component.module.complex.HumanDetector": "adf_core_python.core.gateway.component.module.complex.gateway_human_detector.GatewayHumanDetector", - "adf_core_python.component.module.complex.RoadDetector": "adf_core_python.core.gateway.component.module.complex.gateway_road_detector.GatewayRoadDetector", - "adf_core_python.component.module.complex.Search": "adf_core_python.core.gateway.component.module.complex.gateway_search.GatewaySearch", - "adf_core_python.component.module.complex.TargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_target_allocator.GatewayTargetAllocator", - "adf_core_python.component.module.complex.AmbulanceTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_ambulance_target_allocator.GatewayAmbulanceTargetAllocator", - "adf_core_python.component.module.complex.FireTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_fire_target_allocator.GatewayFireTargetAllocator", - "adf_core_python.component.module.complex.PoliceTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_fire_target_allocator.GatewayPoliceTargetAllocator", - } - if module_dict is not None: - for key, value in module_dict.items(): - self.module_dict[key] = value + def __init__(self, module_dict: Optional[dict[str, str]] = None): + self.module_dict: dict[str, str] = { + "adf_core_python.component.module.algorithm.Clustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", + "adf_core_python.component.module.algorithm.DynamicClustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", + "adf_core_python.component.module.algorithm.StaticClustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", + "adf_core_python.component.module.algorithm.PathPlanning": "adf_core_python.core.gateway.component.module.complex.gateway_path_planning.GatewayPathPlanning", + "adf_core_python.component.module.complex.TargetDetector": "adf_core_python.core.gateway.component.module.complex.gateway_target_detector.GatewayTargetDetector", + "adf_core_python.component.module.complex.HumanDetector": "adf_core_python.core.gateway.component.module.complex.gateway_human_detector.GatewayHumanDetector", + "adf_core_python.component.module.complex.RoadDetector": "adf_core_python.core.gateway.component.module.complex.gateway_road_detector.GatewayRoadDetector", + "adf_core_python.component.module.complex.Search": "adf_core_python.core.gateway.component.module.complex.gateway_search.GatewaySearch", + "adf_core_python.component.module.complex.TargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_target_allocator.GatewayTargetAllocator", + "adf_core_python.component.module.complex.AmbulanceTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_ambulance_target_allocator.GatewayAmbulanceTargetAllocator", + "adf_core_python.component.module.complex.FireTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_fire_target_allocator.GatewayFireTargetAllocator", + "adf_core_python.component.module.complex.PoliceTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_fire_target_allocator.GatewayPoliceTargetAllocator", + } + if module_dict is not None: + for key, value in module_dict.items(): + self.module_dict[key] = value - def __getitem__(self, key: str) -> Optional[str]: - if not isinstance(key, str): - raise TypeError("TypeError: Key must be a string") - return self.module_dict.get(key) + def __getitem__(self, key: str) -> Optional[str]: + if not isinstance(key, str): + raise TypeError("TypeError: Key must be a string") + return self.module_dict.get(key) - def __setitem__(self, key: str, value: str) -> None: - if not isinstance(key, str): - raise TypeError("TypeError: Key must be a string") - self.module_dict[key] = value + def __setitem__(self, key: str, value: str) -> None: + if not isinstance(key, str): + raise TypeError("TypeError: Key must be a string") + self.module_dict[key] = value diff --git a/src/adf_core_python/core/launcher/agent_launcher.py b/src/adf_core_python/core/launcher/agent_launcher.py index 94fe7a8..a5c119f 100644 --- a/src/adf_core_python/core/launcher/agent_launcher.py +++ b/src/adf_core_python/core/launcher/agent_launcher.py @@ -10,123 +10,117 @@ from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector from adf_core_python.core.launcher.connect.connector_ambulance_center import ( - ConnectorAmbulanceCenter, + ConnectorAmbulanceCenter, ) from adf_core_python.core.launcher.connect.connector_ambulance_team import ( - ConnectorAmbulanceTeam, + ConnectorAmbulanceTeam, ) from adf_core_python.core.launcher.connect.connector_fire_brigade import ( - ConnectorFireBrigade, + ConnectorFireBrigade, ) from adf_core_python.core.launcher.connect.connector_fire_station import ( - ConnectorFireStation, + ConnectorFireStation, ) from adf_core_python.core.launcher.connect.connector_police_force import ( - ConnectorPoliceForce, + ConnectorPoliceForce, ) from adf_core_python.core.launcher.connect.connector_police_office import ( - ConnectorPoliceOffice, + ConnectorPoliceOffice, ) from adf_core_python.core.logger.logger import get_logger class AgentLauncher: - def __init__(self, config: Config): - self.config = config - self.logger = get_logger(__name__) - self.connectors: list[Connector] = [] - self.agent_thread_list: list[threading.Thread] = [] - - def init_connector(self) -> None: - loader_name, loader_class_name = self.config.get_value( - ConfigKey.KEY_LOADER_CLASS, - "adf_core_python.implement.default_loader.DefaultLoader", - ).rsplit(".", 1) - loader_module = importlib.import_module(loader_name) - self.loader: AbstractLoader = getattr( - loader_module, - loader_class_name, - )( - self.config.get_value(ConfigKey.KEY_TEAM_NAME), - ) - - self.connectors.append(ConnectorAmbulanceTeam()) - self.connectors.append(ConnectorAmbulanceCenter()) - self.connectors.append(ConnectorFireBrigade()) - self.connectors.append(ConnectorFireStation()) - self.connectors.append(ConnectorPoliceForce()) - self.connectors.append(ConnectorPoliceOffice()) - - def launch(self) -> None: - kernel_host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") - kernel_port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) - - component_launcher: ComponentLauncher = ComponentLauncher( - kernel_host, kernel_port, self.logger - ) - timeout: int = self.config.get_value( - ConfigKey.KEY_KERNEL_TIMEOUT, - 30, - ) - if component_launcher.check_kernel_connection(timeout=timeout): - self.logger.info( - f"Kernel is running (host: {kernel_host}, port: {kernel_port})" - ) - else: - self.logger.error( - f"Kernel is not running (host: {kernel_host}, port: {kernel_port})" - ) - return - - self.logger.info( - f"Start agent launcher (host: {kernel_host}, port: {kernel_port})" - ) - - gateway_launcher: Optional[GatewayLauncher] = None - gateway_flag: bool = self.config.get_value(ConfigKey.KEY_GATEWAY_FLAG, False) - if gateway_flag: - gateway_host: str = self.config.get_value( - ConfigKey.KEY_GATEWAY_HOST, "localhost" - ) - gateway_port: int = self.config.get_value(ConfigKey.KEY_GATEWAY_PORT, 27941) - self.logger.info( - f"Start gateway launcher (host: {gateway_host}, port: {gateway_port})" - ) - - gateway_launcher = GatewayLauncher(gateway_host, gateway_port, self.logger) - - connector_thread_list: list[threading.Thread] = [] - for connector in self.connectors: - threads = connector.connect( - component_launcher, gateway_launcher, self.config, self.loader - ) - self.agent_thread_list.extend(threads) - - def connect() -> None: - for thread, event in threads.items(): - thread.daemon = True - thread.start() - event.wait(5) - - connector_thread = threading.Thread(target=connect) - connector_thread_list.append(connector_thread) - connector_thread.start() - - for thread in connector_thread_list: - thread.join() - - self.logger.info("All agents have been launched") - - for thread in self.agent_thread_list: - thread.join() - - def check_kernel_connection(self, host: str, port: int, timeout: int = 5) -> bool: - try: - sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - sock.settimeout(timeout) - result = sock.connect_ex((host, port)) - sock.close() - return result == 0 - except Exception as e: - self.logger.error(f"カーネルへの接続確認中にエラーが発生しました: {e}") - return False + def __init__(self, config: Config): + self.config = config + self.logger = get_logger(__name__) + self.connectors: list[Connector] = [] + self.agent_thread_list: list[threading.Thread] = [] + + def init_connector(self) -> None: + loader_name, loader_class_name = self.config.get_value( + ConfigKey.KEY_LOADER_CLASS, + "adf_core_python.implement.default_loader.DefaultLoader", + ).rsplit(".", 1) + loader_module = importlib.import_module(loader_name) + self.loader: AbstractLoader = getattr( + loader_module, + loader_class_name, + )( + self.config.get_value(ConfigKey.KEY_TEAM_NAME), + ) + + self.connectors.append(ConnectorAmbulanceTeam()) + self.connectors.append(ConnectorAmbulanceCenter()) + self.connectors.append(ConnectorFireBrigade()) + self.connectors.append(ConnectorFireStation()) + self.connectors.append(ConnectorPoliceForce()) + self.connectors.append(ConnectorPoliceOffice()) + + def launch(self) -> None: + kernel_host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") + kernel_port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) + + component_launcher: ComponentLauncher = ComponentLauncher( + kernel_host, kernel_port, self.logger + ) + timeout: int = self.config.get_value( + ConfigKey.KEY_KERNEL_TIMEOUT, + 30, + ) + if component_launcher.check_kernel_connection(timeout=timeout): + self.logger.info(f"Kernel is running (host: {kernel_host}, port: {kernel_port})") + else: + self.logger.error( + f"Kernel is not running (host: {kernel_host}, port: {kernel_port})" + ) + return + + self.logger.info(f"Start agent launcher (host: {kernel_host}, port: {kernel_port})") + + gateway_launcher: Optional[GatewayLauncher] = None + gateway_flag: bool = self.config.get_value(ConfigKey.KEY_GATEWAY_FLAG, False) + if gateway_flag: + gateway_host: str = self.config.get_value(ConfigKey.KEY_GATEWAY_HOST, "localhost") + gateway_port: int = self.config.get_value(ConfigKey.KEY_GATEWAY_PORT, 27941) + self.logger.info( + f"Start gateway launcher (host: {gateway_host}, port: {gateway_port})" + ) + + gateway_launcher = GatewayLauncher(gateway_host, gateway_port, self.logger) + + connector_thread_list: list[threading.Thread] = [] + for connector in self.connectors: + threads = connector.connect( + component_launcher, gateway_launcher, self.config, self.loader + ) + self.agent_thread_list.extend(threads) + + def connect() -> None: + for thread, event in threads.items(): + thread.daemon = True + thread.start() + event.wait(5) + + connector_thread = threading.Thread(target=connect) + connector_thread_list.append(connector_thread) + connector_thread.start() + + for thread in connector_thread_list: + thread.join() + + self.logger.info("All agents have been launched") + + for thread in self.agent_thread_list: + thread.join() + + def check_kernel_connection(self, host: str, port: int, timeout: int = 5) -> bool: + try: + sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + sock.settimeout(timeout) + result = sock.connect_ex((host, port)) + sock.close() + return result == 0 + except Exception as e: + self.logger.error(f"カーネルへの接続確認中にエラーが発生しました: {e}") + return False diff --git a/src/adf_core_python/core/launcher/config_key.py b/src/adf_core_python/core/launcher/config_key.py index 2f7f9a0..90d4f3c 100644 --- a/src/adf_core_python/core/launcher/config_key.py +++ b/src/adf_core_python/core/launcher/config_key.py @@ -2,30 +2,30 @@ class ConfigKey: - # General - KEY_LOADER_CLASS: Final[str] = "adf_core_python.launcher.loader" - KEY_KERNEL_HOST: Final[str] = "kernel.host" - KEY_KERNEL_PORT: Final[str] = "kernel.port" - KEY_KERNEL_TIMEOUT: Final[str] = "kernel.timeout" - KEY_TEAM_NAME: Final[str] = "team.name" - KEY_DEBUG_FLAG: Final[str] = "adf.debug.flag" - KEY_DEVELOP_FLAG: Final[str] = "adf.develop.flag" - KEY_DEVELOP_DATA_FILE_NAME: Final[str] = "adf.develop.filename" - KEY_DEVELOP_DATA: Final[str] = "adf.develop.data" - KEY_MODULE_CONFIG_FILE_NAME: Final[str] = "adf.agent.moduleconfig.filename" - KEY_MODULE_DATA: Final[str] = "adf.agent.moduleconfig.data" - KEY_PRECOMPUTE: Final[str] = "adf.launcher.precompute" - # Platoon - KEY_AMBULANCE_TEAM_COUNT: Final[str] = "adf.team.platoon.ambulance.count" - KEY_FIRE_BRIGADE_COUNT: Final[str] = "adf.team.platoon.fire.count" - KEY_POLICE_FORCE_COUNT: Final[str] = "adf.team.platoon.police.count" - # Office - KEY_AMBULANCE_CENTRE_COUNT: Final[str] = "adf.team.office.ambulance.count" - KEY_FIRE_STATION_COUNT: Final[str] = "adf.team.office.fire.count" - KEY_POLICE_OFFICE_COUNT: Final[str] = "adf.team.office.police.count" - # adf-core-python - KEY_PRECOMPUTE_DATA_DIR: Final[str] = "adf.agent.precompute.dir_name" - # Gateway - KEY_GATEWAY_HOST: Final[str] = "gateway.host" - KEY_GATEWAY_PORT: Final[str] = "gateway.port" - KEY_GATEWAY_FLAG: Final[str] = "adf.gateway.flag" + # General + KEY_LOADER_CLASS: Final[str] = "adf_core_python.launcher.loader" + KEY_KERNEL_HOST: Final[str] = "kernel.host" + KEY_KERNEL_PORT: Final[str] = "kernel.port" + KEY_KERNEL_TIMEOUT: Final[str] = "kernel.timeout" + KEY_TEAM_NAME: Final[str] = "team.name" + KEY_DEBUG_FLAG: Final[str] = "adf.debug.flag" + KEY_DEVELOP_FLAG: Final[str] = "adf.develop.flag" + KEY_DEVELOP_DATA_FILE_NAME: Final[str] = "adf.develop.filename" + KEY_DEVELOP_DATA: Final[str] = "adf.develop.data" + KEY_MODULE_CONFIG_FILE_NAME: Final[str] = "adf.agent.moduleconfig.filename" + KEY_MODULE_DATA: Final[str] = "adf.agent.moduleconfig.data" + KEY_PRECOMPUTE: Final[str] = "adf.launcher.precompute" + # Platoon + KEY_AMBULANCE_TEAM_COUNT: Final[str] = "adf.team.platoon.ambulance.count" + KEY_FIRE_BRIGADE_COUNT: Final[str] = "adf.team.platoon.fire.count" + KEY_POLICE_FORCE_COUNT: Final[str] = "adf.team.platoon.police.count" + # Office + KEY_AMBULANCE_CENTRE_COUNT: Final[str] = "adf.team.office.ambulance.count" + KEY_FIRE_STATION_COUNT: Final[str] = "adf.team.office.fire.count" + KEY_POLICE_OFFICE_COUNT: Final[str] = "adf.team.office.police.count" + # adf-core-python + KEY_PRECOMPUTE_DATA_DIR: Final[str] = "adf.agent.precompute.dir_name" + # Gateway + KEY_GATEWAY_HOST: Final[str] = "gateway.host" + KEY_GATEWAY_PORT: Final[str] = "gateway.port" + KEY_GATEWAY_FLAG: Final[str] = "adf.gateway.flag" diff --git a/src/adf_core_python/core/launcher/connect/component_launcher.py b/src/adf_core_python/core/launcher/connect/component_launcher.py index 9a684fa..4890300 100644 --- a/src/adf_core_python/core/launcher/connect/component_launcher.py +++ b/src/adf_core_python/core/launcher/connect/component_launcher.py @@ -10,92 +10,88 @@ class ComponentLauncher: - def __init__(self, host: str, port: int, logger: BoundLogger) -> None: - self.request_id = 0 - self.port = port - self.host = host - self.logger = logger - - def make_connection(self) -> Connection: - return Connection(self.host, self.port) - - def connect(self, agent: Agent, _request_id: int) -> None: - connection = self.make_connection() - try: - connection.connect() - except socket.timeout: - self.logger.warning(f"Connection to {self.host}:{self.port} timed out") - return - except socket.error as e: - self.logger.exception( - f"Failed to connect to {self.host}:{self.port}", exception=str(e) - ) - return - - connection.message_received(agent.message_received) - agent.set_send_msg(connection.send_msg) - agent.start_up(_request_id) - - try: - connection.parse_message_from_kernel() - except AgentError as e: - self.logger.exception( - f"Agent error: {e}", - exception=str(e), - ) - except ServerError as e: - if isinstance(e.__cause__, EOFError): - self.logger.info( - f"Connection closed by server (request_id={_request_id})" - ) - else: - self.logger.exception("Server error", exception=str(e)) - - def generate_request_id(self) -> int: - self.request_id += 1 - return self.request_id - - def check_kernel_connection( - self, timeout: int = 30, retry_interval: float = 5.0 - ) -> bool: - """Attempts to connect to the kernel multiple times within the specified timeout period. - - Args: - timeout (int): Total timeout duration in seconds - retry_interval (float): Interval between retry attempts in seconds - - Returns: - bool: True if connection successful, False otherwise - """ - start_time = time.time() - attempt = 1 - - while True: - try: - sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - sock.settimeout(retry_interval) - result = sock.connect_ex((self.host, self.port)) - sock.close() - - if result == 0: - self.logger.info( - f"Successfully connected to kernel (attempt: {attempt})" - ) - return True - - elapsed_time = time.time() - start_time - if elapsed_time >= timeout: - self.logger.error( - f"Timeout: Could not connect to kernel within {timeout} seconds (attempts: {attempt})" - ) - return False - - self.logger.debug( - f"Connection attempt {attempt} failed - retrying in {retry_interval} seconds" - ) - time.sleep(retry_interval) - attempt += 1 - - except Exception as e: - self.logger.error(f"Error while checking kernel connection: {e}") - return False + def __init__(self, host: str, port: int, logger: BoundLogger) -> None: + self.request_id = 0 + self.port = port + self.host = host + self.logger = logger + + def make_connection(self) -> Connection: + return Connection(self.host, self.port) + + def connect(self, agent: Agent, _request_id: int) -> None: + connection = self.make_connection() + try: + connection.connect() + except socket.timeout: + self.logger.warning(f"Connection to {self.host}:{self.port} timed out") + return + except socket.error as e: + self.logger.exception( + f"Failed to connect to {self.host}:{self.port}", exception=str(e) + ) + return + + connection.message_received(agent.message_received) + agent.set_send_msg(connection.send_msg) + agent.start_up(_request_id) + + try: + connection.parse_message_from_kernel() + except AgentError as e: + self.logger.exception( + f"Agent error: {e}", + exception=str(e), + ) + except ServerError as e: + if isinstance(e.__cause__, EOFError): + self.logger.info(f"Connection closed by server (request_id={_request_id})") + else: + self.logger.exception("Server error", exception=str(e)) + + def generate_request_id(self) -> int: + self.request_id += 1 + return self.request_id + + def check_kernel_connection( + self, timeout: int = 30, retry_interval: float = 5.0 + ) -> bool: + """Attempts to connect to the kernel multiple times within the specified timeout period. + + Args: + timeout (int): Total timeout duration in seconds + retry_interval (float): Interval between retry attempts in seconds + + Returns: + bool: True if connection successful, False otherwise + """ + start_time = time.time() + attempt = 1 + + while True: + try: + sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + sock.settimeout(retry_interval) + result = sock.connect_ex((self.host, self.port)) + sock.close() + + if result == 0: + self.logger.info(f"Successfully connected to kernel (attempt: {attempt})") + return True + + elapsed_time = time.time() - start_time + if elapsed_time >= timeout: + self.logger.error( + f"Timeout: Could not connect to kernel within {timeout} seconds (attempts: {attempt})" + ) + return False + + self.logger.debug( + f"Connection attempt {attempt} failed - retrying in {retry_interval} seconds" + ) + time.sleep(retry_interval) + attempt += 1 + + except Exception as e: + self.logger.error(f"Error while checking kernel connection: {e}") + return False diff --git a/src/adf_core_python/core/launcher/connect/connection.py b/src/adf_core_python/core/launcher/connect/connection.py index 2935f0d..660d987 100644 --- a/src/adf_core_python/core/launcher/connect/connection.py +++ b/src/adf_core_python/core/launcher/connect/connection.py @@ -1,59 +1,108 @@ import socket from typing import Any, Callable -import rcrs_core.connection.rcrs_encoding_utils as rcrs_encoding_utils +from rcrscore.proto import RCRSProto_pb2 from adf_core_python.core.launcher.connect.error.agent_error import AgentError from adf_core_python.core.launcher.connect.error.server_error import ServerError class Connection: - def __init__(self, host: str, port: int) -> None: - self.socket: socket.socket - self.agent = None - self.buffer_size: int = 4096 - self.data_buffer: bytes = b"" - self.host = host - self.port = port - - def connect(self) -> None: - """ - Connect to the kernel - - Raises - ------ - socket.timeout - If the connection times out - socket.error - If there is an error connecting to the socket - - """ - self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - self.socket.connect((self.host, self.port)) - - def parse_message_from_kernel(self) -> None: - """ - Parse messages from the kernel - - Raises - ------ - ServerError - If there is an error reading from the socket - AgentError - If there is an error in the agent calculation - """ - while True: - try: - msg = rcrs_encoding_utils.read_msg(self.socket) - except Exception as e: - raise ServerError(f"Error reading from socket: {e}") from e - try: - self.agent_message_received(msg) - except Exception as e: - raise AgentError(f"Error agent calculation: {e}") from e - - def message_received(self, agent_message_received: Callable) -> None: - self.agent_message_received = agent_message_received - - def send_msg(self, msg: Any) -> None: - rcrs_encoding_utils.write_msg(msg, self.socket) + def __init__(self, host: str, port: int) -> None: + self.socket: socket.socket + self.agent = None + self.buffer_size: int = 4096 + self.data_buffer: bytes = b"" + self.host = host + self.port = port + + def connect(self) -> None: + """ + Connect to the kernel + + Raises + ------ + socket.timeout + If the connection times out + socket.error + If there is an error connecting to the socket + + """ + self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.socket.connect((self.host, self.port)) + + def parse_message_from_kernel(self) -> None: + """ + Parse messages from the kernel + + Raises + ------ + ServerError + If there is an error reading from the socket + AgentError + If there is an error in the agent calculation + """ + while True: + try: + msg = Connection._read_msg(self.socket) + except Exception as e: + raise ServerError(f"Error reading from socket: {e}") from e + try: + self.agent_message_received(msg) + except Exception as e: + raise AgentError(f"Error agent calculation: {e}") from e + + def message_received(self, agent_message_received: Callable) -> None: + self.agent_message_received = agent_message_received + + def send_msg(self, msg: Any) -> None: + Connection._write_msg(msg, self.socket) + + @staticmethod + def _write_int32(value, sock): + b = [ + ((value >> 24) & 0xFF), + ((value >> 16) & 0xFF), + ((value >> 8) & 0xFF), + (value & 0xFF), + ] + + sock.sendall(bytes(b)) + + @staticmethod + def _readnbytes(sock, n): + buff = b"" + while n > 0: + b = sock.recv(n) + buff += b + if len(b) == 0: + raise EOFError # peer socket has received a SH_WR shutdown + n -= len(b) + return buff + + @staticmethod + def _read_int32(sock): + byte_array = Connection._readnbytes(sock, 4) + value = int( + ((byte_array[0]) << 24) + + ((byte_array[1]) << 16) + + ((byte_array[2]) << 8) + + (byte_array[3]) + ) + return value + + @staticmethod + def _write_msg(msg, sock): + out = msg.SerializeToString() + Connection._write_int32(len(out), sock) + + sock.sendall(out) + + @staticmethod + def _read_msg(sock): + # await reader.read(1) + size = Connection._read_int32(sock) + content = Connection._readnbytes(sock, size) + message = RCRSProto_pb2.MessageProto() + message.ParseFromString(bytes(content)) + return message diff --git a/src/adf_core_python/core/launcher/connect/connector.py b/src/adf_core_python/core/launcher/connect/connector.py index a36a04c..f58ce63 100644 --- a/src/adf_core_python/core/launcher/connect/connector.py +++ b/src/adf_core_python/core/launcher/connect/connector.py @@ -9,18 +9,18 @@ class Connector(ABC): - def __init__(self) -> None: - self.connected_agent_count = 0 + def __init__(self) -> None: + self.connected_agent_count = 0 - @abstractmethod - def connect( - self, - component_launcher: ComponentLauncher, - gateway_launcher: Optional[GatewayLauncher], - config: Config, - loader: AbstractLoader, - ) -> dict[threading.Thread, threading.Event]: - raise NotImplementedError + @abstractmethod + def connect( + self, + component_launcher: ComponentLauncher, + gateway_launcher: Optional[GatewayLauncher], + config: Config, + loader: AbstractLoader, + ) -> dict[threading.Thread, threading.Event]: + raise NotImplementedError - def get_connected_agent_count(self) -> int: - return self.connected_agent_count + def get_connected_agent_count(self) -> int: + return self.connected_agent_count diff --git a/src/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/src/adf_core_python/core/launcher/connect/connector_ambulance_center.py index ac99bf7..86e8fe8 100644 --- a/src/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/src/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -6,7 +6,7 @@ from adf_core_python.core.agent.office.office_ambulance import OfficeAmbulance from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_ambulance_center import ( - TacticsAmbulanceCenter, + TacticsAmbulanceCenter, ) from adf_core_python.core.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent @@ -18,79 +18,79 @@ class ConnectorAmbulanceCenter(Connector): - def __init__(self) -> None: - super().__init__() - self.logger = get_logger(__name__) + def __init__(self) -> None: + super().__init__() + self.logger = get_logger(__name__) - def connect( - self, - component_launcher: ComponentLauncher, - gateway_launcher: Optional[GatewayLauncher], - config: Config, - loader: AbstractLoader, - ) -> dict[threading.Thread, threading.Event]: - count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) - if count == 0: - return {} + def connect( + self, + component_launcher: ComponentLauncher, + gateway_launcher: Optional[GatewayLauncher], + config: Config, + loader: AbstractLoader, + ) -> dict[threading.Thread, threading.Event]: + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) + if count == 0: + return {} - threads: dict[threading.Thread, threading.Event] = {} + threads: dict[threading.Thread, threading.Event] = {} - for _ in range(count): - if loader.get_tactics_ambulance_center() is None: - self.logger.error("Cannot load ambulance centre tactics") + for _ in range(count): + if loader.get_tactics_ambulance_center() is None: + self.logger.error("Cannot load ambulance centre tactics") - tactics_ambulance_center: TacticsAmbulanceCenter = ( - loader.get_tactics_ambulance_center() - ) + tactics_ambulance_center: TacticsAmbulanceCenter = ( + loader.get_tactics_ambulance_center() + ) - module_config: ModuleConfig = ModuleConfig( - config.get_value( - ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, - ModuleConfig.DEFAULT_CONFIG_FILE_NAME, - ) - ) + module_config: ModuleConfig = ModuleConfig( + config.get_value( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) - develop_data: DevelopData = DevelopData( - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value( - ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME - ), - ) + develop_data: DevelopData = DevelopData( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) - precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/ambulance_center" + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/ambulance_center" - finish_post_connect_event = threading.Event() - request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() - gateway_agent: Optional[GatewayAgent] = None - if isinstance(gateway_launcher, GatewayLauncher): - gateway_agent = GatewayAgent(gateway_launcher) - if isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - gateway_thread.daemon = True - gateway_thread.start() + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() - component_thread = threading.Thread( - target=component_launcher.connect, - args=( - OfficeAmbulance( - tactics_ambulance_center, - "ambulance_center", - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - precompute_data_dir, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ), - request_id, - ), - name=f"AmbulanceCenterAgent-{request_id}", - ) - threads[component_thread] = finish_post_connect_event + component_thread = threading.Thread( + target=component_launcher.connect, + args=( + OfficeAmbulance( + tactics_ambulance_center, + "ambulance_center", + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + precompute_data_dir, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ), + request_id, + ), + name=f"AmbulanceCenterAgent-{request_id}", + ) + threads[component_thread] = finish_post_connect_event - return threads + return threads diff --git a/src/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/src/adf_core_python/core/launcher/connect/connector_ambulance_team.py index b354c7c..3645637 100644 --- a/src/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/src/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -6,7 +6,7 @@ from adf_core_python.core.agent.platoon.platoon_ambulance import PlatoonAmbulance from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_ambulance_team import ( - TacticsAmbulanceTeam, + TacticsAmbulanceTeam, ) from adf_core_python.core.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent @@ -18,79 +18,77 @@ class ConnectorAmbulanceTeam(Connector): - def __init__(self) -> None: - super().__init__() - self.logger = get_logger(__name__) + def __init__(self) -> None: + super().__init__() + self.logger = get_logger(__name__) - def connect( - self, - component_launcher: ComponentLauncher, - gateway_launcher: Optional[GatewayLauncher], - config: Config, - loader: AbstractLoader, - ) -> dict[threading.Thread, threading.Event]: - count: int = config.get_value(ConfigKey.KEY_AMBULANCE_TEAM_COUNT, 0) - if count == 0: - return {} + def connect( + self, + component_launcher: ComponentLauncher, + gateway_launcher: Optional[GatewayLauncher], + config: Config, + loader: AbstractLoader, + ) -> dict[threading.Thread, threading.Event]: + count: int = config.get_value(ConfigKey.KEY_AMBULANCE_TEAM_COUNT, 0) + if count == 0: + return {} - threads: dict[threading.Thread, threading.Event] = {} + threads: dict[threading.Thread, threading.Event] = {} - for _ in range(count): - if loader.get_tactics_ambulance_team() is None: - self.logger.error("Cannot load ambulance team tactics") + for _ in range(count): + if loader.get_tactics_ambulance_team() is None: + self.logger.error("Cannot load ambulance team tactics") - tactics_ambulance_team: TacticsAmbulanceTeam = ( - loader.get_tactics_ambulance_team() - ) + tactics_ambulance_team: TacticsAmbulanceTeam = loader.get_tactics_ambulance_team() - module_config: ModuleConfig = ModuleConfig( - config.get_value( - ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, - ModuleConfig.DEFAULT_CONFIG_FILE_NAME, - ) - ) + module_config: ModuleConfig = ModuleConfig( + config.get_value( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) - develop_data: DevelopData = DevelopData( - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value( - ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME - ), - ) + develop_data: DevelopData = DevelopData( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) - precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/ambulance_team" + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/ambulance_team" - finish_post_connect_event = threading.Event() - request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() - gateway_agent: Optional[GatewayAgent] = None - if isinstance(gateway_launcher, GatewayLauncher): - gateway_agent = GatewayAgent(gateway_launcher) - if isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - gateway_thread.daemon = True - gateway_thread.start() + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() - component_thread = threading.Thread( - target=component_launcher.connect, - args=( - PlatoonAmbulance( - tactics_ambulance_team, - "ambulance_team", - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - precompute_data_dir, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ), - request_id, - ), - name=f"AmbulanceTeam-{request_id}", - ) - threads[component_thread] = finish_post_connect_event + component_thread = threading.Thread( + target=component_launcher.connect, + args=( + PlatoonAmbulance( + tactics_ambulance_team, + "ambulance_team", + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + precompute_data_dir, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ), + request_id, + ), + name=f"AmbulanceTeam-{request_id}", + ) + threads[component_thread] = finish_post_connect_event - return threads + return threads diff --git a/src/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/src/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 6e5fda3..8889365 100644 --- a/src/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/src/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -6,7 +6,7 @@ from adf_core_python.core.agent.platoon.platoon_fire import PlatoonFire from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_fire_brigade import ( - TacticsFireBrigade, + TacticsFireBrigade, ) from adf_core_python.core.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent @@ -18,77 +18,77 @@ class ConnectorFireBrigade(Connector): - def __init__(self) -> None: - super().__init__() - self.logger = get_logger(__name__) + def __init__(self) -> None: + super().__init__() + self.logger = get_logger(__name__) - def connect( - self, - component_launcher: ComponentLauncher, - gateway_launcher: Optional[GatewayLauncher], - config: Config, - loader: AbstractLoader, - ) -> dict[threading.Thread, threading.Event]: - count: int = config.get_value(ConfigKey.KEY_FIRE_BRIGADE_COUNT, 0) - if count == 0: - return {} + def connect( + self, + component_launcher: ComponentLauncher, + gateway_launcher: Optional[GatewayLauncher], + config: Config, + loader: AbstractLoader, + ) -> dict[threading.Thread, threading.Event]: + count: int = config.get_value(ConfigKey.KEY_FIRE_BRIGADE_COUNT, 0) + if count == 0: + return {} - threads: dict[threading.Thread, threading.Event] = {} + threads: dict[threading.Thread, threading.Event] = {} - for _ in range(count): - if loader.get_tactics_fire_brigade() is None: - self.logger.error("Cannot load fire brigade tactics") + for _ in range(count): + if loader.get_tactics_fire_brigade() is None: + self.logger.error("Cannot load fire brigade tactics") - tactics_fire_brigade: TacticsFireBrigade = loader.get_tactics_fire_brigade() + tactics_fire_brigade: TacticsFireBrigade = loader.get_tactics_fire_brigade() - module_config: ModuleConfig = ModuleConfig( - config.get_value( - ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, - ModuleConfig.DEFAULT_CONFIG_FILE_NAME, - ) - ) + module_config: ModuleConfig = ModuleConfig( + config.get_value( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) - develop_data: DevelopData = DevelopData( - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value( - ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME - ), - ) + develop_data: DevelopData = DevelopData( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) - precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_brigade" + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_brigade" - finish_post_connect_event = threading.Event() - request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() - gateway_agent: Optional[GatewayAgent] = None - if isinstance(gateway_launcher, GatewayLauncher): - gateway_agent = GatewayAgent(gateway_launcher) - if isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - gateway_thread.daemon = True - gateway_thread.start() + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() - component_thread = threading.Thread( - target=component_launcher.connect, - args=( - PlatoonFire( - tactics_fire_brigade, - "fire_brigade", - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - precompute_data_dir, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ), - request_id, - ), - name=f"FireBrigadeAgent-{request_id}", - ) - threads[component_thread] = finish_post_connect_event + component_thread = threading.Thread( + target=component_launcher.connect, + args=( + PlatoonFire( + tactics_fire_brigade, + "fire_brigade", + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + precompute_data_dir, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ), + request_id, + ), + name=f"FireBrigadeAgent-{request_id}", + ) + threads[component_thread] = finish_post_connect_event - return threads + return threads diff --git a/src/adf_core_python/core/launcher/connect/connector_fire_station.py b/src/adf_core_python/core/launcher/connect/connector_fire_station.py index 2263167..d1bdf7a 100644 --- a/src/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/src/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -6,7 +6,7 @@ from adf_core_python.core.agent.office.office_fire import OfficeFire from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_fire_station import ( - TacticsFireStation, + TacticsFireStation, ) from adf_core_python.core.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent @@ -18,77 +18,77 @@ class ConnectorFireStation(Connector): - def __init__(self) -> None: - super().__init__() - self.logger = get_logger(__name__) + def __init__(self) -> None: + super().__init__() + self.logger = get_logger(__name__) - def connect( - self, - component_launcher: ComponentLauncher, - gateway_launcher: Optional[GatewayLauncher], - config: Config, - loader: AbstractLoader, - ) -> dict[threading.Thread, threading.Event]: - count: int = config.get_value(ConfigKey.KEY_FIRE_STATION_COUNT, 0) - if count == 0: - return {} + def connect( + self, + component_launcher: ComponentLauncher, + gateway_launcher: Optional[GatewayLauncher], + config: Config, + loader: AbstractLoader, + ) -> dict[threading.Thread, threading.Event]: + count: int = config.get_value(ConfigKey.KEY_FIRE_STATION_COUNT, 0) + if count == 0: + return {} - threads: dict[threading.Thread, threading.Event] = {} + threads: dict[threading.Thread, threading.Event] = {} - for _ in range(count): - if loader.get_tactics_fire_station() is None: - self.logger.error("Cannot load fire station tactics") + for _ in range(count): + if loader.get_tactics_fire_station() is None: + self.logger.error("Cannot load fire station tactics") - tactics_fire_station: TacticsFireStation = loader.get_tactics_fire_station() + tactics_fire_station: TacticsFireStation = loader.get_tactics_fire_station() - module_config: ModuleConfig = ModuleConfig( - config.get_value( - ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, - ModuleConfig.DEFAULT_CONFIG_FILE_NAME, - ) - ) + module_config: ModuleConfig = ModuleConfig( + config.get_value( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) - develop_data: DevelopData = DevelopData( - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value( - ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME - ), - ) + develop_data: DevelopData = DevelopData( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) - precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_station" + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_station" - finish_post_connect_event = threading.Event() - request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() - gateway_agent: Optional[GatewayAgent] = None - if isinstance(gateway_launcher, GatewayLauncher): - gateway_agent = GatewayAgent(gateway_launcher) - if isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - gateway_thread.daemon = True - gateway_thread.start() + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() - component_thread = threading.Thread( - target=component_launcher.connect, - args=( - OfficeFire( - tactics_fire_station, - "fire_station", - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - precompute_data_dir, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ), - request_id, - ), - name=f"FireStationAgent-{request_id}", - ) - threads[component_thread] = finish_post_connect_event + component_thread = threading.Thread( + target=component_launcher.connect, + args=( + OfficeFire( + tactics_fire_station, + "fire_station", + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + precompute_data_dir, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ), + request_id, + ), + name=f"FireStationAgent-{request_id}", + ) + threads[component_thread] = finish_post_connect_event - return threads + return threads diff --git a/src/adf_core_python/core/launcher/connect/connector_police_force.py b/src/adf_core_python/core/launcher/connect/connector_police_force.py index e2d379b..45acf86 100644 --- a/src/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/src/adf_core_python/core/launcher/connect/connector_police_force.py @@ -6,7 +6,7 @@ from adf_core_python.core.agent.platoon.platoon_police import PlatoonPolice from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_police_force import ( - TacticsPoliceForce, + TacticsPoliceForce, ) from adf_core_python.core.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent @@ -18,77 +18,77 @@ class ConnectorPoliceForce(Connector): - def __init__(self) -> None: - super().__init__() - self.logger = get_logger(__name__) + def __init__(self) -> None: + super().__init__() + self.logger = get_logger(__name__) - def connect( - self, - component_launcher: ComponentLauncher, - gateway_launcher: Optional[GatewayLauncher], - config: Config, - loader: AbstractLoader, - ) -> dict[threading.Thread, threading.Event]: - count: int = config.get_value(ConfigKey.KEY_POLICE_FORCE_COUNT, 0) - if count == 0: - return {} + def connect( + self, + component_launcher: ComponentLauncher, + gateway_launcher: Optional[GatewayLauncher], + config: Config, + loader: AbstractLoader, + ) -> dict[threading.Thread, threading.Event]: + count: int = config.get_value(ConfigKey.KEY_POLICE_FORCE_COUNT, 0) + if count == 0: + return {} - threads: dict[threading.Thread, threading.Event] = {} + threads: dict[threading.Thread, threading.Event] = {} - for _ in range(count): - if loader.get_tactics_police_force() is None: - self.logger.error("Cannot load police force tactics") + for _ in range(count): + if loader.get_tactics_police_force() is None: + self.logger.error("Cannot load police force tactics") - tactics_police_force: TacticsPoliceForce = loader.get_tactics_police_force() + tactics_police_force: TacticsPoliceForce = loader.get_tactics_police_force() - module_config: ModuleConfig = ModuleConfig( - config.get_value( - ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, - ModuleConfig.DEFAULT_CONFIG_FILE_NAME, - ) - ) + module_config: ModuleConfig = ModuleConfig( + config.get_value( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) - develop_data: DevelopData = DevelopData( - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value( - ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME - ), - ) + develop_data: DevelopData = DevelopData( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) - precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_force" + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_force" - finish_post_connect_event = threading.Event() - request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() - gateway_agent: Optional[GatewayAgent] = None - if isinstance(gateway_launcher, GatewayLauncher): - gateway_agent = GatewayAgent(gateway_launcher) - if isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - gateway_thread.daemon = True - gateway_thread.start() + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() - component_thread = threading.Thread( - target=component_launcher.connect, - args=( - PlatoonPolice( - tactics_police_force, - "police_force", - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - precompute_data_dir, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ), - request_id, - ), - name=f"PoliceForceAgent-{request_id}", - ) - threads[component_thread] = finish_post_connect_event + component_thread = threading.Thread( + target=component_launcher.connect, + args=( + PlatoonPolice( + tactics_police_force, + "police_force", + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + precompute_data_dir, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ), + request_id, + ), + name=f"PoliceForceAgent-{request_id}", + ) + threads[component_thread] = finish_post_connect_event - return threads + return threads diff --git a/src/adf_core_python/core/launcher/connect/connector_police_office.py b/src/adf_core_python/core/launcher/connect/connector_police_office.py index 1d26a92..97d75f9 100644 --- a/src/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/src/adf_core_python/core/launcher/connect/connector_police_office.py @@ -6,7 +6,7 @@ from adf_core_python.core.agent.office.office_police import OfficePolice from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_police_office import ( - TacticsPoliceOffice, + TacticsPoliceOffice, ) from adf_core_python.core.config.config import Config from adf_core_python.core.gateway.gateway_agent import GatewayAgent @@ -18,79 +18,77 @@ class ConnectorPoliceOffice(Connector): - def __init__(self) -> None: - super().__init__() - self.logger = get_logger(__name__) + def __init__(self) -> None: + super().__init__() + self.logger = get_logger(__name__) - def connect( - self, - component_launcher: ComponentLauncher, - gateway_launcher: Optional[GatewayLauncher], - config: Config, - loader: AbstractLoader, - ) -> dict[threading.Thread, threading.Event]: - count: int = config.get_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, 0) - if count == 0: - return {} + def connect( + self, + component_launcher: ComponentLauncher, + gateway_launcher: Optional[GatewayLauncher], + config: Config, + loader: AbstractLoader, + ) -> dict[threading.Thread, threading.Event]: + count: int = config.get_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, 0) + if count == 0: + return {} - threads: dict[threading.Thread, threading.Event] = {} + threads: dict[threading.Thread, threading.Event] = {} - for _ in range(count): - if loader.get_tactics_police_office() is None: - self.logger.error("Cannot load police office tactics") + for _ in range(count): + if loader.get_tactics_police_office() is None: + self.logger.error("Cannot load police office tactics") - tactics_police_office: TacticsPoliceOffice = ( - loader.get_tactics_police_office() - ) + tactics_police_office: TacticsPoliceOffice = loader.get_tactics_police_office() - module_config: ModuleConfig = ModuleConfig( - config.get_value( - ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, - ModuleConfig.DEFAULT_CONFIG_FILE_NAME, - ) - ) + module_config: ModuleConfig = ModuleConfig( + config.get_value( + ConfigKey.KEY_MODULE_CONFIG_FILE_NAME, + ModuleConfig.DEFAULT_CONFIG_FILE_NAME, + ) + ) - develop_data: DevelopData = DevelopData( - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - config.get_value( - ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME - ), - ) + develop_data: DevelopData = DevelopData( + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + config.get_value( + ConfigKey.KEY_DEVELOP_DATA_FILE_NAME, DevelopData.DEFAULT_FILE_NAME + ), + ) - precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_office" + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_office" - finish_post_connect_event = threading.Event() - request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() - gateway_agent: Optional[GatewayAgent] = None - if isinstance(gateway_launcher, GatewayLauncher): - gateway_agent = GatewayAgent(gateway_launcher) - if isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - gateway_thread.daemon = True - gateway_thread.start() + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() - component_thread = threading.Thread( - target=component_launcher.connect, - args=( - OfficePolice( - tactics_police_office, - "police_office", - config.get_value(ConfigKey.KEY_PRECOMPUTE, False), - config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - precompute_data_dir, - module_config, - develop_data, - finish_post_connect_event, - gateway_agent, - ), - request_id, - ), - name=f"PoliceOfficeAgent-{request_id}", - ) - threads[component_thread] = finish_post_connect_event + component_thread = threading.Thread( + target=component_launcher.connect, + args=( + OfficePolice( + tactics_police_office, + "police_office", + config.get_value(ConfigKey.KEY_PRECOMPUTE, False), + config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), + precompute_data_dir, + module_config, + develop_data, + finish_post_connect_event, + gateway_agent, + ), + request_id, + ), + name=f"PoliceOfficeAgent-{request_id}", + ) + threads[component_thread] = finish_post_connect_event - return threads + return threads diff --git a/src/adf_core_python/core/launcher/connect/error/agent_error.py b/src/adf_core_python/core/launcher/connect/error/agent_error.py index 8725dba..7eee9fe 100644 --- a/src/adf_core_python/core/launcher/connect/error/agent_error.py +++ b/src/adf_core_python/core/launcher/connect/error/agent_error.py @@ -1,2 +1,2 @@ class AgentError(Exception): - pass + pass diff --git a/src/adf_core_python/core/launcher/connect/error/server_error.py b/src/adf_core_python/core/launcher/connect/error/server_error.py index 8c3951c..a1d0ea2 100644 --- a/src/adf_core_python/core/launcher/connect/error/server_error.py +++ b/src/adf_core_python/core/launcher/connect/error/server_error.py @@ -1,2 +1,2 @@ class ServerError(Exception): - pass + pass diff --git a/src/adf_core_python/core/logger/logger.py b/src/adf_core_python/core/logger/logger.py index 8b8f2f6..1f9a61d 100644 --- a/src/adf_core_python/core/logger/logger.py +++ b/src/adf_core_python/core/logger/logger.py @@ -11,86 +11,86 @@ def get_logger(name: str) -> structlog.BoundLogger: - """ - Get a logger with the given name. - For kernel logging, use this function to get a logger. + """ + Get a logger with the given name. + For kernel logging, use this function to get a logger. - Parameters - ---------- - name : str - The name of the logger. + Parameters + ---------- + name : str + The name of the logger. - Returns - ------- - structlog.BoundLogger - The logger with the given name. - """ - return structlog.get_logger(name) + Returns + ------- + structlog.BoundLogger + The logger with the given name. + """ + return structlog.get_logger(name) def get_agent_logger(name: str, agent_info: AgentInfo) -> structlog.BoundLogger: - """ - Get a logger with the given name and agent information. - For agent logging, use this function to get a logger. - - Parameters - ---------- - name : str - The name of the logger. - agent_info : AgentInfo - The agent information. - - Returns - ------- - structlog.BoundLogger - The logger with the given name and agent information. - """ - agent = agent_info.get_myself() - if agent is None: - raise ValueError("Agent information is not available") - - return structlog.get_logger(name).bind( - agent_id=str(agent_info.get_entity_id()), - agent_type=str(agent.get_urn().name), - ) + """ + Get a logger with the given name and agent information. + For agent logging, use this function to get a logger. + + Parameters + ---------- + name : str + The name of the logger. + agent_info : AgentInfo + The agent information. + + Returns + ------- + structlog.BoundLogger + The logger with the given name and agent information. + """ + agent = agent_info.get_myself() + if agent is None: + raise ValueError("Agent information is not available") + + return structlog.get_logger(name).bind( + agent_id=str(agent_info.get_entity_id()), + agent_type=str(agent.get_urn().name), + ) def configure_logger() -> None: - # 既存のログファイルが存在する場合、日付付きでバックアップする - log_file = "agent.log" - if os.path.exists(log_file): - timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") - backup_file = f"agent_{timestamp}.log" - os.rename(log_file, backup_file) - - structlog.configure( - processors=[ - structlog.stdlib.add_log_level, - structlog.stdlib.add_logger_name, - structlog.stdlib.PositionalArgumentsFormatter(), - structlog.processors.TimeStamper(fmt="%Y-%m-%d %H:%M.%S", utc=False), - structlog.processors.StackInfoRenderer(), - structlog.processors.UnicodeDecoder(), - structlog.stdlib.ProcessorFormatter.wrap_for_formatter, - ], - logger_factory=structlog.stdlib.LoggerFactory(), - wrapper_class=structlog.stdlib.BoundLogger, - cache_logger_on_first_use=True, - ) - - handler_stdout = logging.StreamHandler(sys.stdout) - handler_stdout.setFormatter( - structlog.stdlib.ProcessorFormatter(processor=ConsoleRenderer()) - ) - handler_stdout.setLevel(logging.INFO) - - handler_file = logging.FileHandler(log_file) - handler_file.setFormatter( - structlog.stdlib.ProcessorFormatter(processor=JSONRenderer()) - ) - handler_file.setLevel(logging.DEBUG) - - root_logger = logging.getLogger() - root_logger.addHandler(handler_stdout) - root_logger.addHandler(handler_file) - root_logger.setLevel(logging.DEBUG) + # 既存のログファイルが存在する場合、日付付きでバックアップする + log_file = "agent.log" + if os.path.exists(log_file): + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + backup_file = f"agent_{timestamp}.log" + os.rename(log_file, backup_file) + + structlog.configure( + processors=[ + structlog.stdlib.add_log_level, + structlog.stdlib.add_logger_name, + structlog.stdlib.PositionalArgumentsFormatter(), + structlog.processors.TimeStamper(fmt="%Y-%m-%d %H:%M.%S", utc=False), + structlog.processors.StackInfoRenderer(), + structlog.processors.UnicodeDecoder(), + structlog.stdlib.ProcessorFormatter.wrap_for_formatter, + ], + logger_factory=structlog.stdlib.LoggerFactory(), + wrapper_class=structlog.stdlib.BoundLogger, + cache_logger_on_first_use=True, + ) + + handler_stdout = logging.StreamHandler(sys.stdout) + handler_stdout.setFormatter( + structlog.stdlib.ProcessorFormatter(processor=ConsoleRenderer()) + ) + handler_stdout.setLevel(logging.INFO) + + handler_file = logging.FileHandler(log_file) + handler_file.setFormatter( + structlog.stdlib.ProcessorFormatter(processor=JSONRenderer()) + ) + handler_file.setLevel(logging.DEBUG) + + root_logger = logging.getLogger() + root_logger.addHandler(handler_stdout) + root_logger.addHandler(handler_file) + root_logger.setLevel(logging.DEBUG) diff --git a/src/adf_core_python/implement/action/default_extend_action_clear.py b/src/adf_core_python/implement/action/default_extend_action_clear.py index 7e09b41..ad837e9 100644 --- a/src/adf_core_python/implement/action/default_extend_action_clear.py +++ b/src/adf_core_python/implement/action/default_extend_action_clear.py @@ -3,16 +3,16 @@ from typing import Optional, cast from rcrscore.entities import ( - AmbulanceTeam, - Area, - Blockade, - Building, - EntityID, - FireBrigade, - Human, - PoliceForce, - Refuge, - Road, + AmbulanceTeam, + Area, + Blockade, + Building, + EntityID, + FireBrigade, + Human, + PoliceForce, + Refuge, + Road, ) from shapely import LineString, Point, Polygon @@ -33,771 +33,720 @@ class DefaultExtendActionClear(ExtendAction): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._clear_distance = float( - self.scenario_info.get_value("clear.repair.distance", 0.0) - ) - self._forced_move = float( - develop_data.get_value( - "adf_core_python.implement.action.DefaultExtendActionClear.forced_move", - 3, - ) - ) - self._threshold_rest = float( - develop_data.get_value( - "adf_core_python.implement.action.DefaultExtendActionClear.rest", 100 - ) - ) - - self._target_entity_id: Optional[EntityID] = None - self._move_point_cache: dict[EntityID, Optional[set[tuple[float, float]]]] = {} - self._old_clear_x = 0 - self._old_clear_y = 0 - self.count = 0 - - self._path_planning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionClear.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: - super().precompute(precompute_data) - if self.get_count_precompute() >= 2: - return self - self._path_planning.precompute(precompute_data) - self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) - return self - - def resume(self, precompute_data: PrecomputeData) -> ExtendAction: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - self._path_planning.resume(precompute_data) - self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._clear_distance = float( + self.scenario_info.get_value("clear.repair.distance", 0.0) + ) + self._forced_move = float( + develop_data.get_value( + "adf_core_python.implement.action.DefaultExtendActionClear.forced_move", + 3, + ) + ) + self._threshold_rest = float( + develop_data.get_value( + "adf_core_python.implement.action.DefaultExtendActionClear.rest", 100 + ) + ) + + self._target_entity_id: Optional[EntityID] = None + self._move_point_cache: dict[EntityID, Optional[set[tuple[float, float]]]] = {} + self._old_clear_x = 0 + self._old_clear_y = 0 + self.count = 0 + + self._path_planning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionClear.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def prepare(self) -> ExtendAction: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + return self + + def update_info(self, message_manager: MessageManager) -> ExtendAction: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: + self._target_entity_id = None + target_entity = self.world_info.get_entity(target_entity_id) + if target_entity is not None: + if isinstance(target_entity, Road): + self._target_entity_id = target_entity_id + elif isinstance(target_entity, Blockade): + self._target_entity_id = target_entity.get_position() + elif isinstance(target_entity, Building): + self._target_entity_id = target_entity_id + return self + + def calculate(self) -> ExtendAction: + self.result = None + police_force = cast(PoliceForce, self.agent_info.get_myself()) + + if self._need_rest(police_force): + target_entity_ids: list[EntityID] = [] + if self._target_entity_id is not None: + target_entity_ids.append(self._target_entity_id) + + self.result = self._calc_rest( + police_force, self._path_planning, target_entity_ids + ) + if self.result is not None: return self - def prepare(self) -> ExtendAction: - super().prepare() - if self.get_count_prepare() >= 2: - return self - self._path_planning.prepare() - self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + if self._target_entity_id is None: + return self + + agent_position_entity_id = police_force.get_position() + if agent_position_entity_id is None: + return self + target_entity = self.world_info.get_entity(self._target_entity_id) + position_entity = self.world_info.get_entity(agent_position_entity_id) + if target_entity is None or isinstance(target_entity, Area) is False: + return self + if isinstance(position_entity, Road): + self.result = self._get_rescue_action(police_force, position_entity) + if self.result is not None: return self - def update_info(self, message_manager: MessageManager) -> ExtendAction: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self - self._path_planning.update_info(message_manager) + if agent_position_entity_id == self._target_entity_id: + self.result = self._get_area_clear_action( + police_force, cast(Road, position_entity) + ) + if self.result is not None: return self + elif cast(Area, target_entity).get_edge_to(agent_position_entity_id) is not None: + self.result = self._get_neighbour_position_action( + police_force, cast(Area, target_entity) + ) + else: + path = self._path_planning.get_path( + agent_position_entity_id, self._target_entity_id + ) + if path is not None and len(path) > 0: + index = self._index_of(path, agent_position_entity_id) + if index == -1: + area = cast(Area, position_entity) + for i in range(0, len(path), 1): + if area.get_edge_to(path[i]) is not None: + index = i + break + + elif index >= 0: + index += 1 + + if index >= 0 and index < len(path): + entity = self.world_info.get_entity(path[index]) + self.result = self._get_neighbour_position_action( + police_force, cast(Area, entity) + ) + if self.result is not None and isinstance(self.result, ActionMove): + action_move = self.result + if action_move.is_destination_defined(): + self.result = None + + if self.result is None: + self.result = ActionMove(path) + + return self + + def _need_rest(self, police_force: PoliceForce) -> bool: + hp = police_force.get_hp() + damage = police_force.get_damage() + + if hp is None or damage is None or hp == 0 or damage == 0: + return False + + active_time = (hp / damage) + (1 if (hp % damage) != 0 else 0) + if self._kernel_time == -1: + self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + + return damage is not None and ( + damage >= self._threshold_rest + or (active_time + self.agent_info.get_time() < self._kernel_time) + ) + + def _calc_rest( + self, + police_force: PoliceForce, + path_planning: PathPlanning, + target_entity_ids: list[EntityID], + ) -> Optional[Action]: + position_entity_id = police_force.get_position() + if position_entity_id is None: + return None + refuges = self.world_info.get_entity_ids_of_types([Refuge]) + current_size = len(refuges) + if position_entity_id in refuges: + return ActionRest() + + first_result: list[EntityID] = [] + while len(refuges) > 0: + path = path_planning.get_path(position_entity_id, refuges[0]) + if path is not None and len(path) > 0: + if first_result == []: + first_result = path.copy() + if target_entity_ids == []: + break + + refuge_entity_id = path[-1] + from_refuge_to_target_path = path_planning.get_path( + refuge_entity_id, target_entity_ids[0] + ) + if from_refuge_to_target_path != []: + return ActionMove(path) - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: - self._target_entity_id = None - target_entity = self.world_info.get_entity(target_entity_id) - if target_entity is not None: - if isinstance(target_entity, Road): - self._target_entity_id = target_entity_id - elif isinstance(target_entity, Blockade): - self._target_entity_id = target_entity.get_position() - elif isinstance(target_entity, Building): - self._target_entity_id = target_entity_id - return self - - def calculate(self) -> ExtendAction: - self.result = None - police_force = cast(PoliceForce, self.agent_info.get_myself()) - - if self._need_rest(police_force): - target_entity_ids: list[EntityID] = [] - if self._target_entity_id is not None: - target_entity_ids.append(self._target_entity_id) - - self.result = self._calc_rest( - police_force, self._path_planning, target_entity_ids - ) - if self.result is not None: - return self - - if self._target_entity_id is None: - return self - - agent_position_entity_id = police_force.get_position() - if agent_position_entity_id is None: - return self - target_entity = self.world_info.get_entity(self._target_entity_id) - position_entity = self.world_info.get_entity(agent_position_entity_id) - if target_entity is None or isinstance(target_entity, Area) is False: - return self - if isinstance(position_entity, Road): - self.result = self._get_rescue_action(police_force, position_entity) - if self.result is not None: - return self - - if agent_position_entity_id == self._target_entity_id: - self.result = self._get_area_clear_action( - police_force, cast(Road, position_entity) - ) - if self.result is not None: - return self - elif ( - cast(Area, target_entity).get_edge_to(agent_position_entity_id) is not None + refuges.remove(refuge_entity_id) + if current_size == len(refuges): + break + current_size = len(refuges) + else: + break + + return ActionMove(first_result) if first_result != [] else None + + def _get_rescue_action( + self, police_entity: PoliceForce, road: Road + ) -> Optional[Action]: + road_blockades = road.get_blockades() + blockades = set( + [] + if road_blockades is None + else [ + cast(Blockade, self.world_info.get_entity(blockade_entity_id)) + for blockade_entity_id in road_blockades + ] + ) + agent_entities = set( + self.world_info.get_entities_of_types([AmbulanceTeam, FireBrigade]) + ) + + police_x = police_entity.get_x() + police_y = police_entity.get_y() + min_distance = sys.float_info.max + move_action: Optional[ActionMove] = None + + for agent_entity in agent_entities: + human = cast(Human, agent_entity) + human_position = human.get_position() + if ( + human_position is None + or human_position.get_value() != road.get_entity_id().get_value() + ): + continue + + human_x = human.get_x() + human_y = human.get_y() + if human_x is None or human_y is None or police_x is None or police_y is None: + continue + + action_clear: Optional[ActionClear | ActionClearArea] = None + clear_blockade: Optional[Blockade] = None + for blockade in blockades: + blockade_apexes = blockade.get_apexes() + if blockade_apexes is None or not self._is_inside( + human_x, human_y, blockade_apexes ): - self.result = self._get_neighbour_position_action( - police_force, cast(Area, target_entity) - ) - else: - path = self._path_planning.get_path( - agent_position_entity_id, self._target_entity_id - ) - if path is not None and len(path) > 0: - index = self._index_of(path, agent_position_entity_id) - if index == -1: - area = cast(Area, position_entity) - for i in range(0, len(path), 1): - if area.get_edge_to(path[i]) is not None: - index = i - break - - elif index >= 0: - index += 1 - - if index >= 0 and index < len(path): - entity = self.world_info.get_entity(path[index]) - self.result = self._get_neighbour_position_action( - police_force, cast(Area, entity) - ) - if self.result is not None and isinstance(self.result, ActionMove): - action_move = self.result - if action_move.is_destination_defined(): - self.result = None - - if self.result is None: - self.result = ActionMove(path) - - return self + continue + + distance = self._get_distance(police_x, police_y, human_x, human_y) + if self._is_intersecting_area(police_x, police_y, human_x, human_y, road): + action = self._get_intersect_edge_action( + police_x, police_y, human_x, human_y, road + ) + if action is None: + continue + if isinstance(action, ActionClear): + if action_clear is None: + action_clear = action + clear_blockade = blockade + continue + + if clear_blockade is not None: + if self._is_intersecting_blockades(blockade, clear_blockade): + return ActionClear(clear_blockade) - def _need_rest(self, police_force: PoliceForce) -> bool: - hp = police_force.get_hp() - damage = police_force.get_damage() + another_distance = self.world_info.get_distance( + police_entity.get_entity_id(), + clear_blockade.get_entity_id(), + ) + blockade_distance = self.world_info.get_distance( + police_entity.get_entity_id(), blockade.get_entity_id() + ) + if blockade_distance < another_distance: + return action + + return action_clear + elif isinstance(action, ActionMove) and distance < min_distance: + min_distance = distance + move_action = action + + elif self._is_intersecting_blockade( + police_x, police_y, human_x, human_y, blockade + ): + vector = self._scale_clear( + self._get_vector(police_x, police_y, human_x, human_y) + ) + clear_x = int(police_x + vector[0]) + clear_y = int(police_y + vector[1]) - if hp is None or damage is None or hp == 0 or damage == 0: - return False + vector = self._scale_back_clear(vector) + start_x = int(police_x + vector[0]) + start_y = int(police_y + vector[1]) - active_time = (hp / damage) + (1 if (hp % damage) != 0 else 0) - if self._kernel_time == -1: - self._kernel_time = self.scenario_info.get_value("kernel.timesteps", -1) + if self._is_intersecting_blockade( + start_x, start_y, clear_x, clear_y, blockade + ): + if action_clear is None: + action_clear = ActionClearArea(clear_x, clear_y) + clear_blockade = blockade + else: + if clear_blockade is not None: + if self._is_intersecting_blockades(blockade, clear_blockade): + return ActionClear(clear_blockade) + + distance1 = self.world_info.get_distance( + police_entity.get_entity_id(), + clear_blockade.get_entity_id(), + ) + distance2 = self.world_info.get_distance( + police_entity.get_entity_id(), + blockade.get_entity_id(), + ) + if distance1 > distance2: + return ActionClearArea(clear_x, clear_y) - return damage is not None and ( - damage >= self._threshold_rest - or (active_time + self.agent_info.get_time() < self._kernel_time) - ) + return action_clear - def _calc_rest( - self, - police_force: PoliceForce, - path_planning: PathPlanning, - target_entity_ids: list[EntityID], - ) -> Optional[Action]: - position_entity_id = police_force.get_position() - if position_entity_id is None: - return None - refuges = self.world_info.get_entity_ids_of_types([Refuge]) - current_size = len(refuges) - if position_entity_id in refuges: - return ActionRest() - - first_result: list[EntityID] = [] - while len(refuges) > 0: - path = path_planning.get_path(position_entity_id, refuges[0]) - if path is not None and len(path) > 0: - if first_result == []: - first_result = path.copy() - if target_entity_ids == []: - break - - refuge_entity_id = path[-1] - from_refuge_to_target_path = path_planning.get_path( - refuge_entity_id, target_entity_ids[0] - ) - if from_refuge_to_target_path != []: - return ActionMove(path) - - refuges.remove(refuge_entity_id) - if current_size == len(refuges): - break - current_size = len(refuges) + elif distance < min_distance: + min_distance = distance + move_action = ActionMove([road.get_entity_id()], human_x, human_y) + + if action_clear is not None: + return action_clear + + return move_action + + def _is_inside(self, x: float, y: float, apexes: list[int]) -> bool: + point = Point(x, y) + polygon = Polygon([(apexes[i], apexes[i + 1]) for i in range(0, len(apexes), 2)]) + return polygon.contains(point) + + def _get_distance(self, x1: float, y1: float, x2: float, y2: float) -> float: + return ((x1 - x2) ** 2 + (y1 - y2) ** 2) ** 0.5 + + def _is_intersecting_area( + self, agent_x: float, agent_y: float, point_x: float, point_y: float, area: Area + ) -> bool: + edges = area.get_edges() + if edges is None: + return False + for edge in edges: + start_x = edge.get_start_x() + start_y = edge.get_start_y() + end_x = edge.get_end_x() + end_y = edge.get_end_y() + + line1 = LineString([(agent_x, agent_y), (point_x, point_y)]) + line2 = LineString([(start_x, start_y), (end_x, end_y)]) + if line1.intersects(line2): + mid_x = (start_x + end_x) / 2.0 + mid_y = (start_y + end_y) / 2.0 + if not self._equals_point( + agent_x, agent_y, mid_x, mid_y, 1000 + ) and not self._equals_point(point_x, point_y, mid_x, mid_y, 1000): + return True + + return False + + def _equals_point( + self, x1: float, y1: float, x2: float, y2: float, range: float + ) -> bool: + return (x2 - range < x1 and x1 < x2 + range) and ( + y2 - range < y1 and y1 < y2 + range + ) + + def _get_intersect_edge_action( + self, agent_x: float, agent_y: float, point_x: float, point_y: float, road: Road + ) -> Action: + move_points = self._get_move_points(road) + best_point: Optional[tuple[float, float]] = None + best_distance = sys.float_info.max + for point in move_points: + if not self._is_intersecting_area(agent_x, agent_y, point[0], point[1], road): + if not self._is_intersecting_area(point_x, point_y, point[0], point[1], road): + distance = self._get_distance(point_x, point_y, point[0], point[1]) + if distance < best_distance: + best_point = point + best_distance = distance + + if best_point is not None: + bp_x, bp_y = best_point + if road.get_blockades() is None: + return ActionMove([road.get_entity_id()], int(bp_x), int(bp_y)) + + action_clear: Optional[ActionClearArea] = None + clear_blockade: Optional[Blockade] = None + action_move: Optional[ActionMove] = None + + vector = self._scale_clear(self._get_vector(agent_x, agent_y, bp_x, bp_y)) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_x + vector[1]) + + vector = self._scale_back_clear(vector) + start_x = int(agent_x + vector[0]) + start_y = int(agent_y + vector[1]) + + for blockade in self.world_info.get_blockades(road): + if self._is_intersecting_blockade(start_x, start_y, bp_x, bp_y, blockade): + if self._is_intersecting_blockade( + start_x, start_y, clear_x, clear_y, blockade + ): + if action_clear is None: + action_clear = ActionClearArea(clear_x, clear_y) + clear_blockade = blockade else: - break - - return ActionMove(first_result) if first_result != [] else None - - def _get_rescue_action( - self, police_entity: PoliceForce, road: Road - ) -> Optional[Action]: - road_blockades = road.get_blockades() - blockades = set( - [] - if road_blockades is None - else [ - cast(Blockade, self.world_info.get_entity(blockade_entity_id)) - for blockade_entity_id in road_blockades - ] - ) - agent_entities = set( - self.world_info.get_entities_of_types([AmbulanceTeam, FireBrigade]) + if clear_blockade is not None and self._is_intersecting_blockades( + blockade, clear_blockade + ): + return ActionClear(clear_blockade) + return action_clear + elif action_move is None: + action_move = ActionMove([road.get_entity_id()], int(bp_x), int(bp_y)) + + if action_clear is not None: + return action_clear + if action_move is not None: + return action_move + + action = self._get_area_clear_action( + cast(PoliceForce, self.agent_info.get_myself()), road + ) + if action is None: + action = ActionMove([road.get_entity_id()], int(point_x), int(point_y)) + return action + + def _get_move_points(self, road: Road) -> set[tuple[float, float]]: + points: Optional[set[tuple[float, float]]] = self._move_point_cache.get( + road.get_entity_id() + ) + if points is None: + points = set() + apex = road.get_apexes() + for i in range(0, len(apex), 2): + for j in range(i + 2, len(apex), 2): + mid_x = (apex[i] + apex[j]) / 2.0 + mid_y = (apex[i + 1] + apex[j + 1]) / 2.0 + if self._is_inside(mid_x, mid_y, apex): + points.add((mid_x, mid_y)) + + edges = road.get_edges() + if edges is not None: + for edge in edges: + mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 + mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 + if (mid_x, mid_y) in points: + points.remove((mid_x, mid_y)) + + self._move_point_cache[road.get_entity_id()] = points + + return points + + def _get_vector( + self, from_x: float, from_y: float, to_x: float, to_y: float + ) -> tuple[float, float]: + return (to_x - from_x, to_y - from_y) + + def _scale_clear(self, vector: tuple[float, float]) -> tuple[float, float]: + length = 1.0 / math.hypot(vector[0], vector[1]) + return ( + vector[0] * length * self._clear_distance, + vector[1] * length * self._clear_distance, + ) + + def _scale_back_clear(self, vector: tuple[float, float]) -> tuple[float, float]: + length = 1.0 / math.hypot(vector[0], vector[1]) + return (vector[0] * length * -510, vector[1] * length * -510) + + def _is_intersecting_blockade( + self, + agent_x: float, + agent_y: float, + point_x: float, + point_y: float, + blockade: Blockade, + ) -> bool: + apexes = blockade.get_apexes() + if apexes is None or len(apexes) < 4: + return False + for i in range(0, len(apexes) - 3, 2): + line1 = LineString([(apexes[i], apexes[i + 1]), (apexes[i + 2], apexes[i + 3])]) + line2 = LineString([(agent_x, agent_y), (point_x, point_y)]) + if line1.intersects(line2): + return True + return False + + def _is_intersecting_blockades( + self, blockade1: Blockade, blockade2: Blockade + ) -> bool: + apexes1 = blockade1.get_apexes() + apexes2 = blockade2.get_apexes() + if apexes1 is None or apexes2 is None or len(apexes1) < 4 or len(apexes2) < 4: + return False + for i in range(0, len(apexes1) - 2, 2): + for j in range(0, len(apexes2) - 2, 2): + line1 = LineString( + [(apexes1[i], apexes1[i + 1]), (apexes1[i + 2], apexes1[i + 3])] ) - - police_x = police_entity.get_x() - police_y = police_entity.get_y() - min_distance = sys.float_info.max - move_action: Optional[ActionMove] = None - - for agent_entity in agent_entities: - human = cast(Human, agent_entity) - human_position = human.get_position() - if ( - human_position is None - or human_position.get_value() != road.get_entity_id().get_value() - ): - continue - - human_x = human.get_x() - human_y = human.get_y() - if ( - human_x is None - or human_y is None - or police_x is None - or police_y is None - ): - continue - - action_clear: Optional[ActionClear | ActionClearArea] = None - clear_blockade: Optional[Blockade] = None - for blockade in blockades: - blockade_apexes = blockade.get_apexes() - if blockade_apexes is None or not self._is_inside( - human_x, human_y, blockade_apexes - ): - continue - - distance = self._get_distance(police_x, police_y, human_x, human_y) - if self._is_intersecting_area( - police_x, police_y, human_x, human_y, road - ): - action = self._get_intersect_edge_action( - police_x, police_y, human_x, human_y, road - ) - if action is None: - continue - if isinstance(action, ActionClear): - if action_clear is None: - action_clear = action - clear_blockade = blockade - continue - - if clear_blockade is not None: - if self._is_intersecting_blockades( - blockade, clear_blockade - ): - return ActionClear(clear_blockade) - - another_distance = self.world_info.get_distance( - police_entity.get_entity_id(), - clear_blockade.get_entity_id(), - ) - blockade_distance = self.world_info.get_distance( - police_entity.get_entity_id(), blockade.get_entity_id() - ) - if blockade_distance < another_distance: - return action - - return action_clear - elif isinstance(action, ActionMove) and distance < min_distance: - min_distance = distance - move_action = action - - elif self._is_intersecting_blockade( - police_x, police_y, human_x, human_y, blockade - ): - vector = self._scale_clear( - self._get_vector(police_x, police_y, human_x, human_y) - ) - clear_x = int(police_x + vector[0]) - clear_y = int(police_y + vector[1]) - - vector = self._scale_back_clear(vector) - start_x = int(police_x + vector[0]) - start_y = int(police_y + vector[1]) - - if self._is_intersecting_blockade( - start_x, start_y, clear_x, clear_y, blockade - ): - if action_clear is None: - action_clear = ActionClearArea(clear_x, clear_y) - clear_blockade = blockade - else: - if clear_blockade is not None: - if self._is_intersecting_blockades( - blockade, clear_blockade - ): - return ActionClear(clear_blockade) - - distance1 = self.world_info.get_distance( - police_entity.get_entity_id(), - clear_blockade.get_entity_id(), - ) - distance2 = self.world_info.get_distance( - police_entity.get_entity_id(), - blockade.get_entity_id(), - ) - if distance1 > distance2: - return ActionClearArea(clear_x, clear_y) - - return action_clear - - elif distance < min_distance: - min_distance = distance - move_action = ActionMove( - [road.get_entity_id()], human_x, human_y - ) - - if action_clear is not None: - return action_clear - - return move_action - - def _is_inside(self, x: float, y: float, apexes: list[int]) -> bool: - point = Point(x, y) - polygon = Polygon( - [(apexes[i], apexes[i + 1]) for i in range(0, len(apexes), 2)] + line2 = LineString( + [(apexes2[j], apexes2[j + 1]), (apexes2[j + 2], apexes2[j + 3])] ) - return polygon.contains(point) + if line1.intersects(line2): + return True + + for i in range(0, len(apexes1) - 2, 2): + line1 = LineString( + [(apexes1[i], apexes1[i + 1]), (apexes1[i + 2], apexes1[i + 3])] + ) + line2 = LineString([(apexes2[-2], apexes2[-1]), (apexes2[0], apexes2[1])]) + if line1.intersects(line2): + return True + + for i in range(0, len(apexes2) - 2, 2): + line1 = LineString([(apexes1[-2], apexes1[-1]), (apexes1[0], apexes1[1])]) + line2 = LineString( + [(apexes2[i], apexes2[i + 1]), (apexes2[i + 2], apexes2[i + 3])] + ) + if line1.intersects(line2): + return True + + return False + + def _get_area_clear_action( + self, police_entity: PoliceForce, road: Road + ) -> Optional[Action]: + if road.get_blockades() == []: + return None + + blockades = set(self.world_info.get_blockades(road)) + min_distance = sys.float_info.max + clear_blockade: Optional[Blockade] = None + for blockade in blockades: + for another in blockades: + if blockade == another: + continue + + if self._is_intersecting_blockades(blockade, another): + distance1 = self.world_info.get_distance( + police_entity.get_entity_id(), blockade.get_entity_id() + ) + distance2 = self.world_info.get_distance( + police_entity.get_entity_id(), another.get_entity_id() + ) + if distance1 <= distance2 and distance1 < min_distance: + min_distance = distance1 + clear_blockade = blockade + elif distance2 < min_distance: + min_distance = distance2 + clear_blockade = another + + if clear_blockade is not None: + if min_distance < self._clear_distance: + return ActionClear(clear_blockade) + else: + position = police_entity.get_position() + if position is not None: + return ActionMove( + [position], + clear_blockade.get_x(), + clear_blockade.get_y(), + ) + + agent_x = police_entity.get_x() + agent_y = police_entity.get_y() + if agent_x is None or agent_y is None: + return None + clear_blockade = None + min_point_distance = sys.float_info.max + clear_x = 0 + clear_y = 0 + for blockade in blockades: + apexes = blockade.get_apexes() + if apexes is None or len(apexes) < 4: + continue + for i in range(0, len(apexes) - 2, 2): + distance = self._get_distance(agent_x, agent_y, apexes[i], apexes[i + 1]) + if distance < min_point_distance: + clear_blockade = blockade + min_point_distance = distance + clear_x = apexes[i] + clear_y = apexes[i + 1] + + if clear_blockade is not None: + if min_point_distance < self._clear_distance: + vector = self._scale_clear(self._get_vector(agent_x, agent_y, clear_x, clear_y)) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_y + vector[1]) + return ActionClearArea(clear_x, clear_y) + position = police_entity.get_position() + if position is not None: + return ActionMove([position], clear_x, clear_y) + + return None + + def _index_of(self, list: list[EntityID], x: EntityID) -> int: + return list.index(x) if x in list else -1 + + def _get_neighbour_position_action( + self, police_entity: PoliceForce, target: Area + ) -> Optional[Action]: + agent_x = police_entity.get_x() + agent_y = police_entity.get_y() + if agent_x is None or agent_y is None: + return None + position_id = police_entity.get_position() + if position_id is None: + return None + position = self.world_info.get_entity(position_id) + if position is None: + return None + + edge = target.get_edge_to(position.get_entity_id()) + if edge is None: + return None + + if isinstance(position, Road): + road = position + if road.get_blockades() != []: + mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 + mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 + if self._is_intersecting_area(agent_x, agent_y, mid_x, mid_y, road): + return self._get_intersect_edge_action(agent_x, agent_y, mid_x, mid_y, road) + + action_clear: Optional[ActionClear | ActionClearArea] = None + clear_blockade: Optional[Blockade] = None + action_move: Optional[ActionMove] = None - def _get_distance(self, x1: float, y1: float, x2: float, y2: float) -> float: - return ((x1 - x2) ** 2 + (y1 - y2) ** 2) ** 0.5 + vector = self._scale_clear(self._get_vector(agent_x, agent_y, mid_x, mid_y)) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_y + vector[1]) - def _is_intersecting_area( - self, agent_x: float, agent_y: float, point_x: float, point_y: float, area: Area - ) -> bool: - edges = area.get_edges() - if edges is None: - return False - for edge in edges: - start_x = edge.get_start_x() - start_y = edge.get_start_y() - end_x = edge.get_end_x() - end_y = edge.get_end_y() - - line1 = LineString([(agent_x, agent_y), (point_x, point_y)]) - line2 = LineString([(start_x, start_y), (end_x, end_y)]) - if line1.intersects(line2): - mid_x = (start_x + end_x) / 2.0 - mid_y = (start_y + end_y) / 2.0 - if not self._equals_point( - agent_x, agent_y, mid_x, mid_y, 1000 - ) and not self._equals_point(point_x, point_y, mid_x, mid_y, 1000): - return True - - return False - - def _equals_point( - self, x1: float, y1: float, x2: float, y2: float, range: float - ) -> bool: - return (x2 - range < x1 and x1 < x2 + range) and ( - y2 - range < y1 and y1 < y2 + range - ) + vector = self._scale_back_clear(vector) + start_x = int(agent_x + vector[0]) + start_y = int(agent_y + vector[1]) - def _get_intersect_edge_action( - self, agent_x: float, agent_y: float, point_x: float, point_y: float, road: Road - ) -> Action: - move_points = self._get_move_points(road) - best_point: Optional[tuple[float, float]] = None - best_distance = sys.float_info.max - for point in move_points: - if not self._is_intersecting_area( - agent_x, agent_y, point[0], point[1], road + for blockade in self.world_info.get_blockades(road): + if self._is_intersecting_blockade(start_x, start_y, mid_x, mid_y, blockade): + if self._is_intersecting_blockade( + start_x, start_y, clear_x, clear_y, blockade ): - if not self._is_intersecting_area( - point_x, point_y, point[0], point[1], road + if action_clear is None: + action_clear = ActionClearArea(clear_x, clear_y) + clear_blockade = blockade + if self._equals_point( + self._old_clear_x, + self._old_clear_y, + clear_x, + clear_y, + 1000, ): - distance = self._get_distance(point_x, point_y, point[0], point[1]) - if distance < best_distance: - best_point = point - best_distance = distance - - if best_point is not None: - bp_x, bp_y = best_point - if road.get_blockades() is None: - return ActionMove([road.get_entity_id()], int(bp_x), int(bp_y)) - - action_clear: Optional[ActionClearArea] = None - clear_blockade: Optional[Blockade] = None - action_move: Optional[ActionMove] = None - - vector = self._scale_clear(self._get_vector(agent_x, agent_y, bp_x, bp_y)) - clear_x = int(agent_x + vector[0]) - clear_y = int(agent_x + vector[1]) + if self.count >= self._forced_move: + self.count = 0 + return ActionMove( + [road.get_entity_id()], + int(clear_x), + int(clear_y), + ) + self.count += 1 - vector = self._scale_back_clear(vector) - start_x = int(agent_x + vector[0]) - start_y = int(agent_y + vector[1]) + self._old_clear_x = clear_x + self._old_clear_y = clear_y + else: + if clear_blockade is not None: + if self._is_intersecting_blockades(blockade, clear_blockade): + return ActionClear(clear_blockade) - for blockade in self.world_info.get_blockades(road): - if self._is_intersecting_blockade( - start_x, start_y, bp_x, bp_y, blockade - ): - if self._is_intersecting_blockade( - start_x, start_y, clear_x, clear_y, blockade - ): - if action_clear is None: - action_clear = ActionClearArea(clear_x, clear_y) - clear_blockade = blockade - else: - if ( - clear_blockade is not None - and self._is_intersecting_blockades( - blockade, clear_blockade - ) - ): - return ActionClear(clear_blockade) - return action_clear - elif action_move is None: - action_move = ActionMove( - [road.get_entity_id()], int(bp_x), int(bp_y) - ) - - if action_clear is not None: return action_clear - if action_move is not None: - return action_move + elif action_move is None: + action_move = ActionMove([road.get_entity_id()], int(mid_x), int(mid_y)) - action = self._get_area_clear_action( - cast(PoliceForce, self.agent_info.get_myself()), road - ) - if action is None: - action = ActionMove([road.get_entity_id()], int(point_x), int(point_y)) - return action + if action_clear is not None: + return action_clear + if action_move is not None: + return action_move - def _get_move_points(self, road: Road) -> set[tuple[float, float]]: - points: Optional[set[tuple[float, float]]] = self._move_point_cache.get( - road.get_entity_id() - ) - if points is None: - points = set() - apex = road.get_apexes() - for i in range(0, len(apex), 2): - for j in range(i + 2, len(apex), 2): - mid_x = (apex[i] + apex[j]) / 2.0 - mid_y = (apex[i + 1] + apex[j + 1]) / 2.0 - if self._is_inside(mid_x, mid_y, apex): - points.add((mid_x, mid_y)) - - edges = road.get_edges() - if edges is not None: - for edge in edges: - mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 - mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 - if (mid_x, mid_y) in points: - points.remove((mid_x, mid_y)) - - self._move_point_cache[road.get_entity_id()] = points - - return points - - def _get_vector( - self, from_x: float, from_y: float, to_x: float, to_y: float - ) -> tuple[float, float]: - return (to_x - from_x, to_y - from_y) - - def _scale_clear(self, vector: tuple[float, float]) -> tuple[float, float]: - length = 1.0 / math.hypot(vector[0], vector[1]) - return ( - vector[0] * length * self._clear_distance, - vector[1] * length * self._clear_distance, - ) + if isinstance(target, Road): + road = target + if road.get_blockades() == []: + return ActionMove([position.get_entity_id(), target.get_entity_id()]) - def _scale_back_clear(self, vector: tuple[float, float]) -> tuple[float, float]: - length = 1.0 / math.hypot(vector[0], vector[1]) - return (vector[0] * length * -510, vector[1] * length * -510) - - def _is_intersecting_blockade( - self, - agent_x: float, - agent_y: float, - point_x: float, - point_y: float, - blockade: Blockade, - ) -> bool: + target_blockade: Optional[Blockade] = None + min_point_distance = sys.float_info.max + clear_x = 0 + clear_y = 0 + for blockade in self.world_info.get_blockades(road): apexes = blockade.get_apexes() if apexes is None or len(apexes) < 4: - return False - for i in range(0, len(apexes) - 3, 2): - line1 = LineString( - [(apexes[i], apexes[i + 1]), (apexes[i + 2], apexes[i + 3])] - ) - line2 = LineString([(agent_x, agent_y), (point_x, point_y)]) - if line1.intersects(line2): - return True - return False - - def _is_intersecting_blockades( - self, blockade1: Blockade, blockade2: Blockade - ) -> bool: - apexes1 = blockade1.get_apexes() - apexes2 = blockade2.get_apexes() - if apexes1 is None or apexes2 is None or len(apexes1) < 4 or len(apexes2) < 4: - return False - for i in range(0, len(apexes1) - 2, 2): - for j in range(0, len(apexes2) - 2, 2): - line1 = LineString( - [(apexes1[i], apexes1[i + 1]), (apexes1[i + 2], apexes1[i + 3])] - ) - line2 = LineString( - [(apexes2[j], apexes2[j + 1]), (apexes2[j + 2], apexes2[j + 3])] - ) - if line1.intersects(line2): - return True - - for i in range(0, len(apexes1) - 2, 2): - line1 = LineString( - [(apexes1[i], apexes1[i + 1]), (apexes1[i + 2], apexes1[i + 3])] - ) - line2 = LineString([(apexes2[-2], apexes2[-1]), (apexes2[0], apexes2[1])]) - if line1.intersects(line2): - return True - - for i in range(0, len(apexes2) - 2, 2): - line1 = LineString([(apexes1[-2], apexes1[-1]), (apexes1[0], apexes1[1])]) - line2 = LineString( - [(apexes2[i], apexes2[i + 1]), (apexes2[i + 2], apexes2[i + 3])] - ) - if line1.intersects(line2): - return True - - return False - - def _get_area_clear_action( - self, police_entity: PoliceForce, road: Road - ) -> Optional[Action]: - if road.get_blockades() == []: - return None - - blockades = set(self.world_info.get_blockades(road)) - min_distance = sys.float_info.max - clear_blockade: Optional[Blockade] = None - for blockade in blockades: - for another in blockades: - if blockade == another: - continue - - if self._is_intersecting_blockades(blockade, another): - distance1 = self.world_info.get_distance( - police_entity.get_entity_id(), blockade.get_entity_id() - ) - distance2 = self.world_info.get_distance( - police_entity.get_entity_id(), another.get_entity_id() - ) - if distance1 <= distance2 and distance1 < min_distance: - min_distance = distance1 - clear_blockade = blockade - elif distance2 < min_distance: - min_distance = distance2 - clear_blockade = another - - if clear_blockade is not None: - if min_distance < self._clear_distance: - return ActionClear(clear_blockade) - else: - position = police_entity.get_position() - if position is not None: - return ActionMove( - [position], - clear_blockade.get_x(), - clear_blockade.get_y(), - ) - - agent_x = police_entity.get_x() - agent_y = police_entity.get_y() - if agent_x is None or agent_y is None: - return None - clear_blockade = None - min_point_distance = sys.float_info.max - clear_x = 0 - clear_y = 0 - for blockade in blockades: - apexes = blockade.get_apexes() - if apexes is None or len(apexes) < 4: - continue - for i in range(0, len(apexes) - 2, 2): - distance = self._get_distance( - agent_x, agent_y, apexes[i], apexes[i + 1] - ) - if distance < min_point_distance: - clear_blockade = blockade - min_point_distance = distance - clear_x = apexes[i] - clear_y = apexes[i + 1] - - if clear_blockade is not None: - if min_point_distance < self._clear_distance: - vector = self._scale_clear( - self._get_vector(agent_x, agent_y, clear_x, clear_y) - ) - clear_x = int(agent_x + vector[0]) - clear_y = int(agent_y + vector[1]) - return ActionClearArea(clear_x, clear_y) - position = police_entity.get_position() - if position is not None: - return ActionMove([position], clear_x, clear_y) - - return None - - def _index_of(self, list: list[EntityID], x: EntityID) -> int: - return list.index(x) if x in list else -1 - - def _get_neighbour_position_action( - self, police_entity: PoliceForce, target: Area - ) -> Optional[Action]: - agent_x = police_entity.get_x() - agent_y = police_entity.get_y() - if agent_x is None or agent_y is None: - return None - position_id = police_entity.get_position() - if position_id is None: - return None - position = self.world_info.get_entity(position_id) - if position is None: - return None - - edge = target.get_edge_to(position.get_entity_id()) - if edge is None: - return None - - if isinstance(position, Road): - road = position - if road.get_blockades() != []: - mid_x = (edge.get_start_x() + edge.get_end_x()) / 2.0 - mid_y = (edge.get_start_y() + edge.get_end_y()) / 2.0 - if self._is_intersecting_area(agent_x, agent_y, mid_x, mid_y, road): - return self._get_intersect_edge_action( - agent_x, agent_y, mid_x, mid_y, road - ) - - action_clear: Optional[ActionClear | ActionClearArea] = None - clear_blockade: Optional[Blockade] = None - action_move: Optional[ActionMove] = None - - vector = self._scale_clear( - self._get_vector(agent_x, agent_y, mid_x, mid_y) - ) - clear_x = int(agent_x + vector[0]) - clear_y = int(agent_y + vector[1]) - - vector = self._scale_back_clear(vector) - start_x = int(agent_x + vector[0]) - start_y = int(agent_y + vector[1]) - - for blockade in self.world_info.get_blockades(road): - if self._is_intersecting_blockade( - start_x, start_y, mid_x, mid_y, blockade - ): - if self._is_intersecting_blockade( - start_x, start_y, clear_x, clear_y, blockade - ): - if action_clear is None: - action_clear = ActionClearArea(clear_x, clear_y) - clear_blockade = blockade - if self._equals_point( - self._old_clear_x, - self._old_clear_y, - clear_x, - clear_y, - 1000, - ): - if self.count >= self._forced_move: - self.count = 0 - return ActionMove( - [road.get_entity_id()], - int(clear_x), - int(clear_y), - ) - self.count += 1 - - self._old_clear_x = clear_x - self._old_clear_y = clear_y - else: - if clear_blockade is not None: - if self._is_intersecting_blockades( - blockade, clear_blockade - ): - return ActionClear(clear_blockade) - - return action_clear - elif action_move is None: - action_move = ActionMove( - [road.get_entity_id()], int(mid_x), int(mid_y) - ) - - if action_clear is not None: - return action_clear - if action_move is not None: - return action_move - - if isinstance(target, Road): - road = target - if road.get_blockades() == []: - return ActionMove([position.get_entity_id(), target.get_entity_id()]) - - target_blockade: Optional[Blockade] = None - min_point_distance = sys.float_info.max - clear_x = 0 - clear_y = 0 - for blockade in self.world_info.get_blockades(road): - apexes = blockade.get_apexes() - if apexes is None or len(apexes) < 4: - continue - for i in range(0, len(apexes) - 2, 2): - distance = self._get_distance( - agent_x, agent_y, apexes[i], apexes[i + 1] - ) - if distance < min_point_distance: - target_blockade = blockade - min_point_distance = distance - clear_x = apexes[i] - clear_y = apexes[i + 1] - - if ( - target_blockade is not None - and min_point_distance < self._clear_distance - ): - vector = self._scale_clear( - self._get_vector(agent_x, agent_y, clear_x, clear_y) - ) - clear_x = int(agent_x + vector[0]) - clear_y = int(agent_y + vector[1]) - if self._equals_point( - self._old_clear_x, self._old_clear_y, clear_x, clear_y, 1000 - ): - if self.count >= self._forced_move: - self.count = 0 - return ActionMove([road.get_entity_id()], clear_x, clear_y) - self.count += 1 + continue + for i in range(0, len(apexes) - 2, 2): + distance = self._get_distance(agent_x, agent_y, apexes[i], apexes[i + 1]) + if distance < min_point_distance: + target_blockade = blockade + min_point_distance = distance + clear_x = apexes[i] + clear_y = apexes[i + 1] + + if target_blockade is not None and min_point_distance < self._clear_distance: + vector = self._scale_clear(self._get_vector(agent_x, agent_y, clear_x, clear_y)) + clear_x = int(agent_x + vector[0]) + clear_y = int(agent_y + vector[1]) + if self._equals_point( + self._old_clear_x, self._old_clear_y, clear_x, clear_y, 1000 + ): + if self.count >= self._forced_move: + self.count = 0 + return ActionMove([road.get_entity_id()], clear_x, clear_y) + self.count += 1 - self._old_clear_x = clear_x - self._old_clear_y = clear_y - return ActionClearArea(clear_x, clear_y) + self._old_clear_x = clear_x + self._old_clear_y = clear_y + return ActionClearArea(clear_x, clear_y) - return ActionMove([position.get_entity_id(), target.get_entity_id()]) + return ActionMove([position.get_entity_id(), target.get_entity_id()]) diff --git a/src/adf_core_python/implement/action/default_extend_action_move.py b/src/adf_core_python/implement/action/default_extend_action_move.py index b14baf3..7287535 100644 --- a/src/adf_core_python/implement/action/default_extend_action_move.py +++ b/src/adf_core_python/implement/action/default_extend_action_move.py @@ -15,90 +15,90 @@ class DefaultExtendActionMove(ExtendAction): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._target_entity_id: Optional[EntityID] = None - self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) - - self._path_planning: PathPlanning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: - super().precompute(precompute_data) - if self.get_count_precompute() > 1: - return self - self._path_planning.precompute(precompute_data) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._target_entity_id: Optional[EntityID] = None + self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) + + self._path_planning: PathPlanning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionMove.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: + super().precompute(precompute_data) + if self.get_count_precompute() > 1: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: + super().resume(precompute_data) + if self.get_count_resume() > 1: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> ExtendAction: + super().prepare() + if self.get_count_prepare() > 1: + return self + self._path_planning.prepare() + return self + + def update_info(self, message_manager: MessageManager) -> ExtendAction: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: + entity: Optional[Entity] = self.world_info.get_entity(target_entity_id) + self._target_entity_id = None + + if entity is None: + return self + + if isinstance(entity, Blockade) or isinstance(entity, Human): + position: Optional[EntityID] = entity.get_position() + if position is None: return self + entity = self.world_info.get_entity(position) - def resume(self, precompute_data: PrecomputeData) -> ExtendAction: - super().resume(precompute_data) - if self.get_count_resume() > 1: - return self - self._path_planning.resume(precompute_data) - return self - - def prepare(self) -> ExtendAction: - super().prepare() - if self.get_count_prepare() > 1: - return self - self._path_planning.prepare() - return self + if entity is not None and isinstance(entity, Area): + self._target_entity_id = entity.get_entity_id() - def update_info(self, message_manager: MessageManager) -> ExtendAction: - super().update_info(message_manager) - if self.get_count_update_info() > 1: - return self - self._path_planning.update_info(message_manager) - return self - - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: - entity: Optional[Entity] = self.world_info.get_entity(target_entity_id) - self._target_entity_id = None + return self - if entity is None: - return self + def calculate(self) -> ExtendAction: + self.result = None + agent: Human = cast(Human, self.agent_info.get_myself()) - if isinstance(entity, Blockade) or isinstance(entity, Human): - position: Optional[EntityID] = entity.get_position() - if position is None: - return self - entity = self.world_info.get_entity(position) + if self._target_entity_id is None: + return self - if entity is not None and isinstance(entity, Area): - self._target_entity_id = entity.get_entity_id() + agent_position = agent.get_position() + if agent_position is None: + return self - return self + path: list[EntityID] = self._path_planning.get_path( + agent_position, self._target_entity_id + ) - def calculate(self) -> ExtendAction: - self.result = None - agent: Human = cast(Human, self.agent_info.get_myself()) + if path is not None and len(path) != 0: + self.result = ActionMove(path) - if self._target_entity_id is None: - return self - - agent_position = agent.get_position() - if agent_position is None: - return self - - path: list[EntityID] = self._path_planning.get_path( - agent_position, self._target_entity_id - ) - - if path is not None and len(path) != 0: - self.result = ActionMove(path) - - return self + return self diff --git a/src/adf_core_python/implement/action/default_extend_action_rescue.py b/src/adf_core_python/implement/action/default_extend_action_rescue.py index b4624bb..489f5d5 100644 --- a/src/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/src/adf_core_python/implement/action/default_extend_action_rescue.py @@ -9,8 +9,8 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ( - ScenarioInfo, - ScenarioInfoKeys, + ScenarioInfo, + ScenarioInfoKeys, ) from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager @@ -20,136 +20,136 @@ class DefaultExtendActionRescue(ExtendAction): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._kernel_time: int = -1 - self._target_entity_id: Optional[EntityID] = None - self._threshold_rest = develop_data.get_value( - "adf_core_python.implement.action.DefaultExtendActionRescue.rest", 100 - ) - - self._path_planning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionRescue.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: - super().precompute(precompute_data) - if self.get_count_precompute() >= 2: - return self - self._path_planning.precompute(precompute_data) - self._kernel_time = self.scenario_info.get_value( - ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._kernel_time: int = -1 + self._target_entity_id: Optional[EntityID] = None + self._threshold_rest = develop_data.get_value( + "adf_core_python.implement.action.DefaultExtendActionRescue.rest", 100 + ) + + self._path_planning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionRescue.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._kernel_time = self.scenario_info.get_value( + ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 + ) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._kernel_time = self.scenario_info.get_value( + ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 + ) + return self + + def prepare(self) -> ExtendAction: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._kernel_time = self.scenario_info.get_value( + ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 + ) + return self + + def update_info(self, message_manager: MessageManager) -> ExtendAction: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: + self._target_entity_id = None + if target_entity_id is not None: + entity = self.world_info.get_entity(target_entity_id) + if isinstance(entity, Human) or isinstance(entity, Area): + self._target_entity_id = target_entity_id return self + return self + + def calculate(self) -> ExtendAction: + self.result = None + agent = cast(FireBrigade, self.agent_info.get_myself()) + + if self._target_entity_id is not None: + self.result = self._calc_rescue( + agent, self._path_planning, self._target_entity_id + ) + + return self + + def _calc_rescue( + self, + agent: FireBrigade, + path_planning: PathPlanning, + target_entity_id: EntityID, + ) -> Optional[Action]: + target_entity = self.world_info.get_entity(target_entity_id) + if target_entity is None: + return None + + agent_position_entity_id = agent.get_position() + if agent_position_entity_id is None: + return None + + if isinstance(target_entity, Human): + human = target_entity + if human.get_hp() == 0: + return None - def resume(self, precompute_data: PrecomputeData) -> ExtendAction: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - self._path_planning.resume(precompute_data) - self._kernel_time = self.scenario_info.get_value( - ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 - ) - return self + target_position_entity_id = human.get_position() + if target_position_entity_id is None: + return None - def prepare(self) -> ExtendAction: - super().prepare() - if self.get_count_prepare() >= 2: - return self - self._path_planning.prepare() - self._kernel_time = self.scenario_info.get_value( - ScenarioInfoKeys.KERNEL_TIMESTEPS, -1 + if agent_position_entity_id == target_position_entity_id: + buriedness = human.get_buriedness() + if buriedness is not None and buriedness > 0: + return ActionRescue(target_entity_id) + else: + path = path_planning.get_path( + agent_position_entity_id, target_position_entity_id ) - return self - - def update_info(self, message_manager: MessageManager) -> ExtendAction: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self - self._path_planning.update_info(message_manager) - return self - - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: - self._target_entity_id = None - if target_entity_id is not None: - entity = self.world_info.get_entity(target_entity_id) - if isinstance(entity, Human) or isinstance(entity, Area): - self._target_entity_id = target_entity_id - return self - return self + if path != []: + return ActionMove(path) - def calculate(self) -> ExtendAction: - self.result = None - agent = cast(FireBrigade, self.agent_info.get_myself()) + return None - if self._target_entity_id is not None: - self.result = self._calc_rescue( - agent, self._path_planning, self._target_entity_id - ) - - return self + if isinstance(target_entity, Blockade): + blockade = target_entity + blockade_position = blockade.get_position() + if blockade_position is None: + return None - def _calc_rescue( - self, - agent: FireBrigade, - path_planning: PathPlanning, - target_entity_id: EntityID, - ) -> Optional[Action]: - target_entity = self.world_info.get_entity(target_entity_id) - if target_entity is None: - return None - - agent_position_entity_id = agent.get_position() - if agent_position_entity_id is None: - return None - - if isinstance(target_entity, Human): - human = target_entity - if human.get_hp() == 0: - return None - - target_position_entity_id = human.get_position() - if target_position_entity_id is None: - return None - - if agent_position_entity_id == target_position_entity_id: - buriedness = human.get_buriedness() - if buriedness is not None and buriedness > 0: - return ActionRescue(target_entity_id) - else: - path = path_planning.get_path( - agent_position_entity_id, target_position_entity_id - ) - if path != []: - return ActionMove(path) - - return None - - if isinstance(target_entity, Blockade): - blockade = target_entity - blockade_position = blockade.get_position() - if blockade_position is None: - return None - - target_entity = self.world_info.get_entity(blockade_position) - if isinstance(target_entity, Area): - path = self._path_planning.get_path( - agent_position_entity_id, target_entity.get_entity_id() - ) - if path != []: - return ActionMove(path) + target_entity = self.world_info.get_entity(blockade_position) + if isinstance(target_entity, Area): + path = self._path_planning.get_path( + agent_position_entity_id, target_entity.get_entity_id() + ) + if path != []: + return ActionMove(path) - return None + return None diff --git a/src/adf_core_python/implement/action/default_extend_action_transport.py b/src/adf_core_python/implement/action/default_extend_action_transport.py index 5fe0b9d..b647668 100644 --- a/src/adf_core_python/implement/action/default_extend_action_transport.py +++ b/src/adf_core_python/implement/action/default_extend_action_transport.py @@ -1,13 +1,13 @@ from typing import Optional, Union, cast from rcrscore.entities import ( - AmbulanceTeam, - Area, - Civilian, - Entity, - EntityID, - Human, - Refuge, + AmbulanceTeam, + Area, + Civilian, + Entity, + EntityID, + Human, + Refuge, ) from adf_core_python.core.agent.action.ambulance.action_load import ActionLoad @@ -27,234 +27,228 @@ class DefaultExtendActionTransport(ExtendAction): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._target_entity_id: Optional[EntityID] = None - self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self.agent_info, - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: - super().precompute(precompute_data) - if self.get_count_precompute() > 1: - return self - self._path_planning.precompute(precompute_data) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._target_entity_id: Optional[EntityID] = None + self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self.agent_info, + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionMove.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: + super().precompute(precompute_data) + if self.get_count_precompute() > 1: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> ExtendAction: + super().resume(precompute_data) + if self.get_count_resume() > 1: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> ExtendAction: + super().prepare() + if self.get_count_prepare() > 1: + return self + self._path_planning.prepare() + return self + + def update_info(self, message_manager: MessageManager) -> ExtendAction: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + self._path_planning.update_info(message_manager) + return self + + def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: + entity: Optional[Entity] = self.world_info.get_world_model().get_entity( + target_entity_id + ) + self._target_entity_id = None + + if entity is None: + return self + + if isinstance(entity, Human) or isinstance(entity, Area): + self._target_entity_id = target_entity_id + + return self + + def calculate(self) -> ExtendAction: + self._result = None + agent: AmbulanceTeam = cast(AmbulanceTeam, self.agent_info.get_myself()) + transport_human: Optional[Human] = self.agent_info.some_one_on_board() + if transport_human is not None: + self._logger.debug(f"transport_human: {transport_human.get_entity_id()}") + self.result = self.calc_unload( + agent, self._path_planning, transport_human, self._target_entity_id + ) + if self.result is not None: return self - def resume(self, precompute_data: PrecomputeData) -> ExtendAction: - super().resume(precompute_data) - if self.get_count_resume() > 1: - return self - self._path_planning.resume(precompute_data) - return self - - def prepare(self) -> ExtendAction: - super().prepare() - if self.get_count_prepare() > 1: - return self - self._path_planning.prepare() - return self - - def update_info(self, message_manager: MessageManager) -> ExtendAction: - super().update_info(message_manager) - if self.get_count_update_info() > 1: - return self - self._path_planning.update_info(message_manager) - return self - - def set_target_entity_id(self, target_entity_id: EntityID) -> ExtendAction: - entity: Optional[Entity] = self.world_info.get_world_model().get_entity( - target_entity_id - ) - self._target_entity_id = None - - if entity is None: - return self - - if isinstance(entity, Human) or isinstance(entity, Area): - self._target_entity_id = target_entity_id - - return self - - def calculate(self) -> ExtendAction: - self._result = None - agent: AmbulanceTeam = cast(AmbulanceTeam, self.agent_info.get_myself()) - transport_human: Optional[Human] = self.agent_info.some_one_on_board() - if transport_human is not None: - self._logger.debug(f"transport_human: {transport_human.get_entity_id()}") - self.result = self.calc_unload( - agent, self._path_planning, transport_human, self._target_entity_id - ) - if self.result is not None: - return self - - if self._target_entity_id is not None: - self.result = self.calc_rescue( - agent, self._path_planning, self._target_entity_id - ) - - return self - - def calc_rescue( - self, - agent: AmbulanceTeam, - path_planning: PathPlanning, - target_id: EntityID, - ) -> Optional[Union[ActionMove, ActionLoad]]: - target_entity = self.world_info.get_entity(target_id) - if target_entity is None: - return None - - agent_position = agent.get_position() - if agent_position is None: - return None - if isinstance(target_entity, Human): - human = target_entity - if human.get_position() is None: - return None - if human.get_hp() is None or human.get_hp() == 0: - return None - - target_position = human.get_position() - if target_position is None: - return None - if agent_position == target_position: - if isinstance(human, Civilian) and ((human.get_buriedness() or 0) == 0): - return ActionLoad(human.get_entity_id()) - else: - path = path_planning.get_path(agent_position, target_position) - if path is not None and len(path) > 0: - return ActionMove(path) - return None - - if isinstance(target_entity, Area): - if agent_position is None: - return None - path = path_planning.get_path(agent_position, target_entity.get_entity_id()) - if path is not None and len(path) > 0: - return ActionMove(path) - + if self._target_entity_id is not None: + self.result = self.calc_rescue(agent, self._path_planning, self._target_entity_id) + + return self + + def calc_rescue( + self, + agent: AmbulanceTeam, + path_planning: PathPlanning, + target_id: EntityID, + ) -> Optional[Union[ActionMove, ActionLoad]]: + target_entity = self.world_info.get_entity(target_id) + if target_entity is None: + return None + + agent_position = agent.get_position() + if agent_position is None: + return None + if isinstance(target_entity, Human): + human = target_entity + if human.get_position() is None: + return None + if human.get_hp() is None or human.get_hp() == 0: return None - def calc_unload( - self, - agent: AmbulanceTeam, - path_planning: PathPlanning, - transport_human: Optional[Human], - target_id: Optional[EntityID], - ) -> Optional[ActionMove | ActionUnload | ActionRest]: - if transport_human is None: - return None - - if not transport_human.get_hp() or transport_human.get_hp() == 0: - return ActionUnload() - - agent_position = agent.get_position() - if agent_position is None: - return None - if target_id is None or transport_human.get_entity_id() == target_id: - position = self.world_info.get_entity(agent_position) - if position is None: - return None - - if isinstance(position, Refuge): - return ActionUnload() - else: - path = self.get_nearest_refuge_path(agent, path_planning) - if path is not None and len(path) > 0: - return ActionMove(path) - - if target_id is None: - return None - - target_entity = self.world_info.get_entity(target_id) - - if isinstance(target_entity, Human): - human = target_entity - human_position = human.get_position() - if human_position is not None: - return self.calc_refuge_action( - agent, path_planning, human_position, True - ) - path = self.get_nearest_refuge_path(agent, path_planning) - if path is not None and len(path) > 0: - return ActionMove(path) - + target_position = human.get_position() + if target_position is None: + return None + if agent_position == target_position: + if isinstance(human, Civilian) and ((human.get_buriedness() or 0) == 0): + return ActionLoad(human.get_entity_id()) + else: + path = path_planning.get_path(agent_position, target_position) + if path is not None and len(path) > 0: + return ActionMove(path) + return None + + if isinstance(target_entity, Area): + if agent_position is None: + return None + path = path_planning.get_path(agent_position, target_entity.get_entity_id()) + if path is not None and len(path) > 0: + return ActionMove(path) + + return None + + def calc_unload( + self, + agent: AmbulanceTeam, + path_planning: PathPlanning, + transport_human: Optional[Human], + target_id: Optional[EntityID], + ) -> Optional[ActionMove | ActionUnload | ActionRest]: + if transport_human is None: + return None + + if not transport_human.get_hp() or transport_human.get_hp() == 0: + return ActionUnload() + + agent_position = agent.get_position() + if agent_position is None: + return None + if target_id is None or transport_human.get_entity_id() == target_id: + position = self.world_info.get_entity(agent_position) + if position is None: return None - def calc_refuge_action( - self, - human: Human, - path_planning: PathPlanning, - target_entity_id: EntityID, - is_unload: bool, - ) -> Optional[ActionMove | ActionUnload | ActionRest]: - position = human.get_position() - if position is None: - return None - refuges = self.world_info.get_entity_ids_of_types([Refuge]) + if isinstance(position, Refuge): + return ActionUnload() + else: + path = self.get_nearest_refuge_path(agent, path_planning) + if path is not None and len(path) > 0: + return ActionMove(path) + + if target_id is None: + return None + + target_entity = self.world_info.get_entity(target_id) + + if isinstance(target_entity, Human): + human = target_entity + human_position = human.get_position() + if human_position is not None: + return self.calc_refuge_action(agent, path_planning, human_position, True) + path = self.get_nearest_refuge_path(agent, path_planning) + if path is not None and len(path) > 0: + return ActionMove(path) + + return None + + def calc_refuge_action( + self, + human: Human, + path_planning: PathPlanning, + target_entity_id: EntityID, + is_unload: bool, + ) -> Optional[ActionMove | ActionUnload | ActionRest]: + position = human.get_position() + if position is None: + return None + refuges = self.world_info.get_entity_ids_of_types([Refuge]) + size = len(refuges) + + if position in refuges: + return ActionUnload() if is_unload else ActionRest() + + first_result = None + while len(refuges) > 0: + path = path_planning.get_path(position, refuges[0]) + + if path is not None and len(path) > 0: + if first_result is None: + first_result = path.copy() + + refuge_id = path[-1] + from_refuge_to_target = path_planning.get_path(refuge_id, target_entity_id) + + if from_refuge_to_target is not None and len(from_refuge_to_target) > 0: + return ActionMove(path) + + refuges.remove(refuge_id) + if size == len(refuges): + break size = len(refuges) - - if position in refuges: - return ActionUnload() if is_unload else ActionRest() - - first_result = None - while len(refuges) > 0: - path = path_planning.get_path(position, refuges[0]) - - if path is not None and len(path) > 0: - if first_result is None: - first_result = path.copy() - - refuge_id = path[-1] - from_refuge_to_target = path_planning.get_path( - refuge_id, target_entity_id - ) - - if from_refuge_to_target is not None and len(from_refuge_to_target) > 0: - return ActionMove(path) - - refuges.remove(refuge_id) - if size == len(refuges): - break - size = len(refuges) - else: - break - - return ActionMove(first_result) if first_result is not None else None - - def get_nearest_refuge_path( - self, human: Human, path_planning: PathPlanning - ) -> list[EntityID]: - position = human.get_position() - if position is None: - return [] - refuges = self.world_info.get_entity_ids_of_types([Refuge]) - nearest_path = None - - for refuge_id in refuges: - path: list[EntityID] = path_planning.get_path(position, refuge_id) - if len(path) > 0: - if nearest_path is None or len(path) < len(nearest_path): - nearest_path = path - - return nearest_path if nearest_path is not None else [] + else: + break + + return ActionMove(first_result) if first_result is not None else None + + def get_nearest_refuge_path( + self, human: Human, path_planning: PathPlanning + ) -> list[EntityID]: + position = human.get_position() + if position is None: + return [] + refuges = self.world_info.get_entity_ids_of_types([Refuge]) + nearest_path = None + + for refuge_id in refuges: + path: list[EntityID] = path_planning.get_path(position, refuge_id) + if len(path) > 0: + if nearest_path is None or len(path) < len(nearest_path): + nearest_path = path + + return nearest_path if nearest_path is not None else [] diff --git a/src/adf_core_python/implement/centralized/default_command_executor_ambulance.py b/src/adf_core_python/implement/centralized/default_command_executor_ambulance.py index d4783c6..ffd0a7d 100644 --- a/src/adf_core_python/implement/centralized/default_command_executor_ambulance.py +++ b/src/adf_core_python/implement/centralized/default_command_executor_ambulance.py @@ -6,13 +6,13 @@ from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, + CommandAmbulance, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -25,272 +25,268 @@ class DefaultCommandExecutorAmbulance(CommandExecutor): - ACTION_UNKNOWN: int = -1 - ACTION_REST = CommandAmbulance.ACTION_REST - ACTION_MOVE = CommandAmbulance.ACTION_MOVE - ACTION_RESCUE = CommandAmbulance.ACTION_RESCUE - ACTION_LOAD = CommandAmbulance.ACTION_LOAD - ACTION_UNLOAD = CommandAmbulance.ACTION_UNLOAD - ACTION_AUTONOMY = CommandAmbulance.ACTION_AUTONOMY + ACTION_UNKNOWN: int = -1 + ACTION_REST = CommandAmbulance.ACTION_REST + ACTION_MOVE = CommandAmbulance.ACTION_MOVE + ACTION_RESCUE = CommandAmbulance.ACTION_RESCUE + ACTION_LOAD = CommandAmbulance.ACTION_LOAD + ACTION_UNLOAD = CommandAmbulance.ACTION_UNLOAD + ACTION_AUTONOMY = CommandAmbulance.ACTION_AUTONOMY - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultCommandExecutorAmbulance.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - self._action_transport = module_manager.get_extend_action( - "DefaultCommandExecutorAmbulance.ExtendActionTransport", - "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", - ) - self._action_move = module_manager.get_extend_action( - "DefaultCommandExecutorAmbulance.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorAmbulance.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_transport = module_manager.get_extend_action( + "DefaultCommandExecutorAmbulance.ExtendActionTransport", + "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", + ) + self._action_move = module_manager.get_extend_action( + "DefaultCommandExecutorAmbulance.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) - self._command_type: int = self.ACTION_UNKNOWN - self._target: Optional[EntityID] = None - self._commander: Optional[EntityID] = None + self._command_type: int = self.ACTION_UNKNOWN + self._target: Optional[EntityID] = None + self._commander: Optional[EntityID] = None - def set_command(self, command: CommandAmbulance) -> CommandExecutor: - agent_id: EntityID = self._agent_info.get_entity_id() - if command.get_command_executor_agent_entity_id() != agent_id: - return self + def set_command(self, command: CommandAmbulance) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self - self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN - self._target = command.get_command_target_entity_id() - self._commander = command.get_sender_entity_id() - return self + self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN + self._target = command.get_command_target_entity_id() + self._commander = command.get_sender_entity_id() + return self - def calculate(self) -> CommandExecutor: - self._result = None - match self._command_type: - case self.ACTION_REST: - position = self._agent_info.get_entity_id() - if self._target is None: - refuges = self._world_info.get_entity_ids_of_types([Refuge]) - if position in refuges: - self._result = ActionRest() - else: - path = self._path_planning.get_path(position, refuges[0]) - if path: - self._result = ActionMove(path) - else: - self._result = ActionRest() - return self - if position != self._target: - path = self._path_planning.get_path(position, self._target) - if path: - self._result = ActionMove(path) - return self - self._result = ActionRest() - return self - case self.ACTION_MOVE: - if self._target: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_RESCUE: - if self._target: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_LOAD: - if self._target: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_UNLOAD: - if self._target: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_AUTONOMY: - if self._target is None: - return self - target_entity = self._world_info.get_entity(self._target) - if isinstance(target_entity, Area): - if self._agent_info.some_one_on_board() is None: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - else: - self._result = ( - self._action_transport.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - elif isinstance(target_entity, Human): - self._result = ( - self._action_transport.set_target_entity_id(self._target) - .calculate() - .get_action() - ) + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_REST: + position = self._agent_info.get_entity_id() + if self._target is None: + refuges = self._world_info.get_entity_ids_of_types([Refuge]) + if position in refuges: + self._result = ActionRest() + else: + path = self._path_planning.get_path(position, refuges[0]) + if path: + self._result = ActionMove(path) + else: + self._result = ActionRest() + return self + if position != self._target: + path = self._path_planning.get_path(position, self._target) + if path: + self._result = ActionMove(path) + return self + self._result = ActionRest() return self + case self.ACTION_MOVE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_RESCUE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_LOAD: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_UNLOAD: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_AUTONOMY: + if self._target is None: + return self + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + if self._agent_info.some_one_on_board() is None: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + else: + self._result = ( + self._action_transport.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + elif isinstance(target_entity, Human): + self._result = ( + self._action_transport.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self - def update_info(self, message_manager: MessageManager) -> CommandExecutor: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self - self._path_planning.update_info(message_manager) - self._action_transport.update_info(message_manager) - self._action_move.update_info(message_manager) + self._path_planning.update_info(message_manager) + self._action_transport.update_info(message_manager) + self._action_move.update_info(message_manager) - if self._is_command_completed(): - if self._command_type == self.ACTION_UNKNOWN: - return self - if self._commander is None: - return self + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: + return self + if self._commander is None: + return self - message_manager.add_message( - MessageReport( - True, - True, - False, - self._commander, - StandardMessagePriority.NORMAL, - ) - ) + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) - if self._command_type == self.ACTION_LOAD: - self._command_type = self.ACTION_UNLOAD - self._target = None - else: - self._command_type = self.ACTION_UNKNOWN - self._target = None - self._commander = None + if self._command_type == self.ACTION_LOAD: + self._command_type = self.ACTION_UNLOAD + self._target = None + else: + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None - return self + return self - def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().precompute(precompute_data) - if self.get_count_precompute() >= 2: - return self - self._path_planning.precompute(precompute_data) - self._action_transport.precompute(precompute_data) - self._action_move.precompute(precompute_data) - return self + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._action_transport.precompute(precompute_data) + self._action_move.precompute(precompute_data) + return self - def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - self._path_planning.resume(precompute_data) - self._action_transport.resume(precompute_data) - self._action_move.resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._action_transport.resume(precompute_data) + self._action_move.resume(precompute_data) + return self - def prepare(self) -> CommandExecutor: - super().prepare() - if self.get_count_prepare() >= 2: - return self - self._path_planning.prepare() - self._action_transport.prepare() - self._action_move.prepare() - return self + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._action_transport.prepare() + self._action_move.prepare() + return self - def _is_command_completed(self) -> bool: - agent = self._agent_info.get_myself() - if not isinstance(agent, Human): - return False + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False - match self._command_type: - case self.ACTION_REST: - if self._target is None: - return agent.get_damage() == 0 - if (target_entity := self._world_info.get_entity(self._target)) is None: - return False - if isinstance(target_entity, Refuge): - return agent.get_damage() == 0 - return False - case self.ACTION_MOVE: - return ( - self._target is None - or self._agent_info.get_position_entity_id() == self._target - ) - case self.ACTION_RESCUE: - if self._target is None: - return True - human = self._world_info.get_entity(self._target) - if not isinstance(human, Human): - return True - return human.get_buriedness() == 0 or human.get_hp() == 0 - case self.ACTION_LOAD: - if self._target is None: - return True - human = self._world_info.get_entity(self._target) - if not isinstance(human, Human): - return True - if human.get_hp() == 0: - return True - if isinstance(human, Civilian): - self._command_type = self.ACTION_RESCUE - return self._is_command_completed() - position = human.get_position() - if position is not None: - if position in self._world_info.get_entity_ids_of_types( - [AmbulanceTeam] - ): - return True - elif isinstance(self._world_info.get_entity(position), Refuge): - return True - return False + match self._command_type: + case self.ACTION_REST: + if self._target is None: + return agent.get_damage() == 0 + if (target_entity := self._world_info.get_entity(self._target)) is None: + return False + if isinstance(target_entity, Refuge): + return agent.get_damage() == 0 + return False + case self.ACTION_MOVE: + return ( + self._target is None + or self._agent_info.get_position_entity_id() == self._target + ) + case self.ACTION_RESCUE: + if self._target is None: + return True + human = self._world_info.get_entity(self._target) + if not isinstance(human, Human): + return True + return human.get_buriedness() == 0 or human.get_hp() == 0 + case self.ACTION_LOAD: + if self._target is None: + return True + human = self._world_info.get_entity(self._target) + if not isinstance(human, Human): + return True + if human.get_hp() == 0: + return True + if isinstance(human, Civilian): + self._command_type = self.ACTION_RESCUE + return self._is_command_completed() + position = human.get_position() + if position is not None: + if position in self._world_info.get_entity_ids_of_types([AmbulanceTeam]): + return True + elif isinstance(self._world_info.get_entity(position), Refuge): + return True + return False - case self.ACTION_UNLOAD: - if self._target is not None: - entity = self._world_info.get_entity(self._target) - if entity is not None and isinstance(entity, Refuge): - if self._target == self._agent_info.get_position_entity_id(): - return False - return self._agent_info.some_one_on_board() is None - case self.ACTION_AUTONOMY: - if self._target is not None: - target_entity = self._world_info.get_entity(self._target) - if isinstance(target_entity, Area): - self._command_type = ( - self._agent_info.some_one_on_board() is None - and self.ACTION_MOVE - or self.ACTION_UNLOAD - ) - return self._is_command_completed() - elif isinstance(target_entity, Human): - human = target_entity - if human.get_hp() == 0: - return True - self._command_type = ( - isinstance(human, Civilian) - and self.ACTION_LOAD - or self.ACTION_RESCUE - ) - return self._is_command_completed() - return True - case _: - return True + case self.ACTION_UNLOAD: + if self._target is not None: + entity = self._world_info.get_entity(self._target) + if entity is not None and isinstance(entity, Refuge): + if self._target == self._agent_info.get_position_entity_id(): + return False + return self._agent_info.some_one_on_board() is None + case self.ACTION_AUTONOMY: + if self._target is not None: + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + self._command_type = ( + self._agent_info.some_one_on_board() is None + and self.ACTION_MOVE + or self.ACTION_UNLOAD + ) + return self._is_command_completed() + elif isinstance(target_entity, Human): + human = target_entity + if human.get_hp() == 0: + return True + self._command_type = ( + isinstance(human, Civilian) and self.ACTION_LOAD or self.ACTION_RESCUE + ) + return self._is_command_completed() + return True + case _: + return True diff --git a/src/adf_core_python/implement/centralized/default_command_executor_fire.py b/src/adf_core_python/implement/centralized/default_command_executor_fire.py index 7def460..9b0451a 100644 --- a/src/adf_core_python/implement/centralized/default_command_executor_fire.py +++ b/src/adf_core_python/implement/centralized/default_command_executor_fire.py @@ -6,13 +6,13 @@ from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, + CommandAmbulance, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -25,214 +25,214 @@ class DefaultCommandExecutorFire(CommandExecutor): - ACTION_UNKNOWN: int = -1 - ACTION_REST = CommandAmbulance.ACTION_REST - ACTION_MOVE = CommandAmbulance.ACTION_MOVE - ACTION_RESCUE = CommandAmbulance.ACTION_RESCUE - ACTION_AUTONOMY = CommandAmbulance.ACTION_AUTONOMY - - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultCommandExecutorFire.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - self._action_fire_rescue = module_manager.get_extend_action( - "DefaultCommandExecutorFire.ExtendActionFireRescue", - "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", - ) - self._action_move = module_manager.get_extend_action( - "DefaultCommandExecutorFire.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) - - self._command_type: int = self.ACTION_UNKNOWN - self._target: Optional[EntityID] = None - self._commander: Optional[EntityID] = None - - def set_command(self, command: CommandAmbulance) -> CommandExecutor: - agent_id: EntityID = self._agent_info.get_entity_id() - if command.get_command_executor_agent_entity_id() != agent_id: + ACTION_UNKNOWN: int = -1 + ACTION_REST = CommandAmbulance.ACTION_REST + ACTION_MOVE = CommandAmbulance.ACTION_MOVE + ACTION_RESCUE = CommandAmbulance.ACTION_RESCUE + ACTION_AUTONOMY = CommandAmbulance.ACTION_AUTONOMY + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorFire.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_fire_rescue = module_manager.get_extend_action( + "DefaultCommandExecutorFire.ExtendActionFireRescue", + "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", + ) + self._action_move = module_manager.get_extend_action( + "DefaultCommandExecutorFire.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._target: Optional[EntityID] = None + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandAmbulance) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN + self._target = command.get_command_target_entity_id() + self._commander = command.get_sender_entity_id() + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_REST: + position = self._agent_info.get_entity_id() + if self._target is None: + refuges = self._world_info.get_entity_ids_of_types([Refuge]) + if position in refuges: + self._result = ActionRest() + else: + path = self._path_planning.get_path(position, refuges[0]) + if path: + self._result = ActionMove(path) + else: + self._result = ActionRest() + return self + if position != self._target: + path = self._path_planning.get_path(position, self._target) + if path: + self._result = ActionMove(path) return self - - self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN - self._target = command.get_command_target_entity_id() - self._commander = command.get_sender_entity_id() + self._result = ActionRest() return self - - def calculate(self) -> CommandExecutor: - self._result = None - match self._command_type: - case self.ACTION_REST: - position = self._agent_info.get_entity_id() - if self._target is None: - refuges = self._world_info.get_entity_ids_of_types([Refuge]) - if position in refuges: - self._result = ActionRest() - else: - path = self._path_planning.get_path(position, refuges[0]) - if path: - self._result = ActionMove(path) - else: - self._result = ActionRest() - return self - if position != self._target: - path = self._path_planning.get_path(position, self._target) - if path: - self._result = ActionMove(path) - return self - self._result = ActionRest() - return self - case self.ACTION_MOVE: - if self._target: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_RESCUE: - if self._target: - self._result = ( - self._action_fire_rescue.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_AUTONOMY: - if self._target is None: - return self - target_entity = self._world_info.get_entity(self._target) - if isinstance(target_entity, Area): - if self._agent_info.some_one_on_board() is None: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - else: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - elif isinstance(target_entity, Human): - self._result = ( - self._action_fire_rescue.set_target_entity_id(self._target) - .calculate() - .get_action() - ) + case self.ACTION_MOVE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) return self - - def update_info(self, message_manager: MessageManager) -> CommandExecutor: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self - - self._path_planning.update_info(message_manager) - self._action_fire_rescue.update_info(message_manager) - self._action_move.update_info(message_manager) - - if self._is_command_completed(): - if self._command_type == self.ACTION_UNKNOWN: - return self - if self._commander is None: - return self - - message_manager.add_message( - MessageReport( - True, - True, - False, - self._commander, - StandardMessagePriority.NORMAL, - ) - ) - self._command_type = self.ACTION_UNKNOWN - self._target = None - self._commander = None - - return self - - def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().precompute(precompute_data) - if self.get_count_precompute() >= 2: - return self - self._path_planning.precompute(precompute_data) - self._action_fire_rescue.precompute(precompute_data) - self._action_move.precompute(precompute_data) + case self.ACTION_RESCUE: + if self._target: + self._result = ( + self._action_fire_rescue.set_target_entity_id(self._target) + .calculate() + .get_action() + ) return self - - def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - self._path_planning.resume(precompute_data) - self._action_fire_rescue.resume(precompute_data) - self._action_move.resume(precompute_data) + case self.ACTION_AUTONOMY: + if self._target is None: + return self + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + if self._agent_info.some_one_on_board() is None: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + else: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + elif isinstance(target_entity, Human): + self._result = ( + self._action_fire_rescue.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + self._path_planning.update_info(message_manager) + self._action_fire_rescue.update_info(message_manager) + self._action_move.update_info(message_manager) + + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: return self - - def prepare(self) -> CommandExecutor: - super().prepare() - if self.get_count_prepare() >= 2: - return self - self._path_planning.prepare() - self._action_fire_rescue.prepare() - self._action_move.prepare() + if self._commander is None: return self - def _is_command_completed(self) -> bool: - agent = self._agent_info.get_myself() - if not isinstance(agent, Human): - return False - - match self._command_type: - case self.ACTION_REST: - if self._target is None: - return agent.get_damage() == 0 - if (target_entity := self._world_info.get_entity(self._target)) is None: - return False - if isinstance(target_entity, Refuge): - return agent.get_damage() == 0 - return False - case self.ACTION_MOVE: - return ( - self._target is None - or self._agent_info.get_position_entity_id() == self._target - ) - case self.ACTION_RESCUE: - if self._target is None: - return True - human = self._world_info.get_entity(self._target) - if not isinstance(human, Human): - return True - return human.get_buriedness() == 0 or human.get_hp() == 0 - case self.ACTION_AUTONOMY: - if self._target is not None: - target_entity = self._world_info.get_entity(self._target) - if isinstance(target_entity, Area): - self._command_type = self.ACTION_MOVE - return self._is_command_completed() - elif isinstance(target_entity, Human): - human = target_entity - if human.get_hp() == 0: - return True - if isinstance(human, Civilian): - self._command_type = self.ACTION_RESCUE - return self._is_command_completed() - return True - case _: - return True + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._action_fire_rescue.precompute(precompute_data) + self._action_move.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._action_fire_rescue.resume(precompute_data) + self._action_move.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._action_fire_rescue.prepare() + self._action_move.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_REST: + if self._target is None: + return agent.get_damage() == 0 + if (target_entity := self._world_info.get_entity(self._target)) is None: + return False + if isinstance(target_entity, Refuge): + return agent.get_damage() == 0 + return False + case self.ACTION_MOVE: + return ( + self._target is None + or self._agent_info.get_position_entity_id() == self._target + ) + case self.ACTION_RESCUE: + if self._target is None: + return True + human = self._world_info.get_entity(self._target) + if not isinstance(human, Human): + return True + return human.get_buriedness() == 0 or human.get_hp() == 0 + case self.ACTION_AUTONOMY: + if self._target is not None: + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + self._command_type = self.ACTION_MOVE + return self._is_command_completed() + elif isinstance(target_entity, Human): + human = target_entity + if human.get_hp() == 0: + return True + if isinstance(human, Civilian): + self._command_type = self.ACTION_RESCUE + return self._is_command_completed() + return True + case _: + return True diff --git a/src/adf_core_python/implement/centralized/default_command_executor_police.py b/src/adf_core_python/implement/centralized/default_command_executor_police.py index abfb51f..94367c9 100644 --- a/src/adf_core_python/implement/centralized/default_command_executor_police.py +++ b/src/adf_core_python/implement/centralized/default_command_executor_police.py @@ -6,13 +6,13 @@ from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( - CommandPolice, + CommandPolice, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -25,236 +25,236 @@ class DefaultCommandExecutorPolice(CommandExecutor): - ACTION_UNKNOWN: int = -1 - ACTION_REST = CommandPolice.ACTION_REST - ACTION_MOVE = CommandPolice.ACTION_MOVE - ACTION_CLEAR = CommandPolice.ACTION_CLEAR - ACTION_AUTONOMY = CommandPolice.ACTION_AUTONOMY + ACTION_UNKNOWN: int = -1 + ACTION_REST = CommandPolice.ACTION_REST + ACTION_MOVE = CommandPolice.ACTION_MOVE + ACTION_CLEAR = CommandPolice.ACTION_CLEAR + ACTION_AUTONOMY = CommandPolice.ACTION_AUTONOMY - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultCommandExecutorPolice.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - self._action_clear = module_manager.get_extend_action( - "DefaultCommandExecutorPolice.ExtendActionClear", - "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", - ) - self._action_move = module_manager.get_extend_action( - "DefaultCommandExecutorPolice.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorPolice.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_clear = module_manager.get_extend_action( + "DefaultCommandExecutorPolice.ExtendActionClear", + "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", + ) + self._action_move = module_manager.get_extend_action( + "DefaultCommandExecutorPolice.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) - self._command_type: int = self.ACTION_UNKNOWN - self._target: Optional[EntityID] = None - self._commander: Optional[EntityID] = None + self._command_type: int = self.ACTION_UNKNOWN + self._target: Optional[EntityID] = None + self._commander: Optional[EntityID] = None - def set_command(self, command: CommandPolice) -> CommandExecutor: - agent_id: EntityID = self._agent_info.get_entity_id() - if command.get_command_executor_agent_entity_id() != agent_id: - return self + def set_command(self, command: CommandPolice) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self - self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN - self._target = command.get_command_target_entity_id() - self._commander = command.get_sender_entity_id() - return self + self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN + self._target = command.get_command_target_entity_id() + self._commander = command.get_sender_entity_id() + return self - def calculate(self) -> CommandExecutor: - self._result = None - match self._command_type: - case self.ACTION_REST: - position = self._agent_info.get_entity_id() - if self._target is None: - refuges = self._world_info.get_entity_ids_of_types([Refuge]) - if position in refuges: - self._result = ActionRest() - else: - path = self._path_planning.get_path(position, refuges[0]) - if path: - self._result = ActionMove(path) - else: - self._result = ActionRest() - return self - if position != self._target: - path = self._path_planning.get_path(position, self._target) - if path: - self._result = ActionMove(path) - return self - self._result = ActionRest() - return self - case self.ACTION_MOVE: - if self._target: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_CLEAR: - if self._target: - self._result = ( - self._action_clear.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - return self - case self.ACTION_AUTONOMY: - if self._target is None: - return self - target_entity = self._world_info.get_entity(self._target) - if isinstance(target_entity, Area): - if self._agent_info.some_one_on_board() is None: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - else: - self._result = ( - self._action_move.set_target_entity_id(self._target) - .calculate() - .get_action() - ) - elif isinstance(target_entity, Human): - self._result = ( - self._action_clear.set_target_entity_id(self._target) - .calculate() - .get_action() - ) + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_REST: + position = self._agent_info.get_entity_id() + if self._target is None: + refuges = self._world_info.get_entity_ids_of_types([Refuge]) + if position in refuges: + self._result = ActionRest() + else: + path = self._path_planning.get_path(position, refuges[0]) + if path: + self._result = ActionMove(path) + else: + self._result = ActionRest() + return self + if position != self._target: + path = self._path_planning.get_path(position, self._target) + if path: + self._result = ActionMove(path) + return self + self._result = ActionRest() return self + case self.ACTION_MOVE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_CLEAR: + if self._target: + self._result = ( + self._action_clear.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_AUTONOMY: + if self._target is None: + return self + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + if self._agent_info.some_one_on_board() is None: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + else: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + elif isinstance(target_entity, Human): + self._result = ( + self._action_clear.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self - def update_info(self, message_manager: MessageManager) -> CommandExecutor: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self - self._path_planning.update_info(message_manager) - self._action_clear.update_info(message_manager) - self._action_move.update_info(message_manager) + self._path_planning.update_info(message_manager) + self._action_clear.update_info(message_manager) + self._action_move.update_info(message_manager) - if self._is_command_completed(): - if self._command_type == self.ACTION_UNKNOWN: - return self - if self._commander is None: - return self + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: + return self + if self._commander is None: + return self - message_manager.add_message( - MessageReport( - True, - True, - False, - self._commander, - StandardMessagePriority.NORMAL, - ) - ) - self._command_type = self.ACTION_UNKNOWN - self._target = None - self._commander = None + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None - return self + return self - def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().precompute(precompute_data) - if self.get_count_precompute() >= 2: - return self - self._path_planning.precompute(precompute_data) - self._action_clear.precompute(precompute_data) - self._action_move.precompute(precompute_data) - return self + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._action_clear.precompute(precompute_data) + self._action_move.precompute(precompute_data) + return self - def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - self._path_planning.resume(precompute_data) - self._action_clear.resume(precompute_data) - self._action_move.resume(precompute_data) - return self + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._action_clear.resume(precompute_data) + self._action_move.resume(precompute_data) + return self - def prepare(self) -> CommandExecutor: - super().prepare() - if self.get_count_prepare() >= 2: - return self - self._path_planning.prepare() - self._action_clear.prepare() - self._action_move.prepare() - return self + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._action_clear.prepare() + self._action_move.prepare() + return self - def _is_command_completed(self) -> bool: - agent = self._agent_info.get_myself() - if not isinstance(agent, Human): - return False + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False - match self._command_type: - case self.ACTION_REST: - if self._target is None: - damage = agent.get_damage() - return damage is not None and damage == 0 - if (target_entity := self._world_info.get_entity(self._target)) is None: - return False - if isinstance(target_entity, Refuge): - damage = agent.get_damage() - return damage is not None and damage == 0 - return False - case self.ACTION_MOVE: - return ( - self._target is None - or self._agent_info.get_position_entity_id() == self._target - ) - case self.ACTION_CLEAR: - if self._target is None: - return True - entity = self._world_info.get_entity(self._target) - if isinstance(entity, Road): - blockades = entity.get_blockades() - if blockades is not None: - return len(blockades) == 0 - return self._agent_info.get_position_entity_id() == self._target - return True - case self.ACTION_AUTONOMY: - if self._target is not None: - target_entity = self._world_info.get_entity(self._target) - if isinstance(target_entity, Refuge): - damage = agent.get_damage() - self._command_type = ( - self.ACTION_REST - if damage is not None and damage > 0 - else self.ACTION_CLEAR - ) - return self._is_command_completed() - elif isinstance(target_entity, Area): - self._command_type = self.ACTION_CLEAR - return self._is_command_completed() - elif isinstance(target_entity, Human): - if target_entity.get_hp() == 0: - return True - position = target_entity.get_position() - if position is not None and isinstance( - self._world_info.get_entity(position), - Area, - ): - self._target = target_entity.get_position() - self._command_type = self.ACTION_CLEAR - return self._is_command_completed() - elif isinstance(target_entity, Blockade): - if target_entity.get_position() is not None: - self._target = target_entity.get_position() - self._command_type = self.ACTION_CLEAR - return self._is_command_completed() - return True - case _: - return True + match self._command_type: + case self.ACTION_REST: + if self._target is None: + damage = agent.get_damage() + return damage is not None and damage == 0 + if (target_entity := self._world_info.get_entity(self._target)) is None: + return False + if isinstance(target_entity, Refuge): + damage = agent.get_damage() + return damage is not None and damage == 0 + return False + case self.ACTION_MOVE: + return ( + self._target is None + or self._agent_info.get_position_entity_id() == self._target + ) + case self.ACTION_CLEAR: + if self._target is None: + return True + entity = self._world_info.get_entity(self._target) + if isinstance(entity, Road): + blockades = entity.get_blockades() + if blockades is not None: + return len(blockades) == 0 + return self._agent_info.get_position_entity_id() == self._target + return True + case self.ACTION_AUTONOMY: + if self._target is not None: + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Refuge): + damage = agent.get_damage() + self._command_type = ( + self.ACTION_REST + if damage is not None and damage > 0 + else self.ACTION_CLEAR + ) + return self._is_command_completed() + elif isinstance(target_entity, Area): + self._command_type = self.ACTION_CLEAR + return self._is_command_completed() + elif isinstance(target_entity, Human): + if target_entity.get_hp() == 0: + return True + position = target_entity.get_position() + if position is not None and isinstance( + self._world_info.get_entity(position), + Area, + ): + self._target = target_entity.get_position() + self._command_type = self.ACTION_CLEAR + return self._is_command_completed() + elif isinstance(target_entity, Blockade): + if target_entity.get_position() is not None: + self._target = target_entity.get_position() + self._command_type = self.ACTION_CLEAR + return self._is_command_completed() + return True + case _: + return True diff --git a/src/adf_core_python/implement/centralized/default_command_executor_scout.py b/src/adf_core_python/implement/centralized/default_command_executor_scout.py index 7941ed5..8693cdf 100644 --- a/src/adf_core_python/implement/centralized/default_command_executor_scout.py +++ b/src/adf_core_python/implement/centralized/default_command_executor_scout.py @@ -5,13 +5,13 @@ from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -24,139 +24,136 @@ class DefaultCommandExecutorScout(CommandExecutor): - ACTION_UNKNOWN: int = -1 - ACTION_SCOUT: int = 1 - - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultCommandExecutorScout.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - self._command_type: int = self.ACTION_UNKNOWN - self._targets: list[EntityID] = [] - self._commander: Optional[EntityID] = None - - def set_command(self, command: CommandScout) -> CommandExecutor: - agent_id: EntityID = self._agent_info.get_entity_id() - if command.get_command_executor_agent_entity_id() != agent_id: - return self - - target = command.get_command_target_entity_id() - if target is None: - target = self._agent_info.get_position_entity_id() - if target is None: - return self - - self._command_type = self.ACTION_SCOUT - self._commander = command.get_sender_entity_id() - self._targets = [] - if (scout_distance := command.get_scout_range()) is None: - return self - - for entity in self._world_info.get_entities_of_types([Road, Building]): - if isinstance(entity, Refuge): - continue - if ( - self._world_info.get_distance(target, entity.get_entity_id()) - <= scout_distance - ): - self._targets.append(entity.get_entity_id()) - + ACTION_UNKNOWN: int = -1 + ACTION_SCOUT: int = 1 + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorScout.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._targets: list[EntityID] = [] + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandScout) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + target = command.get_command_target_entity_id() + if target is None: + target = self._agent_info.get_position_entity_id() + if target is None: return self - def calculate(self) -> CommandExecutor: - self._result = None - match self._command_type: - case self.ACTION_SCOUT: - if len(self._targets) == 0: - return self - agent_position = self._agent_info.get_position_entity_id() - if agent_position is None: - return self - path = self._path_planning.get_path(agent_position, self._targets[0]) - if path is None: - return self - self._result = ActionMove(path) - case _: - return self + self._command_type = self.ACTION_SCOUT + self._commander = command.get_sender_entity_id() + self._targets = [] + if (scout_distance := command.get_scout_range()) is None: + return self + + for entity in self._world_info.get_entities_of_types([Road, Building]): + if isinstance(entity, Refuge): + continue + if ( + self._world_info.get_distance(target, entity.get_entity_id()) <= scout_distance + ): + self._targets.append(entity.get_entity_id()) + + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) == 0: + return self + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + path = self._path_planning.get_path(agent_position, self._targets[0]) + if path is None: + return self + self._result = ActionMove(path) + case _: return self + return self - def update_info(self, message_manager: MessageManager) -> CommandExecutor: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self - - self._path_planning.update_info(message_manager) - - if self._is_command_completed(): - if self._command_type == self.ACTION_UNKNOWN: - return self - if self._commander is None: - return self - - message_manager.add_message( - MessageReport( - True, - True, - False, - self._commander, - StandardMessagePriority.NORMAL, - ) - ) - self._command_type = self.ACTION_UNKNOWN - self._target = None - self._commander = None + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self - return self + self._path_planning.update_info(message_manager) - def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().precompute(precompute_data) - if self.get_count_precompute() >= 2: - return self - self._path_planning.precompute(precompute_data) + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: return self - - def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - self._path_planning.resume(precompute_data) + if self._commander is None: return self - def prepare(self) -> CommandExecutor: - super().prepare() - if self.get_count_prepare() >= 2: - return self - self._path_planning.prepare() - return self - - def _is_command_completed(self) -> bool: - agent = self._agent_info.get_myself() - if not isinstance(agent, Human): - return False - - match self._command_type: - case self.ACTION_SCOUT: - if len(self._targets) != 0: - for entity in self._world_info.get_entities_of_types( - [Road, Building] - ): - self._targets.remove(entity.get_entity_id()) - return len(self._targets) == 0 - case _: - return True + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) != 0: + for entity in self._world_info.get_entities_of_types([Road, Building]): + self._targets.remove(entity.get_entity_id()) + return len(self._targets) == 0 + case _: + return True diff --git a/src/adf_core_python/implement/centralized/default_command_executor_scout_police.py b/src/adf_core_python/implement/centralized/default_command_executor_scout_police.py index f1806ad..00d4f47 100644 --- a/src/adf_core_python/implement/centralized/default_command_executor_scout_police.py +++ b/src/adf_core_python/implement/centralized/default_command_executor_scout_police.py @@ -5,13 +5,13 @@ from adf_core_python.core.agent.action.common.action_move import ActionMove from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -25,150 +25,149 @@ class DefaultCommandExecutorScoutPolice(CommandExecutor): - ACTION_UNKNOWN: int = -1 - ACTION_SCOUT: int = 1 - - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultCommandExecutorScoutPolice.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - self._action_clear: ExtendAction = module_manager.get_extend_action( - "DefaultCommandExecutorScoutPolice.ExtendActionClear", - "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", - ) - - self._command_type: int = self.ACTION_UNKNOWN - self._targets: list[EntityID] = [] - self._commander: Optional[EntityID] = None - - def set_command(self, command: CommandScout) -> CommandExecutor: - agent_id: EntityID = self._agent_info.get_entity_id() - if command.get_command_executor_agent_entity_id() != agent_id: - return self - - target = command.get_command_target_entity_id() - if target is None: - target = self._agent_info.get_position_entity_id() - if target is None: - return self - - self._command_type = self.ACTION_SCOUT - self._commander = command.get_sender_entity_id() - self._targets = [] - if (scout_distance := command.get_scout_range()) is None: - return self - - for entity in self._world_info.get_entities_of_types([Road, Building, Refuge]): - if isinstance(entity, Refuge): - continue - if ( - self._world_info.get_distance(target, entity.get_entity_id()) - <= scout_distance - ): - self._targets.append(entity.get_entity_id()) - + ACTION_UNKNOWN: int = -1 + ACTION_SCOUT: int = 1 + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorScoutPolice.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_clear: ExtendAction = module_manager.get_extend_action( + "DefaultCommandExecutorScoutPolice.ExtendActionClear", + "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._targets: list[EntityID] = [] + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandScout) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + target = command.get_command_target_entity_id() + if target is None: + target = self._agent_info.get_position_entity_id() + if target is None: return self - def calculate(self) -> CommandExecutor: - self._result = None - match self._command_type: - case self.ACTION_SCOUT: - if len(self._targets) == 0: - return self - agent_position = self._agent_info.get_position_entity_id() - if agent_position is None: - return self - path = self._path_planning.get_path(agent_position, self._targets[0]) - if path is None: - return self - action = ( - self._action_clear.set_target_entity_id(self._targets[0]) - .calculate() - .get_action() - ) - if action is None: - action = ActionMove(path) - self._result = action - case _: - return self + self._command_type = self.ACTION_SCOUT + self._commander = command.get_sender_entity_id() + self._targets = [] + if (scout_distance := command.get_scout_range()) is None: + return self + + for entity in self._world_info.get_entities_of_types([Road, Building, Refuge]): + if isinstance(entity, Refuge): + continue + if ( + self._world_info.get_distance(target, entity.get_entity_id()) <= scout_distance + ): + self._targets.append(entity.get_entity_id()) + + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) == 0: + return self + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + path = self._path_planning.get_path(agent_position, self._targets[0]) + if path is None: + return self + action = ( + self._action_clear.set_target_entity_id(self._targets[0]) + .calculate() + .get_action() + ) + if action is None: + action = ActionMove(path) + self._result = action + case _: return self + return self - def update_info(self, message_manager: MessageManager) -> CommandExecutor: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self - - self._path_planning.update_info(message_manager) - - if self._is_command_completed(): - if self._command_type == self.ACTION_UNKNOWN: - return self - if self._commander is None: - return self - - message_manager.add_message( - MessageReport( - True, - True, - False, - self._commander, - StandardMessagePriority.NORMAL, - ) - ) - self._command_type = self.ACTION_UNKNOWN - self._target = None - self._commander = None - - return self + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self - def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().precompute(precompute_data) - if self.get_count_precompute() >= 2: - return self - self._path_planning.precompute(precompute_data) - return self + self._path_planning.update_info(message_manager) - def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - self._path_planning.resume(precompute_data) + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: return self - - def prepare(self) -> CommandExecutor: - super().prepare() - if self.get_count_prepare() >= 2: - return self - self._path_planning.prepare() + if self._commander is None: return self - def _is_command_completed(self) -> bool: - agent = self._agent_info.get_myself() - if not isinstance(agent, Human): - return False - - match self._command_type: - case self.ACTION_SCOUT: - if len(self._targets) != 0: - for entity in self._world_info.get_entities_of_types( - [Road, Building, Refuge] - ): - self._targets.remove(entity.get_entity_id()) - return len(self._targets) == 0 - case _: - return True + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) != 0: + for entity in self._world_info.get_entities_of_types( + [Road, Building, Refuge] + ): + self._targets.remove(entity.get_entity_id()) + return len(self._targets) == 0 + case _: + return True diff --git a/src/adf_core_python/implement/centralized/default_command_picker_ambulance.py b/src/adf_core_python/implement/centralized/default_command_picker_ambulance.py index edddf4e..753b188 100644 --- a/src/adf_core_python/implement/centralized/default_command_picker_ambulance.py +++ b/src/adf_core_python/implement/centralized/default_command_picker_ambulance.py @@ -3,13 +3,13 @@ from rcrscore.entities import AmbulanceTeam, Area, EntityID, Human from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, + CommandAmbulance, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -18,69 +18,69 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, + CommunicationMessage, ) class DefaultCommandPickerAmbulance(CommandPicker): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self.messages: list[CommunicationMessage] = [] - self.scout_distance: int = 40000 - self.allocation_data: dict[EntityID, EntityID] = {} + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.messages: list[CommunicationMessage] = [] + self.scout_distance: int = 40000 + self.allocation_data: dict[EntityID, EntityID] = {} - def set_allocator_result( - self, allocation_data: dict[EntityID, EntityID] - ) -> CommandPicker: - self.allocation_data = allocation_data - return self + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + self.allocation_data = allocation_data + return self - def calculate(self) -> CommandPicker: - self.messages.clear() - if not self.allocation_data: - return self + def calculate(self) -> CommandPicker: + self.messages.clear() + if not self.allocation_data: + return self - for ambulance_id in self.allocation_data.keys(): - agent = self._world_info.get_entity(ambulance_id) - if agent is None or not isinstance(agent, AmbulanceTeam): - continue + for ambulance_id in self.allocation_data.keys(): + agent = self._world_info.get_entity(ambulance_id) + if agent is None or not isinstance(agent, AmbulanceTeam): + continue - target = self._world_info.get_entity(self.allocation_data[ambulance_id]) - if target is None: - continue + target = self._world_info.get_entity(self.allocation_data[ambulance_id]) + if target is None: + continue - command: CommunicationMessage - if isinstance(target, Human): - command = CommandAmbulance( - True, - ambulance_id, - self._agent_info.get_entity_id(), - CommandAmbulance.ACTION_RESCUE, - StandardMessagePriority.NORMAL, - target.get_entity_id(), - ) - self.messages.append(command) + command: CommunicationMessage + if isinstance(target, Human): + command = CommandAmbulance( + True, + ambulance_id, + self._agent_info.get_entity_id(), + CommandAmbulance.ACTION_RESCUE, + StandardMessagePriority.NORMAL, + target.get_entity_id(), + ) + self.messages.append(command) - if isinstance(target, Area): - command = CommandScout( - True, - ambulance_id, - self._agent_info.get_entity_id(), - self.scout_distance, - StandardMessagePriority.NORMAL, - target.get_entity_id(), - ) - self.messages.append(command) - return self + if isinstance(target, Area): + command = CommandScout( + True, + ambulance_id, + self._agent_info.get_entity_id(), + self.scout_distance, + StandardMessagePriority.NORMAL, + target.get_entity_id(), + ) + self.messages.append(command) + return self - def get_result(self) -> list[CommunicationMessage]: - return self.messages + def get_result(self) -> list[CommunicationMessage]: + return self.messages diff --git a/src/adf_core_python/implement/centralized/default_command_picker_fire.py b/src/adf_core_python/implement/centralized/default_command_picker_fire.py index a5c8017..b7ec038 100644 --- a/src/adf_core_python/implement/centralized/default_command_picker_fire.py +++ b/src/adf_core_python/implement/centralized/default_command_picker_fire.py @@ -3,13 +3,13 @@ from rcrscore.entities import Area, EntityID, FireBrigade, Human from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, + CommandAmbulance, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -18,69 +18,69 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, + CommunicationMessage, ) class DefaultCommandPickerFire(CommandPicker): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self.messages: list[CommunicationMessage] = [] - self.scout_distance: int = 40000 - self.allocation_data: dict[EntityID, EntityID] = {} + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.messages: list[CommunicationMessage] = [] + self.scout_distance: int = 40000 + self.allocation_data: dict[EntityID, EntityID] = {} - def set_allocator_result( - self, allocation_data: dict[EntityID, EntityID] - ) -> CommandPicker: - self.allocation_data = allocation_data - return self + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + self.allocation_data = allocation_data + return self - def calculate(self) -> CommandPicker: - self.messages.clear() - if not self.allocation_data: - return self + def calculate(self) -> CommandPicker: + self.messages.clear() + if not self.allocation_data: + return self - for ambulance_id in self.allocation_data.keys(): - agent = self._world_info.get_entity(ambulance_id) - if agent is None or not isinstance(agent, FireBrigade): - continue + for ambulance_id in self.allocation_data.keys(): + agent = self._world_info.get_entity(ambulance_id) + if agent is None or not isinstance(agent, FireBrigade): + continue - target = self._world_info.get_entity(self.allocation_data[ambulance_id]) - if target is None: - continue + target = self._world_info.get_entity(self.allocation_data[ambulance_id]) + if target is None: + continue - command: CommunicationMessage - if isinstance(target, Human): - command = CommandAmbulance( - True, - ambulance_id, - self._agent_info.get_entity_id(), - CommandAmbulance.ACTION_RESCUE, - StandardMessagePriority.NORMAL, - target.get_entity_id(), - ) - self.messages.append(command) + command: CommunicationMessage + if isinstance(target, Human): + command = CommandAmbulance( + True, + ambulance_id, + self._agent_info.get_entity_id(), + CommandAmbulance.ACTION_RESCUE, + StandardMessagePriority.NORMAL, + target.get_entity_id(), + ) + self.messages.append(command) - if isinstance(target, Area): - command = CommandScout( - True, - ambulance_id, - self._agent_info.get_entity_id(), - self.scout_distance, - StandardMessagePriority.NORMAL, - target.get_entity_id(), - ) - self.messages.append(command) - return self + if isinstance(target, Area): + command = CommandScout( + True, + ambulance_id, + self._agent_info.get_entity_id(), + self.scout_distance, + StandardMessagePriority.NORMAL, + target.get_entity_id(), + ) + self.messages.append(command) + return self - def get_result(self) -> list[CommunicationMessage]: - return self.messages + def get_result(self) -> list[CommunicationMessage]: + return self.messages diff --git a/src/adf_core_python/implement/centralized/default_command_picker_police.py b/src/adf_core_python/implement/centralized/default_command_picker_police.py index 0dbde23..f6be460 100644 --- a/src/adf_core_python/implement/centralized/default_command_picker_police.py +++ b/src/adf_core_python/implement/centralized/default_command_picker_police.py @@ -3,10 +3,10 @@ from rcrscore.entities import Area, EntityID, PoliceForce from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( - CommandPolice, + CommandPolice, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -15,56 +15,56 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, + CommunicationMessage, ) class DefaultCommandPickerPolice(CommandPicker): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self.messages: list[CommunicationMessage] = [] - self.allocation_data: dict[EntityID, EntityID] = {} + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.messages: list[CommunicationMessage] = [] + self.allocation_data: dict[EntityID, EntityID] = {} - def set_allocator_result( - self, allocation_data: dict[EntityID, EntityID] - ) -> CommandPicker: - self.allocation_data = allocation_data - return self + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + self.allocation_data = allocation_data + return self - def calculate(self) -> CommandPicker: - self.messages.clear() - if not self.allocation_data: - return self + def calculate(self) -> CommandPicker: + self.messages.clear() + if not self.allocation_data: + return self - for ambulance_id in self.allocation_data.keys(): - agent = self._world_info.get_entity(ambulance_id) - if agent is None or not isinstance(agent, PoliceForce): - continue + for ambulance_id in self.allocation_data.keys(): + agent = self._world_info.get_entity(ambulance_id) + if agent is None or not isinstance(agent, PoliceForce): + continue - target = self._world_info.get_entity(self.allocation_data[ambulance_id]) - if target is None: - continue + target = self._world_info.get_entity(self.allocation_data[ambulance_id]) + if target is None: + continue - if isinstance(target, Area): - command = CommandPolice( - True, - agent.get_entity_id(), - self._agent_info.get_entity_id(), - CommandPolice.ACTION_AUTONOMY, - StandardMessagePriority.NORMAL, - target.get_entity_id(), - ) - self.messages.append(command) - return self + if isinstance(target, Area): + command = CommandPolice( + True, + agent.get_entity_id(), + self._agent_info.get_entity_id(), + CommandPolice.ACTION_AUTONOMY, + StandardMessagePriority.NORMAL, + target.get_entity_id(), + ) + self.messages.append(command) + return self - def get_result(self) -> list[CommunicationMessage]: - return self.messages + def get_result(self) -> list[CommunicationMessage]: + return self.messages diff --git a/src/adf_core_python/implement/default_loader.py b/src/adf_core_python/implement/default_loader.py index f3af8f8..9b63888 100644 --- a/src/adf_core_python/implement/default_loader.py +++ b/src/adf_core_python/implement/default_loader.py @@ -1,57 +1,57 @@ from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.component.tactics.tactics_ambulance_center import ( - TacticsAmbulanceCenter, + TacticsAmbulanceCenter, ) from adf_core_python.core.component.tactics.tactics_ambulance_team import ( - TacticsAmbulanceTeam, + TacticsAmbulanceTeam, ) from adf_core_python.core.component.tactics.tactics_fire_brigade import ( - TacticsFireBrigade, + TacticsFireBrigade, ) from adf_core_python.core.component.tactics.tactics_fire_station import ( - TacticsFireStation, + TacticsFireStation, ) from adf_core_python.core.component.tactics.tactics_police_force import ( - TacticsPoliceForce, + TacticsPoliceForce, ) from adf_core_python.core.component.tactics.tactics_police_office import ( - TacticsPoliceOffice, + TacticsPoliceOffice, ) from adf_core_python.implement.tactics.default_tactics_ambulance_center import ( - DefaultTacticsAmbulanceCenter, + DefaultTacticsAmbulanceCenter, ) from adf_core_python.implement.tactics.default_tactics_ambulance_team import ( - DefaultTacticsAmbulanceTeam, + DefaultTacticsAmbulanceTeam, ) from adf_core_python.implement.tactics.default_tactics_fire_brigade import ( - DefaultTacticsFireBrigade, + DefaultTacticsFireBrigade, ) from adf_core_python.implement.tactics.default_tactics_fire_station import ( - DefaultTacticsFireStation, + DefaultTacticsFireStation, ) from adf_core_python.implement.tactics.default_tactics_police_force import ( - DefaultTacticsPoliceForce, + DefaultTacticsPoliceForce, ) from adf_core_python.implement.tactics.default_tactics_police_office import ( - DefaultTacticsPoliceOffice, + DefaultTacticsPoliceOffice, ) class DefaultLoader(AbstractLoader): - def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: - return DefaultTacticsAmbulanceTeam() + def get_tactics_ambulance_team(self) -> TacticsAmbulanceTeam: + return DefaultTacticsAmbulanceTeam() - def get_tactics_fire_brigade(self) -> TacticsFireBrigade: - return DefaultTacticsFireBrigade() + def get_tactics_fire_brigade(self) -> TacticsFireBrigade: + return DefaultTacticsFireBrigade() - def get_tactics_police_force(self) -> TacticsPoliceForce: - return DefaultTacticsPoliceForce() + def get_tactics_police_force(self) -> TacticsPoliceForce: + return DefaultTacticsPoliceForce() - def get_tactics_ambulance_center(self) -> TacticsAmbulanceCenter: - return DefaultTacticsAmbulanceCenter() + def get_tactics_ambulance_center(self) -> TacticsAmbulanceCenter: + return DefaultTacticsAmbulanceCenter() - def get_tactics_fire_station(self) -> TacticsFireStation: - return DefaultTacticsFireStation() + def get_tactics_fire_station(self) -> TacticsFireStation: + return DefaultTacticsFireStation() - def get_tactics_police_office(self) -> TacticsPoliceOffice: - return DefaultTacticsPoliceOffice() + def get_tactics_police_office(self) -> TacticsPoliceOffice: + return DefaultTacticsPoliceOffice() diff --git a/src/adf_core_python/implement/module/algorithm/a_star_path_planning.py b/src/adf_core_python/implement/module/algorithm/a_star_path_planning.py index e31cef3..8b2741a 100644 --- a/src/adf_core_python/implement/module/algorithm/a_star_path_planning.py +++ b/src/adf_core_python/implement/module/algorithm/a_star_path_planning.py @@ -8,96 +8,86 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.module.algorithm.path_planning import ( - PathPlanning, + PathPlanning, ) class AStarPathPlanning(PathPlanning): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + entities: list[Entity] = self._world_info.get_entities_of_types([Building, Road]) + self._graph: dict[EntityID, set[EntityID]] = {} + for entity in entities: + if isinstance(entity, Area): + self._graph[entity.get_entity_id()] = set( + neighbor for neighbor in entity.get_neighbors() if neighbor != EntityID(0) ) - entities: list[Entity] = self._world_info.get_entities_of_types( - [Building, Road] - ) - self._graph: dict[EntityID, set[EntityID]] = {} - for entity in entities: - if isinstance(entity, Area): - self._graph[entity.get_entity_id()] = set( - neighbor - for neighbor in entity.get_neighbors() - if neighbor != EntityID(0) - ) - def get_path( - self, from_entity_id: EntityID, to_entity_id: EntityID - ) -> list[EntityID]: - open_set: set[EntityID] = {from_entity_id} - came_from: dict[EntityID, EntityID] = {} - g_score: dict[EntityID, float] = {from_entity_id: 0.0} - f_score: dict[EntityID, float] = { - from_entity_id: self.heuristic(from_entity_id, to_entity_id) - } + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> list[EntityID]: + open_set: set[EntityID] = {from_entity_id} + came_from: dict[EntityID, EntityID] = {} + g_score: dict[EntityID, float] = {from_entity_id: 0.0} + f_score: dict[EntityID, float] = { + from_entity_id: self.heuristic(from_entity_id, to_entity_id) + } - while open_set: - current: EntityID = min( - open_set, key=lambda x: f_score.get(x, float("inf")) - ) - if current == to_entity_id: - return self.reconstruct_path(came_from, current) + while open_set: + current: EntityID = min(open_set, key=lambda x: f_score.get(x, float("inf"))) + if current == to_entity_id: + return self.reconstruct_path(came_from, current) - open_set.remove(current) - for neighbor in self._graph.get(current, []): - tentative_g_score: float = g_score[current] + self.distance( - current, neighbor - ) - if tentative_g_score < g_score.get(neighbor, float("inf")): - came_from[neighbor] = current - g_score[neighbor] = tentative_g_score - f_score[neighbor] = tentative_g_score + self.heuristic( - neighbor, to_entity_id - ) - if neighbor not in open_set: - open_set.add(neighbor) + open_set.remove(current) + for neighbor in self._graph.get(current, []): + tentative_g_score: float = g_score[current] + self.distance(current, neighbor) + if tentative_g_score < g_score.get(neighbor, float("inf")): + came_from[neighbor] = current + g_score[neighbor] = tentative_g_score + f_score[neighbor] = tentative_g_score + self.heuristic(neighbor, to_entity_id) + if neighbor not in open_set: + open_set.add(neighbor) - return [] + return [] - def get_path_to_multiple_destinations( - self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] - ) -> list[EntityID]: - return [] + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + return [] - def heuristic(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - # Implement a heuristic function, for example, Euclidean distance - return self._world_info.get_distance(from_entity_id, to_entity_id) + def heuristic(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + # Implement a heuristic function, for example, Euclidean distance + return self._world_info.get_distance(from_entity_id, to_entity_id) - def distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - # Implement a distance function, for example, Euclidean distance - return self._world_info.get_distance(from_entity_id, to_entity_id) + def distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + # Implement a distance function, for example, Euclidean distance + return self._world_info.get_distance(from_entity_id, to_entity_id) - def reconstruct_path( - self, came_from: dict[EntityID, EntityID], current: EntityID - ) -> list[EntityID]: - total_path = [current] - while current in came_from: - current = came_from[current] - total_path.append(current) - total_path.reverse() - return total_path + def reconstruct_path( + self, came_from: dict[EntityID, EntityID], current: EntityID + ) -> list[EntityID]: + total_path = [current] + while current in came_from: + current = came_from[current] + total_path.append(current) + total_path.reverse() + return total_path - def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - path: list[EntityID] = self.get_path(from_entity_id, to_entity_id) - distance: float = 0.0 - for i in range(len(path) - 1): - distance += self.distance(path[i], path[i + 1]) - return distance + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + path: list[EntityID] = self.get_path(from_entity_id, to_entity_id) + distance: float = 0.0 + for i in range(len(path) - 1): + distance += self.distance(path[i], path[i + 1]) + return distance - def calculate(self) -> AStarPathPlanning: - return self + def calculate(self) -> AStarPathPlanning: + return self diff --git a/src/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py b/src/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py index dac1549..43a0121 100644 --- a/src/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py +++ b/src/adf_core_python/implement/module/algorithm/dijkstra_path_planning.py @@ -14,120 +14,118 @@ class DijkstraPathPlanning(PathPlanning): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.graph: dict[EntityID, list[tuple[EntityID, float]]] = {} + # グラフの構築 + for area in self._world_info.get_entities_of_types([Road, Building]): + if not isinstance(area, Area): + continue + if (neighbors := area.get_neighbors()) is None: + continue + area_id = area.get_entity_id() + self.graph[area_id] = [ + ( + neighbor, + self._world_info.get_distance(area_id, entity_id2=neighbor), ) - self.graph: dict[EntityID, list[tuple[EntityID, float]]] = {} - # グラフの構築 - for area in self._world_info.get_entities_of_types([Road, Building]): - if not isinstance(area, Area): - continue - if (neighbors := area.get_neighbors()) is None: - continue - area_id = area.get_entity_id() - self.graph[area_id] = [ - ( - neighbor, - self._world_info.get_distance(area_id, entity_id2=neighbor), - ) - for neighbor in neighbors - if neighbor.get_value() != 0 - ] - - def calculate(self) -> PathPlanning: - return self - - def get_path( - self, from_entity_id: EntityID, to_entity_id: EntityID - ) -> list[EntityID]: - # ダイクストラ法で最短経路を計算 - queue: list[tuple[float, EntityID]] = [] - heapq.heappush(queue, (0, from_entity_id)) - distance: dict[EntityID, float] = {from_entity_id: 0} - previous: dict[EntityID, Optional[EntityID]] = {from_entity_id: None} - - while queue: - current_distance, current_node = heapq.heappop(queue) - if current_node == to_entity_id: - break - - self._logger.info( - f"current_node: {current_node}, current_entity: {self._world_info.get_entity(current_node)}" - ) - - for neighbor, weight in self.graph[current_node]: - new_distance = current_distance + weight - if neighbor not in distance or new_distance < distance[neighbor]: - distance[neighbor] = new_distance - heapq.heappush(queue, (new_distance, neighbor)) - previous[neighbor] = current_node - - path: list[EntityID] = [] - current_path_node: Optional[EntityID] = to_entity_id - while current_path_node is not None: - path.append(current_path_node) - current_path_node = previous.get(current_path_node) - - return path[::-1] - - def get_path_to_multiple_destinations( - self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] - ) -> list[EntityID]: - open_list = [from_entity_id] - ancestors = {from_entity_id: from_entity_id} - found = False - next_node = None - - while open_list and not found: - next_node = open_list.pop(0) - if self.is_goal(next_node, destination_entity_ids): - found = True - break - - neighbors = self.graph.get(next_node, []) - if not neighbors: - continue - - for neighbor, _ in neighbors: - if self.is_goal(neighbor, destination_entity_ids): - ancestors[neighbor] = next_node - next_node = neighbor - found = True - break - elif neighbor not in ancestors: - open_list.append(neighbor) - ancestors[neighbor] = next_node - - if not found: - return [] - - path: list[EntityID] = [] - current = next_node - while current != from_entity_id: - if current is None: - raise RuntimeError( - "Found a node with no ancestor! Something is broken." - ) - path.insert(0, current) - current = ancestors.get(current) - path.insert(0, from_entity_id) - - return path - - def is_goal(self, entity_id: EntityID, target_ids: set[EntityID]) -> bool: - return entity_id in target_ids - - def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: - path = self.get_path(from_entity_id, to_entity_id) - distance = 0.0 - for i in range(len(path) - 1): - distance += self._world_info.get_distance(path[i], path[i + 1]) - return distance + for neighbor in neighbors + if neighbor.get_value() != 0 + ] + + def calculate(self) -> PathPlanning: + return self + + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> list[EntityID]: + # ダイクストラ法で最短経路を計算 + queue: list[tuple[float, EntityID]] = [] + heapq.heappush(queue, (0, from_entity_id)) + distance: dict[EntityID, float] = {from_entity_id: 0} + previous: dict[EntityID, Optional[EntityID]] = {from_entity_id: None} + + while queue: + current_distance, current_node = heapq.heappop(queue) + if current_node == to_entity_id: + break + + self._logger.info( + f"current_node: {current_node}, current_entity: {self._world_info.get_entity(current_node)}" + ) + + for neighbor, weight in self.graph[current_node]: + new_distance = current_distance + weight + if neighbor not in distance or new_distance < distance[neighbor]: + distance[neighbor] = new_distance + heapq.heappush(queue, (new_distance, neighbor)) + previous[neighbor] = current_node + + path: list[EntityID] = [] + current_path_node: Optional[EntityID] = to_entity_id + while current_path_node is not None: + path.append(current_path_node) + current_path_node = previous.get(current_path_node) + + return path[::-1] + + def get_path_to_multiple_destinations( + self, from_entity_id: EntityID, destination_entity_ids: set[EntityID] + ) -> list[EntityID]: + open_list = [from_entity_id] + ancestors = {from_entity_id: from_entity_id} + found = False + next_node = None + + while open_list and not found: + next_node = open_list.pop(0) + if self.is_goal(next_node, destination_entity_ids): + found = True + break + + neighbors = self.graph.get(next_node, []) + if not neighbors: + continue + + for neighbor, _ in neighbors: + if self.is_goal(neighbor, destination_entity_ids): + ancestors[neighbor] = next_node + next_node = neighbor + found = True + break + elif neighbor not in ancestors: + open_list.append(neighbor) + ancestors[neighbor] = next_node + + if not found: + return [] + + path: list[EntityID] = [] + current = next_node + while current != from_entity_id: + if current is None: + raise RuntimeError("Found a node with no ancestor! Something is broken.") + path.insert(0, current) + current = ancestors.get(current) + path.insert(0, from_entity_id) + + return path + + def is_goal(self, entity_id: EntityID, target_ids: set[EntityID]) -> bool: + return entity_id in target_ids + + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + path = self.get_path(from_entity_id, to_entity_id) + distance = 0.0 + for i in range(len(path) - 1): + distance += self._world_info.get_distance(path[i], path[i + 1]) + return distance diff --git a/src/adf_core_python/implement/module/algorithm/k_means_clustering.py b/src/adf_core_python/implement/module/algorithm/k_means_clustering.py index a567abe..3ccdcf0 100644 --- a/src/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/src/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -1,15 +1,15 @@ import numpy as np from rcrscore.entities import ( - AmbulanceCenter, - Building, - Entity, - EntityID, - FireStation, - GasStation, - Hydrant, - PoliceOffice, - Refuge, - Road, + AmbulanceCenter, + Building, + Entity, + EntityID, + FireStation, + GasStation, + Hydrant, + PoliceOffice, + Refuge, + Road, ) from rcrscore.urn import EntityURN from sklearn.cluster import KMeans @@ -24,140 +24,137 @@ class KMeansClustering(Clustering): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + myself = agent_info.get_myself() + if myself is None: + raise RuntimeError("Could not get agent entity") + match myself.get_urn(): + case EntityURN.AMBULANCE_TEAM: + self._cluster_number = int( + scenario_info.get_value( + "scenario.agents.at", + 1, + ) ) - myself = agent_info.get_myself() - if myself is None: - raise RuntimeError("Could not get agent entity") - match myself.get_urn(): - case EntityURN.AMBULANCE_TEAM: - self._cluster_number = int( - scenario_info.get_value( - "scenario.agents.at", - 1, - ) - ) - case EntityURN.POLICE_FORCE: - self._cluster_number = int( - scenario_info.get_value( - "scenario.agents.pf", - 1, - ) - ) - case EntityURN.FIRE_BRIGADE: - self._cluster_number = int( - scenario_info.get_value( - "scenario.agents.fb", - 1, - ) - ) - case _: - self._cluster_number = 1 - - sorted_entities = sorted( - world_info.get_entities_of_types( - [ - myself.__class__, - ] - ), - key=lambda entity: entity.get_entity_id().get_value(), + case EntityURN.POLICE_FORCE: + self._cluster_number = int( + scenario_info.get_value( + "scenario.agents.pf", + 1, + ) ) - self.entity_cluster_indices = { - entity.get_entity_id(): idx for idx, entity in enumerate(sorted_entities) - } - - self.cluster_entities: list[list[Entity]] = [] - self.entities: list[Entity] = world_info.get_entities_of_types( - [ - AmbulanceCenter, - FireStation, - GasStation, - Hydrant, - PoliceOffice, - Refuge, - Road, - Building, - ] + case EntityURN.FIRE_BRIGADE: + self._cluster_number = int( + scenario_info.get_value( + "scenario.agents.fb", + 1, + ) ) + case _: + self._cluster_number = 1 - def calculate(self) -> Clustering: - return self - - def precompute(self, precompute_data: PrecomputeData) -> Clustering: - cluster_entities = self.create_cluster(self._cluster_number, self.entities) - precompute_data.write_json_data( - { - "cluster_entities": [ - [entity.get_entity_id().get_value() for entity in cluster] - for cluster in cluster_entities - ] - }, - self.__class__.__name__, - ) - return self - - def resume(self, precompute_data: PrecomputeData) -> Clustering: - data = precompute_data.read_json_data(self.__class__.__name__) - self.cluster_entities = [ - [ - entity - for entity_id in cluster - if (entity := self._world_info.get_entity(EntityID(entity_id))) - is not None - ] - for cluster in data["cluster_entities"] + sorted_entities = sorted( + world_info.get_entities_of_types( + [ + myself.__class__, ] - return self - - def get_cluster_number(self) -> int: - return self._cluster_number - - def get_cluster_index(self, entity_id: EntityID) -> int: - return self.entity_cluster_indices.get(entity_id, 0) - - def get_cluster_entities(self, cluster_index: int) -> list[Entity]: - if cluster_index >= len(self.cluster_entities): - return [] - return self.cluster_entities[cluster_index] - - def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: - if cluster_index >= len(self.cluster_entities): - return [] - return [ - entity.get_entity_id() for entity in self.cluster_entities[cluster_index] + ), + key=lambda entity: entity.get_entity_id().get_value(), + ) + self.entity_cluster_indices = { + entity.get_entity_id(): idx for idx, entity in enumerate(sorted_entities) + } + + self.cluster_entities: list[list[Entity]] = [] + self.entities: list[Entity] = world_info.get_entities_of_types( + [ + AmbulanceCenter, + FireStation, + GasStation, + Hydrant, + PoliceOffice, + Refuge, + Road, + Building, + ] + ) + + def calculate(self) -> Clustering: + return self + + def precompute(self, precompute_data: PrecomputeData) -> Clustering: + cluster_entities = self.create_cluster(self._cluster_number, self.entities) + precompute_data.write_json_data( + { + "cluster_entities": [ + [entity.get_entity_id().get_value() for entity in cluster] + for cluster in cluster_entities ] - - def prepare(self) -> Clustering: - super().prepare() - if self.get_count_prepare() > 1: - return self - self.cluster_entities = self.create_cluster(self._cluster_number, self.entities) - return self - - def create_cluster( - self, cluster_number: int, entities: list[Entity] - ) -> list[list[Entity]]: - kmeans = KMeans(n_clusters=cluster_number, random_state=0) - entity_positions: np.ndarray = np.array([]) - for entity in entities: - location1_x, location1_y = entity.get_location() - if location1_x is None or location1_y is None: - continue - entity_positions = np.append(entity_positions, [location1_x, location1_y]) - - kmeans.fit(entity_positions.reshape(-1, 2)) - - clusters: list[list[Entity]] = [[] for _ in range(cluster_number)] - for entity, label in zip(entities, kmeans.labels_): - clusters[label].append(entity) - - return clusters + }, + self.__class__.__name__, + ) + return self + + def resume(self, precompute_data: PrecomputeData) -> Clustering: + data = precompute_data.read_json_data(self.__class__.__name__) + self.cluster_entities = [ + [ + entity + for entity_id in cluster + if (entity := self._world_info.get_entity(EntityID(entity_id))) is not None + ] + for cluster in data["cluster_entities"] + ] + return self + + def get_cluster_number(self) -> int: + return self._cluster_number + + def get_cluster_index(self, entity_id: EntityID) -> int: + return self.entity_cluster_indices.get(entity_id, 0) + + def get_cluster_entities(self, cluster_index: int) -> list[Entity]: + if cluster_index >= len(self.cluster_entities): + return [] + return self.cluster_entities[cluster_index] + + def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: + if cluster_index >= len(self.cluster_entities): + return [] + return [entity.get_entity_id() for entity in self.cluster_entities[cluster_index]] + + def prepare(self) -> Clustering: + super().prepare() + if self.get_count_prepare() > 1: + return self + self.cluster_entities = self.create_cluster(self._cluster_number, self.entities) + return self + + def create_cluster( + self, cluster_number: int, entities: list[Entity] + ) -> list[list[Entity]]: + kmeans = KMeans(n_clusters=cluster_number, random_state=0) + entity_positions: np.ndarray = np.array([]) + for entity in entities: + location1_x, location1_y = entity.get_location() + if location1_x is None or location1_y is None: + continue + entity_positions = np.append(entity_positions, [location1_x, location1_y]) + + kmeans.fit(entity_positions.reshape(-1, 2)) + + clusters: list[list[Entity]] = [[] for _ in range(cluster_number)] + for entity, label in zip(entities, kmeans.labels_): + clusters[label].append(entity) + + return clusters diff --git a/src/adf_core_python/implement/module/communication/default_channel_subscriber.py b/src/adf_core_python/implement/module/communication/default_channel_subscriber.py index 398b720..c9df4b2 100644 --- a/src/adf_core_python/implement/module/communication/default_channel_subscriber.py +++ b/src/adf_core_python/implement/module/communication/default_channel_subscriber.py @@ -6,96 +6,89 @@ from adf_core_python.core.agent.info.scenario_info import ScenarioInfoKeys from adf_core_python.core.component.communication.channel_subscriber import ( - ChannelSubscriber, + ChannelSubscriber, ) if TYPE_CHECKING: - from adf_core_python.core.agent.info.agent_info import AgentInfo - from adf_core_python.core.agent.info.scenario_info import ScenarioInfo - from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo class DefaultChannelSubscriber(ChannelSubscriber): - def subscribe( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - ) -> list[int]: - agent = world_info.get_entity(agent_info.get_entity_id()) - if agent is None: - return [] - - agent_type = agent.get_urn() - - number_of_channels: int = ( - scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) - - 1 - ) - - is_platoon: bool = ( - agent_type == EntityURN.FIRE_BRIGADE - or agent_type == EntityURN.POLICE_FORCE - or agent_type == EntityURN.AMBULANCE_TEAM - ) - - max_channel_count: int = ( - scenario_info.get_value( - ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_PLATOON, 1 - ) - if is_platoon - else scenario_info.get_value( - ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_OFFICE, 1 - ) - ) - - channels = [ - self.get_channel_number(agent_type, i, number_of_channels) - for i in range(max_channel_count) - ] - return channels - - @staticmethod - def get_channel_number( - agent_type: EntityURN, channel_index: int, number_of_channels: int - ) -> int: - agent_index = 0 - if agent_type == EntityURN.FIRE_BRIGADE or agent_type == EntityURN.FIRE_STATION: - agent_index = 1 - elif ( - agent_type == EntityURN.POLICE_FORCE - or agent_type == EntityURN.POLICE_OFFICE - ): - agent_index = 2 - elif ( - agent_type == EntityURN.AMBULANCE_TEAM - or agent_type == EntityURN.AMBULANCE_CENTER - ): - agent_index = 3 - - index = (3 * channel_index) + agent_index - if (index % number_of_channels) == 0: - index = number_of_channels - else: - index = index % number_of_channels - return index + def subscribe( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + ) -> list[int]: + agent = world_info.get_entity(agent_info.get_entity_id()) + if agent is None: + return [] + + agent_type = agent.get_urn() + + number_of_channels: int = ( + scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) - 1 + ) + + is_platoon: bool = ( + agent_type == EntityURN.FIRE_BRIGADE + or agent_type == EntityURN.POLICE_FORCE + or agent_type == EntityURN.AMBULANCE_TEAM + ) + + max_channel_count: int = ( + scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_PLATOON, 1) + if is_platoon + else scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_OFFICE, 1 + ) + ) + + channels = [ + self.get_channel_number(agent_type, i, number_of_channels) + for i in range(max_channel_count) + ] + return channels + + @staticmethod + def get_channel_number( + agent_type: EntityURN, channel_index: int, number_of_channels: int + ) -> int: + agent_index = 0 + if agent_type == EntityURN.FIRE_BRIGADE or agent_type == EntityURN.FIRE_STATION: + agent_index = 1 + elif agent_type == EntityURN.POLICE_FORCE or agent_type == EntityURN.POLICE_OFFICE: + agent_index = 2 + elif ( + agent_type == EntityURN.AMBULANCE_TEAM or agent_type == EntityURN.AMBULANCE_CENTER + ): + agent_index = 3 + + index = (3 * channel_index) + agent_index + if (index % number_of_channels) == 0: + index = number_of_channels + else: + index = index % number_of_channels + return index if __name__ == "__main__": - num_channels = 1 - max_channels = 2 - - for i in range(max_channels): - print( - f"FIREBRIGADE-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.FIRE_BRIGADE, i, num_channels)}" - ) - - for i in range(max_channels): - print( - f"POLICE-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.POLICE_OFFICE, i, num_channels)}" - ) - - for i in range(max_channels): - print( - f"AMB-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.AMBULANCE_CENTER, i, num_channels)}" - ) + num_channels = 1 + max_channels = 2 + + for i in range(max_channels): + print( + f"FIREBRIGADE-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.FIRE_BRIGADE, i, num_channels)}" + ) + + for i in range(max_channels): + print( + f"POLICE-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.POLICE_OFFICE, i, num_channels)}" + ) + + for i in range(max_channels): + print( + f"AMB-{i}: {DefaultChannelSubscriber.get_channel_number(EntityURN.AMBULANCE_CENTER, i, num_channels)}" + ) diff --git a/src/adf_core_python/implement/module/communication/default_message_coordinator.py b/src/adf_core_python/implement/module/communication/default_message_coordinator.py index 28c8490..3428304 100644 --- a/src/adf_core_python/implement/module/communication/default_message_coordinator.py +++ b/src/adf_core_python/implement/module/communication/default_message_coordinator.py @@ -4,242 +4,235 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, + CommandAmbulance, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( - CommandFire, + CommandFire, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( - CommandPolice, + CommandPolice, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( - MessageReport, + MessageReport, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import ( - MessageAmbulanceTeam, + MessageAmbulanceTeam, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_building import ( - MessageBuilding, + MessageBuilding, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_civilian import ( - MessageCivilian, + MessageCivilian, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade import ( - MessageFireBrigade, + MessageFireBrigade, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_police_force import ( - MessagePoliceForce, + MessagePoliceForce, ) from adf_core_python.core.agent.communication.standard.bundle.information.message_road import ( - MessageRoad, + MessageRoad, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( - StandardMessagePriority, + StandardMessagePriority, ) from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo, ScenarioInfoKeys from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.component.communication.communication_message import ( - CommunicationMessage, + CommunicationMessage, ) from adf_core_python.core.component.communication.message_coordinator import ( - MessageCoordinator, + MessageCoordinator, ) from adf_core_python.implement.module.communication.default_channel_subscriber import ( - DefaultChannelSubscriber, + DefaultChannelSubscriber, ) class DefaultMessageCoordinator(MessageCoordinator): - def coordinate( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - message_manager: MessageManager, - send_message_list: list[CommunicationMessage], - channel_send_message_list: list[list[CommunicationMessage]], - ) -> None: - police_messages: list[StandardMessage] = [] - ambulance_messages: list[StandardMessage] = [] - fire_brigade_messages: list[StandardMessage] = [] - voice_messages: list[StandardMessage] = [] - - agent_type = self.get_agent_type(agent_info, world_info) - - for msg in send_message_list: - if isinstance(msg, StandardMessage) and not msg.is_wireless_message(): - voice_messages.append(msg) - else: - if isinstance(msg, MessageBuilding): - fire_brigade_messages.append(msg) - elif isinstance(msg, MessageCivilian): - ambulance_messages.append(msg) - elif isinstance(msg, MessageRoad): - fire_brigade_messages.append(msg) - ambulance_messages.append(msg) - police_messages.append(msg) - elif isinstance(msg, CommandAmbulance): - ambulance_messages.append(msg) - elif isinstance(msg, CommandFire): - fire_brigade_messages.append(msg) - elif isinstance(msg, CommandPolice): - police_messages.append(msg) - elif isinstance(msg, CommandScout): - if agent_type == EntityURN.FIRE_STATION: - fire_brigade_messages.append(msg) - elif agent_type == EntityURN.POLICE_OFFICE: - police_messages.append(msg) - elif agent_type == EntityURN.AMBULANCE_CENTER: - ambulance_messages.append(msg) - elif isinstance(msg, MessageReport): - if agent_type == EntityURN.FIRE_BRIGADE: - fire_brigade_messages.append(msg) - elif agent_type == EntityURN.POLICE_FORCE: - police_messages.append(msg) - elif agent_type == EntityURN.AMBULANCE_TEAM: - ambulance_messages.append(msg) - elif isinstance(msg, MessageFireBrigade): - fire_brigade_messages.append(msg) - ambulance_messages.append(msg) - police_messages.append(msg) - elif isinstance(msg, MessagePoliceForce): - ambulance_messages.append(msg) - police_messages.append(msg) - elif isinstance(msg, MessageAmbulanceTeam): - ambulance_messages.append(msg) - police_messages.append(msg) - - if int(scenario_info.get_value("comms.channels.count", 1)) > 1: - channel_size = [0] * ( - int(scenario_info.get_value("comms.channels.count", 1)) - ) - self.set_send_messages( - scenario_info, - EntityURN.POLICE_FORCE, - agent_info, - world_info, - police_messages, - channel_send_message_list, - channel_size, - ) - self.set_send_messages( - scenario_info, - EntityURN.AMBULANCE_TEAM, - agent_info, - world_info, - ambulance_messages, - channel_send_message_list, - channel_size, - ) - self.set_send_messages( - scenario_info, - EntityURN.FIRE_BRIGADE, - agent_info, - world_info, - fire_brigade_messages, - channel_send_message_list, - channel_size, - ) - - voice_message_low_list = [] - voice_message_normal_list = [] - voice_message_high_list = [] - - for msg in voice_messages: - if isinstance(msg, StandardMessage): - if msg.get_priority() == StandardMessagePriority.LOW: - voice_message_low_list.append(msg) - elif msg.get_priority() == StandardMessagePriority.NORMAL: - voice_message_normal_list.append(msg) - elif msg.get_priority() == StandardMessagePriority.HIGH: - voice_message_high_list.append(msg) - - channel_send_message_list[0].extend(voice_message_high_list) - channel_send_message_list[0].extend(voice_message_normal_list) - channel_send_message_list[0].extend(voice_message_low_list) - - def get_channels_by_agent_type( - self, - agent_type: EntityURN, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - ) -> list[int]: - num_channels = ( - scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) - - 1 - ) - max_channel_count = int( - # scenario_info.get_comms_channels_max_platoon() - scenario_info.get_value( - ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_PLATOON, 1 - ) - if self.is_platoon_agent(agent_info, world_info) - else scenario_info.get_value( - ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_OFFICE, 1 - ) - ) - channels = [ - DefaultChannelSubscriber.get_channel_number(agent_type, i, num_channels) - for i in range(max_channel_count) - ] - return channels - - def is_platoon_agent(self, agent_info: AgentInfo, world_info: WorldInfo) -> bool: - agent_type = self.get_agent_type(agent_info, world_info) - return agent_type in [ - EntityURN.FIRE_BRIGADE, - EntityURN.POLICE_FORCE, - EntityURN.AMBULANCE_TEAM, - ] - - def get_agent_type( - self, agent_info: AgentInfo, world_info: WorldInfo - ) -> Optional[EntityURN]: - entity = world_info.get_entity(agent_info.get_entity_id()) - if entity is None: - return None - return entity.get_urn() - - def set_send_messages( - self, - scenario_info: ScenarioInfo, - agent_type: EntityURN, - agent_info: AgentInfo, - world_info: WorldInfo, - messages: list[StandardMessage], - channel_send_message_list: list[list[CommunicationMessage]], - channel_size: list[int], - ) -> None: - channels = self.get_channels_by_agent_type( - agent_type, agent_info, world_info, scenario_info - ) - channel_capacities = [ - scenario_info.get_value("comms.channels." + str(channel) + ".bandwidth", 0) - for channel in range( - scenario_info.get_value( - ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1 - ) - ) - ] - - sorted_messages = sorted( - messages, key=lambda x: x.get_priority().value, reverse=True - ) - - for message in sorted_messages: - for channel in channels: - if message not in channel_send_message_list[channel] and ( - (channel_size[channel] + message.get_bit_size()) - <= channel_capacities[channel] - ): - channel_size[channel] += message.get_bit_size() - channel_send_message_list[channel].append(message) - break + def coordinate( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + message_manager: MessageManager, + send_message_list: list[CommunicationMessage], + channel_send_message_list: list[list[CommunicationMessage]], + ) -> None: + police_messages: list[StandardMessage] = [] + ambulance_messages: list[StandardMessage] = [] + fire_brigade_messages: list[StandardMessage] = [] + voice_messages: list[StandardMessage] = [] + + agent_type = self.get_agent_type(agent_info, world_info) + + for msg in send_message_list: + if isinstance(msg, StandardMessage) and not msg.is_wireless_message(): + voice_messages.append(msg) + else: + if isinstance(msg, MessageBuilding): + fire_brigade_messages.append(msg) + elif isinstance(msg, MessageCivilian): + ambulance_messages.append(msg) + elif isinstance(msg, MessageRoad): + fire_brigade_messages.append(msg) + ambulance_messages.append(msg) + police_messages.append(msg) + elif isinstance(msg, CommandAmbulance): + ambulance_messages.append(msg) + elif isinstance(msg, CommandFire): + fire_brigade_messages.append(msg) + elif isinstance(msg, CommandPolice): + police_messages.append(msg) + elif isinstance(msg, CommandScout): + if agent_type == EntityURN.FIRE_STATION: + fire_brigade_messages.append(msg) + elif agent_type == EntityURN.POLICE_OFFICE: + police_messages.append(msg) + elif agent_type == EntityURN.AMBULANCE_CENTER: + ambulance_messages.append(msg) + elif isinstance(msg, MessageReport): + if agent_type == EntityURN.FIRE_BRIGADE: + fire_brigade_messages.append(msg) + elif agent_type == EntityURN.POLICE_FORCE: + police_messages.append(msg) + elif agent_type == EntityURN.AMBULANCE_TEAM: + ambulance_messages.append(msg) + elif isinstance(msg, MessageFireBrigade): + fire_brigade_messages.append(msg) + ambulance_messages.append(msg) + police_messages.append(msg) + elif isinstance(msg, MessagePoliceForce): + ambulance_messages.append(msg) + police_messages.append(msg) + elif isinstance(msg, MessageAmbulanceTeam): + ambulance_messages.append(msg) + police_messages.append(msg) + + if int(scenario_info.get_value("comms.channels.count", 1)) > 1: + channel_size = [0] * (int(scenario_info.get_value("comms.channels.count", 1))) + self.set_send_messages( + scenario_info, + EntityURN.POLICE_FORCE, + agent_info, + world_info, + police_messages, + channel_send_message_list, + channel_size, + ) + self.set_send_messages( + scenario_info, + EntityURN.AMBULANCE_TEAM, + agent_info, + world_info, + ambulance_messages, + channel_send_message_list, + channel_size, + ) + self.set_send_messages( + scenario_info, + EntityURN.FIRE_BRIGADE, + agent_info, + world_info, + fire_brigade_messages, + channel_send_message_list, + channel_size, + ) + + voice_message_low_list = [] + voice_message_normal_list = [] + voice_message_high_list = [] + + for msg in voice_messages: + if isinstance(msg, StandardMessage): + if msg.get_priority() == StandardMessagePriority.LOW: + voice_message_low_list.append(msg) + elif msg.get_priority() == StandardMessagePriority.NORMAL: + voice_message_normal_list.append(msg) + elif msg.get_priority() == StandardMessagePriority.HIGH: + voice_message_high_list.append(msg) + + channel_send_message_list[0].extend(voice_message_high_list) + channel_send_message_list[0].extend(voice_message_normal_list) + channel_send_message_list[0].extend(voice_message_low_list) + + def get_channels_by_agent_type( + self, + agent_type: EntityURN, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + ) -> list[int]: + num_channels = ( + scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) - 1 + ) + max_channel_count = int( + # scenario_info.get_comms_channels_max_platoon() + scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_PLATOON, 1) + if self.is_platoon_agent(agent_info, world_info) + else scenario_info.get_value( + ScenarioInfoKeys.COMMUNICATION_CHANNELS_MAX_OFFICE, 1 + ) + ) + channels = [ + DefaultChannelSubscriber.get_channel_number(agent_type, i, num_channels) + for i in range(max_channel_count) + ] + return channels + + def is_platoon_agent(self, agent_info: AgentInfo, world_info: WorldInfo) -> bool: + agent_type = self.get_agent_type(agent_info, world_info) + return agent_type in [ + EntityURN.FIRE_BRIGADE, + EntityURN.POLICE_FORCE, + EntityURN.AMBULANCE_TEAM, + ] + + def get_agent_type( + self, agent_info: AgentInfo, world_info: WorldInfo + ) -> Optional[EntityURN]: + entity = world_info.get_entity(agent_info.get_entity_id()) + if entity is None: + return None + return entity.get_urn() + + def set_send_messages( + self, + scenario_info: ScenarioInfo, + agent_type: EntityURN, + agent_info: AgentInfo, + world_info: WorldInfo, + messages: list[StandardMessage], + channel_send_message_list: list[list[CommunicationMessage]], + channel_size: list[int], + ) -> None: + channels = self.get_channels_by_agent_type( + agent_type, agent_info, world_info, scenario_info + ) + channel_capacities = [ + scenario_info.get_value("comms.channels." + str(channel) + ".bandwidth", 0) + for channel in range( + scenario_info.get_value(ScenarioInfoKeys.COMMUNICATION_CHANNELS_COUNT, 1) + ) + ] + + sorted_messages = sorted( + messages, key=lambda x: x.get_priority().value, reverse=True + ) + + for message in sorted_messages: + for channel in channels: + if message not in channel_send_message_list[channel] and ( + (channel_size[channel] + message.get_bit_size()) + <= channel_capacities[channel] + ): + channel_size[channel] += message.get_bit_size() + channel_send_message_list[channel].append(message) + break diff --git a/src/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py b/src/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py index bdeb89a..599a75c 100644 --- a/src/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py +++ b/src/adf_core_python/implement/module/complex/default_ambulance_target_allocator.py @@ -11,143 +11,143 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.ambulance_target_allocator import ( - AmbulanceTargetAllocator, + AmbulanceTargetAllocator, ) class DefaultAmbulanceTargetAllocator(AmbulanceTargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._priority_humans: set[EntityID] = set() - self._target_humans: set[EntityID] = set() - self._ambulance_team_info_map: dict[ - EntityID, DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo - ] = {} - - def resume(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - for entity_id in self._world_info.get_entity_ids_of_types([AmbulanceTeam]): - self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) - return self - - def prepare(self) -> AmbulanceTargetAllocator: - super().prepare() - if self.get_count_prepare() >= 2: - return self - for entity_id in self._world_info.get_entity_ids_of_types([AmbulanceTeam]): - self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) - return self - - def update_info(self, message_manager: MessageManager) -> AmbulanceTargetAllocator: - super().update_info(message_manager) - # TODO: implement after message_manager is implemented - return self - - def calculate(self) -> AmbulanceTargetAllocator: - agents = self._get_action_agents(self._ambulance_team_info_map) - removes = [] - current_time = self._agent_info.get_time() - - for target in self._priority_humans: - if len(agents) > 0: - target_entity = self._world_info.get_entity(target) - if target_entity is not None and isinstance(target_entity, Human): - agents = sorted( - agents, key=cmp_to_key(self._compare_by_distance(target_entity)) - ) - result = agents.pop(0) - info = self._ambulance_team_info_map[result.get_entity_id()] - if info is not None: - info._can_new_action = False - info._target = target - info.command_time = current_time - self._ambulance_team_info_map[result.get_entity_id()] = info - removes.append(target) - - for r in removes: - self._priority_humans.remove(r) - removes.clear() - - for target in self._target_humans: - if len(agents) > 0: - target_entity = self._world_info.get_entity(target) - if target_entity is not None and isinstance(target_entity, Human): - agents = sorted( - agents, key=cmp_to_key(self._compare_by_distance(target_entity)) - ) - result = agents.pop(0) - info = self._ambulance_team_info_map[result.get_entity_id()] - if info is not None: - info._can_new_action = False - info._target = target - info.command_time = current_time - self._ambulance_team_info_map[result.get_entity_id()] = info - removes.append(target) - - for r in removes: - self._target_humans.remove(r) - - return self - - def get_result(self) -> dict[EntityID, EntityID]: - return self._convert(self._ambulance_team_info_map) - - def _get_action_agents( - self, - info_map: dict[EntityID, "DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo"], - ) -> list[AmbulanceTeam]: - result = [] - for entity in self._world_info.get_entities_of_types([AmbulanceTeam]): - if isinstance(entity, AmbulanceTeam): - info = info_map[entity.get_entity_id()] - if info is not None and info._can_new_action: - result.append(entity) - return result - - def _compare_by_distance( - self, target_entity: Entity - ) -> Callable[[Entity, Entity], int]: - def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: - distance_a = self._world_info.get_distance( - target_entity.get_entity_id(), entity_a.get_entity_id() - ) - distance_b = self._world_info.get_distance( - target_entity.get_entity_id(), entity_b.get_entity_id() - ) - if distance_a < distance_b: - return -1 - elif distance_a > distance_b: - return 1 - else: - return 0 - - return _cmp_func - - def _convert( - self, - info_map: dict[EntityID, "DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo"], - ) -> dict[EntityID, EntityID]: - result = {} - for entity_id in info_map.keys(): - info = info_map[entity_id] - if info is not None and info._target is not None: - result[entity_id] = info._target - return result - - class AmbulanceTeamInfo: - def __init__(self, entity_id: EntityID) -> None: - self._agent_id: EntityID = entity_id - self._target: Optional[EntityID] = None - self._can_new_action: bool = True - self.command_time: int = -1 + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._priority_humans: set[EntityID] = set() + self._target_humans: set[EntityID] = set() + self._ambulance_team_info_map: dict[ + EntityID, DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo + ] = {} + + def resume(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_types([AmbulanceTeam]): + self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) + return self + + def prepare(self) -> AmbulanceTargetAllocator: + super().prepare() + if self.get_count_prepare() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_types([AmbulanceTeam]): + self._ambulance_team_info_map[entity_id] = self.AmbulanceTeamInfo(entity_id) + return self + + def update_info(self, message_manager: MessageManager) -> AmbulanceTargetAllocator: + super().update_info(message_manager) + # TODO: implement after message_manager is implemented + return self + + def calculate(self) -> AmbulanceTargetAllocator: + agents = self._get_action_agents(self._ambulance_team_info_map) + removes = [] + current_time = self._agent_info.get_time() + + for target in self._priority_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._ambulance_team_info_map[result.get_entity_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._ambulance_team_info_map[result.get_entity_id()] = info + removes.append(target) + + for r in removes: + self._priority_humans.remove(r) + removes.clear() + + for target in self._target_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._ambulance_team_info_map[result.get_entity_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._ambulance_team_info_map[result.get_entity_id()] = info + removes.append(target) + + for r in removes: + self._target_humans.remove(r) + + return self + + def get_result(self) -> dict[EntityID, EntityID]: + return self._convert(self._ambulance_team_info_map) + + def _get_action_agents( + self, + info_map: dict[EntityID, "DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo"], + ) -> list[AmbulanceTeam]: + result = [] + for entity in self._world_info.get_entities_of_types([AmbulanceTeam]): + if isinstance(entity, AmbulanceTeam): + info = info_map[entity.get_entity_id()] + if info is not None and info._can_new_action: + result.append(entity) + return result + + def _compare_by_distance( + self, target_entity: Entity + ) -> Callable[[Entity, Entity], int]: + def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: + distance_a = self._world_info.get_distance( + target_entity.get_entity_id(), entity_a.get_entity_id() + ) + distance_b = self._world_info.get_distance( + target_entity.get_entity_id(), entity_b.get_entity_id() + ) + if distance_a < distance_b: + return -1 + elif distance_a > distance_b: + return 1 + else: + return 0 + + return _cmp_func + + def _convert( + self, + info_map: dict[EntityID, "DefaultAmbulanceTargetAllocator.AmbulanceTeamInfo"], + ) -> dict[EntityID, EntityID]: + result = {} + for entity_id in info_map.keys(): + info = info_map[entity_id] + if info is not None and info._target is not None: + result[entity_id] = info._target + return result + + class AmbulanceTeamInfo: + def __init__(self, entity_id: EntityID) -> None: + self._agent_id: EntityID = entity_id + self._target: Optional[EntityID] = None + self._can_new_action: bool = True + self.command_time: int = -1 diff --git a/src/adf_core_python/implement/module/complex/default_fire_target_allocator.py b/src/adf_core_python/implement/module/complex/default_fire_target_allocator.py index 4373d5d..b4b3a2e 100644 --- a/src/adf_core_python/implement/module/complex/default_fire_target_allocator.py +++ b/src/adf_core_python/implement/module/complex/default_fire_target_allocator.py @@ -11,141 +11,141 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.fire_target_allocator import ( - FireTargetAllocator, + FireTargetAllocator, ) class DefaultFireTargetAllocator(FireTargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._priority_humans: set[EntityID] = set() - self._target_humans: set[EntityID] = set() - self._fire_brigade_info_map: dict[ - EntityID, DefaultFireTargetAllocator.FireBrigadeInfo - ] = {} - - def resume(self, precompute_data: PrecomputeData) -> FireTargetAllocator: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - for entity_id in self._world_info.get_entity_ids_of_types([FireBrigade]): - self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) - return self - - def prepare(self) -> FireTargetAllocator: - super().prepare() - if self.get_count_prepare() >= 2: - return self - for entity_id in self._world_info.get_entity_ids_of_types([FireBrigade]): - self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) - return self - - def update_info(self, message_manager: MessageManager) -> FireTargetAllocator: - super().update_info(message_manager) - # TODO: implement after message_manager is implemented - return self - - def calculate(self) -> FireTargetAllocator: - agents = self._get_action_agents(self._fire_brigade_info_map) - removes = [] - current_time = self._agent_info.get_time() - - for target in self._priority_humans: - if len(agents) > 0: - target_entity = self._world_info.get_entity(target) - if target_entity is not None and isinstance(target_entity, Human): - agents = sorted( - agents, key=cmp_to_key(self._compare_by_distance(target_entity)) - ) - result = agents.pop(0) - info = self._fire_brigade_info_map[result.get_entity_id()] - if info is not None: - info._can_new_action = False - info._target = target - info.command_time = current_time - self._fire_brigade_info_map[result.get_entity_id()] = info - removes.append(target) - - for r in removes: - self._priority_humans.remove(r) - removes.clear() - - for target in self._target_humans: - if len(agents) > 0: - target_entity = self._world_info.get_entity(target) - if target_entity is not None and isinstance(target_entity, Human): - agents = sorted( - agents, key=cmp_to_key(self._compare_by_distance(target_entity)) - ) - result = agents.pop(0) - info = self._fire_brigade_info_map[result.get_entity_id()] - if info is not None: - info._can_new_action = False - info._target = target - info.command_time = current_time - self._fire_brigade_info_map[result.get_entity_id()] = info - removes.append(target) - - for r in removes: - self._target_humans.remove(r) - - return self - - def get_result(self) -> dict[EntityID, EntityID]: - return self._convert(self._fire_brigade_info_map) - - def _get_action_agents( - self, info_map: dict[EntityID, "DefaultFireTargetAllocator.FireBrigadeInfo"] - ) -> list[FireBrigade]: - result = [] - for entity in self._world_info.get_entities_of_types([FireBrigade]): - if isinstance(entity, FireBrigade): - info = info_map[entity.get_entity_id()] - if info is not None and info._can_new_action: - result.append(entity) - return result - - def _compare_by_distance( - self, target_entity: Entity - ) -> Callable[[Entity, Entity], int]: - def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: - distance_a = self._world_info.get_distance( - target_entity.get_entity_id(), entity_a.get_entity_id() - ) - distance_b = self._world_info.get_distance( - target_entity.get_entity_id(), entity_b.get_entity_id() - ) - if distance_a < distance_b: - return -1 - elif distance_a > distance_b: - return 1 - else: - return 0 - - return _cmp_func - - def _convert( - self, info_map: dict[EntityID, "DefaultFireTargetAllocator.FireBrigadeInfo"] - ) -> dict[EntityID, EntityID]: - result = {} - for entity_id in info_map.keys(): - info = info_map[entity_id] - if info is not None and info._target is not None: - result[entity_id] = info._target - return result - - class FireBrigadeInfo: - def __init__(self, entity_id: EntityID) -> None: - self._agent_id: EntityID = entity_id - self._target: Optional[EntityID] = None - self._can_new_action: bool = True - self.command_time: int = -1 + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._priority_humans: set[EntityID] = set() + self._target_humans: set[EntityID] = set() + self._fire_brigade_info_map: dict[ + EntityID, DefaultFireTargetAllocator.FireBrigadeInfo + ] = {} + + def resume(self, precompute_data: PrecomputeData) -> FireTargetAllocator: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_types([FireBrigade]): + self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) + return self + + def prepare(self) -> FireTargetAllocator: + super().prepare() + if self.get_count_prepare() >= 2: + return self + for entity_id in self._world_info.get_entity_ids_of_types([FireBrigade]): + self._fire_brigade_info_map[entity_id] = self.FireBrigadeInfo(entity_id) + return self + + def update_info(self, message_manager: MessageManager) -> FireTargetAllocator: + super().update_info(message_manager) + # TODO: implement after message_manager is implemented + return self + + def calculate(self) -> FireTargetAllocator: + agents = self._get_action_agents(self._fire_brigade_info_map) + removes = [] + current_time = self._agent_info.get_time() + + for target in self._priority_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._fire_brigade_info_map[result.get_entity_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._fire_brigade_info_map[result.get_entity_id()] = info + removes.append(target) + + for r in removes: + self._priority_humans.remove(r) + removes.clear() + + for target in self._target_humans: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None and isinstance(target_entity, Human): + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + result = agents.pop(0) + info = self._fire_brigade_info_map[result.get_entity_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._fire_brigade_info_map[result.get_entity_id()] = info + removes.append(target) + + for r in removes: + self._target_humans.remove(r) + + return self + + def get_result(self) -> dict[EntityID, EntityID]: + return self._convert(self._fire_brigade_info_map) + + def _get_action_agents( + self, info_map: dict[EntityID, "DefaultFireTargetAllocator.FireBrigadeInfo"] + ) -> list[FireBrigade]: + result = [] + for entity in self._world_info.get_entities_of_types([FireBrigade]): + if isinstance(entity, FireBrigade): + info = info_map[entity.get_entity_id()] + if info is not None and info._can_new_action: + result.append(entity) + return result + + def _compare_by_distance( + self, target_entity: Entity + ) -> Callable[[Entity, Entity], int]: + def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: + distance_a = self._world_info.get_distance( + target_entity.get_entity_id(), entity_a.get_entity_id() + ) + distance_b = self._world_info.get_distance( + target_entity.get_entity_id(), entity_b.get_entity_id() + ) + if distance_a < distance_b: + return -1 + elif distance_a > distance_b: + return 1 + else: + return 0 + + return _cmp_func + + def _convert( + self, info_map: dict[EntityID, "DefaultFireTargetAllocator.FireBrigadeInfo"] + ) -> dict[EntityID, EntityID]: + result = {} + for entity_id in info_map.keys(): + info = info_map[entity_id] + if info is not None and info._target is not None: + result[entity_id] = info._target + return result + + class FireBrigadeInfo: + def __init__(self, entity_id: EntityID) -> None: + self._agent_id: EntityID = entity_id + self._target: Optional[EntityID] = None + self._can_new_action: bool = True + self.command_time: int = -1 diff --git a/src/adf_core_python/implement/module/complex/default_human_detector.py b/src/adf_core_python/implement/module/complex/default_human_detector.py index 8f5e860..56d64a7 100644 --- a/src/adf_core_python/implement/module/complex/default_human_detector.py +++ b/src/adf_core_python/implement/module/complex/default_human_detector.py @@ -14,136 +14,135 @@ class DefaultHumanDetector(HumanDetector): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "DefaultHumanDetector.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + self.register_sub_module(self._clustering) + + self._result: Optional[EntityID] = None + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + def calculate(self) -> HumanDetector: + transport_human: Optional[Human] = self._agent_info.some_one_on_board() + if transport_human is not None: + self._result = transport_human.get_entity_id() + return self + + if self._result is not None: + if not self._is_valid_human(self._result): + self._result = None + + if self._result is None: + self._result = self._select_target() + + return self + + def _select_target(self) -> Optional[EntityID]: + if self._result is not None and self._is_valid_human(self._result): + return self._result + + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + + cluster_valid_human_entities: list[Entity] = [ + entity + for entity in cluster_entities + if self._is_valid_human(entity.get_entity_id()) and isinstance(entity, Civilian) + ] + if len(cluster_valid_human_entities) != 0: + nearest_human_entity = cluster_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + nearest_human_entity.get_entity_id(), + ) + for entity in cluster_valid_human_entities: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_entity_id(), ) - self._clustering: Clustering = cast( - Clustering, - module_manager.get_module( - "DefaultHumanDetector.Clustering", - "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", - ), + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_entity_id() + + world_valid_human_entities: list[Entity] = [ + entity + for entity in self._world_info.get_entities_of_types([Civilian]) + if self._is_valid_human(entity.get_entity_id()) + ] + if len(world_valid_human_entities) != 0: + nearest_human_entity = world_valid_human_entities[0] + nearest_distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + nearest_human_entity.get_entity_id(), + ) + for entity in world_valid_human_entities: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), + entity.get_entity_id(), ) - self.register_sub_module(self._clustering) - - self._result: Optional[EntityID] = None - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) - - def calculate(self) -> HumanDetector: - transport_human: Optional[Human] = self._agent_info.some_one_on_board() - if transport_human is not None: - self._result = transport_human.get_entity_id() - return self - - if self._result is not None: - if not self._is_valid_human(self._result): - self._result = None - - if self._result is None: - self._result = self._select_target() - - return self - - def _select_target(self) -> Optional[EntityID]: - if self._result is not None and self._is_valid_human(self._result): - return self._result - - cluster_index: int = self._clustering.get_cluster_index( - self._agent_info.get_entity_id() - ) - cluster_entities: list[Entity] = self._clustering.get_cluster_entities( - cluster_index - ) - - cluster_valid_human_entities: list[Entity] = [ - entity - for entity in cluster_entities - if self._is_valid_human(entity.get_entity_id()) - and isinstance(entity, Civilian) - ] - if len(cluster_valid_human_entities) != 0: - nearest_human_entity = cluster_valid_human_entities[0] - nearest_distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - nearest_human_entity.get_entity_id(), - ) - for entity in cluster_valid_human_entities: - distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - entity.get_entity_id(), - ) - if distance < nearest_distance: - nearest_distance = distance - nearest_human_entity = entity - return nearest_human_entity.get_entity_id() - - world_valid_human_entities: list[Entity] = [ - entity - for entity in self._world_info.get_entities_of_types([Civilian]) - if self._is_valid_human(entity.get_entity_id()) - ] - if len(world_valid_human_entities) != 0: - nearest_human_entity = world_valid_human_entities[0] - nearest_distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - nearest_human_entity.get_entity_id(), - ) - for entity in world_valid_human_entities: - distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), - entity.get_entity_id(), - ) - if distance < nearest_distance: - nearest_distance = distance - nearest_human_entity = entity - return nearest_human_entity.get_entity_id() - - return None - - def _is_valid_human(self, target_entity_id: EntityID) -> bool: - target: Optional[Entity] = self._world_info.get_entity(target_entity_id) - if target is None: - return False - if not isinstance(target, Human): - return False - hp: Optional[int] = target.get_hp() - if hp is None or hp <= 0: - return False - buriedness: Optional[int] = target.get_buriedness() - if buriedness is None: - return False - myself = self._agent_info.get_myself() - if myself is None: - return False - if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: - return False - if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: - return False - damage: Optional[int] = target.get_damage() - if damage is None or damage == 0: - return False - position_entity_id: Optional[EntityID] = target.get_position() - if position_entity_id is None: - return False - position: Optional[Entity] = self._world_info.get_entity(position_entity_id) - if position is None: - return False - urn: EntityURN = position.get_urn() - if urn == EntityURN.REFUGE or urn == EntityURN.AMBULANCE_TEAM: - return False - - return True - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._result + if distance < nearest_distance: + nearest_distance = distance + nearest_human_entity = entity + return nearest_human_entity.get_entity_id() + + return None + + def _is_valid_human(self, target_entity_id: EntityID) -> bool: + target: Optional[Entity] = self._world_info.get_entity(target_entity_id) + if target is None: + return False + if not isinstance(target, Human): + return False + hp: Optional[int] = target.get_hp() + if hp is None or hp <= 0: + return False + buriedness: Optional[int] = target.get_buriedness() + if buriedness is None: + return False + myself = self._agent_info.get_myself() + if myself is None: + return False + if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0: + return False + if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0: + return False + damage: Optional[int] = target.get_damage() + if damage is None or damage == 0: + return False + position_entity_id: Optional[EntityID] = target.get_position() + if position_entity_id is None: + return False + position: Optional[Entity] = self._world_info.get_entity(position_entity_id) + if position is None: + return False + urn: EntityURN = position.get_urn() + if urn == EntityURN.REFUGE or urn == EntityURN.AMBULANCE_TEAM: + return False + + return True + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result diff --git a/src/adf_core_python/implement/module/complex/default_police_target_allocator.py b/src/adf_core_python/implement/module/complex/default_police_target_allocator.py index 9499ebb..2244d82 100644 --- a/src/adf_core_python/implement/module/complex/default_police_target_allocator.py +++ b/src/adf_core_python/implement/module/complex/default_police_target_allocator.py @@ -2,13 +2,13 @@ from typing import Callable, Optional, cast from rcrscore.entities import ( - Building, - Entity, - EntityID, - GasStation, - PoliceForce, - Refuge, - Road, + Building, + Entity, + EntityID, + GasStation, + PoliceForce, + Refuge, + Road, ) from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -19,173 +19,173 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.police_target_allocator import ( - PoliceTargetAllocator, + PoliceTargetAllocator, ) class DefaultPoliceTargetAllocator(PoliceTargetAllocator): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - self._priority_areas: set[EntityID] = set() - self._target_areas: set[EntityID] = set() - self._agent_info_map: dict[ - EntityID, DefaultPoliceTargetAllocator.PoliceForceInfo - ] = {} - - def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - - for entity_id in self._world_info.get_entity_ids_of_types([PoliceForce]): - self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) - for entity in self._world_info.get_entities_of_types( - [Refuge, Building, GasStation] - ): - building: Building = cast(Building, entity) - for entity_id in building.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._target_areas.add(entity_id) - - for entity in self._world_info.get_entities_of_types([Refuge]): - refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._priority_areas.add(entity_id) - return self - - def prepare(self) -> PoliceTargetAllocator: - super().prepare() - if self.get_count_prepare() >= 2: - return self - - for entity_id in self._world_info.get_entity_ids_of_types([PoliceForce]): - self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) - - for entity in self._world_info.get_entities_of_types( - [Refuge, Building, GasStation] - ): - building: Building = cast(Building, entity) - for entity_id in building.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._target_areas.add(entity_id) - - for entity in self._world_info.get_entities_of_types([Refuge]): - refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._priority_areas.add(entity_id) - - return self - - def update_info(self, message_manager: MessageManager) -> PoliceTargetAllocator: - super().update_info(message_manager) - # TODO: implement after message_manager is implemented - return self - - def calculate(self) -> PoliceTargetAllocator: - agents = self._get_action_agents(self._agent_info_map) - removes = [] - current_time = self._agent_info.get_time() - - for target in self._priority_areas: - if len(agents) > 0: - target_entity = self._world_info.get_entity(target) - if target_entity is not None: - agents = sorted( - agents, key=cmp_to_key(self._compare_by_distance(target_entity)) - ) - selected_agent = agents.pop(0) - info = self._agent_info_map[selected_agent.get_entity_id()] - if info is not None: - info._can_new_action = False - info._target = target - info.command_time = current_time - self._agent_info_map[selected_agent.get_entity_id()] = info - removes.append(target) - - for r in removes: - self._priority_areas.remove(r) - - areas = [] - for target in self._target_areas: - target_entity = self._world_info.get_entity(target) - if target_entity is not None: - areas.append(target_entity) - - for agent in agents: - if len(areas) > 0: - areas.sort(key=cmp_to_key(self._compare_by_distance(agent))) - target_area: Entity = areas.pop(0) - self._target_areas.remove(target_area.get_entity_id()) - info = self._agent_info_map[agent.get_entity_id()] - if info is not None: - info._can_new_action = False - info._target = target_area.get_entity_id() - info.command_time = current_time - self._agent_info_map[agent.get_entity_id()] = info - - return self - - def get_result(self) -> dict[EntityID, EntityID]: - return self._convert(self._agent_info_map) - - def _get_action_agents( - self, info_map: dict[EntityID, "DefaultPoliceTargetAllocator.PoliceForceInfo"] - ) -> list[PoliceForce]: - result = [] - for entity in self._world_info.get_entities_of_types([PoliceForce]): - if isinstance(entity, PoliceForce): - info = info_map[entity.get_entity_id()] - if info is not None and info._can_new_action: - result.append(entity) - return result - - def _compare_by_distance( - self, target_entity: Entity - ) -> Callable[[Entity, Entity], int]: - def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: - distance_a = self._world_info.get_distance( - target_entity.get_entity_id(), entity_a.get_entity_id() - ) - distance_b = self._world_info.get_distance( - target_entity.get_entity_id(), entity_b.get_entity_id() - ) - if distance_a < distance_b: - return -1 - elif distance_a > distance_b: - return 1 - else: - return 0 - - return _cmp_func - - def _convert( - self, info_map: dict[EntityID, "DefaultPoliceTargetAllocator.PoliceForceInfo"] - ) -> dict[EntityID, EntityID]: - result: dict[EntityID, EntityID] = {} - for entity_id in info_map.keys(): - info = info_map[entity_id] - if info is not None and info._target is not None: - result[entity_id] = info._target - return result - - class PoliceForceInfo: - def __init__(self, entity_id: EntityID) -> None: - self._agent_id: EntityID = entity_id - self._target: Optional[EntityID] = None - self._can_new_action: bool = True - self.command_time: int = -1 + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._priority_areas: set[EntityID] = set() + self._target_areas: set[EntityID] = set() + self._agent_info_map: dict[ + EntityID, DefaultPoliceTargetAllocator.PoliceForceInfo + ] = {} + + def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + + for entity_id in self._world_info.get_entity_ids_of_types([PoliceForce]): + self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) + for entity in self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] + ): + building: Building = cast(Building, entity) + for entity_id in building.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + for entity in self._world_info.get_entities_of_types([Refuge]): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_areas.add(entity_id) + return self + + def prepare(self) -> PoliceTargetAllocator: + super().prepare() + if self.get_count_prepare() >= 2: + return self + + for entity_id in self._world_info.get_entity_ids_of_types([PoliceForce]): + self._agent_info_map[entity_id] = self.PoliceForceInfo(entity_id) + + for entity in self._world_info.get_entities_of_types( + [Refuge, Building, GasStation] + ): + building: Building = cast(Building, entity) + for entity_id in building.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + for entity in self._world_info.get_entities_of_types([Refuge]): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_areas.add(entity_id) + + return self + + def update_info(self, message_manager: MessageManager) -> PoliceTargetAllocator: + super().update_info(message_manager) + # TODO: implement after message_manager is implemented + return self + + def calculate(self) -> PoliceTargetAllocator: + agents = self._get_action_agents(self._agent_info_map) + removes = [] + current_time = self._agent_info.get_time() + + for target in self._priority_areas: + if len(agents) > 0: + target_entity = self._world_info.get_entity(target) + if target_entity is not None: + agents = sorted( + agents, key=cmp_to_key(self._compare_by_distance(target_entity)) + ) + selected_agent = agents.pop(0) + info = self._agent_info_map[selected_agent.get_entity_id()] + if info is not None: + info._can_new_action = False + info._target = target + info.command_time = current_time + self._agent_info_map[selected_agent.get_entity_id()] = info + removes.append(target) + + for r in removes: + self._priority_areas.remove(r) + + areas = [] + for target in self._target_areas: + target_entity = self._world_info.get_entity(target) + if target_entity is not None: + areas.append(target_entity) + + for agent in agents: + if len(areas) > 0: + areas.sort(key=cmp_to_key(self._compare_by_distance(agent))) + target_area: Entity = areas.pop(0) + self._target_areas.remove(target_area.get_entity_id()) + info = self._agent_info_map[agent.get_entity_id()] + if info is not None: + info._can_new_action = False + info._target = target_area.get_entity_id() + info.command_time = current_time + self._agent_info_map[agent.get_entity_id()] = info + + return self + + def get_result(self) -> dict[EntityID, EntityID]: + return self._convert(self._agent_info_map) + + def _get_action_agents( + self, info_map: dict[EntityID, "DefaultPoliceTargetAllocator.PoliceForceInfo"] + ) -> list[PoliceForce]: + result = [] + for entity in self._world_info.get_entities_of_types([PoliceForce]): + if isinstance(entity, PoliceForce): + info = info_map[entity.get_entity_id()] + if info is not None and info._can_new_action: + result.append(entity) + return result + + def _compare_by_distance( + self, target_entity: Entity + ) -> Callable[[Entity, Entity], int]: + def _cmp_func(entity_a: Entity, entity_b: Entity) -> int: + distance_a = self._world_info.get_distance( + target_entity.get_entity_id(), entity_a.get_entity_id() + ) + distance_b = self._world_info.get_distance( + target_entity.get_entity_id(), entity_b.get_entity_id() + ) + if distance_a < distance_b: + return -1 + elif distance_a > distance_b: + return 1 + else: + return 0 + + return _cmp_func + + def _convert( + self, info_map: dict[EntityID, "DefaultPoliceTargetAllocator.PoliceForceInfo"] + ) -> dict[EntityID, EntityID]: + result: dict[EntityID, EntityID] = {} + for entity_id in info_map.keys(): + info = info_map[entity_id] + if info is not None and info._target is not None: + result[entity_id] = info._target + return result + + class PoliceForceInfo: + def __init__(self, entity_id: EntityID) -> None: + self._agent_id: EntityID = entity_id + self._target: Optional[EntityID] = None + self._can_new_action: bool = True + self.command_time: int = -1 diff --git a/src/adf_core_python/implement/module/complex/default_road_detector.py b/src/adf_core_python/implement/module/complex/default_road_detector.py index ed7a02d..40655c4 100644 --- a/src/adf_core_python/implement/module/complex/default_road_detector.py +++ b/src/adf_core_python/implement/module/complex/default_road_detector.py @@ -10,147 +10,143 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.algorithm.path_planning import ( - PathPlanning, + PathPlanning, ) from adf_core_python.core.component.module.complex.road_detector import RoadDetector class DefaultRoadDetector(RoadDetector): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultRoadDetector.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - self.register_sub_module(self._path_planning) - self._result: Optional[EntityID] = None - - def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: - super().precompute(precompute_data) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultRoadDetector.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self.register_sub_module(self._path_planning) + self._result: Optional[EntityID] = None + + def precompute(self, precompute_data: PrecomputeData) -> RoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> RoadDetector: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + + self._target_areas: set[EntityID] = set() + entities = self._world_info.get_entities_of_types([Refuge, Building, GasStation]) + for entity in entities: + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_types([Refuge]): + if not isinstance(entity, Building): + continue + for entity_id in entity.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_roads.add(entity_id) + + return self + + def prepare(self) -> RoadDetector: + super().prepare() + if self.get_count_prepare() >= 2: + return self + + self._target_areas = set() + entities = self._world_info.get_entities_of_types([Refuge, Building, GasStation]) + for entity in entities: + building: Building = cast(Building, entity) + for entity_id in building.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._target_areas.add(entity_id) + + self._priority_roads = set() + for entity in self._world_info.get_entities_of_types([Refuge]): + refuge: Refuge = cast(Refuge, entity) + for entity_id in refuge.get_neighbors(): + neighbor = self._world_info.get_entity(entity_id) + if isinstance(neighbor, Road): + self._priority_roads.add(entity_id) + + return self + + def update_info(self, message_manager: MessageManager) -> RoadDetector: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + if self._result is not None: + if self._agent_info.get_position_entity_id == self._result: + entity = self._world_info.get_entity(self._result) + if isinstance(entity, Building): + self._result = None + elif isinstance(entity, Road): + road = entity + if road.get_blockades() == []: + self._target_areas.remove(self._result) + self._result = None + + return self + + def calculate(self) -> RoadDetector: + if self._result is None: + position_entity_id = self._agent_info.get_position_entity_id() + if position_entity_id is None: return self - - def resume(self, precompute_data: PrecomputeData) -> RoadDetector: - super().resume(precompute_data) - if self.get_count_resume() >= 2: - return self - - self._target_areas: set[EntityID] = set() - entities = self._world_info.get_entities_of_types( - [Refuge, Building, GasStation] - ) - for entity in entities: - if not isinstance(entity, Building): - continue - for entity_id in entity.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._target_areas.add(entity_id) - - self._priority_roads = set() - for entity in self._world_info.get_entities_of_types([Refuge]): - if not isinstance(entity, Building): - continue - for entity_id in entity.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._priority_roads.add(entity_id) - + if position_entity_id in self._target_areas: + self._result = position_entity_id return self - - def prepare(self) -> RoadDetector: - super().prepare() - if self.get_count_prepare() >= 2: - return self - - self._target_areas = set() - entities = self._world_info.get_entities_of_types( - [Refuge, Building, GasStation] + remove_list = [] + for entity_id in self._priority_roads: + if entity_id not in self._target_areas: + remove_list.append(entity_id) + + self._priority_roads = self._priority_roads - set(remove_list) + if len(self._priority_roads) > 0: + agent_position = self._agent_info.get_position_entity_id() + if agent_position is None: + return self + _nearest_target_area = agent_position + _nearest_distance = float("inf") + for target_area in self._target_areas: + if ( + self._world_info.get_distance(agent_position, target_area) + < _nearest_distance + ): + _nearest_target_area = target_area + _nearest_distance = self._world_info.get_distance( + agent_position, target_area + ) + path: list[EntityID] = self._path_planning.get_path( + agent_position, _nearest_target_area ) - for entity in entities: - building: Building = cast(Building, entity) - for entity_id in building.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._target_areas.add(entity_id) - - self._priority_roads = set() - for entity in self._world_info.get_entities_of_types([Refuge]): - refuge: Refuge = cast(Refuge, entity) - for entity_id in refuge.get_neighbors(): - neighbor = self._world_info.get_entity(entity_id) - if isinstance(neighbor, Road): - self._priority_roads.add(entity_id) - - return self - - def update_info(self, message_manager: MessageManager) -> RoadDetector: - super().update_info(message_manager) - if self.get_count_update_info() >= 2: - return self - - if self._result is not None: - if self._agent_info.get_position_entity_id == self._result: - entity = self._world_info.get_entity(self._result) - if isinstance(entity, Building): - self._result = None - elif isinstance(entity, Road): - road = entity - if road.get_blockades() == []: - self._target_areas.remove(self._result) - self._result = None + if path is not None and len(path) > 0: + self._result = path[-1] - return self - - def calculate(self) -> RoadDetector: - if self._result is None: - position_entity_id = self._agent_info.get_position_entity_id() - if position_entity_id is None: - return self - if position_entity_id in self._target_areas: - self._result = position_entity_id - return self - remove_list = [] - for entity_id in self._priority_roads: - if entity_id not in self._target_areas: - remove_list.append(entity_id) - - self._priority_roads = self._priority_roads - set(remove_list) - if len(self._priority_roads) > 0: - agent_position = self._agent_info.get_position_entity_id() - if agent_position is None: - return self - _nearest_target_area = agent_position - _nearest_distance = float("inf") - for target_area in self._target_areas: - if ( - self._world_info.get_distance(agent_position, target_area) - < _nearest_distance - ): - _nearest_target_area = target_area - _nearest_distance = self._world_info.get_distance( - agent_position, target_area - ) - path: list[EntityID] = self._path_planning.get_path( - agent_position, _nearest_target_area - ) - if path is not None and len(path) > 0: - self._result = path[-1] - - return self + return self - def get_target_entity_id(self) -> Optional[EntityID]: - return self._result + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result diff --git a/src/adf_core_python/implement/module/complex/default_search.py b/src/adf_core_python/implement/module/complex/default_search.py index 1050029..9d303ed 100644 --- a/src/adf_core_python/implement/module/complex/default_search.py +++ b/src/adf_core_python/implement/module/complex/default_search.py @@ -15,90 +15,90 @@ class DefaultSearch(Search): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - self._unreached_building_ids: set[EntityID] = set() - self._result: Optional[EntityID] = None - - self._clustering: Clustering = cast( - Clustering, - module_manager.get_module( - "DefaultSearch.Clustering", - "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", - ), - ) - - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultSearch.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - - self._logger = get_agent_logger( - f"{self.__class__.__module__}.{self.__class__.__qualname__}", - self._agent_info, - ) - - self.register_sub_module(self._clustering) - self.register_sub_module(self._path_planning) - - def update_info(self, message_manager: MessageManager) -> Search: - super().update_info(message_manager) - if self.get_count_update_info() > 1: - return self - - self._logger.debug( - f"unreached_building_ids: {[str(id) for id in self._unreached_building_ids]}" - ) - - searched_building_id = self._agent_info.get_position_entity_id() - if searched_building_id is not None: - self._unreached_building_ids.discard(searched_building_id) - - if len(self._unreached_building_ids) == 0: - self._unreached_building_ids = self._get_search_targets() - - return self - - def calculate(self) -> Search: - nearest_building_id: Optional[EntityID] = None - nearest_distance: Optional[float] = None - for building_id in self._unreached_building_ids: - distance = self._world_info.get_distance( - self._agent_info.get_entity_id(), building_id - ) - if nearest_distance is None or distance < nearest_distance: - nearest_building_id = building_id - nearest_distance = distance - self._result = nearest_building_id - return self - - def get_target_entity_id(self) -> Optional[EntityID]: - return self._result - - def _get_search_targets(self) -> set[EntityID]: - cluster_index: int = self._clustering.get_cluster_index( - self._agent_info.get_entity_id() - ) - cluster_entities: list[Entity] = self._clustering.get_cluster_entities( - cluster_index - ) - building_entity_ids: list[EntityID] = [ - entity.get_entity_id() - for entity in cluster_entities - if isinstance(entity, Building) and not isinstance(entity, Refuge) - ] - - return set(building_entity_ids) + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + self._unreached_building_ids: set[EntityID] = set() + self._result: Optional[EntityID] = None + + self._clustering: Clustering = cast( + Clustering, + module_manager.get_module( + "DefaultSearch.Clustering", + "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", + ), + ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultSearch.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + + self.register_sub_module(self._clustering) + self.register_sub_module(self._path_planning) + + def update_info(self, message_manager: MessageManager) -> Search: + super().update_info(message_manager) + if self.get_count_update_info() > 1: + return self + + self._logger.debug( + f"unreached_building_ids: {[str(id) for id in self._unreached_building_ids]}" + ) + + searched_building_id = self._agent_info.get_position_entity_id() + if searched_building_id is not None: + self._unreached_building_ids.discard(searched_building_id) + + if len(self._unreached_building_ids) == 0: + self._unreached_building_ids = self._get_search_targets() + + return self + + def calculate(self) -> Search: + nearest_building_id: Optional[EntityID] = None + nearest_distance: Optional[float] = None + for building_id in self._unreached_building_ids: + distance = self._world_info.get_distance( + self._agent_info.get_entity_id(), building_id + ) + if nearest_distance is None or distance < nearest_distance: + nearest_building_id = building_id + nearest_distance = distance + self._result = nearest_building_id + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + return self._result + + def _get_search_targets(self) -> set[EntityID]: + cluster_index: int = self._clustering.get_cluster_index( + self._agent_info.get_entity_id() + ) + cluster_entities: list[Entity] = self._clustering.get_cluster_entities( + cluster_index + ) + building_entity_ids: list[EntityID] = [ + entity.get_entity_id() + for entity in cluster_entities + if isinstance(entity, Building) and not isinstance(entity, Refuge) + ] + + return set(building_entity_ids) diff --git a/src/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/src/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index 68c9ff8..f7108a5 100644 --- a/src/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/src/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -11,91 +11,89 @@ from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.module.complex.target_allocator import ( - TargetAllocator, + TargetAllocator, ) from adf_core_python.core.component.tactics.tactics_ambulance_center import ( - TacticsAmbulanceCenter, + TacticsAmbulanceCenter, ) class DefaultTacticsAmbulanceCenter(TacticsAmbulanceCenter): - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self._allocator: TargetAllocator = cast( - TargetAllocator, - module_manager.get_module( - "DefaultTacticsAmbulanceCenter.TargetAllocator", - "adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator", - ), - ) - self._picker: CommandPicker = module_manager.get_command_picker( - "DefaultTacticsAmbulanceCenter.CommandPicker", - "adf_core_python.implement.centralized.default_command_picker_ambulance.DefaultCommandPickerAmbulance", - ) - self.register_module(self._allocator) - self.register_command_picker(self._picker) + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsAmbulanceCenter.TargetAllocator", + "adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator", + ), + ) + self._picker: CommandPicker = module_manager.get_command_picker( + "DefaultTacticsAmbulanceCenter.CommandPicker", + "adf_core_python.implement.centralized.default_command_picker_ambulance.DefaultCommandPickerAmbulance", + ) + self.register_module(self._allocator) + self.register_command_picker(self._picker) - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_precompute(precompute_data) + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_resume(precompute_data) + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_resume(precompute_data) - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - self.module_prepare() + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + self.module_prepare() - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_update_info(message_manager) + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_update_info(message_manager) - allocation_result: dict[EntityID, EntityID] = ( - self._allocator.calculate().get_result() - ) - for message in ( - self._picker.set_allocator_result(allocation_result) - .calculate() - .get_result() - ): - message_manager.add_message(message) + allocation_result: dict[EntityID, EntityID] = ( + self._allocator.calculate().get_result() + ) + for message in ( + self._picker.set_allocator_result(allocation_result).calculate().get_result() + ): + message_manager.add_message(message) diff --git a/src/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/src/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 688c845..2ab674b 100644 --- a/src/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/src/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -6,13 +6,13 @@ from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, + CommandAmbulance, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -23,182 +23,176 @@ from adf_core_python.core.component.module.complex.human_detector import HumanDetector from adf_core_python.core.component.module.complex.search import Search from adf_core_python.core.component.tactics.tactics_ambulance_team import ( - TacticsAmbulanceTeam, + TacticsAmbulanceTeam, ) class DefaultTacticsAmbulanceTeam(TacticsAmbulanceTeam): - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - # world_info.index_class() - super().initialize( - agent_info, - world_info, - scenario_info, - module_manager, - precompute_data, - message_manager, - develop_data, - ) - - self._search: Search = cast( - Search, - module_manager.get_module( - "DefaultTacticsAmbulanceTeam.Search", - "adf_core_python.implement.module.complex.default_search.DefaultSearch", - ), - ) - self._human_detector: HumanDetector = cast( - HumanDetector, - module_manager.get_module( - "DefaultTacticsAmbulanceTeam.HumanDetector", - "adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector", - ), - ) - self._action_transport = module_manager.get_extend_action( - "DefaultTacticsAmbulanceTeam.ExtendActionTransport", - "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", - ) - self._action_ext_move = module_manager.get_extend_action( - "DefaultTacticsAmbulanceTeam.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) - self._command_executor_ambulance = module_manager.get_command_executor( - "DefaultTacticsAmbulanceTeam.CommandExecutorAmbulance", - "adf_core_python.implement.centralized.default_command_executor_ambulance.DefaultCommandExecutorAmbulance", - ) - self._command_executor_scout = module_manager.get_command_executor( - "DefaultTacticsAmbulanceTeam.CommandExecutorScout", - "adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout", - ) - - self.register_module(self._search) - self.register_module(self._human_detector) - self.register_action(self._action_transport) - self.register_action(self._action_ext_move) - self.register_command_executor(self._command_executor_ambulance) - self.register_command_executor(self._command_executor_scout) - - self._recent_command: Optional[StandardMessage] = None - - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_precompute(precompute_data) - - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_resume(precompute_data) - - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - self.module_prepare() - - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> Action: - self.reset_count() - self.module_update_info(message_manager) - - agent: AmbulanceTeam = cast(AmbulanceTeam, agent_info.get_myself()) # noqa: F841 - entity_id = agent_info.get_entity_id() # noqa: F841 - - self._logger.debug( - f"received messages: {[str(message) for message in message_manager.get_received_message_list()]}, help: {message_manager.get_heard_agent_help_message_count()}" - ) - - for message in message_manager.get_received_message_list(): - if isinstance(message, CommandScout): - if ( - message.get_command_executor_agent_entity_id() - == agent_info.get_entity_id() - ): - self._recent_command = message - self._command_executor_scout.set_command(message) - if isinstance(message, CommandAmbulance): - if ( - message.get_command_executor_agent_entity_id() - == agent_info.get_entity_id() - ): - self._recent_command = message - self._command_executor_ambulance.set_command(message) - - if self._recent_command is not None: - action: Optional[Action] = None - if isinstance(self._recent_command, CommandScout): - action = self._command_executor_scout.calculate().get_action() - elif isinstance(self._recent_command, CommandAmbulance): - action = self._command_executor_ambulance.calculate().get_action() - if action is not None: - self._logger.debug( - f"action decided by command: {action}", time=agent_info.get_time() - ) - return action - - target_entity_id = self._human_detector.calculate().get_target_entity_id() - self._logger.debug( - f"human detector target_entity_id: {target_entity_id}", - time=agent_info.get_time(), - ) - if target_entity_id is not None: - action = ( - self._action_transport.set_target_entity_id(target_entity_id) - .calculate() - .get_action() - ) - if action is not None: - self._logger.debug(f"action: {action}", time=agent_info.get_time()) - return action - - target_entity_id = self._search.calculate().get_target_entity_id() + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + # world_info.index_class() + super().initialize( + agent_info, + world_info, + scenario_info, + module_manager, + precompute_data, + message_manager, + develop_data, + ) + + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsAmbulanceTeam.Search", + "adf_core_python.implement.module.complex.default_search.DefaultSearch", + ), + ) + self._human_detector: HumanDetector = cast( + HumanDetector, + module_manager.get_module( + "DefaultTacticsAmbulanceTeam.HumanDetector", + "adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector", + ), + ) + self._action_transport = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionTransport", + "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", + ) + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) + self._command_executor_ambulance = module_manager.get_command_executor( + "DefaultTacticsAmbulanceTeam.CommandExecutorAmbulance", + "adf_core_python.implement.centralized.default_command_executor_ambulance.DefaultCommandExecutorAmbulance", + ) + self._command_executor_scout = module_manager.get_command_executor( + "DefaultTacticsAmbulanceTeam.CommandExecutorScout", + "adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout", + ) + + self.register_module(self._search) + self.register_module(self._human_detector) + self.register_action(self._action_transport) + self.register_action(self._action_ext_move) + self.register_command_executor(self._command_executor_ambulance) + self.register_command_executor(self._command_executor_scout) + + self._recent_command: Optional[StandardMessage] = None + + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_resume(precompute_data) + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + self.module_prepare() + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> Action: + self.reset_count() + self.module_update_info(message_manager) + + agent: AmbulanceTeam = cast(AmbulanceTeam, agent_info.get_myself()) # noqa: F841 + entity_id = agent_info.get_entity_id() # noqa: F841 + + self._logger.debug( + f"received messages: {[str(message) for message in message_manager.get_received_message_list()]}, help: {message_manager.get_heard_agent_help_message_count()}" + ) + + for message in message_manager.get_received_message_list(): + if isinstance(message, CommandScout): + if message.get_command_executor_agent_entity_id() == agent_info.get_entity_id(): + self._recent_command = message + self._command_executor_scout.set_command(message) + if isinstance(message, CommandAmbulance): + if message.get_command_executor_agent_entity_id() == agent_info.get_entity_id(): + self._recent_command = message + self._command_executor_ambulance.set_command(message) + + if self._recent_command is not None: + action: Optional[Action] = None + if isinstance(self._recent_command, CommandScout): + action = self._command_executor_scout.calculate().get_action() + elif isinstance(self._recent_command, CommandAmbulance): + action = self._command_executor_ambulance.calculate().get_action() + if action is not None: self._logger.debug( - f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + f"action decided by command: {action}", time=agent_info.get_time() ) - if target_entity_id is not None: - action = ( - self._action_ext_move.set_target_entity_id(target_entity_id) - .calculate() - .get_action() - ) - if action is not None: - self._logger.debug(f"action: {action}", time=agent_info.get_time()) - return action - - return ActionRest() + return action + + target_entity_id = self._human_detector.calculate().get_target_entity_id() + self._logger.debug( + f"human detector target_entity_id: {target_entity_id}", + time=agent_info.get_time(), + ) + if target_entity_id is not None: + action = ( + self._action_transport.set_target_entity_id(target_entity_id) + .calculate() + .get_action() + ) + if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) + return action + + target_entity_id = self._search.calculate().get_target_entity_id() + self._logger.debug( + f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + ) + if target_entity_id is not None: + action = ( + self._action_ext_move.set_target_entity_id(target_entity_id) + .calculate() + .get_action() + ) + if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) + return action + + return ActionRest() diff --git a/src/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/src/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index de4f706..5b9b8db 100644 --- a/src/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/src/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -6,13 +6,13 @@ from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( - CommandFire, + CommandFire, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -23,178 +23,172 @@ from adf_core_python.core.component.module.complex.human_detector import HumanDetector from adf_core_python.core.component.module.complex.search import Search from adf_core_python.core.component.tactics.tactics_fire_brigade import ( - TacticsFireBrigade, + TacticsFireBrigade, ) class DefaultTacticsFireBrigade(TacticsFireBrigade): - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - # world_info.index_class() - super().initialize( - agent_info, - world_info, - scenario_info, - module_manager, - precompute_data, - message_manager, - develop_data, - ) - - self._search: Search = cast( - Search, - module_manager.get_module( - "DefaultTacticsFireBrigade.Search", - "adf_core_python.implement.module.complex.default_search.DefaultSearch", - ), - ) - self._human_detector: HumanDetector = cast( - HumanDetector, - module_manager.get_module( - "DefaultTacticsFireBrigade.HumanDetector", - "adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector", - ), - ) - self._action_rescue = module_manager.get_extend_action( - "DefaultTacticsFireBrigade.ExtendActionRescue", - "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", - ) - self._action_ext_move = module_manager.get_extend_action( - "DefaultTacticsAmbulanceTeam.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) - self._command_executor_fire = module_manager.get_command_executor( - "DefaultTacticsFireBrigade.CommandExecutorFire", - "adf_core_python.implement.centralized.default_command_executor_fire.DefaultCommandExecutorFire", - ) - self._command_executor_scout = module_manager.get_command_executor( - "DefaultTacticsAmbulanceTeam.CommandExecutorScout", - "adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout", - ) - - self.register_module(self._search) - self.register_module(self._human_detector) - self.register_action(self._action_rescue) - self.register_action(self._action_ext_move) - self.register_command_executor(self._command_executor_fire) - self.register_command_executor(self._command_executor_scout) - - self._recent_command: Optional[StandardMessage] = None - - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_precompute(precompute_data) - - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_resume(precompute_data) - - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - self.module_prepare() - - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> Action: - self.reset_count() - self.module_update_info(message_manager) - - agent: FireBrigade = cast(FireBrigade, agent_info.get_myself()) # noqa: F841 - entity_id = agent_info.get_entity_id() # noqa: F841 - - for message in message_manager.get_received_message_list(): - if isinstance(message, CommandScout): - if ( - message.get_command_executor_agent_entity_id() - == agent_info.get_entity_id() - ): - self._recent_command = message - self._command_executor_scout.set_command(command=message) - if isinstance(message, CommandFire): - if ( - message.get_command_executor_agent_entity_id() - == agent_info.get_entity_id() - ): - self._recent_command = message - self._command_executor_fire.set_command(message) - - if self._recent_command is not None: - action: Optional[Action] = None - if isinstance(self._recent_command, CommandScout): - action = self._command_executor_scout.calculate().get_action() - elif isinstance(self._recent_command, CommandFire): - action = self._command_executor_fire.calculate().get_action() - if action is not None: - self._logger.debug( - f"action decided by command: {action}", time=agent_info.get_time() - ) - return action - - target_entity_id = self._human_detector.calculate().get_target_entity_id() - self._logger.debug( - f"human detector target_entity_id: {target_entity_id}", - time=agent_info.get_time(), - ) - if target_entity_id is not None: - action = ( - self._action_rescue.set_target_entity_id(target_entity_id) - .calculate() - .get_action() - ) - if action is not None: - self._logger.debug(f"action: {action}", time=agent_info.get_time()) - return action - - target_entity_id = self._search.calculate().get_target_entity_id() + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + # world_info.index_class() + super().initialize( + agent_info, + world_info, + scenario_info, + module_manager, + precompute_data, + message_manager, + develop_data, + ) + + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsFireBrigade.Search", + "adf_core_python.implement.module.complex.default_search.DefaultSearch", + ), + ) + self._human_detector: HumanDetector = cast( + HumanDetector, + module_manager.get_module( + "DefaultTacticsFireBrigade.HumanDetector", + "adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector", + ), + ) + self._action_rescue = module_manager.get_extend_action( + "DefaultTacticsFireBrigade.ExtendActionRescue", + "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", + ) + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) + self._command_executor_fire = module_manager.get_command_executor( + "DefaultTacticsFireBrigade.CommandExecutorFire", + "adf_core_python.implement.centralized.default_command_executor_fire.DefaultCommandExecutorFire", + ) + self._command_executor_scout = module_manager.get_command_executor( + "DefaultTacticsAmbulanceTeam.CommandExecutorScout", + "adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout", + ) + + self.register_module(self._search) + self.register_module(self._human_detector) + self.register_action(self._action_rescue) + self.register_action(self._action_ext_move) + self.register_command_executor(self._command_executor_fire) + self.register_command_executor(self._command_executor_scout) + + self._recent_command: Optional[StandardMessage] = None + + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_resume(precompute_data) + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + self.module_prepare() + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> Action: + self.reset_count() + self.module_update_info(message_manager) + + agent: FireBrigade = cast(FireBrigade, agent_info.get_myself()) # noqa: F841 + entity_id = agent_info.get_entity_id() # noqa: F841 + + for message in message_manager.get_received_message_list(): + if isinstance(message, CommandScout): + if message.get_command_executor_agent_entity_id() == agent_info.get_entity_id(): + self._recent_command = message + self._command_executor_scout.set_command(command=message) + if isinstance(message, CommandFire): + if message.get_command_executor_agent_entity_id() == agent_info.get_entity_id(): + self._recent_command = message + self._command_executor_fire.set_command(message) + + if self._recent_command is not None: + action: Optional[Action] = None + if isinstance(self._recent_command, CommandScout): + action = self._command_executor_scout.calculate().get_action() + elif isinstance(self._recent_command, CommandFire): + action = self._command_executor_fire.calculate().get_action() + if action is not None: self._logger.debug( - f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + f"action decided by command: {action}", time=agent_info.get_time() ) - if target_entity_id is not None: - action = ( - self._action_ext_move.set_target_entity_id(target_entity_id) - .calculate() - .get_action() - ) - if action is not None: - self._logger.debug(f"action: {action}", time=agent_info.get_time()) - return action - - return ActionRest() + return action + + target_entity_id = self._human_detector.calculate().get_target_entity_id() + self._logger.debug( + f"human detector target_entity_id: {target_entity_id}", + time=agent_info.get_time(), + ) + if target_entity_id is not None: + action = ( + self._action_rescue.set_target_entity_id(target_entity_id) + .calculate() + .get_action() + ) + if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) + return action + + target_entity_id = self._search.calculate().get_target_entity_id() + self._logger.debug( + f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + ) + if target_entity_id is not None: + action = ( + self._action_ext_move.set_target_entity_id(target_entity_id) + .calculate() + .get_action() + ) + if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) + return action + + return ActionRest() diff --git a/src/adf_core_python/implement/tactics/default_tactics_fire_station.py b/src/adf_core_python/implement/tactics/default_tactics_fire_station.py index ef6425d..099d2b1 100644 --- a/src/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/src/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -11,91 +11,89 @@ from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.module.complex.target_allocator import ( - TargetAllocator, + TargetAllocator, ) from adf_core_python.core.component.tactics.tactics_fire_station import ( - TacticsFireStation, + TacticsFireStation, ) class DefaultTacticsFireStation(TacticsFireStation): - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self._allocator: TargetAllocator = cast( - TargetAllocator, - module_manager.get_module( - "DefaultTacticsFireStation.TargetAllocator", - "adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator", - ), - ) - self._picker: CommandPicker = module_manager.get_command_picker( - "DefaultTacticsFireStation.CommandPicker", - "adf_core_python.implement.centralized.default_command_picker_fire.DefaultCommandPickerFire", - ) - self.register_module(self._allocator) - self.register_command_picker(self._picker) + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsFireStation.TargetAllocator", + "adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator", + ), + ) + self._picker: CommandPicker = module_manager.get_command_picker( + "DefaultTacticsFireStation.CommandPicker", + "adf_core_python.implement.centralized.default_command_picker_fire.DefaultCommandPickerFire", + ) + self.register_module(self._allocator) + self.register_command_picker(self._picker) - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_resume(precompute_data) + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_resume(precompute_data) - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_precompute(precompute_data) + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - self.module_prepare() + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + self.module_prepare() - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_update_info(message_manager) + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_update_info(message_manager) - allocation_result: dict[EntityID, EntityID] = ( - self._allocator.calculate().get_result() - ) - for message in ( - self._picker.set_allocator_result(allocation_result) - .calculate() - .get_result() - ): - message_manager.add_message(message) + allocation_result: dict[EntityID, EntityID] = ( + self._allocator.calculate().get_result() + ) + for message in ( + self._picker.set_allocator_result(allocation_result).calculate().get_result() + ): + message_manager.add_message(message) diff --git a/src/adf_core_python/implement/tactics/default_tactics_police_force.py b/src/adf_core_python/implement/tactics/default_tactics_police_force.py index 8b75a07..3e26216 100644 --- a/src/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/src/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -6,16 +6,16 @@ from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( - CommandFire, + CommandFire, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( - CommandPolice, + CommandPolice, ) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, + CommandScout, ) from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( - StandardMessage, + StandardMessage, ) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -26,181 +26,175 @@ from adf_core_python.core.component.module.complex.road_detector import RoadDetector from adf_core_python.core.component.module.complex.search import Search from adf_core_python.core.component.tactics.tactics_police_force import ( - TacticsPoliceForce, + TacticsPoliceForce, ) class DefaultTacticsPoliceForce(TacticsPoliceForce): - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - # world_info.index_class() - super().initialize( - agent_info, - world_info, - scenario_info, - module_manager, - precompute_data, - message_manager, - develop_data, - ) - # self._clear_distance = int( - # scenario_info.get_value("clear.repair.distance", "null") - # ) - - self._search: Search = cast( - Search, - module_manager.get_module( - "DefaultTacticsPoliceForce.Search", - "adf_core_python.implement.module.complex.default_search.DefaultSearch", - ), - ) - self._road_detector: RoadDetector = cast( - RoadDetector, - module_manager.get_module( - "DefaultTacticsPoliceForce.RoadDetector", - "adf_core_python.core.component.module.complex.road_detector.RoadDetector", - ), - ) - self._action_ext_clear = module_manager.get_extend_action( - "DefaultTacticsPoliceForce.ExtendActionClear", - "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", - ) - self._action_ext_move = module_manager.get_extend_action( - "DefaultTacticsPoliceForce.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) - self._command_executor_police = module_manager.get_command_executor( - "DefaultTacticsPoliceForce.CommandExecutorPolice", - "adf_core_python.implement.centralized.default_command_executor_police.DefaultCommandExecutorPolice", - ) - self._command_executor_scout = module_manager.get_command_executor( - "DefaultTacticsPoliceForce.CommandExecutorScout", - "adf_core_python.implement.centralized.default_command_executor_scout_police.DefaultCommandExecutorScoutPolice", - ) - - self.register_module(self._search) - self.register_module(self._road_detector) - self.register_action(self._action_ext_clear) - self.register_action(self._action_ext_move) - self.register_command_executor(self._command_executor_police) - self.register_command_executor(self._command_executor_scout) - - self._recent_command: Optional[StandardMessage] = None - - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_precompute(precompute_data) - - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_resume(precompute_data) - - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - self.module_prepare() - - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> Action: - self.reset_count() - self.module_update_info(message_manager) - - agent: PoliceForce = cast(PoliceForce, agent_info.get_myself()) # noqa: F841 - entity_id = agent_info.get_entity_id() # noqa: F841 - - for message in message_manager.get_received_message_list(): - if isinstance(message, CommandScout): - if ( - message.get_command_executor_agent_entity_id() - == agent_info.get_entity_id() - ): - self._recent_command = message - self._command_executor_scout.set_command(command=message) - if isinstance(message, CommandPolice): - if ( - message.get_command_executor_agent_entity_id() - == agent_info.get_entity_id() - ): - self._recent_command = message - self._command_executor_police.set_command(message) - - if self._recent_command is not None: - action: Optional[Action] = None - if isinstance(self._recent_command, CommandScout): - action = self._command_executor_scout.calculate().get_action() - elif isinstance(self._recent_command, CommandFire): - action = self._command_executor_police.calculate().get_action() - if action is not None: - self._logger.debug( - f"action decided by command: {action}", time=agent_info.get_time() - ) - return action - - target_entity_id = self._road_detector.calculate().get_target_entity_id() - self._logger.debug( - f"road detector target_entity_id: {target_entity_id}", - time=agent_info.get_time(), - ) - if target_entity_id is not None: - action = ( - self._action_ext_clear.set_target_entity_id(target_entity_id) - .calculate() - .get_action() - ) - if action is not None: - self._logger.debug(f"action: {action}", time=agent_info.get_time()) - return action - - target_entity_id = self._search.calculate().get_target_entity_id() + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + # world_info.index_class() + super().initialize( + agent_info, + world_info, + scenario_info, + module_manager, + precompute_data, + message_manager, + develop_data, + ) + # self._clear_distance = int( + # scenario_info.get_value("clear.repair.distance", "null") + # ) + + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsPoliceForce.Search", + "adf_core_python.implement.module.complex.default_search.DefaultSearch", + ), + ) + self._road_detector: RoadDetector = cast( + RoadDetector, + module_manager.get_module( + "DefaultTacticsPoliceForce.RoadDetector", + "adf_core_python.core.component.module.complex.road_detector.RoadDetector", + ), + ) + self._action_ext_clear = module_manager.get_extend_action( + "DefaultTacticsPoliceForce.ExtendActionClear", + "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", + ) + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsPoliceForce.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) + self._command_executor_police = module_manager.get_command_executor( + "DefaultTacticsPoliceForce.CommandExecutorPolice", + "adf_core_python.implement.centralized.default_command_executor_police.DefaultCommandExecutorPolice", + ) + self._command_executor_scout = module_manager.get_command_executor( + "DefaultTacticsPoliceForce.CommandExecutorScout", + "adf_core_python.implement.centralized.default_command_executor_scout_police.DefaultCommandExecutorScoutPolice", + ) + + self.register_module(self._search) + self.register_module(self._road_detector) + self.register_action(self._action_ext_clear) + self.register_action(self._action_ext_move) + self.register_command_executor(self._command_executor_police) + self.register_command_executor(self._command_executor_scout) + + self._recent_command: Optional[StandardMessage] = None + + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) + + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_resume(precompute_data) + + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + self.module_prepare() + + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> Action: + self.reset_count() + self.module_update_info(message_manager) + + agent: PoliceForce = cast(PoliceForce, agent_info.get_myself()) # noqa: F841 + entity_id = agent_info.get_entity_id() # noqa: F841 + + for message in message_manager.get_received_message_list(): + if isinstance(message, CommandScout): + if message.get_command_executor_agent_entity_id() == agent_info.get_entity_id(): + self._recent_command = message + self._command_executor_scout.set_command(command=message) + if isinstance(message, CommandPolice): + if message.get_command_executor_agent_entity_id() == agent_info.get_entity_id(): + self._recent_command = message + self._command_executor_police.set_command(message) + + if self._recent_command is not None: + action: Optional[Action] = None + if isinstance(self._recent_command, CommandScout): + action = self._command_executor_scout.calculate().get_action() + elif isinstance(self._recent_command, CommandFire): + action = self._command_executor_police.calculate().get_action() + if action is not None: self._logger.debug( - f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + f"action decided by command: {action}", time=agent_info.get_time() ) - if target_entity_id is not None: - action = ( - self._action_ext_move.set_target_entity_id(target_entity_id) - .calculate() - .get_action() - ) - if action is not None: - self._logger.debug(f"action: {action}", time=agent_info.get_time()) - return action - - return ActionRest() + return action + + target_entity_id = self._road_detector.calculate().get_target_entity_id() + self._logger.debug( + f"road detector target_entity_id: {target_entity_id}", + time=agent_info.get_time(), + ) + if target_entity_id is not None: + action = ( + self._action_ext_clear.set_target_entity_id(target_entity_id) + .calculate() + .get_action() + ) + if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) + return action + + target_entity_id = self._search.calculate().get_target_entity_id() + self._logger.debug( + f"search target_entity_id: {target_entity_id}", time=agent_info.get_time() + ) + if target_entity_id is not None: + action = ( + self._action_ext_move.set_target_entity_id(target_entity_id) + .calculate() + .get_action() + ) + if action is not None: + self._logger.debug(f"action: {action}", time=agent_info.get_time()) + return action + + return ActionRest() diff --git a/src/adf_core_python/implement/tactics/default_tactics_police_office.py b/src/adf_core_python/implement/tactics/default_tactics_police_office.py index d605244..d830de2 100644 --- a/src/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/src/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -11,91 +11,89 @@ from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.module.complex.target_allocator import ( - TargetAllocator, + TargetAllocator, ) from adf_core_python.core.component.tactics.tactics_police_office import ( - TacticsPoliceOffice, + TacticsPoliceOffice, ) class DefaultTacticsPoliceOffice(TacticsPoliceOffice): - def initialize( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self._allocator: TargetAllocator = cast( - TargetAllocator, - module_manager.get_module( - "DefaultTacticsPoliceOffice.TargetAllocator", - "adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator", - ), - ) - self._picker: CommandPicker = module_manager.get_command_picker( - "DefaultTacticsPoliceOffice.CommandPicker", - "adf_core_python.implement.centralized.default_command_picker_police.DefaultCommandPickerPolice", - ) - self.register_module(self._allocator) - self.register_command_picker(self._picker) + def initialize( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsPoliceOffice.TargetAllocator", + "adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator", + ), + ) + self._picker: CommandPicker = module_manager.get_command_picker( + "DefaultTacticsPoliceOffice.CommandPicker", + "adf_core_python.implement.centralized.default_command_picker_police.DefaultCommandPickerPolice", + ) + self.register_module(self._allocator) + self.register_command_picker(self._picker) - def resume( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_resume(precompute_data) + def resume( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_resume(precompute_data) - def precompute( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_precompute(precompute_data) + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) - def prepare( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - develop_data: DevelopData, - ) -> None: - self.module_prepare() + def prepare( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + develop_data: DevelopData, + ) -> None: + self.module_prepare() - def think( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - precompute_data: PrecomputeData, - message_manager: MessageManager, - develop_data: DevelopData, - ) -> None: - self.module_update_info(message_manager) + def think( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_update_info(message_manager) - allocation_result: dict[EntityID, EntityID] = ( - self._allocator.calculate().get_result() - ) - for message in ( - self._picker.set_allocator_result(allocation_result) - .calculate() - .get_result() - ): - message_manager.add_message(message) + allocation_result: dict[EntityID, EntityID] = ( + self._allocator.calculate().get_result() + ) + for message in ( + self._picker.set_allocator_result(allocation_result).calculate().get_result() + ): + message_manager.add_message(message) diff --git a/src/adf_core_python/launcher.py b/src/adf_core_python/launcher.py index 0982f70..e69b17a 100644 --- a/src/adf_core_python/launcher.py +++ b/src/adf_core_python/launcher.py @@ -8,138 +8,138 @@ class Launcher: - def __init__( - self, - launcher_config_file: str, - ) -> None: - try: - resource.setrlimit(resource.RLIMIT_NOFILE, (8192, 1048576)) - except Exception as e: - print( - f"Failed to set resource limit: {e}. " - "This may cause issues with the number of open files." - ) + def __init__( + self, + launcher_config_file: str, + ) -> None: + try: + resource.setrlimit(resource.RLIMIT_NOFILE, (8192, 1048576)) + except Exception as e: + print( + f"Failed to set resource limit: {e}. " + "This may cause issues with the number of open files." + ) - self.launcher_config = Config(launcher_config_file) + self.launcher_config = Config(launcher_config_file) - parser = argparse.ArgumentParser(description="Agent Launcher") + parser = argparse.ArgumentParser(description="Agent Launcher") - parser.add_argument( - "--host", - type=str, - help="host name(Default: localhost)", - metavar="", - ) - parser.add_argument( - "--port", - type=int, - help="port number(Default: 27931)", - metavar="", - ) - parser.add_argument( - "-a", - "--ambulanceteam", - type=int, - help="number of ambulance agents(Default: all ambulance)", - metavar="", - ) - parser.add_argument( - "-f", - "--firebrigade", - type=int, - help="number of firebrigade agents(Default: all firebrigade)", - metavar="", - ) - parser.add_argument( - "-p", - "--policeforce", - type=int, - help="number of policeforce agents(Default: all policeforce)", - metavar="", - ) - parser.add_argument( - "-ac", - "--ambulancecenter", - type=int, - help="number of ambulance center agents(Default: all ambulance center)", - metavar="", - ) - parser.add_argument( - "-fs", - "--firestation", - type=int, - help="number of fire station agents(Default: all fire station)", - metavar="", - ) - parser.add_argument( - "-po", - "--policeoffice", - type=int, - help="number of police office agents(Default: all police office)", - metavar="", - ) - parser.add_argument( - "--precompute", - action="store_true", - help="precompute flag", - ) - parser.add_argument( - "--timeout", - type=int, - help="timeout in seconds", - metavar="", - ) - parser.add_argument("--debug", action="store_true", help="debug flag") - parser.add_argument( - "--java", - action="store_true", - help="using java module flag", - ) - args = parser.parse_args() + parser.add_argument( + "--host", + type=str, + help="host name(Default: localhost)", + metavar="", + ) + parser.add_argument( + "--port", + type=int, + help="port number(Default: 27931)", + metavar="", + ) + parser.add_argument( + "-a", + "--ambulanceteam", + type=int, + help="number of ambulance agents(Default: all ambulance)", + metavar="", + ) + parser.add_argument( + "-f", + "--firebrigade", + type=int, + help="number of firebrigade agents(Default: all firebrigade)", + metavar="", + ) + parser.add_argument( + "-p", + "--policeforce", + type=int, + help="number of policeforce agents(Default: all policeforce)", + metavar="", + ) + parser.add_argument( + "-ac", + "--ambulancecenter", + type=int, + help="number of ambulance center agents(Default: all ambulance center)", + metavar="", + ) + parser.add_argument( + "-fs", + "--firestation", + type=int, + help="number of fire station agents(Default: all fire station)", + metavar="", + ) + parser.add_argument( + "-po", + "--policeoffice", + type=int, + help="number of police office agents(Default: all police office)", + metavar="", + ) + parser.add_argument( + "--precompute", + action="store_true", + help="precompute flag", + ) + parser.add_argument( + "--timeout", + type=int, + help="timeout in seconds", + metavar="", + ) + parser.add_argument("--debug", action="store_true", help="debug flag") + parser.add_argument( + "--java", + action="store_true", + help="using java module flag", + ) + args = parser.parse_args() - config_map = { - ConfigKey.KEY_KERNEL_HOST: args.host, - ConfigKey.KEY_KERNEL_PORT: args.port, - ConfigKey.KEY_AMBULANCE_TEAM_COUNT: args.ambulanceteam, - ConfigKey.KEY_FIRE_BRIGADE_COUNT: args.firebrigade, - ConfigKey.KEY_POLICE_FORCE_COUNT: args.policeforce, - ConfigKey.KEY_AMBULANCE_CENTRE_COUNT: args.ambulancecenter, - ConfigKey.KEY_FIRE_STATION_COUNT: args.firestation, - ConfigKey.KEY_POLICE_OFFICE_COUNT: args.policeoffice, - ConfigKey.KEY_PRECOMPUTE: args.precompute, - ConfigKey.KEY_KERNEL_TIMEOUT: args.timeout, - ConfigKey.KEY_DEBUG_FLAG: args.debug, - ConfigKey.KEY_GATEWAY_FLAG: args.java, - } + config_map = { + ConfigKey.KEY_KERNEL_HOST: args.host, + ConfigKey.KEY_KERNEL_PORT: args.port, + ConfigKey.KEY_AMBULANCE_TEAM_COUNT: args.ambulanceteam, + ConfigKey.KEY_FIRE_BRIGADE_COUNT: args.firebrigade, + ConfigKey.KEY_POLICE_FORCE_COUNT: args.policeforce, + ConfigKey.KEY_AMBULANCE_CENTRE_COUNT: args.ambulancecenter, + ConfigKey.KEY_FIRE_STATION_COUNT: args.firestation, + ConfigKey.KEY_POLICE_OFFICE_COUNT: args.policeoffice, + ConfigKey.KEY_PRECOMPUTE: args.precompute, + ConfigKey.KEY_KERNEL_TIMEOUT: args.timeout, + ConfigKey.KEY_DEBUG_FLAG: args.debug, + ConfigKey.KEY_GATEWAY_FLAG: args.java, + } - for key, value in config_map.items(): - if value is not None: - self.launcher_config.set_value(key, value) + for key, value in config_map.items(): + if value is not None: + self.launcher_config.set_value(key, value) - configure_logger() - self.logger = get_logger(__name__) + configure_logger() + self.logger = get_logger(__name__) - self.logger.debug(f"launcher_config: {self.launcher_config}") + self.logger.debug(f"launcher_config: {self.launcher_config}") - def launch(self) -> None: - agent_launcher: AgentLauncher = AgentLauncher( - self.launcher_config, - ) - agent_launcher.init_connector() + def launch(self) -> None: + agent_launcher: AgentLauncher = AgentLauncher( + self.launcher_config, + ) + agent_launcher.init_connector() - try: - agent_launcher.launch() - except KeyboardInterrupt: - self.logger.info("Agent launcher interrupted") - except Exception as e: - self.logger.exception("Agent launcher failed", exc_info=e) - raise e - self.logger.info("Agent launcher finished") + try: + agent_launcher.launch() + except KeyboardInterrupt: + self.logger.info("Agent launcher interrupted") + except Exception as e: + self.logger.exception("Agent launcher failed", exc_info=e) + raise e + self.logger.info("Agent launcher finished") if __name__ == "__main__": - launcher = Launcher( - "config/launcher.yaml", - ) + launcher = Launcher( + "config/launcher.yaml", + ) - launcher.launch() + launcher.launch() diff --git a/tests/core/agent/config/test_module_config.py b/tests/core/agent/config/test_module_config.py index af0aa95..ffb8ca5 100644 --- a/tests/core/agent/config/test_module_config.py +++ b/tests/core/agent/config/test_module_config.py @@ -6,43 +6,43 @@ class TestModuleConfig: - def test_can_read_from_yaml(self) -> None: - script_dir = os.path.dirname(os.path.abspath(__file__)) - config_file_path = os.path.join(script_dir, "module.yaml") - config = ModuleConfig(config_file_path) - assert ( - config.get_value("DefaultTacticsPoliceOffice.TargetAllocator") - == "sample_team.module.complex.SamplePoliceTargetAllocator" - ) - assert ( - config.get_value("DefaultTacticsPoliceOffice.CommandPicker") - == "adf_core_python.implement.centralized.DefaultCommandPickerPolice" - ) - assert ( - config.get_value("SampleSearch.PathPlanning.Ambulance") - == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" - ) - assert ( - config.get_value("SampleSearch.PathPlanning.Fire") - == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" - ) - assert ( - config.get_value("SampleSearch.PathPlanning.Police") - == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" - ) - assert ( - config.get_value("SampleSearch.Clustering.Ambulance") - == "adf_core_python.implement.module.algorithm.KMeansClustering" - ) - assert ( - config.get_value("SampleSearch.Clustering.Fire") - == "adf_core_python.implement.module.algorithm.KMeansClustering" - ) - assert ( - config.get_value("SampleSearch.Clustering.Police") - == "adf_core_python.implement.module.algorithm.KMeansClustering" - ) + def test_can_read_from_yaml(self) -> None: + script_dir = os.path.dirname(os.path.abspath(__file__)) + config_file_path = os.path.join(script_dir, "module.yaml") + config = ModuleConfig(config_file_path) + assert ( + config.get_value("DefaultTacticsPoliceOffice.TargetAllocator") + == "sample_team.module.complex.SamplePoliceTargetAllocator" + ) + assert ( + config.get_value("DefaultTacticsPoliceOffice.CommandPicker") + == "adf_core_python.implement.centralized.DefaultCommandPickerPolice" + ) + assert ( + config.get_value("SampleSearch.PathPlanning.Ambulance") + == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" + ) + assert ( + config.get_value("SampleSearch.PathPlanning.Fire") + == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" + ) + assert ( + config.get_value("SampleSearch.PathPlanning.Police") + == "adf_core_python.implement.module.algorithm.DijkstraPathPlanning" + ) + assert ( + config.get_value("SampleSearch.Clustering.Ambulance") + == "adf_core_python.implement.module.algorithm.KMeansClustering" + ) + assert ( + config.get_value("SampleSearch.Clustering.Fire") + == "adf_core_python.implement.module.algorithm.KMeansClustering" + ) + assert ( + config.get_value("SampleSearch.Clustering.Police") + == "adf_core_python.implement.module.algorithm.KMeansClustering" + ) - def test_if_file_not_found(self) -> None: - with pytest.raises(FileNotFoundError): - ModuleConfig("not_found.yaml") + def test_if_file_not_found(self) -> None: + with pytest.raises(FileNotFoundError): + ModuleConfig("not_found.yaml") diff --git a/tests/core/agent/develop/test_develop.py b/tests/core/agent/develop/test_develop.py index 877e50a..9501be4 100644 --- a/tests/core/agent/develop/test_develop.py +++ b/tests/core/agent/develop/test_develop.py @@ -6,17 +6,17 @@ class TestDevelopData: - def test_can_read_from_yaml(self) -> None: - script_dir = os.path.dirname(os.path.abspath(__file__)) - develop_file_path = os.path.join(script_dir, "develop.json") - develop_data = DevelopData(True, develop_file_path) + def test_can_read_from_yaml(self) -> None: + script_dir = os.path.dirname(os.path.abspath(__file__)) + develop_file_path = os.path.join(script_dir, "develop.json") + develop_data = DevelopData(True, develop_file_path) - assert develop_data.get_value("string") == "test" - assert develop_data.get_value("number") == 1 - assert develop_data.get_value("boolean") is True - assert develop_data.get_value("dict") == {"test": "test"} - assert develop_data.get_value("array") == ["test", "test"] + assert develop_data.get_value("string") == "test" + assert develop_data.get_value("number") == 1 + assert develop_data.get_value("boolean") is True + assert develop_data.get_value("dict") == {"test": "test"} + assert develop_data.get_value("array") == ["test", "test"] - def test_if_file_not_found(self) -> None: - with pytest.raises(FileNotFoundError): - DevelopData(True, "not_found.json") + def test_if_file_not_found(self) -> None: + with pytest.raises(FileNotFoundError): + DevelopData(True, "not_found.json") diff --git a/tests/core/agent/module/test_module_manager.py b/tests/core/agent/module/test_module_manager.py index 470061e..d6ec498 100644 --- a/tests/core/agent/module/test_module_manager.py +++ b/tests/core/agent/module/test_module_manager.py @@ -8,25 +8,25 @@ class TestModuleManager: - @pytest.mark.skip(reason="一時的に無効化") - def test_can_get_module(self) -> None: - script_dir = os.path.dirname(os.path.abspath(__file__)) - config_file_path = os.path.join(script_dir, "module.yaml") - config = ModuleConfig(config_file_path) - config.set_value( - "test_module", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ) - module_manager = self.create_module_manager(config) - module = module_manager.get_module("test_module", "test_module") - assert isinstance(module, AbstractModule) - assert module.__class__.__name__ == "AStarPathPlanning" + @pytest.mark.skip(reason="一時的に無効化") + def test_can_get_module(self) -> None: + script_dir = os.path.dirname(os.path.abspath(__file__)) + config_file_path = os.path.join(script_dir, "module.yaml") + config = ModuleConfig(config_file_path) + config.set_value( + "test_module", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ) + module_manager = self.create_module_manager(config) + module = module_manager.get_module("test_module", "test_module") + assert isinstance(module, AbstractModule) + assert module.__class__.__name__ == "AStarPathPlanning" - def create_module_manager(self, config: ModuleConfig) -> ModuleManager: - return ModuleManager( - None, # type: ignore - None, # type: ignore - None, # type: ignore - config, - None, # type: ignore - ) + def create_module_manager(self, config: ModuleConfig) -> ModuleManager: + return ModuleManager( + None, # type: ignore + None, # type: ignore + None, # type: ignore + config, + None, # type: ignore + ) From 810dfc7f17bd30a83aa3a0d725b7eab825919677 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:26:44 +0900 Subject: [PATCH 238/249] =?UTF-8?q?feat:=20docs=E3=83=87=E3=82=A3=E3=83=AC?= =?UTF-8?q?=E3=82=AF=E3=83=88=E3=83=AA=E3=82=92mypy=E3=81=AE=E9=99=A4?= =?UTF-8?q?=E5=A4=96=E3=83=AA=E3=82=B9=E3=83=88=E3=81=AB=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pyproject.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/pyproject.toml b/pyproject.toml index 0e429bd..40a3160 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -133,6 +133,7 @@ disallow_untyped_defs = true no_implicit_optional = true check_untyped_defs = true warn_redundant_casts = true +exclude = ["docs"] [tool.uv.sources] rcrscore = { git = "https://github.com/adf-python/rcrs-core-python" , tag = "v0.2.0" } From 365e3e08ed3f2ee46c09830d190d9ae81c97f8ea Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:26:52 +0900 Subject: [PATCH 239/249] =?UTF-8?q?feat:=20=E5=9E=8B=E3=83=92=E3=83=B3?= =?UTF-8?q?=E3=83=88=E3=82=92=E8=BF=BD=E5=8A=A0=E3=81=97=E3=81=A6=E9=96=A2?= =?UTF-8?q?=E6=95=B0=E3=81=AE=E6=98=8E=E7=A2=BA=E3=81=95=E3=82=92=E5=90=91?= =?UTF-8?q?=E4=B8=8A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../core/launcher/connect/connection.py | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/src/adf_core_python/core/launcher/connect/connection.py b/src/adf_core_python/core/launcher/connect/connection.py index 660d987..3923471 100644 --- a/src/adf_core_python/core/launcher/connect/connection.py +++ b/src/adf_core_python/core/launcher/connect/connection.py @@ -59,7 +59,7 @@ def send_msg(self, msg: Any) -> None: Connection._write_msg(msg, self.socket) @staticmethod - def _write_int32(value, sock): + def _write_int32(value: int, sock: socket.socket) -> None: b = [ ((value >> 24) & 0xFF), ((value >> 16) & 0xFF), @@ -70,7 +70,7 @@ def _write_int32(value, sock): sock.sendall(bytes(b)) @staticmethod - def _readnbytes(sock, n): + def _readnbytes(sock: socket.socket, n: int) -> bytes: buff = b"" while n > 0: b = sock.recv(n) @@ -81,7 +81,7 @@ def _readnbytes(sock, n): return buff @staticmethod - def _read_int32(sock): + def _read_int32(sock: socket.socket) -> int: byte_array = Connection._readnbytes(sock, 4) value = int( ((byte_array[0]) << 24) @@ -92,15 +92,14 @@ def _read_int32(sock): return value @staticmethod - def _write_msg(msg, sock): + def _write_msg(msg: Any, sock: socket.socket) -> None: out = msg.SerializeToString() Connection._write_int32(len(out), sock) sock.sendall(out) @staticmethod - def _read_msg(sock): - # await reader.read(1) + def _read_msg(sock: socket.socket) -> RCRSProto_pb2.MessageProto: size = Connection._read_int32(sock) content = Connection._readnbytes(sock, size) message = RCRSProto_pb2.MessageProto() From 1cc2fa6a31eb9470e066aa21d1c8efc7c0239c28 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:27:15 +0900 Subject: [PATCH 240/249] =?UTF-8?q?feat:=20README=E3=81=ABPoetry=E3=81=8B?= =?UTF-8?q?=E3=82=89uv=E3=81=B8=E3=81=AE=E7=A7=BB=E8=A1=8C=E3=81=A8Python?= =?UTF-8?q?=E3=83=90=E3=83=BC=E3=82=B8=E3=83=A7=E3=83=B3=E3=81=AE=E6=9B=B4?= =?UTF-8?q?=E6=96=B0=E3=81=AE=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/README.md b/README.md index da12692..d0f490a 100644 --- a/README.md +++ b/README.md @@ -8,32 +8,34 @@ ### Prerequisites -- Python (3.12 or higher) -- Poetry (1.8.3 or higher) +- Python (3.13 or higher) +- uv (0.8.2 or higher) ### Installation ```bash -poetry install +uv sync ``` ### Run Agent ```bash -poetry run python ./adf_core_python/launcher.py +uv run python ./adf_core_python/launcher.py # get help -poetry run python ./adf_core_python/launcher.py -h +uv run python ./adf_core_python/launcher.py -h ``` ### Build ```bash -poetry build +uv build ``` ### Pre Commit ```bash -poetry run task precommit +uv run ruff format . +uv run ruff check . +uv run mypy . ``` From 1c6c26d176c3bffe866c436e00176994c563f663 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:47:12 +0900 Subject: [PATCH 241/249] =?UTF-8?q?feat:=20CI=E3=81=A7ruff=E3=81=A8mypy?= =?UTF-8?q?=E3=81=AE=E5=AE=9F=E8=A1=8C=E3=81=ABuv=E3=82=92=E4=BD=BF?= =?UTF-8?q?=E7=94=A8=E3=81=99=E3=82=8B=E3=82=88=E3=81=86=E3=81=AB=E5=A4=89?= =?UTF-8?q?=E6=9B=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/ci.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 24ebbf5..95a231d 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -55,10 +55,10 @@ jobs: run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH - name: Check ruff version - run: ruff --version + run: uv run ruff --version - name: Run ruff format check - run: ruff format --check . + run: uv run ruff format --check . ruff-lint: needs: setup @@ -77,10 +77,10 @@ jobs: run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH - name: Check ruff version - run: ruff --version + run: uv run ruff --version - name: Run ruff lint - run: ruff check --output-format=github . + run: uv run ruff check --output-format=github . mypy-type-check: needs: setup @@ -99,10 +99,10 @@ jobs: run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH - name: Check mypy version - run: mypy --version + run: uv run mypy --version - name: Run mypy type check - run: mypy . + run: uv run mypy . pytest: needs: setup From d3be3dd961d6e8164ba9c9ca1f40c9aa44170e1a Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:52:41 +0900 Subject: [PATCH 242/249] =?UTF-8?q?feat:=20CI=E3=81=AE=E8=A8=AD=E5=AE=9A?= =?UTF-8?q?=E3=82=92uv=E3=82=92=E4=BD=BF=E7=94=A8=E3=81=99=E3=82=8B?= =?UTF-8?q?=E3=82=88=E3=81=86=E3=81=AB=E6=9B=B4=E6=96=B0=E3=81=97=E3=80=81?= =?UTF-8?q?=E3=82=AD=E3=83=A3=E3=83=83=E3=82=B7=E3=83=A5=E7=AE=A1=E7=90=86?= =?UTF-8?q?=E3=82=92=E6=9C=80=E9=81=A9=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/ci.yaml | 93 ++++++++++++++------------------------- 1 file changed, 33 insertions(+), 60 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 95a231d..06c53ee 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -12,116 +12,89 @@ on: jobs: setup: + name: Setup ✅ runs-on: ubuntu-latest + outputs: + cache-hit: ${{ steps.setup_uv.outputs.cache-hit }} steps: - name: Checkout code uses: actions/checkout@v4 - - name: Set up Python - uses: actions/setup-python@v5 + - name: Install uv (+ enable cache) + id: setup_uv + uses: astral-sh/setup-uv@v6 with: - python-version: 3.12 + enable-cache: true - - name: Cache virtual environment - id: cached-virtualenv - uses: actions/cache@v4 - with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/uv.lock') }} - - - name: Install dependencies - if: steps.cached-virtualenv.outputs.cache-hit != 'true' - run: | - python -m venv .venv - source .venv/bin/activate - pip install --upgrade pip - pip install uv - uv sync + - name: Sync dependencies + run: uv sync --locked --dev + + - name: Prune uv cache (optimized for CI) + run: uv cache prune --ci ruff-format: + name: Ruff format check needs: setup runs-on: ubuntu-latest steps: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 + - name: Install uv + restore cache + uses: astral-sh/setup-uv@v6 with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/uv.lock') }} - - - name: Set path - run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH + enable-cache: true - - name: Check ruff version - run: uv run ruff --version - - - name: Run ruff format check + - name: Check ruff formatting run: uv run ruff format --check . ruff-lint: + name: Ruff lint check needs: setup runs-on: ubuntu-latest steps: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 + - name: Install uv + restore cache + uses: astral-sh/setup-uv@v6 with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - - - name: Set path - run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH - - - name: Check ruff version - run: uv run ruff --version + enable-cache: true - name: Run ruff lint run: uv run ruff check --output-format=github . mypy-type-check: + name: MyPy type check needs: setup runs-on: ubuntu-latest steps: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 + - name: Install uv + restore cache + uses: astral-sh/setup-uv@v6 with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - - - name: Set path - run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH + enable-cache: true - - name: Check mypy version - run: uv run mypy --version - - - name: Run mypy type check - run: uv run mypy . + - name: Run mypy + run: uv run --frozen mypy . pytest: + name: PyTest needs: setup runs-on: ubuntu-latest steps: - name: Checkout code uses: actions/checkout@v4 - - name: Restore virtual environment cache - uses: actions/cache@v4 + - name: Install uv + restore cache + uses: astral-sh/setup-uv@v6 with: - path: .venv - key: ${{ runner.os }}-venv-${{ hashFiles('**/poetry.lock') }} - - - name: Set path - run: echo ${{ github.workspace }}/.venv/bin >> $GITHUB_PATH + enable-cache: true - - name: Run pytest - run: pytest tests/ + - name: Run tests + run: uv run --frozen pytest tests/ publish: runs-on: ubuntu-latest From d72d84c8c0ddfbe54728aa189c2e85dc2b44aa1b Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 15:54:58 +0900 Subject: [PATCH 243/249] =?UTF-8?q?feat:=20CI=E3=81=AE=E3=82=BB=E3=83=83?= =?UTF-8?q?=E3=83=88=E3=82=A2=E3=83=83=E3=83=97=E5=90=8D=E3=81=8B=E3=82=89?= =?UTF-8?q?=E7=B5=B5=E6=96=87=E5=AD=97=E3=82=92=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/ci.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 06c53ee..787cd22 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -12,7 +12,7 @@ on: jobs: setup: - name: Setup ✅ + name: Setup runs-on: ubuntu-latest outputs: cache-hit: ${{ steps.setup_uv.outputs.cache-hit }} From 75a142bd390809da78523719c32290c992df5534 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 16:00:49 +0900 Subject: [PATCH 244/249] =?UTF-8?q?feat:=20CI=E3=82=B8=E3=83=A7=E3=83=96?= =?UTF-8?q?=E5=90=8D=E3=82=92=E5=B0=8F=E6=96=87=E5=AD=97=E3=81=AB=E7=B5=B1?= =?UTF-8?q?=E4=B8=80=E3=81=97=E3=80=81pytest=E3=81=AE=E8=A8=AD=E5=AE=9A?= =?UTF-8?q?=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/ci.yaml | 8 ++++---- pyproject.toml | 4 ++++ 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 787cd22..9a39d65 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -33,7 +33,7 @@ jobs: run: uv cache prune --ci ruff-format: - name: Ruff format check + name: ruff-format needs: setup runs-on: ubuntu-latest steps: @@ -49,7 +49,7 @@ jobs: run: uv run ruff format --check . ruff-lint: - name: Ruff lint check + name: ruff-lint needs: setup runs-on: ubuntu-latest steps: @@ -65,7 +65,7 @@ jobs: run: uv run ruff check --output-format=github . mypy-type-check: - name: MyPy type check + name: mypy-type-check needs: setup runs-on: ubuntu-latest steps: @@ -81,7 +81,7 @@ jobs: run: uv run --frozen mypy . pytest: - name: PyTest + name: pytest needs: setup runs-on: ubuntu-latest steps: diff --git a/pyproject.toml b/pyproject.toml index 40a3160..0754df2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -135,5 +135,9 @@ check_untyped_defs = true warn_redundant_casts = true exclude = ["docs"] +[tool.pytest.ini_options] +pythonpath = ["src"] +testpaths = ["tests"] + [tool.uv.sources] rcrscore = { git = "https://github.com/adf-python/rcrs-core-python" , tag = "v0.2.0" } From 61f25e3879452c5b51e46aaebdb51f3148b1e218 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 16:11:09 +0900 Subject: [PATCH 245/249] =?UTF-8?q?feat:=20pytest=E3=82=B8=E3=83=A7?= =?UTF-8?q?=E3=83=96=E3=82=92CI=E3=81=8B=E3=82=89=E5=89=8A=E9=99=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/ci.yaml | 16 ---------------- 1 file changed, 16 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 9a39d65..958de34 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -80,22 +80,6 @@ jobs: - name: Run mypy run: uv run --frozen mypy . - pytest: - name: pytest - needs: setup - runs-on: ubuntu-latest - steps: - - name: Checkout code - uses: actions/checkout@v4 - - - name: Install uv + restore cache - uses: astral-sh/setup-uv@v6 - with: - enable-cache: true - - - name: Run tests - run: uv run --frozen pytest tests/ - publish: runs-on: ubuntu-latest permissions: From b7998ee964cc3b9979ee1efb31c39f0770ff48e3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 16:40:30 +0900 Subject: [PATCH 246/249] =?UTF-8?q?feat:=20precompute=E3=83=87=E3=83=BC?= =?UTF-8?q?=E3=82=BF=E3=82=92=E7=AE=A1=E7=90=86=E3=81=99=E3=82=8B=E3=81=9F?= =?UTF-8?q?=E3=82=81=E3=81=AEPrecomputeData=E3=82=AF=E3=83=A9=E3=82=B9?= =?UTF-8?q?=E3=82=92=E8=BF=BD=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 1 - .../core/agent/precompute/__init__.py | 0 .../core/agent/precompute/precompute_data.py | 75 +++++++++++++++++++ 3 files changed, 75 insertions(+), 1 deletion(-) create mode 100644 src/adf_core_python/core/agent/precompute/__init__.py create mode 100644 src/adf_core_python/core/agent/precompute/precompute_data.py diff --git a/.gitignore b/.gitignore index 41060c9..ab0dc67 100644 --- a/.gitignore +++ b/.gitignore @@ -172,5 +172,4 @@ cython_debug/ # ADF agent.log* -precompute !java/lib/src/main/java/adf_core_python/core/agent/precompute diff --git a/src/adf_core_python/core/agent/precompute/__init__.py b/src/adf_core_python/core/agent/precompute/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/adf_core_python/core/agent/precompute/precompute_data.py b/src/adf_core_python/core/agent/precompute/precompute_data.py new file mode 100644 index 0000000..41b2029 --- /dev/null +++ b/src/adf_core_python/core/agent/precompute/precompute_data.py @@ -0,0 +1,75 @@ +import json +import os + +ENCODE = "utf-8" + + +class PrecomputeData: + def __init__(self, dir_path: str) -> None: + """ + Initialize the PrecomputeData object. + + Parameters + ---------- + dir_path : str + The directory path to save the precompute data. + + Raises + ------ + Exception + """ + self._dir_path = dir_path + + def read_json_data(self, module_name: str) -> dict: + """ + Read the precompute data from the file. + + Returns + ------- + dict + The precompute data. + + Raises + ------ + Exception + """ + + with open(f"{self._dir_path}/{module_name}.json", "r", encoding=ENCODE) as file: + return json.load(file) + + def write_json_data(self, data: dict, module_name: str) -> None: + """ + Write the precompute data to the file. + + Parameters + ---------- + data : dict + The data to write. + + Raises + ------ + Exception + """ + if not os.path.exists(self._dir_path): + os.makedirs(self._dir_path) + + with open(f"{self._dir_path}/{module_name}.json", "w", encoding=ENCODE) as file: + json.dump(data, file, indent=4) + + def remove_precompute_data(self) -> None: + """ + Remove the precompute data file. + """ + if os.path.exists(self._dir_path): + os.remove(self._dir_path) + + def is_available(self) -> bool: + """ + Check if the precompute data is available. + + Returns + ------- + bool + True if the precompute data is available, False otherwise. + """ + return os.path.exists(self._dir_path) From 12aea365cfacadd84367aa26197e45d4b7e57a63 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 16:42:31 +0900 Subject: [PATCH 247/249] =?UTF-8?q?feat:=20PrecomputeData=E3=82=AF?= =?UTF-8?q?=E3=83=A9=E3=82=B9=E3=81=AE=E3=83=A1=E3=82=BD=E3=83=83=E3=83=89?= =?UTF-8?q?=E3=81=AE=E3=82=A4=E3=83=B3=E3=83=87=E3=83=B3=E3=83=88=E3=82=92?= =?UTF-8?q?=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../core/agent/precompute/precompute_data.py | 136 +++++++++--------- 1 file changed, 68 insertions(+), 68 deletions(-) diff --git a/src/adf_core_python/core/agent/precompute/precompute_data.py b/src/adf_core_python/core/agent/precompute/precompute_data.py index 41b2029..3dc3373 100644 --- a/src/adf_core_python/core/agent/precompute/precompute_data.py +++ b/src/adf_core_python/core/agent/precompute/precompute_data.py @@ -5,71 +5,71 @@ class PrecomputeData: - def __init__(self, dir_path: str) -> None: - """ - Initialize the PrecomputeData object. - - Parameters - ---------- - dir_path : str - The directory path to save the precompute data. - - Raises - ------ - Exception - """ - self._dir_path = dir_path - - def read_json_data(self, module_name: str) -> dict: - """ - Read the precompute data from the file. - - Returns - ------- - dict - The precompute data. - - Raises - ------ - Exception - """ - - with open(f"{self._dir_path}/{module_name}.json", "r", encoding=ENCODE) as file: - return json.load(file) - - def write_json_data(self, data: dict, module_name: str) -> None: - """ - Write the precompute data to the file. - - Parameters - ---------- - data : dict - The data to write. - - Raises - ------ - Exception - """ - if not os.path.exists(self._dir_path): - os.makedirs(self._dir_path) - - with open(f"{self._dir_path}/{module_name}.json", "w", encoding=ENCODE) as file: - json.dump(data, file, indent=4) - - def remove_precompute_data(self) -> None: - """ - Remove the precompute data file. - """ - if os.path.exists(self._dir_path): - os.remove(self._dir_path) - - def is_available(self) -> bool: - """ - Check if the precompute data is available. - - Returns - ------- - bool - True if the precompute data is available, False otherwise. - """ - return os.path.exists(self._dir_path) + def __init__(self, dir_path: str) -> None: + """ + Initialize the PrecomputeData object. + + Parameters + ---------- + dir_path : str + The directory path to save the precompute data. + + Raises + ------ + Exception + """ + self._dir_path = dir_path + + def read_json_data(self, module_name: str) -> dict: + """ + Read the precompute data from the file. + + Returns + ------- + dict + The precompute data. + + Raises + ------ + Exception + """ + + with open(f"{self._dir_path}/{module_name}.json", "r", encoding=ENCODE) as file: + return json.load(file) + + def write_json_data(self, data: dict, module_name: str) -> None: + """ + Write the precompute data to the file. + + Parameters + ---------- + data : dict + The data to write. + + Raises + ------ + Exception + """ + if not os.path.exists(self._dir_path): + os.makedirs(self._dir_path) + + with open(f"{self._dir_path}/{module_name}.json", "w", encoding=ENCODE) as file: + json.dump(data, file, indent=4) + + def remove_precompute_data(self) -> None: + """ + Remove the precompute data file. + """ + if os.path.exists(self._dir_path): + os.remove(self._dir_path) + + def is_available(self) -> bool: + """ + Check if the precompute data is available. + + Returns + ------- + bool + True if the precompute data is available, False otherwise. + """ + return os.path.exists(self._dir_path) From 3af518ec307152482efa0de6231797b631e34925 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 16:46:03 +0900 Subject: [PATCH 248/249] =?UTF-8?q?feat:=20=E3=83=90=E3=83=BC=E3=82=B8?= =?UTF-8?q?=E3=83=A7=E3=83=B3=E3=82=920.2.0=E3=81=8B=E3=82=890.2.1?= =?UTF-8?q?=E3=81=AB=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pyproject.toml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/pyproject.toml b/pyproject.toml index 0754df2..b53e1f3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "adf_core_python" -version = "0.2.0" +version = "0.2.1" description = "Agent Development Framework for Python" readme = "README.md" authors = [ From d48cfdd6b8a9720845b7ae846f430e247d92d5c5 Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 4 Aug 2025 17:29:39 +0900 Subject: [PATCH 249/249] =?UTF-8?q?feat:=20adf-core-python=E3=81=AE?= =?UTF-8?q?=E3=83=90=E3=83=BC=E3=82=B8=E3=83=A7=E3=83=B3=E3=82=920.2.0?= =?UTF-8?q?=E3=81=8B=E3=82=890.2.1=E3=81=AB=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- uv.lock | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/uv.lock b/uv.lock index 8d71127..fba9de0 100644 --- a/uv.lock +++ b/uv.lock @@ -16,7 +16,7 @@ wheels = [ [[package]] name = "adf-core-python" -version = "0.2.0" +version = "0.2.1" source = { editable = "." } dependencies = [ { name = "bitarray" },

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zb`&*XU548PI}=Vrw}Z8d`^iX`LEGd_!MF0)mL=*nyzo0q3T{d$I54)bc!GrLrr zjHKl-`Ne3Bpwg@0{y4E-3BbY~;jEwQsAC5>#x5>9i#-5_g$1Jtl2LiMQHS?h@aBI6 z_3|9`ZBtgl0aqmK+3Z*ttZR1n!JiXy?;Hu@d~F=G-x+;3ezc-DiFXB2QXD|?!dR3Od}pAgW6?#4vqi&^5aaru~>n`;8+n+jS>C$?Ue(d$cc)IDGycVQA;^4qjK5ojabfIlz$lLcMKsLcC4kZ=|7Kc^8{B# zWJq>9WbccwU9^AJ$Ifj*bL_&dq{D6r&s_|^!166aqFQ7s^@xV q!_RB+&;R55_y6Ayu<3>h(rjOLd(ZW$vtNN<9>+buFFzJ=^S=S%?KZUl literal 0 HcmV?d00001 diff --git a/docs/source/index.rst b/docs/source/index.rst index 5779f93..725e808 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -12,15 +12,21 @@ adf-core-pythonのドキュメント .. warning:: - パッケージとしてまだ公開していないので、pip でインストールすることはできません。 + パッケージとしてまだ公開していないため、pip でインストールすることはできません。 .. contents:: 目次 :depth: 2 :local: +概要 +---- +adf-core-pythonは、RoboCup Rescue Simulation(RRS)におけるエージェント開発を支援するためのライブラリ及びフレームワークです。 +adf-core-pythonを使用することで、エージェントの開発を効率化し、再利用性を向上させることができます。 + 特徴 ---- +adf-core-pythonには以下のような特徴があります。 - **モジュール単位での開発**: モジュール単位でエージェント開発を行い、モジュールの入れ替えが容易です。 - **モジュールの再利用**: 他のエージェントで使用されているモジュールを再利用することができます。 @@ -28,15 +34,26 @@ adf-core-pythonのドキュメント はじめに -------- +adf-core-pythonを始めるには、インストールに従い、このドキュメントに記載されているチュートリアルやハンズオンを参照してください。 + +.. toctree:: + :maxdepth: 1 + :caption: インストール: -ADF Core Python を始めるには、インストール手順に従い、このドキュメントに記載されている例を参照してください。 + install/environment/environment + install/install/install + +.. toctree:: + :maxdepth: 1 + :caption: クイックスタート: + + quickstart/quickstart .. toctree:: :maxdepth: 1 :caption: チュートリアル: tutorial/environment/environment - tutorial/install/install tutorial/agent/agent tutorial/agent/agent_control tutorial/config/config @@ -46,14 +63,16 @@ ADF Core Python を始めるには、インストール手順に従い、この :maxdepth: 1 :caption: ハンズオン: - hands-on/clustering hands-on/search + hands-on/clustering .. toctree:: :maxdepth: 1 - :caption: クイックスタート: + :caption: APIドキュメント: - quickstart/quickstart + genindex + modindex + search .. automodule:: adf_core_python :members: diff --git a/docs/source/install/environment/environment.md b/docs/source/install/environment/environment.md new file mode 100644 index 0000000..e7b8fcc --- /dev/null +++ b/docs/source/install/environment/environment.md @@ -0,0 +1,50 @@ +# 環境構築 +adf-core-pythonをインストールするには以下の必要条件が必要です。 +既にお使いのPCにインストールされている場合は再度インストールする必要はありません。 + +## 必要条件 + +- Git +- Python 3.12 以上 +- OpenJDK 17 + +各OSでのインストール方法は以下のページをそれぞれ参照してください + +[Windowsでの必要条件のインストール方法](./windows/install.md) + +[MacOSでの必要条件のインストール方法](./mac/install.md) + +[Linuxでの必要条件のインストール方法](./linux/install.md) + +## シミュレーションサーバーのインストール +次にRoboCup Rescue Simulationのシミュレーションサーバーをインストールします。 + +```{note} +WORKING_DIR は任意のディレクトリを作成、指定してください。 +``` + +```bash +mkdir WORKING_DIR +cd WORKING_DIR +git clone https://github.com/roborescue/rcrs-server.git +cd rcrs-server +./gradlew completeBuild +``` + +ビルドした際に以下のようなメッセージが表示されたら成功です。 + +```bash +BUILD SUCCESSFUL in ... +``` + +## シュミレーションサーバーの動作確認 + +```bash +cd WORKING_DIR/rcrs-server/scripts +./start-comprun.sh -m ../maps/test/map -c ../maps/test/config +``` + +![シミュレーションサーバーの起動](../../images/launch_server.png) + +上記のように何個かのウィンドウが表示されたら成功です。 +コマンドラインで `Ctrl + C` (MacOSの場合は `Command + C` ) を押すとシミュレーションサーバーが終了します。 diff --git a/docs/source/install/environment/linux/install.md b/docs/source/install/environment/linux/install.md new file mode 100644 index 0000000..c7369b2 --- /dev/null +++ b/docs/source/install/environment/linux/install.md @@ -0,0 +1,49 @@ +# Linuxでの環境構築 + +## 1. Gitのインストール + +OS標準のパッケージマネージャーを使用してインストールします +- DebianベースのOSの場合(Ubuntuなど) + ```bash + sudo apt install git + ``` +- Red HatベースのOSの場合(Fedoraなど) + ```bash + sudo yum install git + ``` + + ```bash + sudo dnf install git + ``` + +## 2. Pythonのインストール + +OS標準のパッケージマネージャーを使用してインストールします +- DebianベースのOSの場合(Ubuntuなど) + ```bash + sudo apt install python + ``` +- Red HatベースのOSの場合(Fedoraなど) + ```bash + sudo yum install python + ``` + + ```bash + sudo dnf install python + ``` + +## 3. OpenJDKのインストール + +OS標準のパッケージマネージャーを使用してインストールします +- DebianベースのOSの場合(Ubuntuなど) + ```bash + sudo apt install openjdk-17-jdk + ``` +- Red HatベースのOSの場合(Fedoraなど) + ```bash + sudo yum install java-17-openjdk + ``` + + ```bash + sudo dnf install java-17-openjdk-devel + ``` diff --git a/docs/source/install/environment/mac/install.md b/docs/source/install/environment/mac/install.md new file mode 100644 index 0000000..2b58966 --- /dev/null +++ b/docs/source/install/environment/mac/install.md @@ -0,0 +1,21 @@ +# Macでの環境構築 + +## 1. Gitのインストール + +1. Terminalを起動します。 +2. XcodeのCommand Line Toolsをインストールします。 + ```bash + xcode-select --install + ``` + +## 2. Pythonのインストール + +1. [Python](https://www.python.org/downloads/)の公式サイトにアクセスします。 +2. ダウンロードページから最新のバージョンをダウンロードします。 +3. ダウンロードしたファイルを開き、インストールを開始します。 + +## 3. OpenJDKのインストール + +1. [OpenJDK](https://jdk.java.net/archive/)の公式サイトにアクセスします。 +2. ダウンロードページから17.0.2のバージョンをダウンロードします。 +3. ダウンロードしたファイルを開き、インストールを開始します。 diff --git a/docs/source/tutorial/environment/windows/install.md b/docs/source/install/environment/windows/install.md similarity index 100% rename from docs/source/tutorial/environment/windows/install.md rename to docs/source/install/environment/windows/install.md diff --git a/docs/source/tutorial/install/install.md b/docs/source/install/install/install.md similarity index 100% rename from docs/source/tutorial/install/install.md rename to docs/source/install/install/install.md diff --git a/docs/source/tutorial/agent/agent.md b/docs/source/tutorial/agent/agent.md index 1beb851..f358b42 100644 --- a/docs/source/tutorial/agent/agent.md +++ b/docs/source/tutorial/agent/agent.md @@ -56,7 +56,7 @@ python main.py ``` エージェントが正常に起動すると、シミュレーションサーバーに接続され、エージェントがシミュレーションに参加し、エージェントが動き出します。 -途中で止めたい場合は、それぞれのコマンドラインで `Ctrl + C` を押してください。 +途中で止めたい場合は、それぞれのコマンドラインで `Ctrl + C` (MacOSの場合は `Command + C` ) を押してください。 ```{warning} シミュレーションサーバーを停止させたあとは、プロセスが残ってしまう場合があるので`./kill.sh` を実行してください。 diff --git a/docs/source/tutorial/environment/environment.md b/docs/source/tutorial/environment/environment.md index 5f8a394..d991e30 100644 --- a/docs/source/tutorial/environment/environment.md +++ b/docs/source/tutorial/environment/environment.md @@ -1,38 +1,12 @@ # 環境構築 - -## 必要なもの - -- Git -- Python 3.12 以上 -- OpenJDK 17 - -[Windowsでの必要なもののインストール方法](./windows/install.md) - -## シミュレーションサーバーのインストール - -```{note} -WORKING_DIR は任意のディレクトリを指定してください。 -``` - -```bash -cd WORKING_DIR -git clone https://github.com/roborescue/rcrs-server.git -cd rcrs-server -./gradlew completeBuild -``` - -ビルドした際に以下のようなメッセージが表示されたら成功です。 - -```bash -BUILD SUCCESSFUL in ... -``` +今回はチュートリアル用のシナリオを使用してチュートリアルを行います。 ## チュートリアルで使用するマップのダウンロード {download}`マップのダウンロード <./../../download/tutorial_map.zip>` をクリックしてダウンロードしてください。 -ダウンロードしたファイルを解凍し、中のファイルを `WORKING_DIR/rcrs-server/maps/` の中に移動させてください。 +ダウンロードしたファイルを解凍し、中のファイルを `rcrs-server/maps/` の中に移動させてください。 ## シュミレーションサーバーの動作確認 @@ -42,4 +16,4 @@ cd WORKING_DIR/rcrs-server/scripts ``` 何個かのウィンドウが表示されたら成功です。 -コマンドラインで `Ctrl + C` を押すとシミュレーションサーバーが終了します。 +コマンドラインで `Ctrl + C` (MacOSの場合は `Command + C` ) を押すとシミュレーションサーバーが終了します。 From 8484ab9f9d97f414bb2cbc8a12ca8ed561ec2d4d Mon Sep 17 00:00:00 2001 From: harrki Date: Fri, 29 Nov 2024 21:33:19 +0900 Subject: [PATCH 173/249] fix: Fix incorrect words --- docs/source/install/environment/environment.md | 2 +- docs/source/tutorial/environment/environment.md | 2 +- docs/source/tutorial/module/module.md | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/source/install/environment/environment.md b/docs/source/install/environment/environment.md index e7b8fcc..7009f3f 100644 --- a/docs/source/install/environment/environment.md +++ b/docs/source/install/environment/environment.md @@ -37,7 +37,7 @@ cd rcrs-server BUILD SUCCESSFUL in ... ``` -## シュミレーションサーバーの動作確認 +## シミュレーションサーバーの動作確認 ```bash cd WORKING_DIR/rcrs-server/scripts diff --git a/docs/source/tutorial/environment/environment.md b/docs/source/tutorial/environment/environment.md index d991e30..bacef41 100644 --- a/docs/source/tutorial/environment/environment.md +++ b/docs/source/tutorial/environment/environment.md @@ -8,7 +8,7 @@ ダウンロードしたファイルを解凍し、中のファイルを `rcrs-server/maps/` の中に移動させてください。 -## シュミレーションサーバーの動作確認 +## シミュレーションサーバーの動作確認 ```bash cd WORKING_DIR/rcrs-server/scripts diff --git a/docs/source/tutorial/module/module.md b/docs/source/tutorial/module/module.md index ce8c9de..3410120 100644 --- a/docs/source/tutorial/module/module.md +++ b/docs/source/tutorial/module/module.md @@ -60,7 +60,7 @@ class SampleSearch(Search): ), ) - # モジュールの登録(これをしないと、モジュール内のシュミレーション環境の情報が更新されません) + # モジュールの登録(これをしないと、モジュール内のシミュレーション環境の情報が更新されません) self.register_sub_module(self._clustering) self.register_sub_module(self._path_planning) ``` From 93558d7284bed23b9773a171490bfb74e182d18f Mon Sep 17 00:00:00 2001 From: harrki Date: Fri, 29 Nov 2024 21:49:32 +0900 Subject: [PATCH 174/249] fix: Minor fixes --- docs/source/index.rst | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/docs/source/index.rst b/docs/source/index.rst index 725e808..43361e6 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -15,10 +15,6 @@ adf-core-pythonのドキュメント パッケージとしてまだ公開していないため、pip でインストールすることはできません。 -.. contents:: 目次 - :depth: 2 - :local: - 概要 ---- adf-core-pythonは、RoboCup Rescue Simulation(RRS)におけるエージェント開発を支援するためのライブラリ及びフレームワークです。 @@ -38,20 +34,20 @@ adf-core-pythonを始めるには、インストールに従い、このドキ .. toctree:: :maxdepth: 1 - :caption: インストール: + :caption: インストール install/environment/environment install/install/install .. toctree:: :maxdepth: 1 - :caption: クイックスタート: + :caption: クイックスタート quickstart/quickstart .. toctree:: :maxdepth: 1 - :caption: チュートリアル: + :caption: チュートリアル tutorial/environment/environment tutorial/agent/agent @@ -61,14 +57,14 @@ adf-core-pythonを始めるには、インストールに従い、このドキ .. toctree:: :maxdepth: 1 - :caption: ハンズオン: + :caption: ハンズオン - hands-on/search hands-on/clustering + hands-on/search .. toctree:: :maxdepth: 1 - :caption: APIドキュメント: + :caption: APIドキュメント genindex modindex From aef5243391226938b165ee09cce7f7ebb09e629d Mon Sep 17 00:00:00 2001 From: harrki Date: Sat, 30 Nov 2024 01:03:02 +0900 Subject: [PATCH 175/249] fix: Add some sentences for docs --- docs/source/index.rst | 8 -------- docs/source/install/environment/environment.md | 2 +- docs/source/tutorial/agent/agent.md | 10 +++++++--- 3 files changed, 8 insertions(+), 12 deletions(-) diff --git a/docs/source/index.rst b/docs/source/index.rst index 43361e6..ced7ae6 100644 --- a/docs/source/index.rst +++ b/docs/source/index.rst @@ -74,11 +74,3 @@ adf-core-pythonを始めるには、インストールに従い、このドキ :members: :undoc-members: :show-inheritance: - - -パッケージの詳細 ---------------------- - -* :ref:`genindex` -* :ref:`modindex` -* :ref:`search` diff --git a/docs/source/install/environment/environment.md b/docs/source/install/environment/environment.md index 7009f3f..1818228 100644 --- a/docs/source/install/environment/environment.md +++ b/docs/source/install/environment/environment.md @@ -40,7 +40,7 @@ BUILD SUCCESSFUL in ... ## シミュレーションサーバーの動作確認 ```bash -cd WORKING_DIR/rcrs-server/scripts +cd scripts ./start-comprun.sh -m ../maps/test/map -c ../maps/test/config ``` diff --git a/docs/source/tutorial/agent/agent.md b/docs/source/tutorial/agent/agent.md index f358b42..853858a 100644 --- a/docs/source/tutorial/agent/agent.md +++ b/docs/source/tutorial/agent/agent.md @@ -41,16 +41,20 @@ Creating a new agent team with name: my-agent ## シミュレーションを実行する -シミュレーションサーバーを以下のコマンドで起動します： +ターミナルを2つ起動します。 + +片方のターミナルを開き、シミュレーションサーバーを以下のコマンドで起動します： ```bash +# Terminal A cd WORKING_DIR/rcrs-server/scripts -./start-comprun.sh -m ../maps/test/map -c ../maps/test/config +./start-comprun.sh -m ../maps/tutorial_fire_brigade_only/map -c ../maps/tutorial_fire_brigade_only/config ``` -その後、エージェントを起動します： +その後、別のターミナルを開き、エージェントを起動します： ```bash +# Terminal B cd WORKING_DIR/my-agent python main.py ``` From 0b917706699b8ad1e86f381a1ff5b72922f7e3bd Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 30 Nov 2024 01:23:28 +0900 Subject: [PATCH 176/249] fix: Update documentation for clustering and search modules, including terminal commands and agent team name references --- docs/source/download/cluster_plot.zip | Bin 0 -> 11999 bytes docs/source/hands-on/clustering.md | 57 +++++++++++++++++- docs/source/hands-on/search.md | 38 ++++++++---- docs/source/images/cluster.png | Bin 0 -> 64512 bytes .../source/install/environment/environment.md | 6 ++ docs/source/tutorial/agent/agent.md | 7 ++- docs/source/tutorial/agent/agent_control.md | 38 +++++++++--- docs/source/tutorial/config/config.md | 2 +- 8 files changed, 126 insertions(+), 22 deletions(-) create mode 100644 docs/source/download/cluster_plot.zip create mode 100644 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zCD{NaQE&emB_oDol(ffDhzf1bxd`)_3a`}9-(H|<|+|Iq&b#_3BJf8!LSiu7{9007d.module.algorithm.k_means_pp_clustering.KMeansPPClustering ``` -シミュレーションサーバーを起動して、エージェントを起動してください。エージェントが起動すると、標準出力にクラスタリング結果が表示されます。 +ターミナルを2つ起動します。 + +片方のターミナルを開き、シミュレーションサーバーを以下のコマンドで起動します： + +```bash +# Terminal A +cd WORKING_DIR/rcrs-server/scripts +./start-comprun.sh -m ../maps/tutorial_ambulance_team_only/map -c ../maps/tutorial_ambulance_team_only/config +``` + +その後、別のターミナルを開き、エージェントを起動します： + +```bash +# Terminal B +cd WORKING_DIR/ +python main.py +``` + +エージェントが起動すると、標準出力にクラスタリング結果が表示されます。 + +```bash +[info ] Clustered entities: [[257, 259, 262, 263, 270, 278, 280, 297, 336, 913, 914, 915, 916, 917, 918, 919, 933, 941, 942, 943, 944, 945, 946, 947, 974, 250, 253], [349, 896, 899, 902, 934, 960, 968, 969, 970, 971, 248, 251], [258, 266, 268, 269, 274, 275, 279, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 932, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 975, 976, 254, 255], [256, 271, 273, 281, 296, 298, 314, 330, 903, 904, 905, 910, 911, 912, 935, 936, 937, 938, 939, 940, 247, 249]] [KMeansPPClustering] +[info ] Agent cluster indices: [([89544, 19925], 1), ([69989, 120063], 0), ([130029, 50380], 2), ([29898, 59056], 3)] [KMeansPPClustering] +``` + +このままだと、クラスタリング結果がわかりにくいので、クラスタリング結果を地図上に表示してみましょう。 + +{download}`クラスターの可視化用スクリプト <./../download/cluster_plot.zip>`をダウンロードして解凍し、`main.py`の以下の部分に + +```python +# クラスタリング結果 +clusters = [] +``` + +出力の`Clustered entities: `の後ろの部分の配列をコピーして貼り付けてください。 + +例 + +```python +# クラスタリング結果 +clusters = [[257, 259, 262, 263, 270, 278, 280, 297, 336, 913, 914, 915, 916, 917, 918, 919, 933, 941, 942, 943, 944, 945, 946, 947, 974, 250, 253], [349, 896, 899, 902, 934, 960, 968, 969, 970, 971, 248, 251], [258, 266, 268, 269, 274, 275, 279, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 932, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 975, 976, 254, 255], [256, 271, 273, 281, 296, 298, 314, 330, 903, 904, 905, 910, 911, 912, 935, 936, 937, 938, 939, 940, 247, 249]] +``` + +貼り付けたら、以下のコマンドを実行してください。 + +```bash +python main.py +``` + +以下のような画像が出力されます。 + +![クラスタリングの画像](./../images/cluster.png) diff --git a/docs/source/hands-on/search.md b/docs/source/hands-on/search.md index 8b6ac94..293ef8b 100644 --- a/docs/source/hands-on/search.md +++ b/docs/source/hands-on/search.md @@ -70,13 +70,13 @@ class KMeansPPSearch(Search): ```yaml DefaultTacticsAmbulanceTeam: - Search: src..module.complex.k_means_pp_search.KMeansPPSearch + Search: src..module.complex.k_means_pp_search.KMeansPPSearch DefaultTacticsFireBrigade: - Search: src..module.complex.k_means_pp_search.KMeansPPSearch + Search: src..module.complex.k_means_pp_search.KMeansPPSearch DefaultTacticsPoliceForce: - Search: src..module.complex.k_means_pp_search.KMeansPPSearch + Search: src..module.complex.k_means_pp_search.KMeansPPSearch ``` ## モジュールの実装 @@ -87,7 +87,7 @@ DefaultTacticsPoliceForce: ```yaml KMeansPPSearch: - Clustering: src..module.algorithm.k_means_pp_clustering.KMeansPPClustering + Clustering: src..module.algorithm.k_means_pp_clustering.KMeansPPClustering ``` 次に、`KMeansPPSearch` モジュールで `KMeansPPClustering` モジュールを呼び出せるようにします。 @@ -146,7 +146,23 @@ class KMeansPPSearch(Search): 以上で、`KMeansPPClustering` モジュールを用いた `KMeansPPSearch` モジュールの実装が完了しました。 -実行すると、各エージェントが担当地域内からランダムに探索対象を選択し、探索を行います。 +ターミナルを2つ起動します。 + +片方のターミナルを開き、シミュレーションサーバーを以下のコマンドで起動します： + +```bash +# Terminal A +cd WORKING_DIR/rcrs-server/scripts +./start-comprun.sh -m ../maps/tutorial_ambulance_team_only/map -c ../maps/tutorial_ambulance_team_only/config +``` + +その後、別のターミナルを開き、エージェントを起動します： + +```bash +# Terminal B +cd WORKING_DIR/ +python main.py +``` ## モジュールの改善 @@ -172,13 +188,13 @@ class KMeansPPSearch(Search): ### 探索対象がステップごとに変わってしまう問題 ```{admonition} 方針のヒント -:class: tip dropdown +:class: hint dropdown 一度選択した探索対象に到達するまで、探索対象を変更しないようにする ``` ```{admonition} プログラム例 -:class: tip dropdown +:class: hint dropdown ````python def calculate(self) -> Search: @@ -212,13 +228,13 @@ class KMeansPPSearch(Search): ### すでに探索したエンティティを再度探索対象として選択してしまう問題 ```{admonition} 方針のヒント -:class: tip dropdown +:class: hint dropdown すでに探索したエンティティを何かしらの方法で記録し、再度探索対象として選択しないようにする ``` ```{admonition} プログラム例 -:class: tip dropdown +:class: hint dropdown ````python def __init__( @@ -287,13 +303,13 @@ class KMeansPPSearch(Search): ### 近くに未探索のエンティティがあるのに、遠くのエンティティを探索対象として選択してしまう ```{admonition} 方針のヒント -:class: tip dropdown +:class: hint dropdown エンティティ間の距離を計算し、もっとも近いエンティティを探索対象として選択する ``` ```{admonition} プログラム例 -:class: tip dropdown +:class: hint dropdown ````python def calculate(self) -> Search: diff --git a/docs/source/images/cluster.png b/docs/source/images/cluster.png new file mode 100644 index 0000000000000000000000000000000000000000..4e0b9fb886e3f98080d8afa11f04e09e66051ba4 GIT binary patch literal 64512 zcmeFYWl$Yq*DZ*K00DxN1PSgC+z)necXtB8-5r8kaF^ijaBvN7A-F?uceiQse)pSO zb8BjQH%EF%+baNKjBvC=%jeMJOm(Tqr1*pKsp)zajah 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zCCw*}fxwHg)vQjzixCguks(O^K6&tMlM7M}%+<0ml}&~5H}1bgDCwTmA2Hp5g8g&u{_ltubuoCe{!bc$$5b51 zK3fXM;K}K*v~4$T)U6Iu`}1bAXZ+Gt)s!0^l8zD+%AOQ&CjUm_WIFSHhF}+xxN6aD2(6)|I*AXf$qZNC9WFBdL~`Yl9e{#Ki|Zf9D&J5e5oaSGV|^tuZ>_R}WuBOn{nZg8ko^em80 z_aOSFKjx_1%x!tLZT&>H#ZLeL4AOk$+^}W#tSsWBb!*Eg`MkR0)BfDNeu9;lXb`WaDEw(@~ zMI3N(tKBj`SA#?Y=&JN@P%HC%Hx#@9lHhEAu|?q11Yu`^5rg-zcd-Y`u7IBhN{` として参照します。 +``` + 入力後、下記のようなエージェントのテンプレートがカレントディレクトリに作成されます。 ```bash @@ -55,7 +60,7 @@ cd WORKING_DIR/rcrs-server/scripts ```bash # Terminal B -cd WORKING_DIR/my-agent +cd WORKING_DIR/ python main.py ``` diff --git a/docs/source/tutorial/agent/agent_control.md b/docs/source/tutorial/agent/agent_control.md index afc3457..cc4c6f0 100644 --- a/docs/source/tutorial/agent/agent_control.md +++ b/docs/source/tutorial/agent/agent_control.md @@ -107,9 +107,20 @@ DefaultTacticsFireBrigade: HumanDetector: src..module.complex.fire_brigade_human_detector.FireBrigadeHumanDetector ``` -シミュレーションサーバーを起動し、エージェントを実行してみましょう。 +ターミナルを2つ起動します。 + +片方のターミナルを開き、シミュレーションサーバーを以下のコマンドで起動します： + +```bash +# Terminal A +cd WORKING_DIR/rcrs-server/scripts +./start-comprun.sh -m ../maps/tutorial_fire_brigade_only/map -c ../maps/tutorial_fire_brigade_only/config +``` + +その後、別のターミナルを開き、エージェントを起動します： ```bash +# Terminal B cd WORKING_DIR/ python main.py ``` @@ -151,13 +162,13 @@ RRS上のエンティティは下図のように `Entity` を継承したクラ - `entity` が市民であるかどうかを判定する ```python -isinstance(entity, Civilian) +is_civilian: bool = isinstance(entity, Civilian) ``` - エンティティIDを取得する ```python -entity.get_id() +entity_id: EntityID = entity.get_id() ``` - 市民が生きているかどうかを判定する @@ -185,19 +196,19 @@ if buriedness is None or buriedness <= 0: - エンティティIDからエンティティを取得する ```python -self._world_info.get_entity(entity_id) +entity: Entity = self._world_info.get_entity(entity_id) ``` - 指定したクラスのエンティティを全て取得する ```python -self._world_info.get_entities_by_type([Building, Road]) +entities: list[Entity] = self._world_info.get_entities_by_type([Building, Road]) ``` - エージェントの位置から指定したエンティティまでの距離を取得する ```python -self._world_info.get_distance(me, civilian.get_id()) +distance: float = self._world_info.get_distance(me, civilian.get_id()) ``` [詳細はこちら](../../adf_core_python.core.agent.info.rst) @@ -211,7 +222,7 @@ self._world_info.get_distance(me, civilian.get_id()) - 自分自身のエンティティIDを取得する ```python -self._agent_info.get_entity_id() +my_entity_id: EntityID = self._agent_info.get_entity_id() ``` [詳細はこちら](../../adf_core_python.core.agent.info.rst) @@ -305,9 +316,20 @@ class SampleHumanDetector(HumanDetector): return self._result ``` -シミュレーションサーバーを起動し、エージェントを実行してみましょう。 +ターミナルを2つ起動します。 + +片方のターミナルを開き、シミュレーションサーバーを以下のコマンドで起動します： + +```bash +# Terminal A +cd WORKING_DIR/rcrs-server/scripts +./start-comprun.sh -m ../maps/tutorial_fire_brigade_only/map -c ../maps/tutorial_fire_brigade_only/config +``` + +その後、別のターミナルを開き、エージェントを起動します： ```bash +# Terminal B cd WORKING_DIR/ python main.py ``` diff --git a/docs/source/tutorial/config/config.md b/docs/source/tutorial/config/config.md index 3257086..5f951c1 100644 --- a/docs/source/tutorial/config/config.md +++ b/docs/source/tutorial/config/config.md @@ -4,7 +4,7 @@ ```bash . -└── +└── └── config ├── development.json ├── launcher.yaml From f32e24ca8b43096706d97a4fe04cc370605e5225 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 30 Nov 2024 09:04:17 +0900 Subject: [PATCH 177/249] fix: Update office agent counts in launcher configuration --- adf_core_python/cli/template/config/launcher.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/adf_core_python/cli/template/config/launcher.yaml b/adf_core_python/cli/template/config/launcher.yaml index 6782672..a47a583 100644 --- a/adf_core_python/cli/template/config/launcher.yaml +++ b/adf_core_python/cli/template/config/launcher.yaml @@ -28,8 +28,8 @@ adf: count: 100 office: ambulance: - count: -1 + count: 5 fire: - count: -1 + count: 5 police: - count: -1 + count: 5 From 7f8a6b42294f6d14e6634374ecd5a96893164281 Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 30 Nov 2024 10:08:59 +0900 Subject: [PATCH 178/249] fix: Improve documentation with additional comments and examples for clustering and search modules --- docs/source/hands-on/clustering.md | 8 ++++- docs/source/hands-on/search.md | 11 +++++- docs/source/tutorial/agent/agent_control.md | 37 +++++++++++++-------- docs/source/tutorial/config/config.md | 9 +++++ docs/source/tutorial/module/module.md | 4 +-- 5 files changed, 52 insertions(+), 17 deletions(-) diff --git a/docs/source/hands-on/clustering.md b/docs/source/hands-on/clustering.md index 62f842d..df3962a 100644 --- a/docs/source/hands-on/clustering.md +++ b/docs/source/hands-on/clustering.md @@ -69,11 +69,13 @@ class KMeansPPClustering(Clustering): super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) + # ロガーの取得 self._logger = get_logger(f"{self.__class__.__name__}") # クラスター数の設定 self._cluster_number: int = 1 match agent_info.get_myself().get_urn(): + # エージェントのクラスに応じてクラスター数を設定 case EntityURN.AMBULANCE_TEAM: self._cluster_number = scenario_info.get_value( ScenarioInfoKeys.SCENARIO_AGENTS_AT, @@ -271,6 +273,7 @@ class KMeansPPClustering(Clustering): np.ndarray エージェントとクラスターの対応付け結果 """ + # エージェントの位置のリストを取得 agent_positions = np.array( [ [agent.get_x(), agent.get_y()] @@ -279,10 +282,12 @@ class KMeansPPClustering(Clustering): ] ) + # エージェントとクラスターの距離行列を計算 agent_positions = agent_positions.reshape(-1, 2) cost_matrix = np.linalg.norm( agent_positions[:, np.newaxis] - cluster_positions, axis=2 ) + # ハンガリアンアルゴリズムによりエージェントとクラスターの対応付けを行う _, col_ind = linear_sum_assignment(cost_matrix) return col_ind ``` @@ -329,7 +334,7 @@ python main.py このままだと、クラスタリング結果がわかりにくいので、クラスタリング結果を地図上に表示してみましょう。 -{download}`クラスターの可視化用スクリプト <./../download/cluster_plot.zip>`をダウンロードして解凍し、`main.py`の以下の部分に +{download}`クラスターの可視化用スクリプト <./../download/cluster_plot.zip>`をダウンロードして解凍し、中の`main.py`の以下の部分に ```python # クラスタリング結果 @@ -348,6 +353,7 @@ clusters = [[257, 259, 262, 263, 270, 278, 280, 297, 336, 913, 914, 915, 916, 91 貼り付けたら、以下のコマンドを実行してください。 ```bash +pip install -r requirements.txt python main.py ``` diff --git a/docs/source/hands-on/search.md b/docs/source/hands-on/search.md index 293ef8b..1668ea8 100644 --- a/docs/source/hands-on/search.md +++ b/docs/source/hands-on/search.md @@ -125,7 +125,9 @@ class KMeansPPSearch(Search): self.register_sub_module(self._clustering) ``` -そして、`calculate` メソッドでクラスタリングモジュールを呼び出し、探索対象を決定します。 +そして、`calculate` メソッドでクラスタリングモジュールを呼び出し、探索対象を決定するように変更します。 + +以下のコードを `k_means_pp_search.py` に追記してください。 ```python def calculate(self) -> Search: @@ -141,6 +143,9 @@ class KMeansPPSearch(Search): if cluster_entity_ids: self._result = random.choice(cluster_entity_ids) + # ログ出力 + self._logger.info(f"Target entity ID: {self._result}") + return self ``` @@ -185,6 +190,10 @@ python main.py ここに上げた問題以外にも、改善すべき点が存在すると思うので、それを改善していただいても構いません。 ``` +```{warning} +プログラム例のプログラムにも一部問題があるので、余裕があったら修正してみてください。 +``` + ### 探索対象がステップごとに変わってしまう問題 ```{admonition} 方針のヒント diff --git a/docs/source/tutorial/agent/agent_control.md b/docs/source/tutorial/agent/agent_control.md index cc4c6f0..089fcdc 100644 --- a/docs/source/tutorial/agent/agent_control.md +++ b/docs/source/tutorial/agent/agent_control.md @@ -235,10 +235,6 @@ my_entity_id: EntityID = self._agent_info.get_entity_id() ```python from typing import Optional -from rcrs_core.worldmodel.entityID import EntityID -from rcrs_core.entities.civilian import Civilian -from rcrs_core.entities.entity import Entity - from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo @@ -246,9 +242,12 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.module.complex.human_detector import HumanDetector from adf_core_python.core.logger.logger import get_agent_logger +from rcrs_core.entities.civilian import Civilian +from rcrs_core.entities.entity import Entity +from rcrs_core.worldmodel.entityID import EntityID -class SampleHumanDetector(HumanDetector): +class FireBrigadeHumanDetector(HumanDetector): def __init__( self, agent_info: AgentInfo, @@ -271,44 +270,56 @@ class SampleHumanDetector(HumanDetector): def calculate(self) -> HumanDetector: """ 行動対象を決定する - + Returns ------- HumanDetector: 自身のインスタンス """ + # 自分自身のEntityIDを取得 me: EntityID = self._agent_info.get_entity_id() + # すべてのCivilianを取得 civilians: list[Entity] = self._world_info.get_entities_of_types( [ Civilian, ] ) - + + # 最も近いCivilianを探す nearest_civilian: Optional[EntityID] = None nearest_distance: Optional[float] = None for civilian in civilians: + # civilianがCivilianクラスのインスタンスでない場合はスキップ if not isinstance(civilian, Civilian): continue - + + # civilianのHPが0以下の場合はすでに死んでしまっているのでスキップ if civilian.get_hp() <= 0: continue - + + # civilianの埋没度が0以下の場合は掘り起こす必要がないのでスキップ if civilian.get_buriedness() <= 0: continue - + + # 自分自身との距離を計算 distance: float = self._world_info.get_distance(me, civilian.get_id()) - + + # 最も近いCivilianを更新 if nearest_distance is None or distance < nearest_distance: nearest_civilian = civilian.get_id() nearest_distance = distance - + + # 計算結果を格納 self._result = nearest_civilian + # ロガーに出力 + self._logger.info(f"Target: {self._result}") + return self def get_target_entity_id(self) -> Optional[EntityID]: """ 行動対象のEntityIDを取得する - + Returns ------- Optional[EntityID]: 行動対象のEntityID diff --git a/docs/source/tutorial/config/config.md b/docs/source/tutorial/config/config.md index 5f951c1..ed55219 100644 --- a/docs/source/tutorial/config/config.md +++ b/docs/source/tutorial/config/config.md @@ -24,6 +24,15 @@ 読み込むモジュールのパスなどが記述されています。 パスを指定する際は、プロジェクトの`main.py`からの相対パスで指定してください。 +```{admonition} 例 +:class: note + +```yaml +DefaultSearch: + PathPlanning: src..module.complex.sample_search.SampleSearch + Clustering: src..module.complex.sample_search.SampleClustering +``` + ### development.json `development.json` は、開発時に使用する設定ファイルです。 diff --git a/docs/source/tutorial/module/module.md b/docs/source/tutorial/module/module.md index 3410120..43f90f2 100644 --- a/docs/source/tutorial/module/module.md +++ b/docs/source/tutorial/module/module.md @@ -8,8 +8,8 @@ ```yaml SampleSearch: - PathPlanning: src.my-agent.module.complex.sample_search.SampleSearch - Clustering: src.my-agent.module.complex.sample_search.SampleClustering + PathPlanning: src..module.complex.sample_search.SampleSearch + Clustering: src..module.complex.sample_search.SampleClustering ``` この場合、`SampleSearch` というモジュールで使用される、`PathPlanning` と `Clustering` というモジュールを指定しています。 From 3571cf613d4a4766a6e4986eef7a28b76406c293 Mon Sep 17 00:00:00 2001 From: harrki Date: Sat, 30 Nov 2024 10:36:36 +0900 Subject: [PATCH 179/249] fix: Add some sentences for installing docs --- .../install/environment/linux/install.md | 82 +++++++++++++------ .../source/install/environment/mac/install.md | 62 +++++++++++--- 2 files changed, 109 insertions(+), 35 deletions(-) diff --git a/docs/source/install/environment/linux/install.md b/docs/source/install/environment/linux/install.md index c7369b2..9996b5a 100644 --- a/docs/source/install/environment/linux/install.md +++ b/docs/source/install/environment/linux/install.md @@ -2,48 +2,82 @@ ## 1. Gitのインストール -OS標準のパッケージマネージャーを使用してインストールします -- DebianベースのOSの場合(Ubuntuなど) +1. Terminalを起動し、以下のコマンドを実行します。 ```bash - sudo apt install git - ``` -- Red HatベースのOSの場合(Fedoraなど) - ```bash - sudo yum install git + git --version ``` +2. もし、`command not found`などのエラーが出た場合、OS標準のパッケージマネージャーを使用してインストールします。 + - DebianベースのOSの場合(Ubuntuなど) + ```bash + sudo apt install git + ``` + - Red HatベースのOSの場合(Fedoraなど) + ```bash + sudo yum install git + ``` + + ```bash + sudo dnf install git + ``` + +3. 以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) ```bash - sudo dnf install git + git --version ``` ## 2. Pythonのインストール -OS標準のパッケージマネージャーを使用してインストールします -- DebianベースのOSの場合(Ubuntuなど) - ```bash - sudo apt install python - ``` -- Red HatベースのOSの場合(Fedoraなど) +1. Terminalを起動し、以下のコマンドを実行します。また、バージョンが3.12以上になっていることを確認します。 ```bash - sudo yum install python + python --version + # OR + python3 --version ``` +2. もし、`command not found`などのエラーが出た場合やバージョンが低い場合、OS標準のパッケージマネージャーを使用してインストールします + - DebianベースのOSの場合(Ubuntuなど) + ```bash + sudo apt install python3.12 python3.12-pip + ``` + - Red HatベースのOSの場合(Fedoraなど) + ```bash + sudo yum install python3.12 python3.12-pip + ``` + + ```bash + sudo dnf install python3.12 python3.12-pip + ``` + +3. 以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) ```bash - sudo dnf install python + python --version + # OR + python3 --version ``` ## 3. OpenJDKのインストール -OS標準のパッケージマネージャーを使用してインストールします -- DebianベースのOSの場合(Ubuntuなど) - ```bash - sudo apt install openjdk-17-jdk - ``` -- Red HatベースのOSの場合(Fedoraなど) +1. Terminalを起動し、以下のコマンドを実行します。また、バージョンが17になっていることを確認します。 ```bash - sudo yum install java-17-openjdk + java --version ``` +2. もし、`command not found`などのエラーが出た場合やバージョンが異なる場合、OS標準のパッケージマネージャーを使用してインストールします + - DebianベースのOSの場合(Ubuntuなど) + ```bash + sudo apt install openjdk-17-jdk + ``` + - Red HatベースのOSの場合(Fedoraなど) + ```bash + sudo yum install java-17-openjdk-devel + ``` + + ```bash + sudo dnf install java-17-openjdk-devel + ``` + +3. 以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) ```bash - sudo dnf install java-17-openjdk-devel + java --version ``` diff --git a/docs/source/install/environment/mac/install.md b/docs/source/install/environment/mac/install.md index 2b58966..179406d 100644 --- a/docs/source/install/environment/mac/install.md +++ b/docs/source/install/environment/mac/install.md @@ -1,21 +1,61 @@ # Macでの環境構築 +## 1. Homebrewのインストール +1. Terminalを起動し、以下のコマンドを実行します。 + ```bash + brew -v + ``` + +2. もし、`command not found`などのエラーが出た場合、以下のコマンドを実行します。 + ```bash + /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" + ``` + +3. もう一度、以下のコマンドを実行してバージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) + ```bash + brew -v + ``` -## 1. Gitのインストール +## 2. Gitのインストール -1. Terminalを起動します。 -2. XcodeのCommand Line Toolsをインストールします。 +1. Terminalを起動し、以下のコマンドを実行します。 + ```bash + git --version + ``` +2. もし、`command not found`などのエラーが出た場合、以下のコマンドを実行します。 + ```bash + brew install git + ``` +3. 以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) ```bash - xcode-select --install + git --version ``` -## 2. Pythonのインストール +## 3. Pythonのインストール -1. [Python](https://www.python.org/downloads/)の公式サイトにアクセスします。 -2. ダウンロードページから最新のバージョンをダウンロードします。 -3. ダウンロードしたファイルを開き、インストールを開始します。 +1. Terminalを起動し、以下のコマンドを実行します。また、バージョンが3.12以上になっていることを確認します。 + ```bash + python --version + ``` +2. もし、`command not found`などのエラーが出た場合やバージョンが低い場合、以下のコマンドを実行します。 + ```bash + brew install python + ``` +3. 以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) + ```bash + python --version + ``` ## 3. OpenJDKのインストール -1. [OpenJDK](https://jdk.java.net/archive/)の公式サイトにアクセスします。 -2. ダウンロードページから17.0.2のバージョンをダウンロードします。 -3. ダウンロードしたファイルを開き、インストールを開始します。 +1. Terminalを起動し、以下のコマンドを実行します。また、バージョンが17になっていることを確認します。 + ```bash + java --version + ``` +2. もし、`command not found`などのエラーが出た場合やバージョンが異なる場合、以下のコマンドを実行します。 + ```bash + brew install openjdk@17 + ``` +3. 以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) + ```bash + java --version + ``` From d42042cf69e4cc78363e79cfba46071bcc03533b Mon Sep 17 00:00:00 2001 From: shima004 Date: Sat, 30 Nov 2024 10:37:37 +0900 Subject: [PATCH 180/249] chore: Add logging and improve documentation in search module --- docs/source/hands-on/search.md | 28 +++++++++++++++++++++++++--- 1 file changed, 25 insertions(+), 3 deletions(-) diff --git a/docs/source/hands-on/search.md b/docs/source/hands-on/search.md index 1668ea8..8bd4ba5 100644 --- a/docs/source/hands-on/search.md +++ b/docs/source/hands-on/search.md @@ -51,6 +51,7 @@ class KMeansPPSearch(Search): agent_info, world_info, scenario_info, module_manager, develop_data ) self._result: Optional[EntityID] = None + # ロガーの取得 self._logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", self._agent_info, @@ -108,20 +109,25 @@ class KMeansPPSearch(Search): agent_info, world_info, scenario_info, module_manager, develop_data ) self._result: Optional[EntityID] = None - + + # ロガーの取得 self._logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", self._agent_info, ) - + + # クラスタリングモジュールの読み込み self._clustering: Clustering = cast( Clustering, module_manager.get_module( + # config.yamlに登録したkey "KMeansPPSearch.Clustering", + # 上記のkeyが登録されていなかった場合のデフォルトモジュール "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) + # クラスタリングモジュールの登録 self.register_sub_module(self._clustering) ``` @@ -191,7 +197,7 @@ python main.py ``` ```{warning} -プログラム例のプログラムにも一部問題があるので、余裕があったら修正してみてください。 +プログラム例のプログラムにも一部改善点があるので、余裕があったら修正してみてください。 ``` ### 探索対象がステップごとに変わってしまう問題 @@ -230,6 +236,9 @@ python main.py # 探索対象が未選択の場合 if not self._result and cluster_entity_ids: self._result = random.choice(cluster_entity_ids) + + # ログ出力 + self._logger.info(f"Target entity ID: {self._result}") return self ``` @@ -259,19 +268,24 @@ python main.py ) self._result: Optional[EntityID] = None + # ロガーの取得 self._logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", self._agent_info, ) + # クラスタリングモジュールの読み込み self._clustering: Clustering = cast( Clustering, module_manager.get_module( + # config.yamlに登録したkey "KMeansPPSearch.Clustering", + # 上記のkeyが登録されていなかった場合のデフォルトモジュール "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering", ), ) + # クラスタリングモジュールの要録 self.register_sub_module(self._clustering) # 探索したいエンティティIDのリスト(追加) @@ -305,6 +319,9 @@ python main.py # 探索対象が未選択の場合(変更) if not self._result and self._search_entity_ids: self._result = random.choice(self._search_entity_ids) + + # ログ出力 + self._logger.info(f"Target entity ID: {self._result}") return self ``` @@ -358,4 +375,9 @@ python main.py nearest_entity_id = entity_id nearest_distance = distance self._result = nearest_entity_id + + # ログ出力 + self._logger.info(f"Target entity ID: {self._result}") + + return self ``` From 4bc5737310020643f8afba1aa93699a8214af3b9 Mon Sep 17 00:00:00 2001 From: harrki Date: Sat, 30 Nov 2024 23:51:16 +0900 Subject: [PATCH 181/249] fix: Add environment installing sentences --- .../install/environment/linux/install.md | 77 ++++++++++++++++--- .../install/environment/windows/install.md | 44 ++++++++--- 2 files changed, 102 insertions(+), 19 deletions(-) diff --git a/docs/source/install/environment/linux/install.md b/docs/source/install/environment/linux/install.md index 9996b5a..e431db1 100644 --- a/docs/source/install/environment/linux/install.md +++ b/docs/source/install/environment/linux/install.md @@ -10,6 +10,8 @@ 2. もし、`command not found`などのエラーが出た場合、OS標準のパッケージマネージャーを使用してインストールします。 - DebianベースのOSの場合(Ubuntuなど) ```bash + sudo apt update + sudo apt upgrade -y sudo apt install git ``` - Red HatベースのOSの場合(Fedoraなど) @@ -31,29 +33,82 @@ 1. Terminalを起動し、以下のコマンドを実行します。また、バージョンが3.12以上になっていることを確認します。 ```bash python --version - # OR - python3 --version ``` -2. もし、`command not found`などのエラーが出た場合やバージョンが低い場合、OS標準のパッケージマネージャーを使用してインストールします - - DebianベースのOSの場合(Ubuntuなど) +2. もし、`command not found`などのエラーが出た場合やバージョンが低い場合、Pythonのバージョン管理ツールであるpyenvを使用してインストールします + + ```{warning} + インストール方法の内容が最新ではない場合があるため、[https://github.com/pyenv/pyenv](https://github.com/pyenv/pyenv)を参照してください。 + ``` + + 1. 以下のコマンドを実行します。 ```bash - sudo apt install python3.12 python3.12-pip + curl https://pyenv.run | bash ``` - - Red HatベースのOSの場合(Fedoraなど) + + 2. 次に以下のコマンドを実行して、使用しているShellを確認します。 ```bash - sudo yum install python3.12 python3.12-pip + echo $SHELL + ``` + + 3. 表示されたShellに従ってコマンドを実行してください。 + + `bash`が表示された方は以下のコマンドを実行してください + ```bash + echo 'export PYENV_ROOT="$HOME/.pyenv"' >> ~/.bashrc + echo 'command -v pyenv >/dev/null || export PATH="$PYENV_ROOT/bin:$PATH"' >> ~/.bashrc + echo 'eval "$(pyenv init -)"' >> ~/.bashrc + + echo 'export PYENV_ROOT="$HOME/.pyenv"' >> ~/.profile + echo 'command -v pyenv >/dev/null || export PATH="$PYENV_ROOT/bin:$PATH"' >> ~/.profile + + echo 'export PYENV_ROOT="$HOME/.pyenv"' >> ~/.bash_profile + echo '[[ -d $PYENV_ROOT/bin ]] && export PATH="$PYENV_ROOT/bin:$PATH"' >> ~/.bash_profile + echo 'eval "$(pyenv init -)"' >> ~/.bash_profile ``` + `zsh`が表示された方は以下のコマンドを実行してください ```bash - sudo dnf install python3.12 python3.12-pip + echo 'export PYENV_ROOT="$HOME/.pyenv"' >> ~/.zshrc + echo '[[ -d $PYENV_ROOT/bin ]] && export PATH="$PYENV_ROOT/bin:$PATH"' >> ~/.zshrc + echo 'eval "$(pyenv init -)"' >> ~/.zshrc ``` + `fish`が表示された方は以下のコマンドを実行してください + ```bash + set -Ux PYENV_ROOT $HOME/.pyenv + fish_add_path $PYENV_ROOT/bin + pyenv init - | source + ``` + + 4. 必要パッケージのインストール + - DebianベースのOSの場合(Ubuntuなど) + ```bash + sudo apt update + sudo apt upgrade -y + sudo apt install make libssl-dev build-essential zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev wget llvm libncursesw5-dev xz-utils tk-dev libxml2-dev libxmlsec1-dev libffi-dev liblzma-dev + ``` + - Red HatベースのOSの場合(Fedoraなど) + ```bash + sudo yum install gcc bzip2 bzip2-devel openssl openssl-devel readline readline-devel sqlite-devel tk-devel + ``` + + ```bash + sudo dnf install gcc bzip2 bzip2-devel openssl openssl-devel readline readline-devel sqlite-devel tk-devel + ``` + + 5. python3.12のインストール + ```bash + exec "$SHELL" + pyenv install 3.12 + pyenv global 3.12 + ``` + + + 3. 以下のコマンドを入力し、バージョンが表示されたら成功です。(表示されない方はTerminalを再起動してください) ```bash python --version - # OR - python3 --version ``` ## 3. OpenJDKのインストール @@ -66,6 +121,8 @@ 2. もし、`command not found`などのエラーが出た場合やバージョンが異なる場合、OS標準のパッケージマネージャーを使用してインストールします - DebianベースのOSの場合(Ubuntuなど) ```bash + sudo apt update + sudo apt upgrade -y sudo apt install openjdk-17-jdk ``` - Red HatベースのOSの場合(Fedoraなど) diff --git a/docs/source/install/environment/windows/install.md b/docs/source/install/environment/windows/install.md index ce36a29..f2f8bd0 100644 --- a/docs/source/install/environment/windows/install.md +++ b/docs/source/install/environment/windows/install.md @@ -3,18 +3,44 @@ ## 1. Gitのインストール 1. [Git for Windows](https://gitforwindows.org/)の公式サイトにアクセスします。 -2. ダウンロードページから最新のバージョンをダウンロードします。 -3. ダウンロードしたファイルを開き、インストールを開始します。 +2. トップページの"Download"をクリックします +3. ダウンロードが完了した後、インストーラーを実行します。 +4. 全て"Next"をクリックします。 +5. インストールが完了するまで待ちます。 +6. インストールが完了したら"Finish"をクリックします。 +7. 検索バーに"Git Bash"と入力し、Git Bashを実行します。 +8. 画面が表示されていたらインストール成功です。 ## 2. Pythonのインストール -1. [Python](https://www.python.org/downloads/)の公式サイトにアクセスします。 -2. ダウンロードページから最新のバージョンをダウンロードします。 -3. ダウンロードしたファイルを開き、インストールを開始します。 -4. インストール時に「Add python.exe to PATH」にチェックを入れてください。 +1. [Python](https://www.python.org/)の公式サイトにアクセスします。 +2. トップページの"Download Python ~"をクリックします +3. ダウンロードが完了した後、インストーラーを実行します。 +4. "Add python.exe to PATH"にチェックが入っていることを確認した後、"Install Now"をクリックします。 +5. インストールが完了するまで待ちます。 +6. インストールが完了したら"Close"をクリックします。 +7. Git Bashを開き、`python --version`と入力し、`Python [バージョン]`が表示されたら成功です。(もし表示されない場合はGit Bashを開き直してください) ## 3. OpenJDKのインストール -1. [OpenJDK](https://jdk.java.net/archive/)の公式サイトにアクセスします。 -2. ダウンロードページから17.0.2のバージョンをダウンロードします。 -3. ダウンロードしたファイルを開き、インストールを開始します。 +1. [OpenJDK](https://jdk.java.net/archive/)のダウンロードページにアクセスします。 +2. 17.0.2のWindowsの横にある"zip"をクリックします。 +3. ダウンロードしたzipを展開(解凍)します。 +4. 展開(解凍)すると"jdk-17.0.2"のようなフォルダができるのを確認します。 +5. このフォルダ"jdk-17.0.2"を`C:¥`の直下に移動させます。 +6. Windowsでコマンドプロンプトを管理者として実行します。 +7. 開いたら以下のコマンドを実行します。 + ``` + powershell -command "[System.Environment]::SetEnvironmentVariable(\"JAVA_HOME\", \"c:\jdk-17.0.2\", \"Machine\")" + ``` +8. 次に以下のコマンドを実行します。 + ``` + powershell -command "$oldpath = [System.Environment]::GetEnvironmentVariable(\"Path\", \"Machine\"); $oldpath += \";c:\jdk-17.0.2\bin\"; [System.Environment]::SetEnvironmentVariable(\"Path\", $oldpath, \"Machine\")" + ``` +9. Git Bashを開き、`java -version`と入力します。 + 以下のような文字が表示されたらインストール成功です。 + ``` + openjdk version "17.0.2" 2022-01-18 + OpenJDK Runtime Environment (build 17.0.2+8-86) + OpenJDK 64-Bit Server VM (build 17.0.2+8-86, mixed mode, sharing) + ``` \ No newline at end of file From 7ea87efa14a05441546ac961e61925a8a137b6bb Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 4 Dec 2024 17:14:35 +0900 Subject: [PATCH 182/249] fix: Update connector methods to return a dictionary of threads and events --- adf_core_python/core/agent/agent.py | 13 ++++++++++++- adf_core_python/core/agent/platoon/platoon.py | 10 ++++++++++ .../core/agent/platoon/platoon_ambulance.py | 4 ++++ adf_core_python/core/agent/platoon/platoon_fire.py | 4 ++++ .../core/agent/platoon/platoon_police.py | 4 ++++ .../core/component/module/abstract_module.py | 10 ++++++++++ .../core/component/tactics/tactics_agent.py | 9 +++++++++ adf_core_python/core/launcher/agent_launcher.py | 2 ++ adf_core_python/core/launcher/connect/connector.py | 2 +- .../launcher/connect/connector_ambulance_center.py | 9 +++++---- .../launcher/connect/connector_ambulance_team.py | 9 +++++---- .../core/launcher/connect/connector_fire_brigade.py | 9 +++++---- .../core/launcher/connect/connector_fire_station.py | 9 +++++---- .../core/launcher/connect/connector_police_force.py | 9 +++++---- .../launcher/connect/connector_police_office.py | 9 +++++---- .../module/algorithm/k_means_clustering.py | 7 ++++++- 16 files changed, 92 insertions(+), 27 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index a5bbee6..5ff66de 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -1,5 +1,7 @@ import sys +import time as _time from abc import abstractmethod +from threading import Event from typing import Any, Callable, NoReturn from bitarray import bitarray @@ -91,6 +93,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ) -> None: self.name = name self.connect_request_id = None @@ -102,6 +105,7 @@ def __init__( self.logger = get_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}" ) + self.finish_post_connect_event = finish_post_connect_event self.team_name = team_name self.is_debug = is_debug @@ -293,9 +297,16 @@ def handler_sense(self, msg: Any) -> None: ].intValue, ) ) - + start_marge_time = _time.time() self.world_model.merge(change_set) + end_marge_time = _time.time() + self.logger.debug( + f"Time to merge: {end_marge_time - start_marge_time:.2f} seconds" + ) self.update_step_info(time, change_set, heard_commands) + self.logger.info( + f"Time to update_step_info: {_time.time() - end_marge_time:.2f} seconds" + ) def send_acknowledge(self, request_id: int) -> None: ak_ack = AKAcknowledge() diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 01babaa..a58d672 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,3 +1,6 @@ +import time +from threading import Event + from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.agent import Agent from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -19,6 +22,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ) -> None: super().__init__( is_precompute, @@ -28,6 +32,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) self._tactics_agent = tactics_agent self._team_name = team_name @@ -83,6 +88,10 @@ def post_connect(self) -> None: case Mode.PRECOMPUTED: pass case Mode.NON_PRECOMPUTE: + start_time = time.time() + self._logger.info( + f"Prepare start {self._agent_info.get_entity_id().get_value()}" + ) self._tactics_agent.prepare( self._agent_info, self._world_info, @@ -91,6 +100,7 @@ def post_connect(self) -> None: self.precompute_data, self._develop_data, ) + self._logger.info(f"Prepare time: {time.time() - start_time:.3f} sec") def think(self) -> None: action: Action = self._tactics_agent.think( diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py index ca8e169..8a4d976 100644 --- a/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -1,3 +1,5 @@ +from threading import Event + from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -16,6 +18,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ): super().__init__( tactics_agent, @@ -25,6 +28,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) def precompute(self) -> None: diff --git a/adf_core_python/core/agent/platoon/platoon_fire.py b/adf_core_python/core/agent/platoon/platoon_fire.py index 1935795..01d75ba 100644 --- a/adf_core_python/core/agent/platoon/platoon_fire.py +++ b/adf_core_python/core/agent/platoon/platoon_fire.py @@ -1,3 +1,5 @@ +from threading import Event + from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -16,6 +18,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ): super().__init__( tactics_agent, @@ -25,6 +28,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) def precompute(self) -> None: diff --git a/adf_core_python/core/agent/platoon/platoon_police.py b/adf_core_python/core/agent/platoon/platoon_police.py index 129c663..569159e 100644 --- a/adf_core_python/core/agent/platoon/platoon_police.py +++ b/adf_core_python/core/agent/platoon/platoon_police.py @@ -1,3 +1,5 @@ +from threading import Event + from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -16,6 +18,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ): super().__init__( tactics_agent, @@ -25,6 +28,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) def precompute(self) -> None: diff --git a/adf_core_python/core/component/module/abstract_module.py b/adf_core_python/core/component/module/abstract_module.py index 7660519..8115692 100644 --- a/adf_core_python/core/component/module/abstract_module.py +++ b/adf_core_python/core/component/module/abstract_module.py @@ -1,8 +1,11 @@ from __future__ import annotations +import time from abc import ABC, abstractmethod from typing import TYPE_CHECKING +from adf_core_python.core.logger.logger import get_logger + if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -32,6 +35,9 @@ def __init__( self._count_prepare: int = 0 self._count_update_info: int = 0 self._count_update_info_current_time: int = 0 + self._logger = get_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + ) self._sub_modules: list[AbstractModule] = [] @@ -56,7 +62,11 @@ def resume(self, precompute_data: PrecomputeData) -> AbstractModule: def prepare(self) -> AbstractModule: self._count_prepare += 1 for sub_module in self._sub_modules: + start_time = time.time() sub_module.prepare() + self._logger.info( + f"module {sub_module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + ) return self def update_info(self, message_manager: MessageManager) -> AbstractModule: diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index b513441..d2d27e6 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -1,5 +1,6 @@ from __future__ import annotations +import time from abc import ABC, abstractmethod from typing import TYPE_CHECKING, Any, Optional @@ -130,9 +131,17 @@ def module_resume(self, precompute_data: PrecomputeData) -> None: def module_prepare(self) -> None: for module in self._modules: + start_time = time.time() module.prepare() + self._logger.info( + f"module {module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + ) for action in self._actions: + start_time = time.time() action.prepare() + self._logger.info( + f"action {action.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + ) # for executor in self._command_executor: # executor.prepare() diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index 9b275f6..1a05f97 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -1,5 +1,6 @@ import importlib import threading +import time from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config @@ -68,6 +69,7 @@ def launch(self) -> None: for thread in threads: thread.daemon = True thread.start() + time.sleep(0.5) self.thread_list.extend(threads) for thread in self.thread_list: diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py index 850023a..e517a84 100644 --- a/adf_core_python/core/launcher/connect/connector.py +++ b/adf_core_python/core/launcher/connect/connector.py @@ -16,7 +16,7 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> list[threading.Thread]: + ) -> dict[threading.Thread, threading.Event]: raise NotImplementedError def get_connected_agent_count(self) -> int: diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py index 98e02d8..36e22f6 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -24,12 +24,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> list[threading.Thread]: + ) -> dict[threading.Thread, threading.Event]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_CENTRE_COUNT, 0) if count == 0: - return [] + return {} - threads: list[threading.Thread] = [] + threads: dict[threading.Thread, threading.Event] = {} for _ in range(count): if loader.get_tactics_ambulance_center() is None: @@ -54,6 +54,7 @@ def connect( ) request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() thread = threading.Thread( target=component_launcher.connect, args=( @@ -70,7 +71,7 @@ def connect( ), name=f"AmbulanceCenterAgent-{request_id}", ) - threads.append(thread) + threads[thread] = finish_post_connect_event self.logger.info("Connected ambulance center (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 350d6bd..50c4167 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -24,12 +24,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> list[threading.Thread]: + ) -> dict[threading.Thread, threading.Event]: count: int = config.get_value(ConfigKey.KEY_AMBULANCE_TEAM_COUNT, 0) if count == 0: - return [] + return {} - threads: list[threading.Thread] = [] + threads: dict[threading.Thread, threading.Event] = {} for _ in range(count): if loader.get_tactics_ambulance_team() is None: @@ -54,6 +54,7 @@ def connect( ) request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() thread = threading.Thread( target=component_launcher.connect, args=( @@ -70,7 +71,7 @@ def connect( ), name=f"AmbulanceTeam-{request_id}", ) - threads.append(thread) + threads[thread] = finish_post_connect_event self.logger.info("Connected ambulance team (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 9fc24aa..a416f66 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -24,12 +24,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> list[threading.Thread]: + ) -> dict[threading.Thread, threading.Event]: count: int = config.get_value(ConfigKey.KEY_FIRE_BRIGADE_COUNT, 0) if count == 0: - return [] + return {} - threads: list[threading.Thread] = [] + threads: dict[threading.Thread, threading.Event] = {} for _ in range(count): if loader.get_tactics_fire_brigade() is None: @@ -52,6 +52,7 @@ def connect( ) request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() thread = threading.Thread( target=component_launcher.connect, args=( @@ -68,7 +69,7 @@ def connect( ), name=f"FireBrigadeAgent-{request_id}", ) - threads.append(thread) + threads[thread] = finish_post_connect_event self.logger.info("Connected fire brigade (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index f9f4abc..413eeca 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -24,12 +24,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> list[threading.Thread]: + ) -> dict[threading.Thread, threading.Event]: count: int = config.get_value(ConfigKey.KEY_FIRE_STATION_COUNT, 0) if count == 0: - return [] + return {} - threads: list[threading.Thread] = [] + threads: dict[threading.Thread, threading.Event] = {} for _ in range(count): if loader.get_tactics_fire_station() is None: @@ -52,6 +52,7 @@ def connect( ) request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() thread = threading.Thread( target=component_launcher.connect, args=( @@ -68,7 +69,7 @@ def connect( ), name=f"FireStationAgent-{request_id}", ) - threads.append(thread) + threads[thread] = finish_post_connect_event self.logger.info("Connected fire station (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 2b3a905..1a11a86 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -24,12 +24,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> list[threading.Thread]: + ) -> dict[threading.Thread, threading.Event]: count: int = config.get_value(ConfigKey.KEY_POLICE_FORCE_COUNT, 0) if count == 0: - return [] + return {} - threads: list[threading.Thread] = [] + threads: dict[threading.Thread, threading.Event] = {} for _ in range(count): if loader.get_tactics_police_force() is None: @@ -52,6 +52,7 @@ def connect( ) request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() thread = threading.Thread( target=component_launcher.connect, args=( @@ -68,7 +69,7 @@ def connect( ), name=f"PoliceForceAgent-{request_id}", ) - threads.append(thread) + threads[thread] = finish_post_connect_event self.logger.info("Connected police force (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 01601fc..c039f89 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -24,12 +24,12 @@ def connect( component_launcher: ComponentLauncher, config: Config, loader: AbstractLoader, - ) -> list[threading.Thread]: + ) -> dict[threading.Thread, threading.Event]: count: int = config.get_value(ConfigKey.KEY_POLICE_OFFICE_COUNT, 0) if count == 0: - return [] + return {} - threads: list[threading.Thread] = [] + threads: dict[threading.Thread, threading.Event] = {} for _ in range(count): if loader.get_tactics_police_office() is None: @@ -54,6 +54,7 @@ def connect( ) request_id: int = component_launcher.generate_request_id() + finish_post_connect_event = threading.Event() thread = threading.Thread( target=component_launcher.connect, args=( @@ -70,7 +71,7 @@ def connect( ), name=f"PoliceOfficeAgent-{request_id}", ) - threads.append(thread) + threads[thread] = finish_post_connect_event self.logger.info("Connected police office (count: %d)" % count) return threads diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index b40f7c4..804ae36 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -1,3 +1,5 @@ +import time + import numpy as np from rcrs_core.connection.URN import Entity as EntityURN from rcrs_core.entities.ambulanceCenter import AmbulanceCentre @@ -112,7 +114,7 @@ def prepare(self) -> Clustering: def create_cluster( self, cluster_number: int, entities: list[Entity] ) -> list[list[Entity]]: - kmeans = KMeans(n_clusters=cluster_number, random_state=0) + kmeans = KMeans(n_clusters=cluster_number, random_state=0, init="k-means++") entity_positions: np.ndarray = np.array([]) for entity in entities: location1_x, location1_y = entity.get_location() @@ -120,7 +122,10 @@ def create_cluster( continue entity_positions = np.append(entity_positions, [location1_x, location1_y]) + self._logger.info(f"Entity positions: {len(entity_positions) // 2}") + start_time = time.time() kmeans.fit(entity_positions.reshape(-1, 2)) + self._logger.info(f"KMeans clustering time: {time.time() - start_time:.3f} sec") clusters: list[list[Entity]] = [[] for _ in range(cluster_number)] for entity, label in zip(entities, kmeans.labels_): From 0e7f894870b64202e9d52c2232c0af98574fac78 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 5 Dec 2024 21:51:21 +0900 Subject: [PATCH 183/249] fix: Update logging levels to debug and add finish_post_connect_event parameter in connectors --- adf_core_python/core/agent/agent.py | 12 +++----- adf_core_python/core/agent/office/office.py | 5 ++++ .../core/agent/office/office_ambulance.py | 4 +++ .../core/agent/office/office_fire.py | 4 +++ .../core/agent/office/office_police.py | 4 +++ adf_core_python/core/agent/platoon/platoon.py | 7 ++--- .../core/component/module/abstract_module.py | 9 +++--- .../core/component/tactics/tactics_agent.py | 6 ++-- .../core/launcher/agent_launcher.py | 28 ++++++++++++++----- adf_core_python/core/launcher/config_key.py | 1 + .../launcher/connect/component_launcher.py | 9 +----- .../connect/connector_ambulance_center.py | 1 + .../connect/connector_ambulance_team.py | 1 + .../connect/connector_fire_brigade.py | 1 + .../connect/connector_fire_station.py | 1 + .../connect/connector_police_force.py | 1 + .../connect/connector_police_office.py | 1 + .../module/algorithm/k_means_clustering.py | 3 -- adf_core_python/launcher.py | 2 +- 19 files changed, 61 insertions(+), 39 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 5ff66de..ec0933c 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -152,7 +152,7 @@ def post_connect(self) -> None: self._agent_info, ) - self.logger.info(f"config: {self.config}") + self.logger.debug(f"agent_config: {self.config}") def update_step_info( self, time: int, change_set: ChangeSet, hear: list[Command] @@ -297,15 +297,11 @@ def handler_sense(self, msg: Any) -> None: ].intValue, ) ) - start_marge_time = _time.time() self.world_model.merge(change_set) - end_marge_time = _time.time() - self.logger.debug( - f"Time to merge: {end_marge_time - start_marge_time:.2f} seconds" - ) + start_update_info_time = _time.time() self.update_step_info(time, change_set, heard_commands) - self.logger.info( - f"Time to update_step_info: {_time.time() - end_marge_time:.2f} seconds" + self.logger.debug( + f"{time} step calculation time: {_time.time() - start_update_info_time}" ) def send_acknowledge(self, request_id: int) -> None: diff --git a/adf_core_python/core/agent/office/office.py b/adf_core_python/core/agent/office/office.py index 4c43c4b..0aed6bc 100644 --- a/adf_core_python/core/agent/office/office.py +++ b/adf_core_python/core/agent/office/office.py @@ -1,3 +1,5 @@ +from threading import Event + from adf_core_python.core.agent.agent import Agent from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -18,6 +20,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ) -> None: super().__init__( is_precompute, @@ -27,6 +30,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) self._tactics_center = tactics_center self._team_name = team_name @@ -90,6 +94,7 @@ def post_connect(self) -> None: self.precompute_data, self._develop_data, ) + self.finish_post_connect_event.set() def think(self) -> None: self._tactics_center.think( diff --git a/adf_core_python/core/agent/office/office_ambulance.py b/adf_core_python/core/agent/office/office_ambulance.py index 4076f67..6bec530 100644 --- a/adf_core_python/core/agent/office/office_ambulance.py +++ b/adf_core_python/core/agent/office/office_ambulance.py @@ -1,3 +1,5 @@ +from threading import Event + from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -16,6 +18,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ) -> None: super().__init__( tactics_center, @@ -25,6 +28,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) def precompute(self) -> None: diff --git a/adf_core_python/core/agent/office/office_fire.py b/adf_core_python/core/agent/office/office_fire.py index bcd1946..dcab2bd 100644 --- a/adf_core_python/core/agent/office/office_fire.py +++ b/adf_core_python/core/agent/office/office_fire.py @@ -1,3 +1,5 @@ +from threading import Event + from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -16,6 +18,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ) -> None: super().__init__( tactics_center, @@ -25,6 +28,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) def precompute(self) -> None: diff --git a/adf_core_python/core/agent/office/office_police.py b/adf_core_python/core/agent/office/office_police.py index ccfcbca..b4c9fc4 100644 --- a/adf_core_python/core/agent/office/office_police.py +++ b/adf_core_python/core/agent/office/office_police.py @@ -1,3 +1,5 @@ +from threading import Event + from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -16,6 +18,7 @@ def __init__( data_storage_name: str, module_config: ModuleConfig, develop_data: DevelopData, + finish_post_connect_event: Event, ) -> None: super().__init__( tactics_center, @@ -25,6 +28,7 @@ def __init__( data_storage_name, module_config, develop_data, + finish_post_connect_event, ) def precompute(self) -> None: diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index a58d672..41e1f32 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -88,10 +88,6 @@ def post_connect(self) -> None: case Mode.PRECOMPUTED: pass case Mode.NON_PRECOMPUTE: - start_time = time.time() - self._logger.info( - f"Prepare start {self._agent_info.get_entity_id().get_value()}" - ) self._tactics_agent.prepare( self._agent_info, self._world_info, @@ -100,7 +96,8 @@ def post_connect(self) -> None: self.precompute_data, self._develop_data, ) - self._logger.info(f"Prepare time: {time.time() - start_time:.3f} sec") + + self.finish_post_connect_event.set() def think(self) -> None: action: Action = self._tactics_agent.think( diff --git a/adf_core_python/core/component/module/abstract_module.py b/adf_core_python/core/component/module/abstract_module.py index 8115692..dcba3aa 100644 --- a/adf_core_python/core/component/module/abstract_module.py +++ b/adf_core_python/core/component/module/abstract_module.py @@ -4,7 +4,7 @@ from abc import ABC, abstractmethod from typing import TYPE_CHECKING -from adf_core_python.core.logger.logger import get_logger +from adf_core_python.core.logger.logger import get_agent_logger, get_logger if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager @@ -35,8 +35,9 @@ def __init__( self._count_prepare: int = 0 self._count_update_info: int = 0 self._count_update_info_current_time: int = 0 - self._logger = get_logger( + self._logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, ) self._sub_modules: list[AbstractModule] = [] @@ -64,8 +65,8 @@ def prepare(self) -> AbstractModule: for sub_module in self._sub_modules: start_time = time.time() sub_module.prepare() - self._logger.info( - f"module {sub_module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + self._logger.debug( + f"{self.__class__.__name__}'s sub_module {sub_module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", ) return self diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index d2d27e6..b092517 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -133,14 +133,14 @@ def module_prepare(self) -> None: for module in self._modules: start_time = time.time() module.prepare() - self._logger.info( + self._logger.debug( f"module {module.__class__.__name__} prepare time: {time.time() - start_time:.3f}", ) for action in self._actions: start_time = time.time() action.prepare() - self._logger.info( - f"action {action.__class__.__name__} prepare time: {time.time() - start_time:.3f}", + self._logger.debug( + f"module {action.__class__.__name__} prepare time: {time.time() - start_time:.3f}", ) # for executor in self._command_executor: # executor.prepare() diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index 1a05f97..aebcd24 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -33,7 +33,7 @@ def __init__(self, config: Config): self.config = config self.logger = get_logger(__name__) self.connectors: list[Connector] = [] - self.thread_list: list[threading.Thread] = [] + self.agent_thread_list: list[threading.Thread] = [] def init_connector(self) -> None: loader_name, loader_class_name = self.config.get_value( @@ -64,13 +64,27 @@ def launch(self) -> None: host, port, self.logger ) + connector_thread_list: list[threading.Thread] = [] for connector in self.connectors: threads = connector.connect(component_launcher, self.config, self.loader) - for thread in threads: - thread.daemon = True - thread.start() - time.sleep(0.5) - self.thread_list.extend(threads) + self.agent_thread_list.extend(threads) - for thread in self.thread_list: + def connect(): + for thread, event in threads.items(): + thread.daemon = True + thread.start() + is_not_timeout = event.wait(5) + if not is_not_timeout: + break + + connector_thread = threading.Thread(target=connect) + connector_thread_list.append(connector_thread) + connector_thread.start() + + for thread in connector_thread_list: + thread.join() + + self.logger.info("All agents have been launched") + + for thread in self.agent_thread_list: thread.join() diff --git a/adf_core_python/core/launcher/config_key.py b/adf_core_python/core/launcher/config_key.py index 69d7d35..d32afb2 100644 --- a/adf_core_python/core/launcher/config_key.py +++ b/adf_core_python/core/launcher/config_key.py @@ -22,3 +22,4 @@ class ConfigKey: KEY_AMBULANCE_CENTRE_COUNT: Final[str] = "adf.team.office.ambulance.count" KEY_FIRE_STATION_COUNT: Final[str] = "adf.team.office.fire.count" KEY_POLICE_OFFICE_COUNT: Final[str] = "adf.team.office.police.count" + # adf-core-python diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index d4f6ffd..8e45009 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -17,19 +17,12 @@ def make_connection(self) -> Connection: return Connection(self.host, self.port) def connect(self, agent: Agent, _request_id: int) -> None: - # self.logger.bind(agent_id=agent.get_id()) - self.logger.info( - f"{agent.__class__.__name__} connecting to {self.host}:{self.port} request_id: {_request_id}" + f"{agent.__class__.__name__} trying to connect to {self.host}:{self.port} request_id: {_request_id}" ) connection = self.make_connection() try: connection.connect() - # ソケットが使用しているPORT番号を取得 - if connection.socket is not None: - self.logger.info( - f"Connected to {self.host}:{self.port} on port {connection.socket.getsockname()[1]}" - ) except socket.timeout: self.logger.warning(f"Connection to {self.host}:{self.port} timed out") return diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py index 36e22f6..1dca5af 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -66,6 +66,7 @@ def connect( "test", module_config, develop_data, + finish_post_connect_event, ), request_id, ), diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 50c4167..879f313 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -66,6 +66,7 @@ def connect( "test", module_config, develop_data, + finish_post_connect_event, ), request_id, ), diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index a416f66..ac7ecb3 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -64,6 +64,7 @@ def connect( "test", module_config, develop_data, + finish_post_connect_event, ), request_id, ), diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 413eeca..de8dbc6 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -64,6 +64,7 @@ def connect( "test", module_config, develop_data, + finish_post_connect_event, ), request_id, ), diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 1a11a86..d2f45b1 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -64,6 +64,7 @@ def connect( "test", module_config, develop_data, + finish_post_connect_event, ), request_id, ), diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index c039f89..1c7a7f7 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -66,6 +66,7 @@ def connect( "test", module_config, develop_data, + finish_post_connect_event, ), request_id, ), diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index 804ae36..c18133d 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -122,10 +122,7 @@ def create_cluster( continue entity_positions = np.append(entity_positions, [location1_x, location1_y]) - self._logger.info(f"Entity positions: {len(entity_positions) // 2}") - start_time = time.time() kmeans.fit(entity_positions.reshape(-1, 2)) - self._logger.info(f"KMeans clustering time: {time.time() - start_time:.3f} sec") clusters: list[list[Entity]] = [[] for _ in range(cluster_number)] for entity, label in zip(entities, kmeans.labels_): diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index e523a1f..310ff9d 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -98,7 +98,7 @@ def __init__( if value is not None: self.launcher_config.set_value(key, value) - self.logger.info(f"Config: {self.launcher_config}") + self.logger.debug(f"launcher_config: {self.launcher_config}") def launch(self) -> None: agent_launcher: AgentLauncher = AgentLauncher( From dabb446ce532571cfdccdb82ed080172245afd36 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 5 Dec 2024 21:58:36 +0900 Subject: [PATCH 184/249] fix: Remove unused time imports and add type hint for connect function fix: Remove init parameter from KMeans instantiation in create_cluster method fix: Remove unused import of time in k_means_clustering.py fix: Remove unused time imports and add type hint for connect function --- adf_core_python/core/agent/platoon/platoon.py | 1 - adf_core_python/core/component/module/abstract_module.py | 2 +- adf_core_python/core/launcher/agent_launcher.py | 3 +-- .../implement/module/algorithm/k_means_clustering.py | 4 +--- 4 files changed, 3 insertions(+), 7 deletions(-) diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 41e1f32..36c46a6 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,4 +1,3 @@ -import time from threading import Event from adf_core_python.core.agent.action.action import Action diff --git a/adf_core_python/core/component/module/abstract_module.py b/adf_core_python/core/component/module/abstract_module.py index dcba3aa..4a3f317 100644 --- a/adf_core_python/core/component/module/abstract_module.py +++ b/adf_core_python/core/component/module/abstract_module.py @@ -4,7 +4,7 @@ from abc import ABC, abstractmethod from typing import TYPE_CHECKING -from adf_core_python.core.logger.logger import get_agent_logger, get_logger +from adf_core_python.core.logger.logger import get_agent_logger if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index aebcd24..f9efa15 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -1,6 +1,5 @@ import importlib import threading -import time from adf_core_python.core.component.abstract_loader import AbstractLoader from adf_core_python.core.config.config import Config @@ -69,7 +68,7 @@ def launch(self) -> None: threads = connector.connect(component_launcher, self.config, self.loader) self.agent_thread_list.extend(threads) - def connect(): + def connect() -> None: for thread, event in threads.items(): thread.daemon = True thread.start() diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index c18133d..b40f7c4 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -1,5 +1,3 @@ -import time - import numpy as np from rcrs_core.connection.URN import Entity as EntityURN from rcrs_core.entities.ambulanceCenter import AmbulanceCentre @@ -114,7 +112,7 @@ def prepare(self) -> Clustering: def create_cluster( self, cluster_number: int, entities: list[Entity] ) -> list[list[Entity]]: - kmeans = KMeans(n_clusters=cluster_number, random_state=0, init="k-means++") + kmeans = KMeans(n_clusters=cluster_number, random_state=0) entity_positions: np.ndarray = np.array([]) for entity in entities: location1_x, location1_y = entity.get_location() From 947da282eed3e79d560bab9e3440548dba83d07d Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 6 Dec 2024 00:58:59 +0900 Subject: [PATCH 185/249] fix: Set finish_post_connect_event after successful connection and remove redundant logging --- adf_core_python/core/agent/agent.py | 7 +++++++ adf_core_python/core/agent/office/office.py | 1 - adf_core_python/core/agent/platoon/platoon.py | 2 -- adf_core_python/core/launcher/agent_launcher.py | 4 +--- .../core/launcher/connect/component_launcher.py | 3 --- .../core/launcher/connect/connector_ambulance_center.py | 1 - .../core/launcher/connect/connector_ambulance_team.py | 1 - .../core/launcher/connect/connector_fire_brigade.py | 1 - .../core/launcher/connect/connector_fire_station.py | 1 - .../core/launcher/connect/connector_police_force.py | 1 - .../core/launcher/connect/connector_police_office.py | 1 - 11 files changed, 8 insertions(+), 15 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index ec0933c..55506e1 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -238,6 +238,7 @@ def handle_connect_error(self, msg: Any) -> NoReturn: msg.reason, msg.request_id, ) + self.finish_post_connect_event.set() else: self.logger.error( "Failed to connect agent: %s(request_id: %s)", @@ -264,10 +265,16 @@ def handle_connect_ok(self, msg: Any) -> None: self.config.set_value(key, value) self.send_acknowledge(msg.request_id) self.post_connect() + self.logger.info( + f"Connected to kernel: {self.__class__.__qualname__} (request_id: {msg.request_id})", + request_id=msg.request_id, + ) if self.precompute_flag: print("self.precompute_flag: ", self.precompute_flag) self.precompute() + self.finish_post_connect_event.set() + def handler_sense(self, msg: Any) -> None: _id = EntityID(msg.agent_id) time = msg.time diff --git a/adf_core_python/core/agent/office/office.py b/adf_core_python/core/agent/office/office.py index 0aed6bc..09e97bd 100644 --- a/adf_core_python/core/agent/office/office.py +++ b/adf_core_python/core/agent/office/office.py @@ -94,7 +94,6 @@ def post_connect(self) -> None: self.precompute_data, self._develop_data, ) - self.finish_post_connect_event.set() def think(self) -> None: self._tactics_center.think( diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 36c46a6..c5ff9f8 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -96,8 +96,6 @@ def post_connect(self) -> None: self._develop_data, ) - self.finish_post_connect_event.set() - def think(self) -> None: action: Action = self._tactics_agent.think( self._agent_info, diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index f9efa15..f6f0787 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -72,9 +72,7 @@ def connect() -> None: for thread, event in threads.items(): thread.daemon = True thread.start() - is_not_timeout = event.wait(5) - if not is_not_timeout: - break + event.wait(5) connector_thread = threading.Thread(target=connect) connector_thread_list.append(connector_thread) diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index 8e45009..0f308c1 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -17,9 +17,6 @@ def make_connection(self) -> Connection: return Connection(self.host, self.port) def connect(self, agent: Agent, _request_id: int) -> None: - self.logger.info( - f"{agent.__class__.__name__} trying to connect to {self.host}:{self.port} request_id: {_request_id}" - ) connection = self.make_connection() try: connection.connect() diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py index 1dca5af..33e736e 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -74,5 +74,4 @@ def connect( ) threads[thread] = finish_post_connect_event - self.logger.info("Connected ambulance center (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 879f313..44620e8 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -74,5 +74,4 @@ def connect( ) threads[thread] = finish_post_connect_event - self.logger.info("Connected ambulance team (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index ac7ecb3..2f5ecf5 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -72,5 +72,4 @@ def connect( ) threads[thread] = finish_post_connect_event - self.logger.info("Connected fire brigade (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index de8dbc6..7efec93 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -72,5 +72,4 @@ def connect( ) threads[thread] = finish_post_connect_event - self.logger.info("Connected fire station (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index d2f45b1..bd29160 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -72,5 +72,4 @@ def connect( ) threads[thread] = finish_post_connect_event - self.logger.info("Connected police force (count: %d)" % count) return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 1c7a7f7..69fd76b 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -74,5 +74,4 @@ def connect( ) threads[thread] = finish_post_connect_event - self.logger.info("Connected police office (count: %d)" % count) return threads From 9507800447654e83d61371e59f89139b40f09e97 Mon Sep 17 00:00:00 2001 From: shima004 Date: Fri, 6 Dec 2024 02:13:16 +0900 Subject: [PATCH 186/249] fix: Simplify module loading by removing redundant error handling and introduce custom exceptions for agent and server errors --- .../core/agent/module/module_manager.py | 22 ++++--------------- .../launcher/connect/component_launcher.py | 13 +++++++++-- .../core/launcher/connect/connection.py | 17 +++++++++++--- .../launcher/connect/error/agent_error.py | 2 ++ .../launcher/connect/error/server_error.py | 2 ++ 5 files changed, 33 insertions(+), 23 deletions(-) create mode 100644 adf_core_python/core/launcher/connect/error/agent_error.py create mode 100644 adf_core_python/core/launcher/connect/error/server_error.py diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index 9a6d35d..bb6855e 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -51,10 +51,7 @@ def get_module(self, module_name: str, default_module_name: str) -> AbstractModu ) class_name = default_module_name - try: - module_class: type = self._load_module(class_name) - except (ImportError, AttributeError) as e: - raise RuntimeError(f"Failed to load module {class_name}") from e + module_class: type = self._load_module(class_name) instance = self._modules.get(module_name) if instance is not None: @@ -80,10 +77,7 @@ def get_extend_action( action_name, default_action_name ) - try: - action_class: type = self._load_module(class_name) - except (ImportError, AttributeError) as e: - raise RuntimeError(f"Failed to load action {class_name}") from e + action_class: type = self._load_module(class_name) instance = self._actions.get(action_name) if instance is not None: @@ -109,10 +103,7 @@ def get_channel_subscriber( channel_subscriber_name, default_channel_subscriber_name ) - try: - channel_subscriber_class: type = self._load_module(class_name) - except (ImportError, AttributeError) as e: - raise RuntimeError(f"Failed to load channel subscriber {class_name}") from e + channel_subscriber_class: type = self._load_module(class_name) instance = self._channel_subscribers.get(channel_subscriber_name) if instance is not None: @@ -134,12 +125,7 @@ def get_message_coordinator( message_coordinator_name, default_message_coordinator_name ) - try: - message_coordinator_class: type = self._load_module(class_name) - except (ImportError, AttributeError) as e: - raise RuntimeError( - f"Failed to load message coordinator {class_name}" - ) from e + message_coordinator_class: type = self._load_module(class_name) instance = self._message_coordinators.get(message_coordinator_name) if instance is not None: diff --git a/adf_core_python/core/launcher/connect/component_launcher.py b/adf_core_python/core/launcher/connect/component_launcher.py index 0f308c1..7b60008 100644 --- a/adf_core_python/core/launcher/connect/component_launcher.py +++ b/adf_core_python/core/launcher/connect/component_launcher.py @@ -4,6 +4,8 @@ from adf_core_python.core.agent.agent import Agent from adf_core_python.core.launcher.connect.connection import Connection +from adf_core_python.core.launcher.connect.error.agent_error import AgentError +from adf_core_python.core.launcher.connect.error.server_error import ServerError class ComponentLauncher: @@ -35,11 +37,18 @@ def connect(self, agent: Agent, _request_id: int) -> None: try: connection.parse_message_from_kernel() - except Exception as e: + except AgentError as e: self.logger.exception( - f"Agent threw an exception {e}", + f"Agent error: {e}", exception=str(e), ) + except ServerError as e: + if isinstance(e.__cause__, EOFError): + self.logger.info( + f"Connection closed by server (request_id={_request_id})" + ) + else: + self.logger.exception("Server error", exception=str(e)) def generate_request_id(self) -> int: self.request_id += 1 diff --git a/adf_core_python/core/launcher/connect/connection.py b/adf_core_python/core/launcher/connect/connection.py index 6497231..2935f0d 100644 --- a/adf_core_python/core/launcher/connect/connection.py +++ b/adf_core_python/core/launcher/connect/connection.py @@ -3,6 +3,9 @@ import rcrs_core.connection.rcrs_encoding_utils as rcrs_encoding_utils +from adf_core_python.core.launcher.connect.error.agent_error import AgentError +from adf_core_python.core.launcher.connect.error.server_error import ServerError + class Connection: def __init__(self, host: str, port: int) -> None: @@ -34,12 +37,20 @@ def parse_message_from_kernel(self) -> None: Raises ------ - IOError + ServerError If there is an error reading from the socket + AgentError + If there is an error in the agent calculation """ while True: - msg = rcrs_encoding_utils.read_msg(self.socket) - self.agent_message_received(msg) + try: + msg = rcrs_encoding_utils.read_msg(self.socket) + except Exception as e: + raise ServerError(f"Error reading from socket: {e}") from e + try: + self.agent_message_received(msg) + except Exception as e: + raise AgentError(f"Error agent calculation: {e}") from e def message_received(self, agent_message_received: Callable) -> None: self.agent_message_received = agent_message_received diff --git a/adf_core_python/core/launcher/connect/error/agent_error.py b/adf_core_python/core/launcher/connect/error/agent_error.py new file mode 100644 index 0000000..8725dba --- /dev/null +++ b/adf_core_python/core/launcher/connect/error/agent_error.py @@ -0,0 +1,2 @@ +class AgentError(Exception): + pass diff --git a/adf_core_python/core/launcher/connect/error/server_error.py b/adf_core_python/core/launcher/connect/error/server_error.py new file mode 100644 index 0000000..8c3951c --- /dev/null +++ b/adf_core_python/core/launcher/connect/error/server_error.py @@ -0,0 +1,2 @@ +class ServerError(Exception): + pass From 7a4a475ff146c25f53a07dd3588e36c2bcde034b Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 4 Dec 2024 15:55:19 +0900 Subject: [PATCH 187/249] WIP --- adf_core_python/core/agent/agent.py | 7 +- .../core/agent/precompute/precompute_data.py | 72 ++++++++++++++++++- .../launcher/connect/errors/agent_error.py | 2 + .../launcher/connect/errors/server_error.py | 2 + 4 files changed, 81 insertions(+), 2 deletions(-) create mode 100644 adf_core_python/core/launcher/connect/errors/agent_error.py create mode 100644 adf_core_python/core/launcher/connect/errors/server_error.py diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 55506e1..fbf6c11 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -112,9 +112,14 @@ def __init__( self.is_precompute = is_precompute if is_precompute: - # PrecomputeData.remove_date(data_storage_name) self.mode = Mode.PRECOMPUTATION + try: + precompute_data = PrecomputeData(data_storage_name) + precompute_data.remove_precompute_data() + except Exception as _: + pass + self._module_config = module_config self._develop_data = develop_data self._precompute_data = PrecomputeData(data_storage_name) diff --git a/adf_core_python/core/agent/precompute/precompute_data.py b/adf_core_python/core/agent/precompute/precompute_data.py index ba5840f..a80ce96 100644 --- a/adf_core_python/core/agent/precompute/precompute_data.py +++ b/adf_core_python/core/agent/precompute/precompute_data.py @@ -1,4 +1,74 @@ -# TODO: Implement the PrecomputeData class +import json +import os + +ENCODE = "utf-8" + + class PrecomputeData: def __init__(self, file_path: str) -> None: + """ + Initialize the PrecomputeData object. + + Parameters + ---------- + file_path : str + The path to the precompute data file. + + Raises + ------ + Exception + """ + self._precompute_data = self.read_json_data() self._file_path = file_path + + def read_json_data(self) -> dict: + """ + Read the precompute data from the file. + + Returns + ------- + dict + The precompute data. + + Raises + ------ + Exception + """ + + with open(self._file_path, "r", encoding=ENCODE) as file: + return json.load(file) + + def write_json_data(self, data: dict) -> None: + """ + Write the precompute data to the file. + + Parameters + ---------- + data : dict + The data to write. + + Raises + ------ + Exception + """ + + with open(self._file_path, "w", encoding=ENCODE) as file: + json.dump(data, file, indent=4) + + def remove_precompute_data(self) -> None: + """ + Remove the precompute data file. + """ + if os.path.exists(self._file_path): + os.remove(self._file_path) + + def get_precompute_data(self) -> dict: + """ + Get the precompute data. + + Returns + ------- + dict + The precompute data. + """ + return self._precompute_data diff --git a/adf_core_python/core/launcher/connect/errors/agent_error.py b/adf_core_python/core/launcher/connect/errors/agent_error.py new file mode 100644 index 0000000..8725dba --- /dev/null +++ b/adf_core_python/core/launcher/connect/errors/agent_error.py @@ -0,0 +1,2 @@ +class AgentError(Exception): + pass diff --git a/adf_core_python/core/launcher/connect/errors/server_error.py b/adf_core_python/core/launcher/connect/errors/server_error.py new file mode 100644 index 0000000..8c3951c --- /dev/null +++ b/adf_core_python/core/launcher/connect/errors/server_error.py @@ -0,0 +1,2 @@ +class ServerError(Exception): + pass From c6e13d0d40c9fa1046855e2ecbd50087165032cb Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 11 Dec 2024 16:07:37 +0900 Subject: [PATCH 188/249] fix: Remove unused AgentError and ServerError classes to streamline error handling --- adf_core_python/core/launcher/connect/errors/agent_error.py | 2 -- adf_core_python/core/launcher/connect/errors/server_error.py | 2 -- 2 files changed, 4 deletions(-) delete mode 100644 adf_core_python/core/launcher/connect/errors/agent_error.py delete mode 100644 adf_core_python/core/launcher/connect/errors/server_error.py diff --git a/adf_core_python/core/launcher/connect/errors/agent_error.py b/adf_core_python/core/launcher/connect/errors/agent_error.py deleted file mode 100644 index 8725dba..0000000 --- a/adf_core_python/core/launcher/connect/errors/agent_error.py +++ /dev/null @@ -1,2 +0,0 @@ -class AgentError(Exception): - pass diff --git a/adf_core_python/core/launcher/connect/errors/server_error.py b/adf_core_python/core/launcher/connect/errors/server_error.py deleted file mode 100644 index 8c3951c..0000000 --- a/adf_core_python/core/launcher/connect/errors/server_error.py +++ /dev/null @@ -1,2 +0,0 @@ -class ServerError(Exception): - pass From a0044b4f8c386f483cf44a62e8bb608a23cfc2b3 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 11 Dec 2024 17:24:31 +0900 Subject: [PATCH 189/249] feat: Add precompute configuration and implement precompute method in agent classes --- .../module/complex/sample_road_detector.py | 17 ++++--- adf_core_python/core/agent/agent.py | 14 +++--- adf_core_python/core/agent/office/office.py | 20 +++++++- adf_core_python/core/agent/platoon/platoon.py | 20 +++++++- .../core/agent/precompute/precompute_data.py | 33 ++++++------- .../core/component/tactics/tactics_center.py | 13 ++++++ adf_core_python/core/launcher/config_key.py | 1 + .../connect/connector_ambulance_center.py | 6 ++- .../connect/connector_ambulance_team.py | 6 ++- .../connect/connector_fire_brigade.py | 4 +- .../connect/connector_fire_station.py | 4 +- .../connect/connector_police_force.py | 4 +- .../connect/connector_police_office.py | 4 +- .../action/default_extend_action_clear.py | 20 +++----- .../action/default_extend_action_move.py | 20 +++----- .../action/default_extend_action_rescue.py | 20 +++----- .../action/default_extend_action_transport.py | 20 +++----- .../module/algorithm/k_means_clustering.py | 30 ++++++++++++ .../module/complex/default_road_detector.py | 17 ++++--- .../default_tactics_ambulance_center.py | 28 +++++++---- .../tactics/default_tactics_ambulance_team.py | 46 +++++++++---------- .../tactics/default_tactics_fire_brigade.py | 46 +++++++++---------- .../tactics/default_tactics_fire_station.py | 28 +++++++---- .../tactics/default_tactics_police_force.py | 46 +++++++++---------- .../tactics/default_tactics_police_office.py | 28 +++++++---- config/launcher.yaml | 2 + 26 files changed, 292 insertions(+), 205 deletions(-) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index 3dd95d8..fcb29a9 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -31,15 +31,14 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "SampleRoadDetector.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "SampleRoadDetector.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) self.register_sub_module(self._path_planning) self._result = None diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index fbf6c11..7cfef70 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -115,14 +115,12 @@ def __init__( self.mode = Mode.PRECOMPUTATION try: - precompute_data = PrecomputeData(data_storage_name) - precompute_data.remove_precompute_data() + self._precompute_data = PrecomputeData(data_storage_name) except Exception as _: pass self._module_config = module_config self._develop_data = develop_data - self._precompute_data = PrecomputeData(data_storage_name) self._message_manager: MessageManager = MessageManager() self._communication_module: CommunicationModule = StandardCommunicationModule() @@ -136,11 +134,10 @@ def post_connect(self) -> None: if self.is_precompute: self._mode = Mode.PRECOMPUTATION else: - # if self._precompute_data.is_ready(): - # self._mode = Mode.PRECOMPUTED - # else: - # self._mode = Mode.NON_PRECOMPUTE - self._mode = Mode.NON_PRECOMPUTE + if self._precompute_data.is_available(): + self._mode = Mode.PRECOMPUTED + else: + self._mode = Mode.NON_PRECOMPUTE self.config.set_value(ConfigKey.KEY_DEBUG_FLAG, self.is_debug) self.config.set_value( @@ -157,6 +154,7 @@ def post_connect(self) -> None: self._agent_info, ) + self.logger.info("Agent running in %s mode", self._mode) self.logger.debug(f"agent_config: {self.config}") def update_step_info( diff --git a/adf_core_python/core/agent/office/office.py b/adf_core_python/core/agent/office/office.py index 09e97bd..98911f8 100644 --- a/adf_core_python/core/agent/office/office.py +++ b/adf_core_python/core/agent/office/office.py @@ -82,9 +82,25 @@ def post_connect(self) -> None: match self._scenario_info.get_mode(): case Mode.PRECOMPUTATION: - pass + self._tactics_center.precompute( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) case Mode.PRECOMPUTED: - pass + self._tactics_center.resume( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) case Mode.NON_PRECOMPUTE: self._tactics_center.prepare( self._agent_info, diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index c5ff9f8..8a66099 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -83,9 +83,25 @@ def post_connect(self) -> None: match self._scenario_info.get_mode(): case Mode.PRECOMPUTATION: - pass + self._tactics_agent.precompute( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) case Mode.PRECOMPUTED: - pass + self._tactics_agent.resume( + self._agent_info, + self._world_info, + self._scenario_info, + self._module_manager, + self._precompute_data, + self._message_manager, + self._develop_data, + ) case Mode.NON_PRECOMPUTE: self._tactics_agent.prepare( self._agent_info, diff --git a/adf_core_python/core/agent/precompute/precompute_data.py b/adf_core_python/core/agent/precompute/precompute_data.py index a80ce96..41b2029 100644 --- a/adf_core_python/core/agent/precompute/precompute_data.py +++ b/adf_core_python/core/agent/precompute/precompute_data.py @@ -5,23 +5,22 @@ class PrecomputeData: - def __init__(self, file_path: str) -> None: + def __init__(self, dir_path: str) -> None: """ Initialize the PrecomputeData object. Parameters ---------- - file_path : str - The path to the precompute data file. + dir_path : str + The directory path to save the precompute data. Raises ------ Exception """ - self._precompute_data = self.read_json_data() - self._file_path = file_path + self._dir_path = dir_path - def read_json_data(self) -> dict: + def read_json_data(self, module_name: str) -> dict: """ Read the precompute data from the file. @@ -35,10 +34,10 @@ def read_json_data(self) -> dict: Exception """ - with open(self._file_path, "r", encoding=ENCODE) as file: + with open(f"{self._dir_path}/{module_name}.json", "r", encoding=ENCODE) as file: return json.load(file) - def write_json_data(self, data: dict) -> None: + def write_json_data(self, data: dict, module_name: str) -> None: """ Write the precompute data to the file. @@ -51,24 +50,26 @@ def write_json_data(self, data: dict) -> None: ------ Exception """ + if not os.path.exists(self._dir_path): + os.makedirs(self._dir_path) - with open(self._file_path, "w", encoding=ENCODE) as file: + with open(f"{self._dir_path}/{module_name}.json", "w", encoding=ENCODE) as file: json.dump(data, file, indent=4) def remove_precompute_data(self) -> None: """ Remove the precompute data file. """ - if os.path.exists(self._file_path): - os.remove(self._file_path) + if os.path.exists(self._dir_path): + os.remove(self._dir_path) - def get_precompute_data(self) -> dict: + def is_available(self) -> bool: """ - Get the precompute data. + Check if the precompute data is available. Returns ------- - dict - The precompute data. + bool + True if the precompute data is available, False otherwise. """ - return self._precompute_data + return os.path.exists(self._dir_path) diff --git a/adf_core_python/core/component/tactics/tactics_center.py b/adf_core_python/core/component/tactics/tactics_center.py index ea95edf..2469cc6 100644 --- a/adf_core_python/core/component/tactics/tactics_center.py +++ b/adf_core_python/core/component/tactics/tactics_center.py @@ -46,6 +46,19 @@ def resume( ) -> None: raise NotImplementedError + @abstractmethod + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + raise NotImplementedError + @abstractmethod def prepare( self, diff --git a/adf_core_python/core/launcher/config_key.py b/adf_core_python/core/launcher/config_key.py index d32afb2..591876e 100644 --- a/adf_core_python/core/launcher/config_key.py +++ b/adf_core_python/core/launcher/config_key.py @@ -23,3 +23,4 @@ class ConfigKey: KEY_FIRE_STATION_COUNT: Final[str] = "adf.team.office.fire.count" KEY_POLICE_OFFICE_COUNT: Final[str] = "adf.team.office.police.count" # adf-core-python + KEY_PRECOMPUTE_DATA_DIR: Final[str] = "adf.agent.precompute.dir_name" diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py index 33e736e..132a985 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -53,8 +53,10 @@ def connect( ), ) - request_id: int = component_launcher.generate_request_id() + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/ambulance_center" + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() thread = threading.Thread( target=component_launcher.connect, args=( @@ -63,7 +65,7 @@ def connect( "ambulance_center", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - "test", + precompute_data_dir, module_config, develop_data, finish_post_connect_event, diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 44620e8..d2aa8c0 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -53,8 +53,10 @@ def connect( ), ) - request_id: int = component_launcher.generate_request_id() + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/ambulance_team" + finish_post_connect_event = threading.Event() + request_id: int = component_launcher.generate_request_id() thread = threading.Thread( target=component_launcher.connect, args=( @@ -63,7 +65,7 @@ def connect( "ambulance_team", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - "test", + precompute_data_dir, module_config, develop_data, finish_post_connect_event, diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 2f5ecf5..747f503 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -51,6 +51,8 @@ def connect( ), ) + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_brigade" + request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() thread = threading.Thread( @@ -61,7 +63,7 @@ def connect( "fire_brigade", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - "test", + precompute_data_dir, module_config, develop_data, finish_post_connect_event, diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 7efec93..8f099ee 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -51,6 +51,8 @@ def connect( ), ) + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_station" + request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() thread = threading.Thread( @@ -61,7 +63,7 @@ def connect( "fire_station", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - "test", + precompute_data_dir, module_config, develop_data, finish_post_connect_event, diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index bd29160..e17fe76 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -51,6 +51,8 @@ def connect( ), ) + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_force" + request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() thread = threading.Thread( @@ -61,7 +63,7 @@ def connect( "police_force", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - "test", + precompute_data_dir, module_config, develop_data, finish_post_connect_event, diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 69fd76b..52c3aac 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -53,6 +53,8 @@ def connect( ), ) + precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_office" + request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() thread = threading.Thread( @@ -63,7 +65,7 @@ def connect( "police_office", config.get_value(ConfigKey.KEY_PRECOMPUTE, False), config.get_value(ConfigKey.KEY_DEBUG_FLAG, False), - "test", + precompute_data_dir, module_config, develop_data, finish_post_connect_event, diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index 39aa859..53c2ebc 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -63,19 +63,13 @@ def __init__( self._old_clear_y = 0 self.count = 0 - match self.scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._path_planning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionClear.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - case Mode.PRECOMPUTATION: - pass - case Mode.PRECOMPUTED: - pass + self._path_planning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionClear.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: super().precompute(precompute_data) diff --git a/adf_core_python/implement/action/default_extend_action_move.py b/adf_core_python/implement/action/default_extend_action_move.py index 6614ffd..94f9ade 100644 --- a/adf_core_python/implement/action/default_extend_action_move.py +++ b/adf_core_python/implement/action/default_extend_action_move.py @@ -33,19 +33,13 @@ def __init__( self._target_entity_id: Optional[EntityID] = None self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100) - match self.scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._path_planning: PathPlanning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - case Mode.PRECOMPUTATION: - pass - case Mode.PRECOMPUTED: - pass + self._path_planning: PathPlanning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionMove.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: super().precompute(precompute_data) diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py index 640d088..2291136 100644 --- a/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -42,19 +42,13 @@ def __init__( "adf_core_python.implement.action.DefaultExtendActionRescue.rest", 100 ) - match self.scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._path_planning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionRescue.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - case Mode.PRECOMPUTATION: - pass - case Mode.PRECOMPUTED: - pass + self._path_planning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionRescue.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: super().precompute(precompute_data) diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py index 1ee2fd4..3475192 100644 --- a/adf_core_python/implement/action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -44,19 +44,13 @@ def __init__( self.agent_info, ) - match self.scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._path_planning: PathPlanning = cast( - PathPlanning, - self.module_manager.get_module( - "DefaultExtendActionMove.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) - case Mode.PRECOMPUTATION: - pass - case Mode.PRECOMPUTED: - pass + self._path_planning: PathPlanning = cast( + PathPlanning, + self.module_manager.get_module( + "DefaultExtendActionMove.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) def precompute(self, precompute_data: PrecomputeData) -> ExtendAction: super().precompute(precompute_data) diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index b40f7c4..8598abf 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -17,6 +17,7 @@ from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.algorithm.clustering import Clustering @@ -86,6 +87,35 @@ def __init__( def calculate(self) -> Clustering: return self + def precompute(self, precompute_data: PrecomputeData) -> Clustering: + cluster_entities = self.create_cluster(self._cluster_number, self.entities) + precompute_data.write_json_data( + { + "cluster_entities": [ + [entity.get_id().get_value() for entity in cluster] + for cluster in cluster_entities + ] + }, + self.__class__.__name__, + ) + return self + + def resume(self, precompute_data): + data = precompute_data.read_json_data(self.__class__.__name__) + self.cluster_entities = [ + [ + entity + for entity_id in cluster + if (entity := self._world_info.get_entity(EntityID(entity_id))) + is not None + ] + for cluster in data["cluster_entities"] + ] + self._logger.info( + f"Resume {self.__class__.__name__} with {len(self.cluster_entities)} clusters" + ) + return self + def get_cluster_number(self) -> int: return self._cluster_number diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index 5e598b9..03562a5 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -31,15 +31,14 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._path_planning: PathPlanning = cast( - PathPlanning, - module_manager.get_module( - "DefaultRoadDetector.PathPlanning", - "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", - ), - ) + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultRoadDetector.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) self.register_sub_module(self._path_planning) self._result = None diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index 909f448..65f1f54 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -26,17 +26,27 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._allocator: TargetAllocator = cast( - TargetAllocator, - module_manager.get_module( - "DefaultTacticsAmbulanceCenter.TargetAllocator", - "adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator", - ), - ) + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsAmbulanceCenter.TargetAllocator", + "adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator", + ), + ) self.register_module(self._allocator) + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) + def resume( self, agent_info: AgentInfo, diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 888caf2..c1016d5 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -39,30 +39,28 @@ def initialize( message_manager, develop_data, ) - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._search: Search = cast( - Search, - module_manager.get_module( - "DefaultTacticsAmbulanceTeam.Search", - "adf_core_python.core.component.module.complex.search.Search", - ), - ) - self._human_detector: HumanDetector = cast( - HumanDetector, - module_manager.get_module( - "DefaultTacticsAmbulanceTeam.HumanDetector", - "adf_core_python.core.component.module.complex.human_detector.HumanDetector", - ), - ) - self._action_transport = module_manager.get_extend_action( - "DefaultTacticsAmbulanceTeam.ExtendActionTransport", - "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", - ) - self._action_ext_move = module_manager.get_extend_action( - "DefaultTacticsAmbulanceTeam.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsAmbulanceTeam.Search", + "adf_core_python.core.component.module.complex.search.Search", + ), + ) + self._human_detector: HumanDetector = cast( + HumanDetector, + module_manager.get_module( + "DefaultTacticsAmbulanceTeam.HumanDetector", + "adf_core_python.core.component.module.complex.human_detector.HumanDetector", + ), + ) + self._action_transport = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionTransport", + "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", + ) + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) self.register_module(self._search) self.register_module(self._human_detector) self.register_action(self._action_transport) diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index 4247b48..3b4c8e7 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -40,30 +40,28 @@ def initialize( develop_data, ) - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._search: Search = cast( - Search, - module_manager.get_module( - "DefaultTacticsFireBrigade.Search", - "adf_core_python.core.component.module.complex.search.Search", - ), - ) - self._human_detector: HumanDetector = cast( - HumanDetector, - module_manager.get_module( - "DefaultTacticsFireBrigade.HumanDetector", - "adf_core_python.core.component.module.complex.human_detector.HumanDetector", - ), - ) - self._action_rescue = module_manager.get_extend_action( - "DefaultTacticsFireBrigade.ExtendActionRescue", - "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", - ) - self._action_ext_move = module_manager.get_extend_action( - "DefaultTacticsAmbulanceTeam.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsFireBrigade.Search", + "adf_core_python.core.component.module.complex.search.Search", + ), + ) + self._human_detector: HumanDetector = cast( + HumanDetector, + module_manager.get_module( + "DefaultTacticsFireBrigade.HumanDetector", + "adf_core_python.core.component.module.complex.human_detector.HumanDetector", + ), + ) + self._action_rescue = module_manager.get_extend_action( + "DefaultTacticsFireBrigade.ExtendActionRescue", + "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", + ) + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsAmbulanceTeam.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) self.register_module(self._search) self.register_module(self._human_detector) self.register_action(self._action_rescue) diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py index 63693d7..491e837 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -26,15 +26,13 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._allocator: TargetAllocator = cast( - TargetAllocator, - module_manager.get_module( - "DefaultTacticsFireStation.TargetAllocator", - "adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator", - ), - ) + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsFireStation.TargetAllocator", + "adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator", + ), + ) self.register_module(self._allocator) def resume( @@ -49,6 +47,18 @@ def resume( ) -> None: self.module_resume(precompute_data) + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) + def prepare( self, agent_info: AgentInfo, diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index d605cba..ed8c429 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -43,30 +43,28 @@ def initialize( # scenario_info.get_value("clear.repair.distance", "null") # ) - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._search: Search = cast( - Search, - module_manager.get_module( - "DefaultTacticsPoliceForce.Search", - "adf_core_python.core.component.module.complex.search.Search", - ), - ) - self._road_detector: RoadDetector = cast( - RoadDetector, - module_manager.get_module( - "DefaultTacticsPoliceForce.RoadDetector", - "adf_core_python.core.component.module.complex.road_detector.RoadDetector", - ), - ) - self._action_ext_clear = module_manager.get_extend_action( - "DefaultTacticsPoliceForce.ExtendActionClear", - "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", - ) - self._action_ext_move = module_manager.get_extend_action( - "DefaultTacticsPoliceForce.ExtendActionMove", - "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", - ) + self._search: Search = cast( + Search, + module_manager.get_module( + "DefaultTacticsPoliceForce.Search", + "adf_core_python.core.component.module.complex.search.Search", + ), + ) + self._road_detector: RoadDetector = cast( + RoadDetector, + module_manager.get_module( + "DefaultTacticsPoliceForce.RoadDetector", + "adf_core_python.core.component.module.complex.road_detector.RoadDetector", + ), + ) + self._action_ext_clear = module_manager.get_extend_action( + "DefaultTacticsPoliceForce.ExtendActionClear", + "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", + ) + self._action_ext_move = module_manager.get_extend_action( + "DefaultTacticsPoliceForce.ExtendActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) self.register_module(self._search) self.register_module(self._road_detector) self.register_action(self._action_ext_clear) diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py index f2d54c9..05be972 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -26,15 +26,13 @@ def initialize( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - match scenario_info.get_mode(): - case Mode.NON_PRECOMPUTE: - self._allocator: TargetAllocator = cast( - TargetAllocator, - module_manager.get_module( - "DefaultTacticsPoliceOffice.TargetAllocator", - "adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator", - ), - ) + self._allocator: TargetAllocator = cast( + TargetAllocator, + module_manager.get_module( + "DefaultTacticsPoliceOffice.TargetAllocator", + "adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator", + ), + ) self.register_module(self._allocator) def resume( @@ -49,6 +47,18 @@ def resume( ) -> None: self.module_resume(precompute_data) + def precompute( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + precompute_data: PrecomputeData, + message_manager: MessageManager, + develop_data: DevelopData, + ) -> None: + self.module_precompute(precompute_data) + def prepare( self, agent_info: AgentInfo, diff --git a/config/launcher.yaml b/config/launcher.yaml index 1b6bdfd..7702d17 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -13,6 +13,8 @@ adf: agent: moduleconfig: filename: config/module.yaml + precompute: + dir_name: precompute develop: flag: true From 2df08659bd0a4c78cdb02b5dc974b9c0dd8f6a7d Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 11 Dec 2024 17:26:19 +0900 Subject: [PATCH 190/249] fix: Remove unused Mode import from scenario_info in multiple files --- .../src/team_name/module/complex/sample_road_detector.py | 2 +- adf_core_python/implement/action/default_extend_action_clear.py | 2 +- adf_core_python/implement/action/default_extend_action_move.py | 2 +- .../implement/action/default_extend_action_rescue.py | 1 - .../implement/action/default_extend_action_transport.py | 2 +- .../implement/module/algorithm/k_means_clustering.py | 2 +- .../implement/module/complex/default_road_detector.py | 2 +- .../implement/tactics/default_tactics_ambulance_center.py | 2 +- .../implement/tactics/default_tactics_ambulance_team.py | 2 +- .../implement/tactics/default_tactics_fire_brigade.py | 2 +- .../implement/tactics/default_tactics_fire_station.py | 2 +- .../implement/tactics/default_tactics_police_force.py | 2 +- .../implement/tactics/default_tactics_police_office.py | 2 +- 13 files changed, 12 insertions(+), 13 deletions(-) diff --git a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py index fcb29a9..2f554db 100644 --- a/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py +++ b/adf_core_python/cli/template/src/team_name/module/complex/sample_road_detector.py @@ -9,7 +9,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index 53c2ebc..d23c8d1 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -22,7 +22,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/action/default_extend_action_move.py b/adf_core_python/implement/action/default_extend_action_move.py index 94f9ade..e4936a4 100644 --- a/adf_core_python/implement/action/default_extend_action_move.py +++ b/adf_core_python/implement/action/default_extend_action_move.py @@ -10,7 +10,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/action/default_extend_action_rescue.py b/adf_core_python/implement/action/default_extend_action_rescue.py index 2291136..e76e96a 100644 --- a/adf_core_python/implement/action/default_extend_action_rescue.py +++ b/adf_core_python/implement/action/default_extend_action_rescue.py @@ -13,7 +13,6 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ( - Mode, ScenarioInfo, ScenarioInfoKeys, ) diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py index 3475192..8e6c71a 100644 --- a/adf_core_python/implement/action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -15,7 +15,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index 8598abf..d45a64c 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -100,7 +100,7 @@ def precompute(self, precompute_data: PrecomputeData) -> Clustering: ) return self - def resume(self, precompute_data): + def resume(self, precompute_data: PrecomputeData) -> Clustering: data = precompute_data.read_json_data(self.__class__.__name__) self.cluster_entities = [ [ diff --git a/adf_core_python/implement/module/complex/default_road_detector.py b/adf_core_python/implement/module/complex/default_road_detector.py index 03562a5..035cc61 100644 --- a/adf_core_python/implement/module/complex/default_road_detector.py +++ b/adf_core_python/implement/module/complex/default_road_detector.py @@ -9,7 +9,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index 65f1f54..d1dd248 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -3,7 +3,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index c1016d5..83d0cdf 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -7,7 +7,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index 3b4c8e7..d0f8512 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -7,7 +7,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py index 491e837..6b3dcb2 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -3,7 +3,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index ed8c429..63836a3 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -7,7 +7,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py index 05be972..554fe53 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -3,7 +3,7 @@ from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData From b674043cd397b870985ae7a60d8d7938210d190e Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 12 Dec 2024 13:48:58 +0900 Subject: [PATCH 191/249] fix: Remove precompute method from agent classes and update logging in connection handling --- .gitignore | 1 + adf_core_python/core/agent/agent.py | 13 ++++--------- adf_core_python/core/agent/office/office_fire.py | 3 --- adf_core_python/core/agent/office/office_police.py | 3 --- .../core/agent/platoon/platoon_ambulance.py | 3 --- adf_core_python/core/agent/platoon/platoon_fire.py | 3 --- .../core/agent/platoon/platoon_police.py | 3 --- 7 files changed, 5 insertions(+), 24 deletions(-) diff --git a/.gitignore b/.gitignore index 7e7baef..6119e70 100644 --- a/.gitignore +++ b/.gitignore @@ -172,3 +172,4 @@ cython_debug/ # ADF agent.log* +precompute diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 7cfef70..d371cac 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -154,7 +154,6 @@ def post_connect(self) -> None: self._agent_info, ) - self.logger.info("Agent running in %s mode", self._mode) self.logger.debug(f"agent_config: {self.config}") def update_step_info( @@ -213,10 +212,6 @@ def update_step_info( def think(self) -> None: pass - @abstractmethod - def precompute(self) -> None: - pass - @abstractmethod def get_requested_entities(self) -> list[EntityURN]: pass @@ -269,12 +264,12 @@ def handle_connect_ok(self, msg: Any) -> None: self.send_acknowledge(msg.request_id) self.post_connect() self.logger.info( - f"Connected to kernel: {self.__class__.__qualname__} (request_id: {msg.request_id})", + f"Connected to kernel: {self.__class__.__qualname__} (request_id: {msg.request_id}, agent_id: {self.agent_id}, mode: {self.mode})", request_id=msg.request_id, ) - if self.precompute_flag: - print("self.precompute_flag: ", self.precompute_flag) - self.precompute() + if self.is_precompute: + self.logger.info("Precompute finished") + exit(0) self.finish_post_connect_event.set() diff --git a/adf_core_python/core/agent/office/office_fire.py b/adf_core_python/core/agent/office/office_fire.py index dcab2bd..16b93cd 100644 --- a/adf_core_python/core/agent/office/office_fire.py +++ b/adf_core_python/core/agent/office/office_fire.py @@ -31,8 +31,5 @@ def __init__( finish_post_connect_event, ) - def precompute(self) -> None: - pass - def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.FIRE_STATION] diff --git a/adf_core_python/core/agent/office/office_police.py b/adf_core_python/core/agent/office/office_police.py index b4c9fc4..4b2ca8b 100644 --- a/adf_core_python/core/agent/office/office_police.py +++ b/adf_core_python/core/agent/office/office_police.py @@ -31,8 +31,5 @@ def __init__( finish_post_connect_event, ) - def precompute(self) -> None: - pass - def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.POLICE_OFFICE] diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py index 8a4d976..169d208 100644 --- a/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -31,8 +31,5 @@ def __init__( finish_post_connect_event, ) - def precompute(self) -> None: - pass - def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.AMBULANCE_TEAM] diff --git a/adf_core_python/core/agent/platoon/platoon_fire.py b/adf_core_python/core/agent/platoon/platoon_fire.py index 01d75ba..3071eef 100644 --- a/adf_core_python/core/agent/platoon/platoon_fire.py +++ b/adf_core_python/core/agent/platoon/platoon_fire.py @@ -31,8 +31,5 @@ def __init__( finish_post_connect_event, ) - def precompute(self) -> None: - pass - def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.FIRE_BRIGADE] diff --git a/adf_core_python/core/agent/platoon/platoon_police.py b/adf_core_python/core/agent/platoon/platoon_police.py index 569159e..6df9440 100644 --- a/adf_core_python/core/agent/platoon/platoon_police.py +++ b/adf_core_python/core/agent/platoon/platoon_police.py @@ -31,8 +31,5 @@ def __init__( finish_post_connect_event, ) - def precompute(self) -> None: - pass - def get_requested_entities(self) -> list[EntityURN]: return [EntityURN.POLICE_FORCE] From 93954d7c235b3a24e73a779d6277c114ca7b95e7 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 12 Dec 2024 17:03:35 +0900 Subject: [PATCH 192/249] fix: Update mode attribute to private in Agent class and adjust logging accordingly --- adf_core_python/core/agent/agent.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index d371cac..bdf45c6 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -112,7 +112,7 @@ def __init__( self.is_precompute = is_precompute if is_precompute: - self.mode = Mode.PRECOMPUTATION + self._mode = Mode.PRECOMPUTATION try: self._precompute_data = PrecomputeData(data_storage_name) @@ -264,7 +264,7 @@ def handle_connect_ok(self, msg: Any) -> None: self.send_acknowledge(msg.request_id) self.post_connect() self.logger.info( - f"Connected to kernel: {self.__class__.__qualname__} (request_id: {msg.request_id}, agent_id: {self.agent_id}, mode: {self.mode})", + f"Connected to kernel: {self.__class__.__qualname__} (request_id: {msg.request_id}, agent_id: {self.agent_id}, mode: {self._mode})", request_id=msg.request_id, ) if self.is_precompute: From b689fa202603f1b9e9718713384a646101348ba0 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 12 Dec 2024 17:30:41 +0900 Subject: [PATCH 193/249] fix: Remove unnecessary logging in KMeansClustering and update argument parsing for precompute and debug flags --- .../implement/module/algorithm/k_means_clustering.py | 3 --- adf_core_python/launcher.py | 5 ++--- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/adf_core_python/implement/module/algorithm/k_means_clustering.py b/adf_core_python/implement/module/algorithm/k_means_clustering.py index d45a64c..57228b7 100644 --- a/adf_core_python/implement/module/algorithm/k_means_clustering.py +++ b/adf_core_python/implement/module/algorithm/k_means_clustering.py @@ -111,9 +111,6 @@ def resume(self, precompute_data: PrecomputeData) -> Clustering: ] for cluster in data["cluster_entities"] ] - self._logger.info( - f"Resume {self.__class__.__name__} with {len(self.cluster_entities)} clusters" - ) return self def get_cluster_number(self) -> int: diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index 310ff9d..bd2025d 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -74,11 +74,10 @@ def __init__( ) parser.add_argument( "--precompute", - type=bool, + action="store_true", help="precompute flag", - metavar="", ) - parser.add_argument("--debug", type=bool, help="debug flag", metavar="") + parser.add_argument("--debug", action="store_true", help="debug flag") args = parser.parse_args() config_map = { From ed14af960abb6a10735eb60c79993660c76dbd1a Mon Sep 17 00:00:00 2001 From: harrki Date: Thu, 5 Dec 2024 18:38:40 +0900 Subject: [PATCH 194/249] feat: [WIP] add java modules --- adf_core_python/core/agent/agent.py | 4 +- .../core/agent/module/module_manager.py | 24 +- adf_core_python/core/agent/platoon/platoon.py | 15 +- .../core/agent/platoon/platoon_ambulance.py | 3 + .../core/agent/platoon/platoon_fire.py | 3 + .../core/agent/platoon/platoon_police.py | 3 + .../core/component/gateway/gateway_agent.py | 92 +++++++ .../component/gateway/gateway_launcher.py | 47 ++++ .../core/component/gateway/gateway_module.py | 38 +++ .../component/gateway/message/am_agent.py | 40 +++ .../core/component/gateway/message/am_exec.py | 26 ++ .../component/gateway/message/am_module.py | 36 +++ .../component/gateway/message/am_update.py | 30 +++ .../gateway/message/ma_module_response.py | 26 ++ .../gateway/message/moduleMessageFactory.py | 27 ++ .../core/component/gateway/message/urn/urn.py | 22 ++ .../core/launcher/agent_launcher.py | 27 +- adf_core_python/core/launcher/config_key.py | 3 + .../core/launcher/connect/connector.py | 2 + .../connect/connector_ambulance_center.py | 2 + .../connect/connector_ambulance_team.py | 17 +- .../connect/connector_fire_brigade.py | 19 +- .../connect/connector_fire_station.py | 2 + .../connect/connector_police_force.py | 19 +- .../connect/connector_police_office.py | 2 + .../module/complex/java_human_detector.py | 51 ++++ config/launcher.yaml | 4 + java/.gitattributes | 12 + java/.gitignore | 5 + java/gradle/libs.versions.toml | 12 + java/gradle/wrapper/gradle-wrapper.jar | Bin 0 -> 43583 bytes java/gradle/wrapper/gradle-wrapper.properties | 7 + java/gradlew | 252 ++++++++++++++++++ java/gradlew.bat | 94 +++++++ java/settings.gradle | 14 + 35 files changed, 959 insertions(+), 21 deletions(-) create mode 100644 adf_core_python/core/component/gateway/gateway_agent.py create mode 100644 adf_core_python/core/component/gateway/gateway_launcher.py create mode 100644 adf_core_python/core/component/gateway/gateway_module.py create mode 100644 adf_core_python/core/component/gateway/message/am_agent.py create mode 100644 adf_core_python/core/component/gateway/message/am_exec.py create mode 100644 adf_core_python/core/component/gateway/message/am_module.py create mode 100644 adf_core_python/core/component/gateway/message/am_update.py create mode 100644 adf_core_python/core/component/gateway/message/ma_module_response.py create mode 100644 adf_core_python/core/component/gateway/message/moduleMessageFactory.py create mode 100644 adf_core_python/core/component/gateway/message/urn/urn.py create mode 100644 adf_core_python/implement/module/complex/java_human_detector.py create mode 100644 java/.gitattributes create mode 100644 java/.gitignore create mode 100644 java/gradle/libs.versions.toml create mode 100644 java/gradle/wrapper/gradle-wrapper.jar create mode 100644 java/gradle/wrapper/gradle-wrapper.properties create mode 100755 java/gradlew create mode 100644 java/gradlew.bat create mode 100644 java/settings.gradle diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index bdf45c6..9f581a6 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -196,7 +196,7 @@ def update_step_info( self._message_manager.refresh() self._communication_module.receive(self, self._message_manager) - self.think() + self.think(time, change_set, hear) self.logger.debug( f"send messages: {self._message_manager.get_send_message_list()}", @@ -209,7 +209,7 @@ def update_step_info( self._communication_module.send(self, self._message_manager) @abstractmethod - def think(self) -> None: + def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: pass @abstractmethod diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index bb6855e..bc6ac4c 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -10,6 +10,8 @@ from adf_core_python.core.component.communication.message_coordinator import ( MessageCoordinator, ) +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.component.gateway.gateway_module import GatewayModule from adf_core_python.core.component.module.abstract_module import AbstractModule from adf_core_python.core.logger.logger import get_logger @@ -29,12 +31,14 @@ def __init__( scenario_info: ScenarioInfo, module_config: ModuleConfig, develop_data: DevelopData, + gateway_agent: GatewayAgent, ) -> None: self._agent_info = agent_info self._world_info = world_info self._scenario_info = scenario_info self._module_config = module_config self._develop_data = develop_data + self._gateway_agent = gateway_agent self._modules: dict[str, AbstractModule] = {} self._actions: dict[str, ExtendAction] = {} @@ -43,13 +47,13 @@ def __init__( self._channel_subscribers: dict[str, Any] = {} self._message_coordinators: dict[str, Any] = {} - def get_module(self, module_name: str, default_module_name: str) -> AbstractModule: + def get_module(self, module_name: str, default_class_name: str) -> AbstractModule: class_name = self._module_config.get_value(module_name) if class_name is None: get_logger("ModuleManager").warning( - f"Module key {module_name} not found in config, using default module {default_module_name}" + f"Module key {module_name} not found in config, using default module {default_class_name}" ) - class_name = default_module_name + class_name = default_class_name module_class: type = self._load_module(class_name) @@ -71,10 +75,10 @@ def get_module(self, module_name: str, default_module_name: str) -> AbstractModu raise RuntimeError(f"Module {class_name} is not a subclass of AbstractModule") def get_extend_action( - self, action_name: str, default_action_name: str + self, action_name: str, default_action_class_name: str ) -> ExtendAction: class_name = self._module_config.get_value_or_default( - action_name, default_action_name + action_name, default_action_class_name ) action_class: type = self._load_module(class_name) @@ -140,6 +144,16 @@ def get_message_coordinator( f"Message coordinator {class_name} is not a subclass of MessageCoordinator" ) + def get_java_module( + self, module_name: str, default_class_name: str + ) -> AbstractModule: # type: ignore + # TODO: Implement this method + gateway_module = GatewayModule(self._gateway_agent) + gateway_module.initialize(module_name, default_class_name) + self._gateway_agent.add_gateway_module(gateway_module) + a = gateway_module.get_class_names() + pass + def _load_module(self, class_name: str) -> type: module_name, module_class_name = class_name.rsplit(".", 1) module = importlib.import_module(module_name) diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index 8a66099..b4f08e4 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -7,8 +7,11 @@ from adf_core_python.core.agent.info.scenario_info import Mode from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent from adf_core_python.core.logger.logger import get_agent_logger +from rcrs_core.worldmodel.changeSet import ChangeSet +from rcrs_core.commands.Command import Command class Platoon(Agent): @@ -22,6 +25,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: GatewayAgent, ) -> None: super().__init__( is_precompute, @@ -40,6 +44,7 @@ def __init__( self._data_storage_name = data_storage_name self._module_config = module_config self._develop_data = develop_data + self._gateway_agent = gateway_agent def post_connect(self) -> None: super().post_connect() @@ -56,6 +61,7 @@ def post_connect(self) -> None: self._scenario_info, self._module_config, self._develop_data, + self._gateway_agent, ) self._message_manager.set_channel_subscriber( @@ -112,7 +118,14 @@ def post_connect(self) -> None: self._develop_data, ) - def think(self) -> None: + self._gateway_agent.set_initialize_data(self._agent_info, self._world_info) + self._gateway_agent.initialize() + + def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: + self._gateway_agent.set_update_data(time, change_set, hear) + # if self._gateway_agent.get_module_count() > 0: + self._gateway_agent.update() + action: Action = self._tactics_agent.think( self._agent_info, self._world_info, diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py index 169d208..d1da73f 100644 --- a/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -5,6 +5,7 @@ from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon import Platoon +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent @@ -19,6 +20,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: GatewayAgent, ): super().__init__( tactics_agent, @@ -29,6 +31,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) def get_requested_entities(self) -> list[EntityURN]: diff --git a/adf_core_python/core/agent/platoon/platoon_fire.py b/adf_core_python/core/agent/platoon/platoon_fire.py index 3071eef..f7b6d2e 100644 --- a/adf_core_python/core/agent/platoon/platoon_fire.py +++ b/adf_core_python/core/agent/platoon/platoon_fire.py @@ -5,6 +5,7 @@ from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon import Platoon +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent @@ -19,6 +20,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: GatewayAgent, ): super().__init__( tactics_agent, @@ -29,6 +31,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) def get_requested_entities(self) -> list[EntityURN]: diff --git a/adf_core_python/core/agent/platoon/platoon_police.py b/adf_core_python/core/agent/platoon/platoon_police.py index 6df9440..4f1a9fc 100644 --- a/adf_core_python/core/agent/platoon/platoon_police.py +++ b/adf_core_python/core/agent/platoon/platoon_police.py @@ -5,6 +5,7 @@ from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon import Platoon +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent @@ -19,6 +20,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: GatewayAgent, ): super().__init__( tactics_agent, @@ -29,6 +31,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) def get_requested_entities(self) -> list[EntityURN]: diff --git a/adf_core_python/core/component/gateway/gateway_agent.py b/adf_core_python/core/component/gateway/gateway_agent.py new file mode 100644 index 0000000..de99d1f --- /dev/null +++ b/adf_core_python/core/component/gateway/gateway_agent.py @@ -0,0 +1,92 @@ +from __future__ import annotations + +from typing import Optional, TYPE_CHECKING + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.component.gateway.message.am_agent import AMAgent +from adf_core_python.core.component.gateway.message.am_update import AMUpdate +from adf_core_python.core.component.gateway.message.ma_module_response import ( + MAModuleResponse, +) +from adf_core_python.core.component.gateway.message.moduleMessageFactory import ( + ModuleMessageFactory, +) +from adf_core_python.core.logger.logger import get_logger + +if TYPE_CHECKING: + from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher + from adf_core_python.core.component.gateway.gateway_module import GatewayModule + + +class GatewayAgent: + def __init__(self, gateway_launcher: GatewayLauncher) -> None: + self._gateway_launcher = gateway_launcher + self.send_msg = None + self._is_initialized = False + self._agent_info: Optional[AgentInfo] = None + self._world_info: Optional[WorldInfo] = None + self._time = None + self._change_set = None + self._hear = None + self._gateway_modules: dict[str, GatewayModule] = {} + self._logger = get_logger("GatewayAgent") + + def get_agent_entity_id(self) -> EntityID: + return self._agent_info.get_entity_id() + + def get_module_count(self) -> int: + return len(self._gateway_modules) + + def add_gateway_module(self, gateway_module: GatewayModule) -> None: + self._gateway_modules[gateway_module.get_module_id()] = gateway_module + + def is_initialized(self) -> bool: + return self._is_initialized + + def set_initialize_data(self, agent_info: AgentInfo, world_info: WorldInfo) -> None: + self._agent_info = agent_info + self._world_info = world_info + + def initialize(self) -> None: + self._logger.info( + type(list(self._world_info.get_world_model().get_entities())[0]) + ) + am_agent = AMAgent() + self.send_msg( + am_agent.write( + self._agent_info.get_entity_id(), + list(self._world_info.get_world_model().get_entities()), + ) + ) + self._logger.info( + "Sent AMAgent ( EntityID: " + str(self._agent_info.get_entity_id()) + ) + self._is_initialized = True + + def set_update_data(self, time, change_set, hear): + self._time = time + self._change_set = change_set + self._hear = hear + pass + + def update(self): + am_update = AMUpdate() + self.send_msg( + am_update.write( + self._agent_info.get_entity_id(), + self._agent_info.get_time(), + self._world_info.get_change_set(), + None, + ) + ) + + def set_send_msg(self, connection_send_func): + self.send_msg = connection_send_func + + def message_received(self, msg): + c_msg = ModuleMessageFactory().make_message(msg) + if isinstance(c_msg, MAModuleResponse): + self._gateway_modules[msg.module_id].set_class_names(msg.class_names) diff --git a/adf_core_python/core/component/gateway/gateway_launcher.py b/adf_core_python/core/component/gateway/gateway_launcher.py new file mode 100644 index 0000000..d4d096c --- /dev/null +++ b/adf_core_python/core/component/gateway/gateway_launcher.py @@ -0,0 +1,47 @@ +import socket + +from structlog import BoundLogger + +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.launcher.connect.connection import Connection + + +class GatewayLauncher: + def __init__(self, host: str, port: int, logger: BoundLogger) -> None: + self.host = host + self.port = port + self.logger = logger + pass + + def make_connection(self) -> Connection: + return Connection(self.host, self.port) + + def connect(self, gateway_agent: GatewayAgent) -> None: + # self.logger.bind(agent_id=gateway_agent.get_agent_entity_id()) + + self.logger.info( + f"{gateway_agent.__class__.__name__} connecting to {self.host}:{self.port}" + ) + connection = self.make_connection() + try: + connection.connect() + # ソケットが使用しているPORT番号を取得 + if connection.socket is not None: + self.logger.info( + f"Connected to {self.host}:{self.port} on port {connection.socket.getsockname()[1]}" + ) + except socket.timeout: + self.logger.warning(f"Connection to {self.host}:{self.port} timed out") + return + except socket.error as e: + self.logger.error(f"Failed to connect to {self.host}:{self.port}") + self.logger.error(e) + return + + connection.message_received(gateway_agent.message_received) + gateway_agent.set_send_msg(connection.send_msg) + + try: + connection.parse_message_from_kernel() + except Exception as e: + self.logger.error(f"Failed to connect agent: {self.host}:{self.port} {e}") diff --git a/adf_core_python/core/component/gateway/gateway_module.py b/adf_core_python/core/component/gateway/gateway_module.py new file mode 100644 index 0000000..55b31a5 --- /dev/null +++ b/adf_core_python/core/component/gateway/gateway_module.py @@ -0,0 +1,38 @@ +import uuid + +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.component.gateway.message.am_exec import AMExec +from adf_core_python.core.component.gateway.message.am_module import AMModule + + +class GatewayModule: + def __init__(self, gateway_agent: GatewayAgent): + self._gateway_agent = gateway_agent + self._module_id: str = str(uuid.uuid4()) + self._class_names: [str] = [] + + def get_module_id(self) -> str: + return self._module_id + + def get_class_names(self) -> [str]: + return self._class_names + + def set_class_names(self, class_names: [str]): + self._class_names = class_names + + def initialize(self, module_name: str, default_class_name: str): + if not self._gateway_agent.is_initialized(): + self._gateway_agent.initialize() + am_module = AMModule() + self._gateway_agent.send_msg( + am_module.write( + self._gateway_agent.get_agent_entity_id(), + self._module_id, + module_name, + default_class_name, + ) + ) + + def execute(self, method_name: str, *args): + am_exec = AMExec() + self._gateway_agent.send_msg(am_exec.write(self._module_id, method_name)) diff --git a/adf_core_python/core/component/gateway/message/am_agent.py b/adf_core_python/core/component/gateway/message/am_agent.py new file mode 100644 index 0000000..0817e4c --- /dev/null +++ b/adf_core_python/core/component/gateway/message/am_agent.py @@ -0,0 +1,40 @@ +from typing import Any + +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.entities.entity import Entity +from rcrs_core.messages.message import Message +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.gateway.message.urn.urn import ( + ModuleMSG, + ComponentModuleMSG, +) + + +class AMAgent(Message): + def __init__(self) -> None: + super().__init__(ModuleMSG.AM_AGENT) + + def read(self) -> None: + pass + + def write(self, agent_id: EntityID, entities: list[Entity]) -> Any: + entity_proto_list = [] + for entity in entities: + entity_proto = RCRSProto_pb2.EntityProto() + entity_proto.urn = entity.get_urn() + entity_proto.entityID = entity.get_id() + + property_proto_list = [] + for k, v in entity.get_properties().items(): + property_proto_list.append(v.to_property_proto()) + entity_proto.properties.extend(property_proto_list) + entity_proto_list.append(entity_proto) + + entity_list_proto = RCRSProto_pb2.EntityListProto() + entity_list_proto.entities.extend(entity_proto_list) + msg = RCRSProto_pb2.MessageProto() + msg.urn = self.get_urn() + msg.components[ComponentModuleMSG.AgentID].entityID = agent_id.get_value() + msg.components[ComponentModuleMSG.Entities].entityList = entity_list_proto + return msg diff --git a/adf_core_python/core/component/gateway/message/am_exec.py b/adf_core_python/core/component/gateway/message/am_exec.py new file mode 100644 index 0000000..69bb4f2 --- /dev/null +++ b/adf_core_python/core/component/gateway/message/am_exec.py @@ -0,0 +1,26 @@ +from abc import ABC +from typing import Any + +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.messages.message import Message + +from adf_core_python.core.component.gateway.message.urn.urn import ( + ModuleMSG, + ComponentModuleMSG, +) + + +class AMExec(Message, ABC): + def __init__(self) -> None: + super().__init__(ModuleMSG.AM_EXEC) + + def read(self) -> None: + pass + + def write(self, module_id: str, method_name: str) -> Any: + msg = RCRSProto_pb2.MessageProto() + msg.urn = self.get_urn() + msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id + msg.components[ComponentModuleMSG.MethodName].stringValue = method_name + + return msg diff --git a/adf_core_python/core/component/gateway/message/am_module.py b/adf_core_python/core/component/gateway/message/am_module.py new file mode 100644 index 0000000..8de6bfe --- /dev/null +++ b/adf_core_python/core/component/gateway/message/am_module.py @@ -0,0 +1,36 @@ +from typing import Any + +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.messages.message import Message +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.gateway.message.urn.urn import ( + ModuleMSG, + ComponentModuleMSG, +) + + +class AMModule(Message): + def __init__(self) -> None: + super().__init__(ModuleMSG.AM_MODULE) + + def read(self) -> None: + pass + + def write( + self, + agent_id: EntityID, + module_id: str, + module_name: str, + default_class_name: str, + ) -> Any: + msg = RCRSProto_pb2.MessageProto() + msg.urn = self.get_urn() + msg.components[ComponentModuleMSG.AgentID].entityID = agent_id + msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id + msg.components[ComponentModuleMSG.ModuleName].stringValue = module_name + msg.components[ + ComponentModuleMSG.DefaultClassName + ].stringValue = default_class_name + + return msg diff --git a/adf_core_python/core/component/gateway/message/am_update.py b/adf_core_python/core/component/gateway/message/am_update.py new file mode 100644 index 0000000..30fd47c --- /dev/null +++ b/adf_core_python/core/component/gateway/message/am_update.py @@ -0,0 +1,30 @@ +from abc import ABC +from typing import Any + +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.messages.message import Message +from rcrs_core.worldmodel.changeSet import ChangeSet +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.gateway.message.urn.urn import ( + ModuleMSG, + ComponentModuleMSG, +) + + +class AMUpdate(Message, ABC): + def __init__(self) -> None: + super().__init__(ModuleMSG.AM_UPDATE) + + def read(self) -> None: + pass + + def write(self, agent_id: EntityID, time: int, changed: ChangeSet, heard) -> Any: + msg = RCRSProto_pb2.MessageProto() + msg.urn = self.get_urn() + msg.components[ComponentModuleMSG.AgentID].entityID = agent_id.get_value() + msg.components[ComponentModuleMSG.Time].intValue = time + msg.components[ComponentModuleMSG.Changed].changeSet = changed + msg.components[ComponentModuleMSG.Heard].commandList = heard + + return msg diff --git a/adf_core_python/core/component/gateway/message/ma_module_response.py b/adf_core_python/core/component/gateway/message/ma_module_response.py new file mode 100644 index 0000000..d164325 --- /dev/null +++ b/adf_core_python/core/component/gateway/message/ma_module_response.py @@ -0,0 +1,26 @@ +from abc import ABC + +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.messages.message import Message + +from adf_core_python.core.component.gateway.message.urn.urn import ( + ModuleMSG, + ComponentModuleMSG, +) + + +class MAModuleResponse(Message, ABC): + def __init__(self, data: RCRSProto_pb2) -> None: + super().__init__(ModuleMSG) + self.module_id = None + self.class_names = None + self.data = data + + def read(self) -> None: + self.module_id = self.data.components[ComponentModuleMSG.ModuleID].stringValue + self.class_names = self.data.components[ + ComponentModuleMSG.ClassNames + ].stringList + + def write(self) -> None: + pass diff --git a/adf_core_python/core/component/gateway/message/moduleMessageFactory.py b/adf_core_python/core/component/gateway/message/moduleMessageFactory.py new file mode 100644 index 0000000..c8c0796 --- /dev/null +++ b/adf_core_python/core/component/gateway/message/moduleMessageFactory.py @@ -0,0 +1,27 @@ +from adf_core_python.core.component.gateway.message.am_agent import AMAgent +from adf_core_python.core.component.gateway.message.am_exec import AMExec +from adf_core_python.core.component.gateway.message.am_module import AMModule +from adf_core_python.core.component.gateway.message.am_update import AMUpdate +from adf_core_python.core.component.gateway.message.ma_module_response import ( + MAModuleResponse, +) +from adf_core_python.core.component.gateway.message.urn.urn import ModuleMSG + + +class ModuleMessageFactory: + def __init__(self) -> None: + pass + + def make_message(self, msg): + if msg.urn == ModuleMSG.AM_AGENT: + return AMAgent(msg) + elif msg.urn == ModuleMSG.AM_MODULE: + return AMModule(msg) + elif msg.urn == ModuleMSG.MA_MODULE_RESPONSE: + return MAModuleResponse(msg) + elif msg.urn == ModuleMSG.AM_UPDATE: + return AMUpdate(msg) + elif msg.urn == ModuleMSG.AM_EXEC: + return AMExec(msg) + + return None diff --git a/adf_core_python/core/component/gateway/message/urn/urn.py b/adf_core_python/core/component/gateway/message/urn/urn.py new file mode 100644 index 0000000..363b931 --- /dev/null +++ b/adf_core_python/core/component/gateway/message/urn/urn.py @@ -0,0 +1,22 @@ +from enum import IntEnum + + +class ModuleMSG(IntEnum): + AM_AGENT = 0x0301 + AM_MODULE = 0x0302 + MA_MODULE_RESPONSE = 0x0303 + AM_UPDATE = 0x0304 + AM_EXEC = 0x0305 + + +class ComponentModuleMSG(IntEnum): + AgentID = 0x0401 + Entities = 0x0402 + ModuleName = 0x0403 + DefaultClassName = 0x0404 + ModuleID = 0x0405 + ClassNames = 0x0406 + Time = 0x0407 + Changed = 0x0408 + Heard = 0x0409 + MethodName = 0x0410 diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index f6f0787..eda337d 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -2,6 +2,7 @@ import threading from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -55,17 +56,33 @@ def init_connector(self) -> None: self.connectors.append(ConnectorPoliceOffice()) def launch(self) -> None: - host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") - port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) - self.logger.info(f"Start agent launcher (host: {host}, port: {port})") + kernel_host: str = self.config.get_value(ConfigKey.KEY_KERNEL_HOST, "localhost") + kernel_port: int = self.config.get_value(ConfigKey.KEY_KERNEL_PORT, 27931) + self.logger.info( + f"Start agent launcher (host: {kernel_host}, port: {kernel_port})" + ) component_launcher: ComponentLauncher = ComponentLauncher( - host, port, self.logger + kernel_host, kernel_port, self.logger + ) + + gateway_host: str = self.config.get_value( + ConfigKey.KEY_GATEWAY_HOST, "localhost" + ) + gateway_port: int = self.config.get_value(ConfigKey.KEY_GATEWAY_PORT, 27930) + self.logger.info( + f"Start gateway launcher (host: {kernel_host}, port: {kernel_port})" + ) + + gateway_launcher: GatewayLauncher = GatewayLauncher( + gateway_host, gateway_port, self.logger ) connector_thread_list: list[threading.Thread] = [] for connector in self.connectors: - threads = connector.connect(component_launcher, self.config, self.loader) + threads = connector.connect( + component_launcher, gateway_launcher, self.config, self.loader + ) self.agent_thread_list.extend(threads) def connect() -> None: diff --git a/adf_core_python/core/launcher/config_key.py b/adf_core_python/core/launcher/config_key.py index 591876e..dcd987f 100644 --- a/adf_core_python/core/launcher/config_key.py +++ b/adf_core_python/core/launcher/config_key.py @@ -24,3 +24,6 @@ class ConfigKey: KEY_POLICE_OFFICE_COUNT: Final[str] = "adf.team.office.police.count" # adf-core-python KEY_PRECOMPUTE_DATA_DIR: Final[str] = "adf.agent.precompute.dir_name" + # Gateway + KEY_GATEWAY_HOST: Final[str] = "gateway.host" + KEY_GATEWAY_PORT: Final[str] = "gateway.port" diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py index e517a84..408e904 100644 --- a/adf_core_python/core/launcher/connect/connector.py +++ b/adf_core_python/core/launcher/connect/connector.py @@ -2,6 +2,7 @@ from abc import ABC, abstractmethod from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -14,6 +15,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, + gateway_launcher: GatewayLauncher, config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py index 132a985..985bcc3 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -7,6 +7,7 @@ from adf_core_python.core.component.tactics.tactics_ambulance_center import ( TacticsAmbulanceCenter, ) +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -22,6 +23,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, + gateway_launcher: GatewayLauncher, config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index d2aa8c0..f27bf8a 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -4,6 +4,8 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_ambulance import PlatoonAmbulance from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.component.tactics.tactics_ambulance_team import ( TacticsAmbulanceTeam, ) @@ -22,6 +24,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, + gateway_launcher: GatewayLauncher, config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -57,7 +60,10 @@ def connect( finish_post_connect_event = threading.Event() request_id: int = component_launcher.generate_request_id() - thread = threading.Thread( + + gateway_agent: GatewayAgent = GatewayAgent(gateway_launcher) + + component_thread = threading.Thread( target=component_launcher.connect, args=( PlatoonAmbulance( @@ -69,11 +75,18 @@ def connect( module_config, develop_data, finish_post_connect_event, + gateway_agent, ), request_id, ), name=f"AmbulanceTeam-{request_id}", ) - threads[thread] = finish_post_connect_event + threads[component_thread] = finish_post_connect_event + + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 747f503..4cee656 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -4,6 +4,8 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_fire import PlatoonFire from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.component.tactics.tactics_fire_brigade import ( TacticsFireBrigade, ) @@ -22,6 +24,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, + gateway_launcher: GatewayLauncher, config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -53,9 +56,12 @@ def connect( precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_brigade" - request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() - thread = threading.Thread( + request_id: int = component_launcher.generate_request_id() + + gateway_agent: GatewayAgent = GatewayAgent(gateway_launcher) + + component_thread = threading.Thread( target=component_launcher.connect, args=( PlatoonFire( @@ -67,11 +73,18 @@ def connect( module_config, develop_data, finish_post_connect_event, + gateway_agent, ), request_id, ), name=f"FireBrigadeAgent-{request_id}", ) - threads[thread] = finish_post_connect_event + threads[component_thread] = finish_post_connect_event + + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 8f099ee..df0fdbc 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -7,6 +7,7 @@ from adf_core_python.core.component.tactics.tactics_fire_station import ( TacticsFireStation, ) +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -22,6 +23,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, + gateway_launcher: GatewayLauncher, config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index e17fe76..028211d 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -4,6 +4,8 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_police import PlatoonPolice from adf_core_python.core.component.abstract_loader import AbstractLoader +from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.component.tactics.tactics_police_force import ( TacticsPoliceForce, ) @@ -22,6 +24,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, + gateway_launcher: GatewayLauncher, config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -53,9 +56,12 @@ def connect( precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_force" - request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() - thread = threading.Thread( + request_id: int = component_launcher.generate_request_id() + + gateway_agent: GatewayAgent = GatewayAgent(gateway_launcher) + + component_thread = threading.Thread( target=component_launcher.connect, args=( PlatoonPolice( @@ -67,11 +73,18 @@ def connect( module_config, develop_data, finish_post_connect_event, + gateway_agent, ), request_id, ), name=f"PoliceForceAgent-{request_id}", ) - threads[thread] = finish_post_connect_event + threads[component_thread] = finish_post_connect_event + + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 52c3aac..eea1a89 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -7,6 +7,7 @@ from adf_core_python.core.component.tactics.tactics_police_office import ( TacticsPoliceOffice, ) +from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -22,6 +23,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, + gateway_launcher: GatewayLauncher, config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: diff --git a/adf_core_python/implement/module/complex/java_human_detector.py b/adf_core_python/implement/module/complex/java_human_detector.py new file mode 100644 index 0000000..47e4507 --- /dev/null +++ b/adf_core_python/implement/module/complex/java_human_detector.py @@ -0,0 +1,51 @@ +from typing import Optional + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.module.complex.human_detector import HumanDetector +from adf_core_python.core.component.module.complex.target_detector import ( + TargetDetector, + T, +) + + +class JavaHumanDetector(HumanDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + + def precompute(self, precompute_data: PrecomputeData) -> HumanDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> HumanDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> HumanDetector: + super().prepare() + return self + + def calculate(self) -> HumanDetector: + pass + + def get_target_entity_id(self) -> Optional[EntityID]: + pass + + def update_info(self, message_manager: MessageManager) -> TargetDetector[T]: + return super().update_info(message_manager) diff --git a/config/launcher.yaml b/config/launcher.yaml index 7702d17..54d6b53 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -2,6 +2,10 @@ kernel: host: localhost port: 27931 +gateway: + host: localhost + port: 27920 + team: name: AIT-Rescue diff --git a/java/.gitattributes b/java/.gitattributes new file mode 100644 index 0000000..f91f646 --- /dev/null +++ b/java/.gitattributes @@ -0,0 +1,12 @@ +# +# https://help.github.com/articles/dealing-with-line-endings/ +# +# Linux start script should use lf +/gradlew text eol=lf + +# These are Windows script files and should use crlf +*.bat text eol=crlf + +# Binary files should be left untouched +*.jar binary + diff --git a/java/.gitignore b/java/.gitignore new file mode 100644 index 0000000..1b6985c --- /dev/null +++ b/java/.gitignore @@ -0,0 +1,5 @@ +# Ignore Gradle project-specific cache directory +.gradle + +# Ignore Gradle build output directory +build diff --git a/java/gradle/libs.versions.toml b/java/gradle/libs.versions.toml new file mode 100644 index 0000000..81f6352 --- /dev/null +++ b/java/gradle/libs.versions.toml @@ -0,0 +1,12 @@ +# This file was generated by the Gradle 'init' task. +# 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diff --git a/java/gradle/wrapper/gradle-wrapper.properties b/java/gradle/wrapper/gradle-wrapper.properties new file mode 100644 index 0000000..df97d72 --- /dev/null +++ b/java/gradle/wrapper/gradle-wrapper.properties @@ -0,0 +1,7 @@ +distributionBase=GRADLE_USER_HOME +distributionPath=wrapper/dists +distributionUrl=https\://services.gradle.org/distributions/gradle-8.10.2-bin.zip +networkTimeout=10000 +validateDistributionUrl=true +zipStoreBase=GRADLE_USER_HOME +zipStorePath=wrapper/dists diff --git a/java/gradlew b/java/gradlew new file mode 100755 index 0000000..f5feea6 --- /dev/null +++ b/java/gradlew @@ -0,0 +1,252 @@ +#!/bin/sh + +# +# Copyright © 2015-2021 the original authors. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# https://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# SPDX-License-Identifier: Apache-2.0 +# + +############################################################################## +# +# Gradle start up script for POSIX generated by Gradle. +# +# Important for running: +# +# (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is +# noncompliant, but you have some other compliant shell such as ksh or +# bash, then to run this script, type that shell name before the whole +# command line, like: +# +# ksh Gradle +# +# Busybox and similar reduced shells will NOT work, because this script +# requires all of these POSIX shell features: +# * functions; +# * expansions «$var», «${var}», «${var:-default}», «${var+SET}», +# «${var#prefix}», «${var%suffix}», and «$( cmd )»; +# * compound commands having a testable exit status, especially «case»; +# * various built-in commands including «command», «set», and «ulimit». +# +# Important for patching: +# +# (2) This script targets any POSIX shell, so it avoids extensions provided +# by Bash, Ksh, etc; in particular arrays are avoided. +# +# The "traditional" practice of packing multiple parameters into a +# space-separated string is a well documented source of bugs and security +# problems, so this is (mostly) avoided, by progressively accumulating +# options in "$@", and eventually passing that to Java. +# +# Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS, +# and GRADLE_OPTS) rely on word-splitting, this is performed explicitly; +# see the in-line comments for details. +# +# There are tweaks for specific operating systems such as AIX, CygWin, +# Darwin, MinGW, and NonStop. +# +# (3) This script is generated from the Groovy template +# https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt +# within the Gradle project. +# +# You can find Gradle at https://github.com/gradle/gradle/. +# +############################################################################## + +# Attempt to set APP_HOME + +# Resolve links: $0 may be a link +app_path=$0 + +# Need this for daisy-chained symlinks. +while + APP_HOME=${app_path%"${app_path##*/}"} # leaves a trailing /; empty if no leading path + [ -h "$app_path" ] +do + ls=$( ls -ld "$app_path" ) + link=${ls#*' -> '} + case $link in #( + /*) app_path=$link ;; #( + *) app_path=$APP_HOME$link ;; + esac +done + +# This is normally unused +# shellcheck disable=SC2034 +APP_BASE_NAME=${0##*/} +# Discard cd standard output in case $CDPATH is set (https://github.com/gradle/gradle/issues/25036) +APP_HOME=$( cd -P "${APP_HOME:-./}" > /dev/null && printf '%s +' "$PWD" ) || exit + +# Use the maximum available, or set MAX_FD != -1 to use that value. +MAX_FD=maximum + +warn () { + echo "$*" +} >&2 + +die () { + echo + echo "$*" + echo + exit 1 +} >&2 + +# OS specific support (must be 'true' or 'false'). +cygwin=false +msys=false +darwin=false +nonstop=false +case "$( uname )" in #( + CYGWIN* ) cygwin=true ;; #( + Darwin* ) darwin=true ;; #( + MSYS* | MINGW* ) msys=true ;; #( + NONSTOP* ) nonstop=true ;; +esac + +CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar + + +# Determine the Java command to use to start the JVM. +if [ -n "$JAVA_HOME" ] ; then + if [ -x "$JAVA_HOME/jre/sh/java" ] ; then + # IBM's JDK on AIX uses strange locations for the executables + JAVACMD=$JAVA_HOME/jre/sh/java + else + JAVACMD=$JAVA_HOME/bin/java + fi + if [ ! -x "$JAVACMD" ] ; then + die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +else + JAVACMD=java + if ! command -v java >/dev/null 2>&1 + then + die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. + +Please set the JAVA_HOME variable in your environment to match the +location of your Java installation." + fi +fi + +# Increase the maximum file descriptors if we can. +if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then + case $MAX_FD in #( + max*) + # In POSIX sh, ulimit -H is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + MAX_FD=$( ulimit -H -n ) || + warn "Could not query maximum file descriptor limit" + esac + case $MAX_FD in #( + '' | soft) :;; #( + *) + # In POSIX sh, ulimit -n is undefined. That's why the result is checked to see if it worked. + # shellcheck disable=SC2039,SC3045 + ulimit -n "$MAX_FD" || + warn "Could not set maximum file descriptor limit to $MAX_FD" + esac +fi + +# Collect all arguments for the java command, stacking in reverse order: +# * args from the command line +# * the main class name +# * -classpath +# * -D...appname settings +# * --module-path (only if needed) +# * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables. + +# For Cygwin or MSYS, switch paths to Windows format before running java +if "$cygwin" || "$msys" ; then + APP_HOME=$( cygpath --path --mixed "$APP_HOME" ) + CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" ) + + JAVACMD=$( cygpath --unix "$JAVACMD" ) + + # Now convert the arguments - kludge to limit ourselves to /bin/sh + for arg do + if + case $arg in #( + -*) false ;; # don't mess with options #( + /?*) t=${arg#/} t=/${t%%/*} # looks like a POSIX filepath + [ -e "$t" ] ;; #( + *) false ;; + esac + then + arg=$( cygpath --path --ignore --mixed "$arg" ) + fi + # Roll the args list around exactly as many times as the number of + # args, so each arg winds up back in the position where it started, but + # possibly modified. + # + # NB: a `for` loop captures its iteration list before it begins, so + # changing the positional parameters here affects neither the number of + # iterations, nor the values presented in `arg`. + shift # remove old arg + set -- "$@" "$arg" # push replacement arg + done +fi + + +# Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"' + +# Collect all arguments for the java command: +# * DEFAULT_JVM_OPTS, JAVA_OPTS, JAVA_OPTS, and optsEnvironmentVar are not allowed to contain shell fragments, +# and any embedded shellness will be escaped. +# * For example: A user cannot expect ${Hostname} to be expanded, as it is an environment variable and will be +# treated as '${Hostname}' itself on the command line. + +set -- \ + "-Dorg.gradle.appname=$APP_BASE_NAME" \ + -classpath "$CLASSPATH" \ + org.gradle.wrapper.GradleWrapperMain \ + "$@" + +# Stop when "xargs" is not available. +if ! command -v xargs >/dev/null 2>&1 +then + die "xargs is not available" +fi + +# Use "xargs" to parse quoted args. +# +# With -n1 it outputs one arg per line, with the quotes and backslashes removed. +# +# In Bash we could simply go: +# +# readarray ARGS < <( xargs -n1 <<<"$var" ) && +# set -- "${ARGS[@]}" "$@" +# +# but POSIX shell has neither arrays nor command substitution, so instead we +# post-process each arg (as a line of input to sed) to backslash-escape any +# character that might be a shell metacharacter, then use eval to reverse +# that process (while maintaining the separation between arguments), and wrap +# the whole thing up as a single "set" statement. +# +# This will of course break if any of these variables contains a newline or +# an unmatched quote. +# + +eval "set -- $( + printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" | + xargs -n1 | + sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' | + tr '\n' ' ' + )" '"$@"' + +exec "$JAVACMD" "$@" diff --git a/java/gradlew.bat b/java/gradlew.bat new file mode 100644 index 0000000..9d21a21 --- /dev/null +++ b/java/gradlew.bat @@ -0,0 +1,94 @@ +@rem +@rem Copyright 2015 the original author or authors. +@rem +@rem Licensed under the Apache License, Version 2.0 (the "License"); +@rem you may not use this file except in compliance with the License. +@rem You may obtain a copy of the License at +@rem +@rem https://www.apache.org/licenses/LICENSE-2.0 +@rem +@rem Unless required by applicable law or agreed to in writing, software +@rem distributed under the License is distributed on an "AS IS" BASIS, +@rem WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +@rem See the License for the specific language governing permissions and +@rem limitations under the License. +@rem +@rem SPDX-License-Identifier: Apache-2.0 +@rem + +@if "%DEBUG%"=="" @echo off +@rem ########################################################################## +@rem +@rem Gradle startup script for Windows +@rem +@rem ########################################################################## + +@rem Set local scope for the variables with windows NT shell +if "%OS%"=="Windows_NT" setlocal + +set DIRNAME=%~dp0 +if "%DIRNAME%"=="" set DIRNAME=. +@rem This is normally unused +set APP_BASE_NAME=%~n0 +set APP_HOME=%DIRNAME% + +@rem Resolve any "." and ".." in APP_HOME to make it shorter. +for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi + +@rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script. +set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m" + +@rem Find java.exe +if defined JAVA_HOME goto findJavaFromJavaHome + +set JAVA_EXE=java.exe +%JAVA_EXE% -version >NUL 2>&1 +if %ERRORLEVEL% equ 0 goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH. 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:findJavaFromJavaHome +set JAVA_HOME=%JAVA_HOME:"=% +set JAVA_EXE=%JAVA_HOME%/bin/java.exe + +if exist "%JAVA_EXE%" goto execute + +echo. 1>&2 +echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME% 1>&2 +echo. 1>&2 +echo Please set the JAVA_HOME variable in your environment to match the 1>&2 +echo location of your Java installation. 1>&2 + +goto fail + +:execute +@rem Setup the command line + +set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar + + +@rem Execute Gradle +"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %* + +:end +@rem End local scope for the variables with windows NT shell +if %ERRORLEVEL% equ 0 goto mainEnd + +:fail +rem Set variable GRADLE_EXIT_CONSOLE if you need the _script_ return code instead of +rem the _cmd.exe /c_ return code! +set EXIT_CODE=%ERRORLEVEL% +if %EXIT_CODE% equ 0 set EXIT_CODE=1 +if not ""=="%GRADLE_EXIT_CONSOLE%" exit %EXIT_CODE% +exit /b %EXIT_CODE% + +:mainEnd +if "%OS%"=="Windows_NT" endlocal + +:omega diff --git a/java/settings.gradle b/java/settings.gradle new file mode 100644 index 0000000..2e78246 --- /dev/null +++ b/java/settings.gradle @@ -0,0 +1,14 @@ +/* + * This file was generated by the Gradle 'init' task. + * + * The settings file is used to specify which projects to include in your build. + * For more detailed information on multi-project builds, please refer to https://docs.gradle.org/8.10.2/userguide/multi_project_builds.html in the Gradle documentation. + */ + +plugins { + // Apply the foojay-resolver plugin to allow automatic download of JDKs + id 'org.gradle.toolchains.foojay-resolver-convention' version '0.8.0' +} + +rootProject.name = 'adf-core-python' +include('lib') From c0de8547b629e471f6d16c5a8ee92f907a983530 Mon Sep 17 00:00:00 2001 From: harrki Date: Fri, 13 Dec 2024 20:17:31 +0900 Subject: [PATCH 195/249] feat: add gateway modules --- adf_core_python/core/agent/agent.py | 30 +- .../agent/communication/message_manager.py | 2 +- .../core/agent/info/scenario_info.py | 4 +- .../core/agent/module/module_manager.py | 101 +++-- adf_core_python/core/agent/office/office.py | 4 + .../core/agent/office/office_ambulance.py | 4 + .../core/agent/office/office_fire.py | 4 + .../core/agent/office/office_police.py | 4 + adf_core_python/core/agent/platoon/platoon.py | 17 +- .../core/agent/platoon/platoon_ambulance.py | 5 +- .../core/agent/platoon/platoon_fire.py | 5 +- .../core/agent/platoon/platoon_police.py | 5 +- .../core/component/gateway/gateway_agent.py | 92 ---- .../core/component/gateway/gateway_module.py | 38 -- .../component/gateway/message/am_update.py | 30 -- .../gateway/message/moduleMessageFactory.py | 27 -- .../complex/ambulance_target_allocator.py | 35 +- .../module/complex/fire_target_allocator.py | 35 +- .../module/complex/police_target_allocator.py | 35 +- .../module/complex/target_allocator.py | 18 +- adf_core_python/core/gateway/__init__.py | 0 .../core/gateway/component/__init__.py | 0 .../core/gateway/component/module/__init__.py | 0 .../component/module/algorithm/__init__.py | 0 .../module/algorithm/gateway_clustering.py | 92 ++++ .../module/algorithm/gateway_path_planning.py | 88 ++++ .../component/module/complex/__init__.py | 0 .../gateway_ambulance_target_allocator.py | 66 +++ .../complex/gateway_fire_target_allocator.py | 62 +++ .../module/complex/gateway_human_detector.py | 61 +++ .../gateway_police_target_allocator.py | 64 +++ .../module/complex/gateway_road_detector.py | 60 +++ .../module/complex/gateway_search.py | 58 +++ .../complex/gateway_target_allocator.py | 73 +++ .../module/complex/gateway_target_detector.py | 70 +++ .../module/gateway_abstract_module.py | 55 +++ adf_core_python/core/gateway/gateway_agent.py | 113 +++++ .../gateway/gateway_launcher.py | 4 +- .../core/gateway/gateway_module.py | 83 ++++ .../core/gateway/message/__init__.py | 0 .../gateway/message/am_agent.py | 23 +- .../gateway/message/am_exec.py | 8 +- .../gateway/message/am_module.py | 5 +- .../core/gateway/message/am_update.py | 38 ++ .../core/gateway/message/ma_exec_response.py | 28 ++ .../gateway/message/ma_module_response.py | 14 +- .../gateway/message/moduleMessageFactory.py | 24 + .../core/gateway/message/urn/__init__.py | 0 .../gateway/message/urn/urn.py | 19 +- adf_core_python/core/gateway/module_dict.py | 32 ++ .../core/launcher/agent_launcher.py | 24 +- adf_core_python/core/launcher/config_key.py | 1 + .../core/launcher/connect/connector.py | 5 +- .../connect/connector_ambulance_center.py | 23 +- .../connect/connector_ambulance_team.py | 22 +- .../connect/connector_fire_brigade.py | 22 +- .../connect/connector_fire_station.py | 25 +- .../connect/connector_police_force.py | 24 +- .../connect/connector_police_office.py | 25 +- .../action/default_extend_action_clear.py | 2 +- .../module/complex/java_human_detector.py | 51 --- .../tactics/default_tactics_ambulance_team.py | 6 +- .../tactics/default_tactics_fire_brigade.py | 5 +- .../tactics/default_tactics_police_force.py | 3 +- adf_core_python/launcher.py | 6 + config/launcher.yaml | 5 +- java/.gitignore | 2 + java/lib/build.gradle | 57 +++ .../src/main/java/adf_core_python/Main.java | 10 + .../java/adf_core_python/agent/Agent.java | 116 +++++ .../agent/config/ModuleConfig.java | 39 ++ .../agent/develop/DevelopData.java | 40 ++ .../adf_core_python/agent/info/AgentInfo.java | 119 +++++ .../agent/module/ModuleManager.java | 427 ++++++++++++++++++ .../agent/precompute/PreData.java | 56 +++ .../agent/precompute/PrecomputeData.java | 400 ++++++++++++++++ .../component/extaction/ExtAction.java | 137 ++++++ .../component/module/AbstractModule.java | 138 ++++++ .../module/algorithm/Clustering.java | 86 ++++ .../module/algorithm/DynamicClustering.java | 14 + .../module/algorithm/PathPlanning.java | 101 +++++ .../module/algorithm/StaticClustering.java | 14 + .../complex/AmbulanceTargetAllocator.java | 47 ++ .../module/complex/BuildingDetector.java | 49 ++ .../module/complex/FireTargetAllocator.java | 47 ++ .../module/complex/HumanDetector.java | 49 ++ .../module/complex/PoliceTargetAllocator.java | 47 ++ .../module/complex/RoadDetector.java | 49 ++ .../component/module/complex/Search.java | 49 ++ .../module/complex/TargetAllocator.java | 54 +++ .../module/complex/TargetDetector.java | 54 +++ .../adf_core_python/gateway/Coordinator.java | 132 ++++++ .../java/adf_core_python/gateway/Gateway.java | 48 ++ .../gateway/mapper/AbstractMapper.java | 21 + .../gateway/mapper/MapperDict.java | 51 +++ .../mapper/module/AbstractModuleMapper.java | 64 +++ .../module/algorithm/ClusteringMapper.java | 133 ++++++ .../algorithm/DynamicClusteringMapper.java | 12 + .../module/algorithm/PathPlanningMapper.java | 108 +++++ .../algorithm/StaticClusteringMapper.java | 12 + .../AmbulanceTargetAllocatorMapper.java | 12 + .../complex/BuildingDetectorMapper.java | 12 + .../complex/FireTargetAllocatorMapper.java | 12 + .../module/complex/HumanDetectorMapper.java | 12 + .../complex/PoliceTargetAllocatorMapper.java | 12 + .../module/complex/RoadDetectorMapper.java | 12 + .../mapper/module/complex/SearchMapper.java | 11 + .../module/complex/TargetAllocatorMapper.java | 34 ++ .../module/complex/TargetDetectorMapper.java | 35 ++ .../gateway/message/AMAgent.java | 71 +++ .../gateway/message/AMExec.java | 57 +++ .../gateway/message/AMModule.java | 55 +++ .../gateway/message/AMUpdate.java | 61 +++ .../gateway/message/MAExecResponse.java | 49 ++ .../gateway/message/MAModuleResponse.java | 47 ++ .../message/ModuleControlMessageFactory.java | 42 ++ .../urn/ModuleMessageComponentURN.java | 52 +++ .../gateway/message/urn/ModuleMessageURN.java | 42 ++ java/lib/src/main/resources/log4j2.xml | 13 + .../test/java/org/example/LibraryTest.java | 14 + poetry.lock | 9 +- 121 files changed, 4891 insertions(+), 439 deletions(-) delete mode 100644 adf_core_python/core/component/gateway/gateway_agent.py delete mode 100644 adf_core_python/core/component/gateway/gateway_module.py delete mode 100644 adf_core_python/core/component/gateway/message/am_update.py delete mode 100644 adf_core_python/core/component/gateway/message/moduleMessageFactory.py create mode 100644 adf_core_python/core/gateway/__init__.py create mode 100644 adf_core_python/core/gateway/component/__init__.py create mode 100644 adf_core_python/core/gateway/component/module/__init__.py create mode 100644 adf_core_python/core/gateway/component/module/algorithm/__init__.py create mode 100644 adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py create mode 100644 adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py create mode 100644 adf_core_python/core/gateway/component/module/complex/__init__.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_search.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py create mode 100644 adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py create mode 100644 adf_core_python/core/gateway/component/module/gateway_abstract_module.py create mode 100644 adf_core_python/core/gateway/gateway_agent.py rename adf_core_python/core/{component => }/gateway/gateway_launcher.py (91%) create mode 100644 adf_core_python/core/gateway/gateway_module.py create mode 100644 adf_core_python/core/gateway/message/__init__.py rename adf_core_python/core/{component => }/gateway/message/am_agent.py (62%) rename adf_core_python/core/{component => }/gateway/message/am_exec.py (61%) rename adf_core_python/core/{component => }/gateway/message/am_module.py (78%) create mode 100644 adf_core_python/core/gateway/message/am_update.py create mode 100644 adf_core_python/core/gateway/message/ma_exec_response.py rename adf_core_python/core/{component => }/gateway/message/ma_module_response.py (55%) create mode 100644 adf_core_python/core/gateway/message/moduleMessageFactory.py create mode 100644 adf_core_python/core/gateway/message/urn/__init__.py rename adf_core_python/core/{component => }/gateway/message/urn/urn.py (50%) create mode 100644 adf_core_python/core/gateway/module_dict.py delete mode 100644 adf_core_python/implement/module/complex/java_human_detector.py create mode 100644 java/lib/build.gradle create mode 100644 java/lib/src/main/java/adf_core_python/Main.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/Agent.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/config/ModuleConfig.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/info/AgentInfo.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/module/ModuleManager.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java create mode 100644 java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java create mode 100644 java/lib/src/main/java/adf_core_python/component/extaction/ExtAction.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/AbstractModule.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/algorithm/Clustering.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/algorithm/DynamicClustering.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/algorithm/PathPlanning.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/algorithm/StaticClustering.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/AmbulanceTargetAllocator.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/BuildingDetector.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/FireTargetAllocator.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/HumanDetector.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/PoliceTargetAllocator.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/RoadDetector.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/Search.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/TargetAllocator.java create mode 100644 java/lib/src/main/java/adf_core_python/component/module/complex/TargetDetector.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/Coordinator.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/Gateway.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/AbstractMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/MapperDict.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/AbstractModuleMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/ClusteringMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/DynamicClusteringMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/StaticClusteringMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/BuildingDetectorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/FireTargetAllocatorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/HumanDetectorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/RoadDetectorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetAllocatorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetDetectorMapper.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/AMAgent.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/AMExec.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/AMModule.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/AMUpdate.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/MAExecResponse.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/MAModuleResponse.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/ModuleControlMessageFactory.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageComponentURN.java create mode 100644 java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageURN.java create mode 100644 java/lib/src/main/resources/log4j2.xml create mode 100644 java/lib/src/test/java/org/example/LibraryTest.java diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 9f581a6..7593410 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -2,7 +2,7 @@ import time as _time from abc import abstractmethod from threading import Event -from typing import Any, Callable, NoReturn +from typing import Any, Callable, NoReturn, Optional from bitarray import bitarray from rcrs_core.commands.AKClear import AKClear @@ -24,10 +24,10 @@ from rcrs_core.connection.URN import Entity as EntityURN from rcrs_core.messages.AKAcknowledge import AKAcknowledge from rcrs_core.messages.AKConnect import AKConnect -from rcrs_core.messages.controlMessageFactory import ControlMessageFactory from rcrs_core.messages.KAConnectError import KAConnectError from rcrs_core.messages.KAConnectOK import KAConnectOK from rcrs_core.messages.KASense import KASense +from rcrs_core.messages.controlMessageFactory import ControlMessageFactory from rcrs_core.worldmodel.changeSet import ChangeSet from rcrs_core.worldmodel.entityID import EntityID from rcrs_core.worldmodel.worldmodel import WorldModel @@ -79,6 +79,7 @@ CommunicationModule, ) from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_agent import GatewayAgent from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.logger.logger import get_agent_logger, get_logger @@ -94,6 +95,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], ) -> None: self.name = name self.connect_request_id = None @@ -124,6 +126,8 @@ def __init__( self._message_manager: MessageManager = MessageManager() self._communication_module: CommunicationModule = StandardCommunicationModule() + self._gateway_agent: Optional[GatewayAgent] = gateway_agent + def get_entity_id(self) -> EntityID: return self.agent_id @@ -146,14 +150,20 @@ def post_connect(self) -> None: self._ignore_time: int = int( self.config.get_value("kernel.agents.ignoreuntil", 3) ) + self._scenario_info: ScenarioInfo = ScenarioInfo(self.config, self._mode) self._world_info: WorldInfo = WorldInfo(self.world_model) self._agent_info = AgentInfo(self, self.world_model) + + if isinstance(self._gateway_agent, GatewayAgent): + self._gateway_agent.set_initialize_data( + self._agent_info, self._world_info, self._scenario_info + ) + self.logger = get_agent_logger( f"{self.__class__.__module__}.{self.__class__.__qualname__}", self._agent_info, ) - self.logger.debug(f"agent_config: {self.config}") def update_step_info( @@ -193,10 +203,16 @@ def update_step_info( self._agent_info.set_change_set(change_set) self._world_info.set_change_set(change_set) + if ( + isinstance(self._gateway_agent, GatewayAgent) + and self._gateway_agent.is_initialized() + ): + self._gateway_agent.update() + self._message_manager.refresh() self._communication_module.receive(self, self._message_manager) - self.think(time, change_set, hear) + self.think() self.logger.debug( f"send messages: {self._message_manager.get_send_message_list()}", @@ -209,7 +225,7 @@ def update_step_info( self._communication_module.send(self, self._message_manager) @abstractmethod - def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: + def think(self) -> None: pass @abstractmethod @@ -288,9 +304,9 @@ def handler_sense(self, msg: Any) -> None: if herad_command.urn == CommandURN.AK_SPEAK: heard_commands.append( AKSpeak( - herad_command.components[ + EntityID(herad_command.components[ ComponentControlMessageID.AgentID - ].entityID, + ].entityID), herad_command.components[ ComponentControlMessageID.Time ].intValue, diff --git a/adf_core_python/core/agent/communication/message_manager.py b/adf_core_python/core/agent/communication/message_manager.py index f318b1a..fc16479 100644 --- a/adf_core_python/core/agent/communication/message_manager.py +++ b/adf_core_python/core/agent/communication/message_manager.py @@ -234,7 +234,7 @@ def register_message_class( """ if index >= self.MAX_MESSAGE_CLASS_COUNT: raise ValueError( - f"Possible index values are 0 to {self.MAX_MESSAGE_CLASS_COUNT-1}" + f"Possible index values are 0 to {self.MAX_MESSAGE_CLASS_COUNT - 1}" ) self.__message_classes[index] = message_class diff --git a/adf_core_python/core/agent/info/scenario_info.py b/adf_core_python/core/agent/info/scenario_info.py index 85bf7da..29f4244 100644 --- a/adf_core_python/core/agent/info/scenario_info.py +++ b/adf_core_python/core/agent/info/scenario_info.py @@ -1,4 +1,4 @@ -from enum import Enum +from enum import IntEnum from typing import TypeVar from adf_core_python.core.config.config import Config @@ -6,7 +6,7 @@ T = TypeVar("T") -class Mode(Enum): +class Mode(IntEnum): NON_PRECOMPUTE = 0 PRECOMPUTED = 1 PRECOMPUTATION = 2 diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index bc6ac4c..18346aa 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -1,7 +1,7 @@ from __future__ import annotations import importlib -from typing import TYPE_CHECKING, Any +from typing import TYPE_CHECKING, Any, Optional from adf_core_python.core.component.action.extend_action import ExtendAction from adf_core_python.core.component.communication.channel_subscriber import ( @@ -10,10 +10,14 @@ from adf_core_python.core.component.communication.message_coordinator import ( MessageCoordinator, ) -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent -from adf_core_python.core.component.gateway.gateway_module import GatewayModule from adf_core_python.core.component.module.abstract_module import AbstractModule -from adf_core_python.core.logger.logger import get_logger +from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( + GatewayAbstractModule, +) +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_module import GatewayModule +from adf_core_python.core.gateway.module_dict import ModuleDict +from adf_core_python.core.logger.logger import get_agent_logger if TYPE_CHECKING: from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -31,7 +35,7 @@ def __init__( scenario_info: ScenarioInfo, module_config: ModuleConfig, develop_data: DevelopData, - gateway_agent: GatewayAgent, + gateway_agent: Optional[GatewayAgent] = None, ) -> None: self._agent_info = agent_info self._world_info = world_info @@ -47,30 +51,71 @@ def __init__( self._channel_subscribers: dict[str, Any] = {} self._message_coordinators: dict[str, Any] = {} - def get_module(self, module_name: str, default_class_name: str) -> AbstractModule: - class_name = self._module_config.get_value(module_name) - if class_name is None: - get_logger("ModuleManager").warning( - f"Module key {module_name} not found in config, using default module {default_class_name}" - ) - class_name = default_class_name + self._module_dict: ModuleDict = ModuleDict() - module_class: type = self._load_module(class_name) + self._logger = get_agent_logger( + f"{self.__class__.__module__}.{self.__class__.__qualname__}", + self._agent_info, + ) + def get_module( + self, module_name: str, default_module_class_name: str + ) -> AbstractModule: instance = self._modules.get(module_name) if instance is not None: return instance - if issubclass(module_class, AbstractModule): - instance = module_class( - self._agent_info, - self._world_info, - self._scenario_info, - self, - self._develop_data, - ) - self._modules[module_name] = instance - return instance + class_name = self._module_config.get_value(module_name) + if class_name is not None: + try: + module_class: type = self._load_module(class_name) + if issubclass(module_class, AbstractModule): + instance = module_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._modules[module_name] = instance + return instance + except ModuleNotFoundError: + self._logger.warning( + f"Module {module_name} not found in python. " + f"If gateway flag is active, using module {module_name} in java" + ) + + if isinstance(self._gateway_agent, GatewayAgent): + gateway_module = GatewayModule(self._gateway_agent) + java_class_name = gateway_module.initialize(module_name, "") + class_name = self._module_dict[java_class_name] + if class_name is not None: + module_class = self._load_module(class_name) + if issubclass(module_class, GatewayAbstractModule): + instance = module_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + gateway_module, + ) + self._modules[module_name] = instance + return instance + + class_name = default_module_class_name + if class_name is not None: + module_class = self._load_module(class_name) + if issubclass(module_class, AbstractModule): + instance = module_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._modules[module_name] = instance + return instance raise RuntimeError(f"Module {class_name} is not a subclass of AbstractModule") @@ -144,16 +189,6 @@ def get_message_coordinator( f"Message coordinator {class_name} is not a subclass of MessageCoordinator" ) - def get_java_module( - self, module_name: str, default_class_name: str - ) -> AbstractModule: # type: ignore - # TODO: Implement this method - gateway_module = GatewayModule(self._gateway_agent) - gateway_module.initialize(module_name, default_class_name) - self._gateway_agent.add_gateway_module(gateway_module) - a = gateway_module.get_class_names() - pass - def _load_module(self, class_name: str) -> type: module_name, module_class_name = class_name.rsplit(".", 1) module = importlib.import_module(module_name) diff --git a/adf_core_python/core/agent/office/office.py b/adf_core_python/core/agent/office/office.py index 98911f8..97fcf6e 100644 --- a/adf_core_python/core/agent/office/office.py +++ b/adf_core_python/core/agent/office/office.py @@ -1,4 +1,5 @@ from threading import Event +from typing import Optional from adf_core_python.core.agent.agent import Agent from adf_core_python.core.agent.config.module_config import ModuleConfig @@ -7,6 +8,7 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.gateway.gateway_agent import GatewayAgent from adf_core_python.core.logger.logger import get_agent_logger @@ -21,6 +23,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], ) -> None: super().__init__( is_precompute, @@ -31,6 +34,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) self._tactics_center = tactics_center self._team_name = team_name diff --git a/adf_core_python/core/agent/office/office_ambulance.py b/adf_core_python/core/agent/office/office_ambulance.py index 6bec530..f746fd5 100644 --- a/adf_core_python/core/agent/office/office_ambulance.py +++ b/adf_core_python/core/agent/office/office_ambulance.py @@ -1,4 +1,5 @@ from threading import Event +from typing import Optional from rcrs_core.connection.URN import Entity as EntityURN @@ -6,6 +7,7 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.office.office import Office from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.gateway.gateway_agent import GatewayAgent class OfficeAmbulance(Office): @@ -19,6 +21,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], ) -> None: super().__init__( tactics_center, @@ -29,6 +32,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) def precompute(self) -> None: diff --git a/adf_core_python/core/agent/office/office_fire.py b/adf_core_python/core/agent/office/office_fire.py index 16b93cd..6128edd 100644 --- a/adf_core_python/core/agent/office/office_fire.py +++ b/adf_core_python/core/agent/office/office_fire.py @@ -1,4 +1,5 @@ from threading import Event +from typing import Optional from rcrs_core.connection.URN import Entity as EntityURN @@ -6,6 +7,7 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.office.office import Office from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.gateway.gateway_agent import GatewayAgent class OfficeFire(Office): @@ -19,6 +21,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], ) -> None: super().__init__( tactics_center, @@ -29,6 +32,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) def get_requested_entities(self) -> list[EntityURN]: diff --git a/adf_core_python/core/agent/office/office_police.py b/adf_core_python/core/agent/office/office_police.py index 4b2ca8b..9717ac2 100644 --- a/adf_core_python/core/agent/office/office_police.py +++ b/adf_core_python/core/agent/office/office_police.py @@ -1,4 +1,5 @@ from threading import Event +from typing import Optional from rcrs_core.connection.URN import Entity as EntityURN @@ -6,6 +7,7 @@ from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.office.office import Office from adf_core_python.core.component.tactics.tactics_center import TacticsCenter +from adf_core_python.core.gateway.gateway_agent import GatewayAgent class OfficePolice(Office): @@ -19,6 +21,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, + gateway_agent: Optional[GatewayAgent], ) -> None: super().__init__( tactics_center, @@ -29,6 +32,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) def get_requested_entities(self) -> list[EntityURN]: diff --git a/adf_core_python/core/agent/platoon/platoon.py b/adf_core_python/core/agent/platoon/platoon.py index b4f08e4..2f2781c 100644 --- a/adf_core_python/core/agent/platoon/platoon.py +++ b/adf_core_python/core/agent/platoon/platoon.py @@ -1,4 +1,5 @@ from threading import Event +from typing import Optional from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.agent import Agent @@ -7,11 +8,9 @@ from adf_core_python.core.agent.info.scenario_info import Mode from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.gateway.gateway_agent import GatewayAgent from adf_core_python.core.logger.logger import get_agent_logger -from rcrs_core.worldmodel.changeSet import ChangeSet -from rcrs_core.commands.Command import Command class Platoon(Agent): @@ -25,7 +24,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, - gateway_agent: GatewayAgent, + gateway_agent: Optional[GatewayAgent], ) -> None: super().__init__( is_precompute, @@ -36,6 +35,7 @@ def __init__( module_config, develop_data, finish_post_connect_event, + gateway_agent, ) self._tactics_agent = tactics_agent self._team_name = team_name @@ -118,14 +118,7 @@ def post_connect(self) -> None: self._develop_data, ) - self._gateway_agent.set_initialize_data(self._agent_info, self._world_info) - self._gateway_agent.initialize() - - def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None: - self._gateway_agent.set_update_data(time, change_set, hear) - # if self._gateway_agent.get_module_count() > 0: - self._gateway_agent.update() - + def think(self) -> None: action: Action = self._tactics_agent.think( self._agent_info, self._world_info, diff --git a/adf_core_python/core/agent/platoon/platoon_ambulance.py b/adf_core_python/core/agent/platoon/platoon_ambulance.py index d1da73f..0daad4a 100644 --- a/adf_core_python/core/agent/platoon/platoon_ambulance.py +++ b/adf_core_python/core/agent/platoon/platoon_ambulance.py @@ -1,12 +1,13 @@ from threading import Event +from typing import Optional from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon import Platoon -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.gateway.gateway_agent import GatewayAgent class PlatoonAmbulance(Platoon): @@ -20,7 +21,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, - gateway_agent: GatewayAgent, + gateway_agent: Optional[GatewayAgent], ): super().__init__( tactics_agent, diff --git a/adf_core_python/core/agent/platoon/platoon_fire.py b/adf_core_python/core/agent/platoon/platoon_fire.py index f7b6d2e..8debf99 100644 --- a/adf_core_python/core/agent/platoon/platoon_fire.py +++ b/adf_core_python/core/agent/platoon/platoon_fire.py @@ -1,12 +1,13 @@ from threading import Event +from typing import Optional from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon import Platoon -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.gateway.gateway_agent import GatewayAgent class PlatoonFire(Platoon): @@ -20,7 +21,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, - gateway_agent: GatewayAgent, + gateway_agent: Optional[GatewayAgent], ): super().__init__( tactics_agent, diff --git a/adf_core_python/core/agent/platoon/platoon_police.py b/adf_core_python/core/agent/platoon/platoon_police.py index 4f1a9fc..441602f 100644 --- a/adf_core_python/core/agent/platoon/platoon_police.py +++ b/adf_core_python/core/agent/platoon/platoon_police.py @@ -1,12 +1,13 @@ from threading import Event +from typing import Optional from rcrs_core.connection.URN import Entity as EntityURN from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon import Platoon -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent +from adf_core_python.core.gateway.gateway_agent import GatewayAgent class PlatoonPolice(Platoon): @@ -20,7 +21,7 @@ def __init__( module_config: ModuleConfig, develop_data: DevelopData, finish_post_connect_event: Event, - gateway_agent: GatewayAgent, + gateway_agent: Optional[GatewayAgent], ): super().__init__( tactics_agent, diff --git a/adf_core_python/core/component/gateway/gateway_agent.py b/adf_core_python/core/component/gateway/gateway_agent.py deleted file mode 100644 index de99d1f..0000000 --- a/adf_core_python/core/component/gateway/gateway_agent.py +++ /dev/null @@ -1,92 +0,0 @@ -from __future__ import annotations - -from typing import Optional, TYPE_CHECKING - -from rcrs_core.worldmodel.entityID import EntityID - -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.component.gateway.message.am_agent import AMAgent -from adf_core_python.core.component.gateway.message.am_update import AMUpdate -from adf_core_python.core.component.gateway.message.ma_module_response import ( - MAModuleResponse, -) -from adf_core_python.core.component.gateway.message.moduleMessageFactory import ( - ModuleMessageFactory, -) -from adf_core_python.core.logger.logger import get_logger - -if TYPE_CHECKING: - from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher - from adf_core_python.core.component.gateway.gateway_module import GatewayModule - - -class GatewayAgent: - def __init__(self, gateway_launcher: GatewayLauncher) -> None: - self._gateway_launcher = gateway_launcher - self.send_msg = None - self._is_initialized = False - self._agent_info: Optional[AgentInfo] = None - self._world_info: Optional[WorldInfo] = None - self._time = None - self._change_set = None - self._hear = None - self._gateway_modules: dict[str, GatewayModule] = {} - self._logger = get_logger("GatewayAgent") - - def get_agent_entity_id(self) -> EntityID: - return self._agent_info.get_entity_id() - - def get_module_count(self) -> int: - return len(self._gateway_modules) - - def add_gateway_module(self, gateway_module: GatewayModule) -> None: - self._gateway_modules[gateway_module.get_module_id()] = gateway_module - - def is_initialized(self) -> bool: - return self._is_initialized - - def set_initialize_data(self, agent_info: AgentInfo, world_info: WorldInfo) -> None: - self._agent_info = agent_info - self._world_info = world_info - - def initialize(self) -> None: - self._logger.info( - type(list(self._world_info.get_world_model().get_entities())[0]) - ) - am_agent = AMAgent() - self.send_msg( - am_agent.write( - self._agent_info.get_entity_id(), - list(self._world_info.get_world_model().get_entities()), - ) - ) - self._logger.info( - "Sent AMAgent ( EntityID: " + str(self._agent_info.get_entity_id()) - ) - self._is_initialized = True - - def set_update_data(self, time, change_set, hear): - self._time = time - self._change_set = change_set - self._hear = hear - pass - - def update(self): - am_update = AMUpdate() - self.send_msg( - am_update.write( - self._agent_info.get_entity_id(), - self._agent_info.get_time(), - self._world_info.get_change_set(), - None, - ) - ) - - def set_send_msg(self, connection_send_func): - self.send_msg = connection_send_func - - def message_received(self, msg): - c_msg = ModuleMessageFactory().make_message(msg) - if isinstance(c_msg, MAModuleResponse): - self._gateway_modules[msg.module_id].set_class_names(msg.class_names) diff --git a/adf_core_python/core/component/gateway/gateway_module.py b/adf_core_python/core/component/gateway/gateway_module.py deleted file mode 100644 index 55b31a5..0000000 --- a/adf_core_python/core/component/gateway/gateway_module.py +++ /dev/null @@ -1,38 +0,0 @@ -import uuid - -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent -from adf_core_python.core.component.gateway.message.am_exec import AMExec -from adf_core_python.core.component.gateway.message.am_module import AMModule - - -class GatewayModule: - def __init__(self, gateway_agent: GatewayAgent): - self._gateway_agent = gateway_agent - self._module_id: str = str(uuid.uuid4()) - self._class_names: [str] = [] - - def get_module_id(self) -> str: - return self._module_id - - def get_class_names(self) -> [str]: - return self._class_names - - def set_class_names(self, class_names: [str]): - self._class_names = class_names - - def initialize(self, module_name: str, default_class_name: str): - if not self._gateway_agent.is_initialized(): - self._gateway_agent.initialize() - am_module = AMModule() - self._gateway_agent.send_msg( - am_module.write( - self._gateway_agent.get_agent_entity_id(), - self._module_id, - module_name, - default_class_name, - ) - ) - - def execute(self, method_name: str, *args): - am_exec = AMExec() - self._gateway_agent.send_msg(am_exec.write(self._module_id, method_name)) diff --git a/adf_core_python/core/component/gateway/message/am_update.py b/adf_core_python/core/component/gateway/message/am_update.py deleted file mode 100644 index 30fd47c..0000000 --- a/adf_core_python/core/component/gateway/message/am_update.py +++ /dev/null @@ -1,30 +0,0 @@ -from abc import ABC -from typing import Any - -from rcrs_core.connection import RCRSProto_pb2 -from rcrs_core.messages.message import Message -from rcrs_core.worldmodel.changeSet import ChangeSet -from rcrs_core.worldmodel.entityID import EntityID - -from adf_core_python.core.component.gateway.message.urn.urn import ( - ModuleMSG, - ComponentModuleMSG, -) - - -class AMUpdate(Message, ABC): - def __init__(self) -> None: - super().__init__(ModuleMSG.AM_UPDATE) - - def read(self) -> None: - pass - - def write(self, agent_id: EntityID, time: int, changed: ChangeSet, heard) -> Any: - msg = RCRSProto_pb2.MessageProto() - msg.urn = self.get_urn() - msg.components[ComponentModuleMSG.AgentID].entityID = agent_id.get_value() - msg.components[ComponentModuleMSG.Time].intValue = time - msg.components[ComponentModuleMSG.Changed].changeSet = changed - msg.components[ComponentModuleMSG.Heard].commandList = heard - - return msg diff --git a/adf_core_python/core/component/gateway/message/moduleMessageFactory.py b/adf_core_python/core/component/gateway/message/moduleMessageFactory.py deleted file mode 100644 index c8c0796..0000000 --- a/adf_core_python/core/component/gateway/message/moduleMessageFactory.py +++ /dev/null @@ -1,27 +0,0 @@ -from adf_core_python.core.component.gateway.message.am_agent import AMAgent -from adf_core_python.core.component.gateway.message.am_exec import AMExec -from adf_core_python.core.component.gateway.message.am_module import AMModule -from adf_core_python.core.component.gateway.message.am_update import AMUpdate -from adf_core_python.core.component.gateway.message.ma_module_response import ( - MAModuleResponse, -) -from adf_core_python.core.component.gateway.message.urn.urn import ModuleMSG - - -class ModuleMessageFactory: - def __init__(self) -> None: - pass - - def make_message(self, msg): - if msg.urn == ModuleMSG.AM_AGENT: - return AMAgent(msg) - elif msg.urn == ModuleMSG.AM_MODULE: - return AMModule(msg) - elif msg.urn == ModuleMSG.MA_MODULE_RESPONSE: - return MAModuleResponse(msg) - elif msg.urn == ModuleMSG.AM_UPDATE: - return AMUpdate(msg) - elif msg.urn == ModuleMSG.AM_EXEC: - return AMExec(msg) - - return None diff --git a/adf_core_python/core/component/module/complex/ambulance_target_allocator.py b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py index 2c36e74..7359e68 100644 --- a/adf_core_python/core/component/module/complex/ambulance_target_allocator.py +++ b/adf_core_python/core/component/module/complex/ambulance_target_allocator.py @@ -1,18 +1,23 @@ -from abc import abstractmethod +from __future__ import annotations -from rcrs_core.worldmodel.entityID import EntityID +from abc import abstractmethod +from typing import TYPE_CHECKING -from adf_core_python.core.agent.communication.message_manager import MessageManager -from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.agent.module.module_manager import ModuleManager -from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.target_allocator import ( TargetAllocator, ) +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + class AmbulanceTargetAllocator(TargetAllocator): def __init__( @@ -32,17 +37,21 @@ def get_result(self) -> dict[EntityID, EntityID]: pass @abstractmethod - def calculate(self) -> TargetAllocator: + def calculate(self) -> AmbulanceTargetAllocator: pass - def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: + def precompute(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> AmbulanceTargetAllocator: super().resume(precompute_data) return self - def prepare(self) -> TargetAllocator: + def prepare(self) -> AmbulanceTargetAllocator: super().prepare() return self - def update_info(self, message_manager: MessageManager) -> TargetAllocator: + def update_info(self, message_manager: MessageManager) -> AmbulanceTargetAllocator: super().update_info(message_manager) return self diff --git a/adf_core_python/core/component/module/complex/fire_target_allocator.py b/adf_core_python/core/component/module/complex/fire_target_allocator.py index a537ef6..9e35373 100644 --- a/adf_core_python/core/component/module/complex/fire_target_allocator.py +++ b/adf_core_python/core/component/module/complex/fire_target_allocator.py @@ -1,18 +1,23 @@ -from abc import abstractmethod +from __future__ import annotations -from rcrs_core.worldmodel.entityID import EntityID +from abc import abstractmethod +from typing import TYPE_CHECKING -from adf_core_python.core.agent.communication.message_manager import MessageManager -from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.agent.module.module_manager import ModuleManager -from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.target_allocator import ( TargetAllocator, ) +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + class FireTargetAllocator(TargetAllocator): def __init__( @@ -32,17 +37,21 @@ def get_result(self) -> dict[EntityID, EntityID]: pass @abstractmethod - def calculate(self) -> TargetAllocator: + def calculate(self) -> FireTargetAllocator: pass - def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: + def precompute(self, precompute_data: PrecomputeData) -> FireTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> FireTargetAllocator: super().resume(precompute_data) return self - def prepare(self) -> TargetAllocator: + def prepare(self) -> FireTargetAllocator: super().prepare() return self - def update_info(self, message_manager: MessageManager) -> TargetAllocator: + def update_info(self, message_manager: MessageManager) -> FireTargetAllocator: super().update_info(message_manager) return self diff --git a/adf_core_python/core/component/module/complex/police_target_allocator.py b/adf_core_python/core/component/module/complex/police_target_allocator.py index 8403d8f..bf31d15 100644 --- a/adf_core_python/core/component/module/complex/police_target_allocator.py +++ b/adf_core_python/core/component/module/complex/police_target_allocator.py @@ -1,18 +1,23 @@ -from abc import abstractmethod +from __future__ import annotations -from rcrs_core.worldmodel.entityID import EntityID +from abc import abstractmethod +from typing import TYPE_CHECKING -from adf_core_python.core.agent.communication.message_manager import MessageManager -from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.agent.module.module_manager import ModuleManager -from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.module.complex.target_allocator import ( TargetAllocator, ) +if TYPE_CHECKING: + from rcrs_core.worldmodel.entityID import EntityID + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + class PoliceTargetAllocator(TargetAllocator): def __init__( @@ -32,17 +37,21 @@ def get_result(self) -> dict[EntityID, EntityID]: pass @abstractmethod - def calculate(self) -> TargetAllocator: + def calculate(self) -> PoliceTargetAllocator: pass - def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: + def precompute(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> PoliceTargetAllocator: super().resume(precompute_data) return self - def prepare(self) -> TargetAllocator: + def prepare(self) -> PoliceTargetAllocator: super().prepare() return self - def update_info(self, message_manager: MessageManager) -> TargetAllocator: + def update_info(self, message_manager: MessageManager) -> PoliceTargetAllocator: super().update_info(message_manager) return self diff --git a/adf_core_python/core/component/module/complex/target_allocator.py b/adf_core_python/core/component/module/complex/target_allocator.py index 2548a2d..55869c9 100644 --- a/adf_core_python/core/component/module/complex/target_allocator.py +++ b/adf_core_python/core/component/module/complex/target_allocator.py @@ -1,9 +1,7 @@ from __future__ import annotations from abc import abstractmethod -from typing import TYPE_CHECKING, Generic, TypeVar - -from rcrs_core.entities.entity import Entity +from typing import TYPE_CHECKING from adf_core_python.core.component.module.abstract_module import AbstractModule @@ -18,10 +16,8 @@ from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -T = TypeVar("T", bound=Entity) - -class TargetAllocator(AbstractModule, Generic[T]): +class TargetAllocator(AbstractModule): def __init__( self, agent_info: AgentInfo, @@ -39,21 +35,21 @@ def get_result(self) -> dict[EntityID, EntityID]: pass @abstractmethod - def calculate(self) -> TargetAllocator[T]: + def calculate(self) -> TargetAllocator: pass - def precompute(self, precompute_data: PrecomputeData) -> TargetAllocator[T]: + def precompute(self, precompute_data: PrecomputeData) -> TargetAllocator: super().precompute(precompute_data) return self - def resume(self, precompute_data: PrecomputeData) -> TargetAllocator[T]: + def resume(self, precompute_data: PrecomputeData) -> TargetAllocator: super().resume(precompute_data) return self - def prepare(self) -> TargetAllocator[T]: + def prepare(self) -> TargetAllocator: super().prepare() return self - def update_info(self, message_manager: MessageManager) -> TargetAllocator[T]: + def update_info(self, message_manager: MessageManager) -> TargetAllocator: super().update_info(message_manager) return self diff --git a/adf_core_python/core/gateway/__init__.py b/adf_core_python/core/gateway/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/gateway/component/__init__.py b/adf_core_python/core/gateway/component/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/gateway/component/module/__init__.py b/adf_core_python/core/gateway/component/module/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/gateway/component/module/algorithm/__init__.py b/adf_core_python/core/gateway/component/module/algorithm/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py b/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py new file mode 100644 index 0000000..6518770 --- /dev/null +++ b/adf_core_python/core/gateway/component/module/algorithm/gateway_clustering.py @@ -0,0 +1,92 @@ +from __future__ import annotations + +import json +from typing import TYPE_CHECKING + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.module.algorithm.clustering import Clustering +from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( + GatewayAbstractModule, +) + +if TYPE_CHECKING: + from rcrs_core.entities.entity import Entity + + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayClustering(GatewayAbstractModule, Clustering): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayClustering: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayClustering: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayClustering: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayClustering: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayClustering: + super().calculate() + return self + + def get_cluster_number(self) -> int: + result = self._gateway_module.execute("getClusterNumber") + return int(result.get_value_or_default("ClusterNumber", "0")) + + def get_cluster_index(self, entity_id: EntityID) -> int: + arguments: dict[str, str] = {"EntityID": str(entity_id.get_value())} + result = self._gateway_module.execute("getClusterIndex(EntityID)", arguments) + return int(result.get_value_or_default("ClusterIndex", "0")) + + def get_cluster_entities(self, cluster_index: int) -> list[Entity]: + arguments: dict[str, str] = {"Index": str(cluster_index)} + result = self._gateway_module.execute("getClusterEntities(int)", arguments) + json_str = result.get_value_or_default("EntityIDs", "[]") + entity_ids: list[int] = json.loads(json_str) + entities: list[Entity] = [] + for entity_id in entity_ids: + entities.append(self._world_info.get_entity(EntityID(entity_id))) + return entities + + def get_cluster_entity_ids(self, cluster_index: int) -> list[EntityID]: + arguments: dict[str, str] = {"Index": str(cluster_index)} + result = self._gateway_module.execute("getClusterEntityIDs(int)", arguments) + json_str = result.get_value_or_default("EntityIDs", "[]") + raw_entity_ids: list[int] = json.loads(json_str) + entity_ids: list[EntityID] = [] + for entity_id in raw_entity_ids: + entity_ids.append(EntityID(entity_id)) + return entity_ids diff --git a/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py b/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py new file mode 100644 index 0000000..7d3b218 --- /dev/null +++ b/adf_core_python/core/gateway/component/module/algorithm/gateway_path_planning.py @@ -0,0 +1,88 @@ +from __future__ import annotations + +import json +from typing import TYPE_CHECKING + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning +from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( + GatewayAbstractModule, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayPathPlanning(GatewayAbstractModule, PathPlanning): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayPathPlanning: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayPathPlanning: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayPathPlanning: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayPathPlanning: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayPathPlanning: + super().calculate() + return self + + def get_path( + self, from_entity_id: EntityID, to_entity_id: EntityID + ) -> list[EntityID]: + arguments: dict[str, str] = { + "From": str(from_entity_id.get_value()), + "To": str(to_entity_id.get_value()), + } + result = self._gateway_module.execute( + "getResult(EntityID, EntityID)", arguments + ) + json_str = result.get_value_or_default("Result", "[]") + raw_entity_ids: list[int] = json.loads(json_str) + entity_ids: list[EntityID] = [] + for entity_id in raw_entity_ids: + entity_ids.append(EntityID(entity_id)) + return entity_ids + + def get_distance(self, from_entity_id: EntityID, to_entity_id: EntityID) -> float: + arguments: dict[str, str] = { + "From": str(from_entity_id.get_value()), + "To": str(to_entity_id.get_value()), + } + result = self._gateway_module.execute( + "getDistance(EntityID, EntityID)", arguments + ) + return float(result.get_value_or_default("Result", "0.0")) diff --git a/adf_core_python/core/gateway/component/module/complex/__init__.py b/adf_core_python/core/gateway/component/module/complex/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py b/adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py new file mode 100644 index 0000000..f570436 --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_ambulance_target_allocator.py @@ -0,0 +1,66 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from adf_core_python.core.component.module.complex.ambulance_target_allocator import ( + AmbulanceTargetAllocator, +) +from adf_core_python.core.gateway.component.module.complex.gateway_target_allocator import ( + GatewayTargetAllocator, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayAmbulanceTargetAllocator(GatewayTargetAllocator, AmbulanceTargetAllocator): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute( + self, precompute_data: PrecomputeData + ) -> GatewayAmbulanceTargetAllocator: + super().precompute(precompute_data) + return self + + def resume( + self, precompute_data: PrecomputeData + ) -> GatewayAmbulanceTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayAmbulanceTargetAllocator: + super().prepare() + return self + + def update_info( + self, message_manager: MessageManager + ) -> GatewayAmbulanceTargetAllocator: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayAmbulanceTargetAllocator: + super().calculate() + return self diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py b/adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py new file mode 100644 index 0000000..69fb643 --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_fire_target_allocator.py @@ -0,0 +1,62 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from adf_core_python.core.component.module.complex.fire_target_allocator import ( + FireTargetAllocator, +) +from adf_core_python.core.gateway.component.module.complex.gateway_target_allocator import ( + GatewayTargetAllocator, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayFireTargetAllocator(GatewayTargetAllocator, FireTargetAllocator): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayFireTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayFireTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayFireTargetAllocator: + super().prepare() + return self + + def update_info( + self, message_manager: MessageManager + ) -> GatewayFireTargetAllocator: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayFireTargetAllocator: + super().calculate() + return self diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py b/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py new file mode 100644 index 0000000..715feba --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py @@ -0,0 +1,61 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from rcrs_core.entities.human import Human + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.component.module.complex.human_detector import ( + HumanDetector, + ) + from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( + GatewayTargetDetector, + ) + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayHumanDetector(GatewayTargetDetector[Human], HumanDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayHumanDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayHumanDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayHumanDetector: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayHumanDetector: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayHumanDetector: + super().calculate() + return self diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py b/adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py new file mode 100644 index 0000000..bacc0bb --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_police_target_allocator.py @@ -0,0 +1,64 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from adf_core_python.core.component.module.complex.police_target_allocator import ( + PoliceTargetAllocator, +) +from adf_core_python.core.gateway.component.module.complex.gateway_target_allocator import ( + GatewayTargetAllocator, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayPoliceTargetAllocator(GatewayTargetAllocator, PoliceTargetAllocator): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute( + self, precompute_data: PrecomputeData + ) -> GatewayPoliceTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayPoliceTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayPoliceTargetAllocator: + super().prepare() + return self + + def update_info( + self, message_manager: MessageManager + ) -> GatewayPoliceTargetAllocator: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayPoliceTargetAllocator: + super().calculate() + return self diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py b/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py new file mode 100644 index 0000000..da275b9 --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_road_detector.py @@ -0,0 +1,60 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from rcrs_core.entities.road import Road + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.component.module.complex.road_detector import RoadDetector +from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( + GatewayTargetDetector, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayRoadDetector(GatewayTargetDetector[Road], RoadDetector): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayRoadDetector: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayRoadDetector: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayRoadDetector: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayRoadDetector: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayRoadDetector: + super().calculate() + return self diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_search.py b/adf_core_python/core/gateway/component/module/complex/gateway_search.py new file mode 100644 index 0000000..bf37e2c --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_search.py @@ -0,0 +1,58 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from adf_core_python.core.component.module.complex.search import Search +from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( + GatewayTargetDetector, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewaySearch(GatewayTargetDetector, Search): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewaySearch: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewaySearch: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewaySearch: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewaySearch: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewaySearch: + super().calculate() + return self diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py b/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py new file mode 100644 index 0000000..98649a4 --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_target_allocator.py @@ -0,0 +1,73 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.module.complex.target_allocator import ( + TargetAllocator, +) +from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( + GatewayAbstractModule, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayTargetAllocator(GatewayAbstractModule, TargetAllocator): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayTargetAllocator: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayTargetAllocator: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayTargetAllocator: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayTargetAllocator: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayTargetAllocator: + super().calculate() + return self + + def get_result(self) -> dict[EntityID, EntityID]: + response = self._gateway_module.execute("getResult") + response_keys = response.get_all_keys() + result: dict[EntityID, EntityID] = {} + for key in response_keys: + result[EntityID(int(key))] = EntityID( + int(response.get_value_or_default(key, "-1")) + ) + + return result diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py b/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py new file mode 100644 index 0000000..a58b25f --- /dev/null +++ b/adf_core_python/core/gateway/component/module/complex/gateway_target_detector.py @@ -0,0 +1,70 @@ +from __future__ import annotations + +from typing import Optional, Generic, TypeVar, TYPE_CHECKING + +from rcrs_core.entities.entity import Entity +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.component.module.complex.target_detector import TargetDetector +from adf_core_python.core.gateway.component.module.gateway_abstract_module import ( + GatewayAbstractModule, +) + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + +T = TypeVar("T", bound=Entity) + + +class GatewayTargetDetector(GatewayAbstractModule, TargetDetector, Generic[T]): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, + world_info, + scenario_info, + module_manager, + develop_data, + gateway_module, + ) + + def precompute(self, precompute_data: PrecomputeData) -> GatewayTargetDetector[T]: + super().precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayTargetDetector[T]: + super().resume(precompute_data) + return self + + def prepare(self) -> GatewayTargetDetector[T]: + super().prepare() + return self + + def update_info(self, message_manager: MessageManager) -> GatewayTargetDetector[T]: + super().update_info(message_manager) + return self + + def calculate(self) -> GatewayTargetDetector[T]: + super().calculate() + return self + + def get_target_entity_id(self) -> Optional[EntityID]: + result = self._gateway_module.execute("getTarget") + entity_id_str = result.get_value_or_default("EntityID", "-1") + if entity_id_str == "-1": + return None + return EntityID(int(entity_id_str)) diff --git a/adf_core_python/core/gateway/component/module/gateway_abstract_module.py b/adf_core_python/core/gateway/component/module/gateway_abstract_module.py new file mode 100644 index 0000000..857977b --- /dev/null +++ b/adf_core_python/core/gateway/component/module/gateway_abstract_module.py @@ -0,0 +1,55 @@ +from __future__ import annotations + +from typing import TYPE_CHECKING + +from adf_core_python.core.component.module.abstract_module import AbstractModule + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayAbstractModule(AbstractModule): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + gateway_module: GatewayModule, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._gateway_module = gateway_module + + def precompute(self, precompute_data: PrecomputeData) -> GatewayAbstractModule: + super().precompute(precompute_data) + self._gateway_module.execute("precompute") + return self + + def resume(self, precompute_data: PrecomputeData) -> GatewayAbstractModule: + super().resume(precompute_data) + self._gateway_module.execute("resume") + return self + + def prepare(self) -> GatewayAbstractModule: + super().prepare() + self._gateway_module.execute("preparate") + return self + + def update_info(self, message_manager: MessageManager) -> GatewayAbstractModule: + super().update_info(message_manager) + self._gateway_module.execute("updateInfo") + return self + + def calculate(self) -> GatewayAbstractModule: + self._gateway_module.execute("calc") + return self diff --git a/adf_core_python/core/gateway/gateway_agent.py b/adf_core_python/core/gateway/gateway_agent.py new file mode 100644 index 0000000..036c49a --- /dev/null +++ b/adf_core_python/core/gateway/gateway_agent.py @@ -0,0 +1,113 @@ +from __future__ import annotations + +from typing import Optional, TYPE_CHECKING, Callable + +from rcrs_core.connection import RCRSProto_pb2 + +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.gateway.message.am_agent import AMAgent +from adf_core_python.core.gateway.message.am_update import AMUpdate +from adf_core_python.core.gateway.message.ma_exec_response import MAExecResponse +from adf_core_python.core.gateway.message.ma_module_response import ( + MAModuleResponse, +) +from adf_core_python.core.gateway.message.moduleMessageFactory import ( + ModuleMessageFactory, +) +from adf_core_python.core.logger.logger import get_logger + +if TYPE_CHECKING: + from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher + from adf_core_python.core.gateway.gateway_module import GatewayModule + + +class GatewayAgent: + def __init__(self, gateway_launcher: GatewayLauncher) -> None: + self._gateway_launcher = gateway_launcher + self.send_msg: Optional[Callable] = None + self._is_initialized = False + self._agent_info: Optional[AgentInfo] = None + self._world_info: Optional[WorldInfo] = None + self._scenario_info: Optional[ScenarioInfo] = None + self._gateway_modules: dict[str, GatewayModule] = {} + self._logger = get_logger(__name__) + + def get_module_count(self) -> int: + return len(self._gateway_modules) + + def add_gateway_module(self, gateway_module: GatewayModule) -> None: + self._gateway_modules[gateway_module.get_module_id()] = gateway_module + + def is_initialized(self) -> bool: + return self._is_initialized + + def set_initialize_data( + self, agent_info: AgentInfo, world_info: WorldInfo, scenario_info: ScenarioInfo + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + + def initialize(self) -> None: + if self.send_msg is None: + raise RuntimeError("send_msg is None") + if ( + self._agent_info is None + or self._world_info is None + or self._scenario_info is None + ): + raise RuntimeError( + "Required variables is None, " + "You must exec set_initialized_data() before calling initialize()" + ) + + am_agent = AMAgent() + self.send_msg( + am_agent.write( + self._agent_info.get_entity_id(), + list(self._world_info.get_world_model().get_entities()), + self._scenario_info.get_config().config, + int(self._scenario_info.get_mode()), + ) + ) + self._is_initialized = True + + def update(self) -> None: + if self.send_msg is None: + raise RuntimeError("send_msg is None") + if self._agent_info is None or self._world_info is None: + raise RuntimeError( + "Required variables is None, " + "You must exec set_initialized_data() before calling update()" + ) + + am_update = AMUpdate() + self.send_msg( + am_update.write( + self._agent_info.get_time(), + self._world_info.get_change_set(), + self._agent_info.get_heard_commands(), + ) + ) + + def set_send_msg(self, connection_send_func: Callable) -> None: + self.send_msg = connection_send_func + + def message_received(self, msg: RCRSProto_pb2) -> None: + c_msg = ModuleMessageFactory().make_message(msg) + if isinstance(c_msg, MAModuleResponse): + if c_msg.module_id is None or c_msg.class_name is None: + raise RuntimeError("Failed to receive message") + + self._gateway_modules[c_msg.module_id].set_gateway_class_name( + c_msg.class_name + ) + self._gateway_modules[c_msg.module_id].set_is_initialized(True) + if isinstance(c_msg, MAExecResponse): + if c_msg.module_id is None: + raise RuntimeError("Failed to receive message") + + self._gateway_modules[c_msg.module_id].set_execute_response(c_msg.result) + self._gateway_modules[c_msg.module_id].set_is_executed(True) diff --git a/adf_core_python/core/component/gateway/gateway_launcher.py b/adf_core_python/core/gateway/gateway_launcher.py similarity index 91% rename from adf_core_python/core/component/gateway/gateway_launcher.py rename to adf_core_python/core/gateway/gateway_launcher.py index d4d096c..e320d24 100644 --- a/adf_core_python/core/component/gateway/gateway_launcher.py +++ b/adf_core_python/core/gateway/gateway_launcher.py @@ -2,7 +2,7 @@ from structlog import BoundLogger -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_agent import GatewayAgent from adf_core_python.core.launcher.connect.connection import Connection @@ -17,8 +17,6 @@ def make_connection(self) -> Connection: return Connection(self.host, self.port) def connect(self, gateway_agent: GatewayAgent) -> None: - # self.logger.bind(agent_id=gateway_agent.get_agent_entity_id()) - self.logger.info( f"{gateway_agent.__class__.__name__} connecting to {self.host}:{self.port}" ) diff --git a/adf_core_python/core/gateway/gateway_module.py b/adf_core_python/core/gateway/gateway_module.py new file mode 100644 index 0000000..e79b239 --- /dev/null +++ b/adf_core_python/core/gateway/gateway_module.py @@ -0,0 +1,83 @@ +import uuid +from typing import Optional + +from rcrs_core.config.config import Config + +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.message.am_exec import AMExec +from adf_core_python.core.gateway.message.am_module import AMModule + + +class GatewayModule: + def __init__(self, gateway_agent: GatewayAgent): + self._gateway_agent = gateway_agent + self._module_id: str = str(uuid.uuid4()) + self._is_initialized = False + self._is_executed = False + self._gateway_class_name: str = "" + self._result: Optional[Config] = None + self._gateway_agent.add_gateway_module(self) + + def get_module_id(self) -> str: + return self._module_id + + def get_gateway_class_name(self) -> str: + return self._gateway_class_name + + def set_gateway_class_name(self, gateway_class_name: str) -> None: + self._gateway_class_name = gateway_class_name + + def get_is_initialized(self) -> bool: + return self._is_initialized + + def set_is_initialized(self, is_initialized: bool) -> None: + self._is_initialized = is_initialized + + def initialize(self, module_name: str, default_class_name: str) -> str: + if not self._gateway_agent.is_initialized(): + self._gateway_agent.initialize() + if self._gateway_agent.send_msg is None: + raise RuntimeError("send_msg is None") + + am_module = AMModule() + self._gateway_agent.send_msg( + am_module.write( + self._module_id, + module_name, + default_class_name, + ) + ) + + while not self.get_is_initialized(): + pass + + return self.get_gateway_class_name() + + def get_execute_response(self) -> Config: + return self._result + + def set_execute_response(self, result: Config) -> None: + self._result = result + + def get_is_executed(self) -> bool: + return self._is_executed + + def set_is_executed(self, _is_executed: bool) -> None: + self._is_executed = _is_executed + + def execute( + self, method_name: str, args: Optional[dict[str, str]] = None + ) -> Config: + if args is None: + args = {} + if self._gateway_agent.send_msg is None: + raise RuntimeError("send_msg is None") + + am_exec = AMExec() + self._gateway_agent.send_msg(am_exec.write(self._module_id, method_name, args)) + + while not self.get_is_executed(): + pass + + self.set_is_executed(False) + return self.get_execute_response() diff --git a/adf_core_python/core/gateway/message/__init__.py b/adf_core_python/core/gateway/message/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/gateway/message/am_agent.py b/adf_core_python/core/gateway/message/am_agent.py similarity index 62% rename from adf_core_python/core/component/gateway/message/am_agent.py rename to adf_core_python/core/gateway/message/am_agent.py index 0817e4c..3d6bc8d 100644 --- a/adf_core_python/core/component/gateway/message/am_agent.py +++ b/adf_core_python/core/gateway/message/am_agent.py @@ -5,7 +5,7 @@ from rcrs_core.messages.message import Message from rcrs_core.worldmodel.entityID import EntityID -from adf_core_python.core.component.gateway.message.urn.urn import ( +from adf_core_python.core.gateway.message.urn.urn import ( ModuleMSG, ComponentModuleMSG, ) @@ -18,12 +18,18 @@ def __init__(self) -> None: def read(self) -> None: pass - def write(self, agent_id: EntityID, entities: list[Entity]) -> Any: + def write( + self, + agent_id: EntityID, + entities: list[Entity], + config: dict[str, Any], + mode: int, + ) -> Any: entity_proto_list = [] for entity in entities: entity_proto = RCRSProto_pb2.EntityProto() entity_proto.urn = entity.get_urn() - entity_proto.entityID = entity.get_id() + entity_proto.entityID = entity.get_id().get_value() property_proto_list = [] for k, v in entity.get_properties().items(): @@ -33,8 +39,17 @@ def write(self, agent_id: EntityID, entities: list[Entity]) -> Any: entity_list_proto = RCRSProto_pb2.EntityListProto() entity_list_proto.entities.extend(entity_proto_list) + + config_proto = RCRSProto_pb2.ConfigProto() + for key, value in config.items(): + config_proto.data[str(key)] = str(value) + msg = RCRSProto_pb2.MessageProto() msg.urn = self.get_urn() msg.components[ComponentModuleMSG.AgentID].entityID = agent_id.get_value() - msg.components[ComponentModuleMSG.Entities].entityList = entity_list_proto + msg.components[ComponentModuleMSG.Entities].entityList.CopyFrom( + entity_list_proto + ) + msg.components[ComponentModuleMSG.Config].config.CopyFrom(config_proto) + msg.components[ComponentModuleMSG.Mode].intValue = mode return msg diff --git a/adf_core_python/core/component/gateway/message/am_exec.py b/adf_core_python/core/gateway/message/am_exec.py similarity index 61% rename from adf_core_python/core/component/gateway/message/am_exec.py rename to adf_core_python/core/gateway/message/am_exec.py index 69bb4f2..9bd36be 100644 --- a/adf_core_python/core/component/gateway/message/am_exec.py +++ b/adf_core_python/core/gateway/message/am_exec.py @@ -4,7 +4,7 @@ from rcrs_core.connection import RCRSProto_pb2 from rcrs_core.messages.message import Message -from adf_core_python.core.component.gateway.message.urn.urn import ( +from adf_core_python.core.gateway.message.urn.urn import ( ModuleMSG, ComponentModuleMSG, ) @@ -17,10 +17,14 @@ def __init__(self) -> None: def read(self) -> None: pass - def write(self, module_id: str, method_name: str) -> Any: + def write(self, module_id: str, method_name: str, arguments: dict[str, str]) -> Any: msg = RCRSProto_pb2.MessageProto() msg.urn = self.get_urn() msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id msg.components[ComponentModuleMSG.MethodName].stringValue = method_name + config_proto = RCRSProto_pb2.ConfigProto() + for key, value in arguments.items(): + config_proto.data[key] = value + msg.components[ComponentModuleMSG.Arguments].config.CopyFrom(config_proto) return msg diff --git a/adf_core_python/core/component/gateway/message/am_module.py b/adf_core_python/core/gateway/message/am_module.py similarity index 78% rename from adf_core_python/core/component/gateway/message/am_module.py rename to adf_core_python/core/gateway/message/am_module.py index 8de6bfe..0dd26bc 100644 --- a/adf_core_python/core/component/gateway/message/am_module.py +++ b/adf_core_python/core/gateway/message/am_module.py @@ -2,9 +2,8 @@ from rcrs_core.connection import RCRSProto_pb2 from rcrs_core.messages.message import Message -from rcrs_core.worldmodel.entityID import EntityID -from adf_core_python.core.component.gateway.message.urn.urn import ( +from adf_core_python.core.gateway.message.urn.urn import ( ModuleMSG, ComponentModuleMSG, ) @@ -19,14 +18,12 @@ def read(self) -> None: def write( self, - agent_id: EntityID, module_id: str, module_name: str, default_class_name: str, ) -> Any: msg = RCRSProto_pb2.MessageProto() msg.urn = self.get_urn() - msg.components[ComponentModuleMSG.AgentID].entityID = agent_id msg.components[ComponentModuleMSG.ModuleID].stringValue = module_id msg.components[ComponentModuleMSG.ModuleName].stringValue = module_name msg.components[ diff --git a/adf_core_python/core/gateway/message/am_update.py b/adf_core_python/core/gateway/message/am_update.py new file mode 100644 index 0000000..0988920 --- /dev/null +++ b/adf_core_python/core/gateway/message/am_update.py @@ -0,0 +1,38 @@ +from abc import ABC +from typing import Any + +from rcrs_core.commands.Command import Command +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.messages.message import Message +from rcrs_core.worldmodel.changeSet import ChangeSet + +from adf_core_python.core.gateway.message.urn.urn import ( + ModuleMSG, + ComponentModuleMSG, +) + + +class AMUpdate(Message, ABC): + def __init__(self) -> None: + super().__init__(ModuleMSG.AM_UPDATE) + + def read(self) -> None: + pass + + def write(self, time: int, changed: ChangeSet, heard: list[Command]) -> Any: + msg = RCRSProto_pb2.MessageProto() + msg.urn = self.get_urn() + msg.components[ComponentModuleMSG.Time].intValue = time + msg.components[ComponentModuleMSG.Changed].changeSet.CopyFrom( + changed.to_change_set_proto() + ) + message_list_proto = RCRSProto_pb2.MessageListProto() + message_proto_list = [] + if heard is not None: + for h in heard: + message_proto_list.append(h.prepare_cmd()) + message_list_proto.commands.extend(message_proto_list) + msg.components[ComponentModuleMSG.Heard].commandList.CopyFrom( + message_list_proto + ) + return msg diff --git a/adf_core_python/core/gateway/message/ma_exec_response.py b/adf_core_python/core/gateway/message/ma_exec_response.py new file mode 100644 index 0000000..8c68fbc --- /dev/null +++ b/adf_core_python/core/gateway/message/ma_exec_response.py @@ -0,0 +1,28 @@ +from abc import ABC + +from rcrs_core.config.config import Config +from rcrs_core.connection import RCRSProto_pb2 +from rcrs_core.messages.message import Message + +from adf_core_python.core.gateway.message.urn.urn import ( + ModuleMSG, + ComponentModuleMSG, +) + + +class MAExecResponse(Message, ABC): + def __init__(self, data: RCRSProto_pb2) -> None: + super().__init__(ModuleMSG.MA_EXEC_RESPONSE) + self.module_id = None + self.result = Config() + self.data = data + self.read() + + def read(self) -> None: + self.module_id = self.data.components[ComponentModuleMSG.ModuleID].stringValue + result = self.data.components[ComponentModuleMSG.Result].config + for key, value in result.data.items(): + self.result.set_value(key, value) + + def write(self) -> None: + pass diff --git a/adf_core_python/core/component/gateway/message/ma_module_response.py b/adf_core_python/core/gateway/message/ma_module_response.py similarity index 55% rename from adf_core_python/core/component/gateway/message/ma_module_response.py rename to adf_core_python/core/gateway/message/ma_module_response.py index d164325..c680419 100644 --- a/adf_core_python/core/component/gateway/message/ma_module_response.py +++ b/adf_core_python/core/gateway/message/ma_module_response.py @@ -1,9 +1,10 @@ from abc import ABC +from typing import Optional from rcrs_core.connection import RCRSProto_pb2 from rcrs_core.messages.message import Message -from adf_core_python.core.component.gateway.message.urn.urn import ( +from adf_core_python.core.gateway.message.urn.urn import ( ModuleMSG, ComponentModuleMSG, ) @@ -11,16 +12,15 @@ class MAModuleResponse(Message, ABC): def __init__(self, data: RCRSProto_pb2) -> None: - super().__init__(ModuleMSG) - self.module_id = None - self.class_names = None + super().__init__(ModuleMSG.MA_MODULE_RESPONSE) + self.module_id: Optional[str] = None + self.class_name: Optional[str] = None self.data = data + self.read() def read(self) -> None: self.module_id = self.data.components[ComponentModuleMSG.ModuleID].stringValue - self.class_names = self.data.components[ - ComponentModuleMSG.ClassNames - ].stringList + self.class_name = self.data.components[ComponentModuleMSG.ClassName].stringValue def write(self) -> None: pass diff --git a/adf_core_python/core/gateway/message/moduleMessageFactory.py b/adf_core_python/core/gateway/message/moduleMessageFactory.py new file mode 100644 index 0000000..6fac9d8 --- /dev/null +++ b/adf_core_python/core/gateway/message/moduleMessageFactory.py @@ -0,0 +1,24 @@ +from typing import Optional + +from rcrs_core.connection import RCRSProto_pb2 + +from adf_core_python.core.gateway.message.ma_exec_response import MAExecResponse +from adf_core_python.core.gateway.message.ma_module_response import ( + MAModuleResponse, +) +from adf_core_python.core.gateway.message.urn.urn import ModuleMSG + + +class ModuleMessageFactory: + def __init__(self) -> None: + pass + + def make_message( + self, msg: RCRSProto_pb2 + ) -> Optional[MAModuleResponse | MAExecResponse]: + if msg.urn == ModuleMSG.MA_MODULE_RESPONSE: + return MAModuleResponse(msg) + elif msg.urn == ModuleMSG.MA_EXEC_RESPONSE: + return MAExecResponse(msg) + + return None diff --git a/adf_core_python/core/gateway/message/urn/__init__.py b/adf_core_python/core/gateway/message/urn/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/adf_core_python/core/component/gateway/message/urn/urn.py b/adf_core_python/core/gateway/message/urn/urn.py similarity index 50% rename from adf_core_python/core/component/gateway/message/urn/urn.py rename to adf_core_python/core/gateway/message/urn/urn.py index 363b931..d38e435 100644 --- a/adf_core_python/core/component/gateway/message/urn/urn.py +++ b/adf_core_python/core/gateway/message/urn/urn.py @@ -7,16 +7,21 @@ class ModuleMSG(IntEnum): MA_MODULE_RESPONSE = 0x0303 AM_UPDATE = 0x0304 AM_EXEC = 0x0305 + MA_EXEC_RESPONSE = 0x0306 class ComponentModuleMSG(IntEnum): AgentID = 0x0401 Entities = 0x0402 - ModuleName = 0x0403 - DefaultClassName = 0x0404 + Config = 0x0403 + Mode = 0x0404 ModuleID = 0x0405 - ClassNames = 0x0406 - Time = 0x0407 - Changed = 0x0408 - Heard = 0x0409 - MethodName = 0x0410 + ModuleName = 0x0406 + DefaultClassName = 0x0407 + ClassName = 0x0408 + Time = 0x0409 + Changed = 0x040A + Heard = 0x040B + MethodName = 0x040C + Arguments = 0x040D + Result = 0x040E diff --git a/adf_core_python/core/gateway/module_dict.py b/adf_core_python/core/gateway/module_dict.py new file mode 100644 index 0000000..7f668c6 --- /dev/null +++ b/adf_core_python/core/gateway/module_dict.py @@ -0,0 +1,32 @@ +from typing import Optional + + +class ModuleDict: + def __init__(self, module_dict: Optional[dict[str, str]] = None): + self.module_dict: dict[str, str] = { + "adf_core_python.component.module.algorithm.Clustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", + "adf_core_python.component.module.algorithm.DynamicClustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", + "adf_core_python.component.module.algorithm.StaticClustering": "adf_core_python.core.gateway.component.module.complex.gateway_clustering.GatewayClustering", + "adf_core_python.component.module.algorithm.PathPlanning": "adf_core_python.core.gateway.component.module.complex.gateway_path_planning.GatewayPathPlanning", + "adf_core_python.component.module.complex.TargetDetector": "adf_core_python.core.gateway.component.module.complex.gateway_target_detector.GatewayTargetDetector", + "adf_core_python.component.module.complex.HumanDetector": "adf_core_python.core.gateway.component.module.complex.gateway_human_detector.GatewayHumanDetector", + "adf_core_python.component.module.complex.RoadDetector": "adf_core_python.core.gateway.component.module.complex.gateway_road_detector.GatewayRoadDetector", + "adf_core_python.component.module.complex.Search": "adf_core_python.core.gateway.component.module.complex.gateway_search.GatewaySearch", + "adf_core_python.component.module.complex.TargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_target_allocator.GatewayTargetAllocator", + "adf_core_python.component.module.complex.AmbulanceTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_ambulance_target_allocator.GatewayAmbulanceTargetAllocator", + "adf_core_python.component.module.complex.FireTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_fire_target_allocator.GatewayFireTargetAllocator", + "adf_core_python.component.module.complex.PoliceTargetAllocator": "adf_core_python.core.gateway.component.module.complex.gateway_fire_target_allocator.GatewayPoliceTargetAllocator", + } + if module_dict is not None: + for key, value in module_dict.items(): + self.module_dict[key] = value + + def __getitem__(self, key: str) -> Optional[str]: + if not isinstance(key, str): + raise TypeError("TypeError: Key must be a string") + return self.module_dict.get(key) + + def __setitem__(self, key: str, value: str) -> None: + if not isinstance(key, str): + raise TypeError("TypeError: Key must be a string") + self.module_dict[key] = value diff --git a/adf_core_python/core/launcher/agent_launcher.py b/adf_core_python/core/launcher/agent_launcher.py index eda337d..63f31bc 100644 --- a/adf_core_python/core/launcher/agent_launcher.py +++ b/adf_core_python/core/launcher/agent_launcher.py @@ -1,9 +1,10 @@ import importlib import threading +from typing import Optional from adf_core_python.core.component.abstract_loader import AbstractLoader -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -66,17 +67,18 @@ def launch(self) -> None: kernel_host, kernel_port, self.logger ) - gateway_host: str = self.config.get_value( - ConfigKey.KEY_GATEWAY_HOST, "localhost" - ) - gateway_port: int = self.config.get_value(ConfigKey.KEY_GATEWAY_PORT, 27930) - self.logger.info( - f"Start gateway launcher (host: {kernel_host}, port: {kernel_port})" - ) + gateway_launcher: Optional[GatewayLauncher] = None + gateway_flag: bool = self.config.get_value(ConfigKey.KEY_GATEWAY_FLAG, False) + if gateway_flag: + gateway_host: str = self.config.get_value( + ConfigKey.KEY_GATEWAY_HOST, "localhost" + ) + gateway_port: int = self.config.get_value(ConfigKey.KEY_GATEWAY_PORT, 27941) + self.logger.info( + f"Start gateway launcher (host: {gateway_host}, port: {gateway_port})" + ) - gateway_launcher: GatewayLauncher = GatewayLauncher( - gateway_host, gateway_port, self.logger - ) + gateway_launcher = GatewayLauncher(gateway_host, gateway_port, self.logger) connector_thread_list: list[threading.Thread] = [] for connector in self.connectors: diff --git a/adf_core_python/core/launcher/config_key.py b/adf_core_python/core/launcher/config_key.py index dcd987f..8253f47 100644 --- a/adf_core_python/core/launcher/config_key.py +++ b/adf_core_python/core/launcher/config_key.py @@ -27,3 +27,4 @@ class ConfigKey: # Gateway KEY_GATEWAY_HOST: Final[str] = "gateway.host" KEY_GATEWAY_PORT: Final[str] = "gateway.port" + KEY_GATEWAY_FLAG: Final[str] = "adf.gateway.flag" diff --git a/adf_core_python/core/launcher/connect/connector.py b/adf_core_python/core/launcher/connect/connector.py index 408e904..a36a04c 100644 --- a/adf_core_python/core/launcher/connect/connector.py +++ b/adf_core_python/core/launcher/connect/connector.py @@ -1,9 +1,10 @@ import threading from abc import ABC, abstractmethod +from typing import Optional from adf_core_python.core.component.abstract_loader import AbstractLoader -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher @@ -15,7 +16,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, - gateway_launcher: GatewayLauncher, + gateway_launcher: Optional[GatewayLauncher], config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py index 985bcc3..4e716a2 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -1,4 +1,5 @@ import threading +from typing import Optional from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -7,8 +8,9 @@ from adf_core_python.core.component.tactics.tactics_ambulance_center import ( TacticsAmbulanceCenter, ) -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -23,7 +25,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, - gateway_launcher: GatewayLauncher, + gateway_launcher: Optional[GatewayLauncher], config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -59,7 +61,12 @@ def connect( finish_post_connect_event = threading.Event() request_id: int = component_launcher.generate_request_id() - thread = threading.Thread( + + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + + component_thread = threading.Thread( target=component_launcher.connect, args=( OfficeAmbulance( @@ -71,11 +78,19 @@ def connect( module_config, develop_data, finish_post_connect_event, + gateway_agent, ), request_id, ), name=f"AmbulanceCenterAgent-{request_id}", ) - threads[thread] = finish_post_connect_event + threads[component_thread] = finish_post_connect_event + + if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index f27bf8a..3e8d47e 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -1,15 +1,16 @@ import threading +from typing import Optional from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_ambulance import PlatoonAmbulance from adf_core_python.core.component.abstract_loader import AbstractLoader -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.component.tactics.tactics_ambulance_team import ( TacticsAmbulanceTeam, ) from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -24,7 +25,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, - gateway_launcher: GatewayLauncher, + gateway_launcher: Optional[GatewayLauncher], config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -61,7 +62,9 @@ def connect( finish_post_connect_event = threading.Event() request_id: int = component_launcher.generate_request_id() - gateway_agent: GatewayAgent = GatewayAgent(gateway_launcher) + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) component_thread = threading.Thread( target=component_launcher.connect, @@ -83,10 +86,11 @@ def connect( ) threads[component_thread] = finish_post_connect_event - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event + if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index 4cee656..df420a2 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -1,15 +1,16 @@ import threading +from typing import Optional from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_fire import PlatoonFire from adf_core_python.core.component.abstract_loader import AbstractLoader -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.component.tactics.tactics_fire_brigade import ( TacticsFireBrigade, ) from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -24,7 +25,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, - gateway_launcher: GatewayLauncher, + gateway_launcher: Optional[GatewayLauncher], config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -59,7 +60,9 @@ def connect( finish_post_connect_event = threading.Event() request_id: int = component_launcher.generate_request_id() - gateway_agent: GatewayAgent = GatewayAgent(gateway_launcher) + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) component_thread = threading.Thread( target=component_launcher.connect, @@ -81,10 +84,11 @@ def connect( ) threads[component_thread] = finish_post_connect_event - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event + if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index df0fdbc..5cb7d01 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -1,4 +1,5 @@ import threading +from typing import Optional from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -7,8 +8,9 @@ from adf_core_python.core.component.tactics.tactics_fire_station import ( TacticsFireStation, ) -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -23,7 +25,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, - gateway_launcher: GatewayLauncher, + gateway_launcher: Optional[GatewayLauncher], config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -55,9 +57,14 @@ def connect( precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/fire_station" - request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() - thread = threading.Thread( + request_id: int = component_launcher.generate_request_id() + + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + + component_thread = threading.Thread( target=component_launcher.connect, args=( OfficeFire( @@ -69,11 +76,19 @@ def connect( module_config, develop_data, finish_post_connect_event, + gateway_agent, ), request_id, ), name=f"FireStationAgent-{request_id}", ) - threads[thread] = finish_post_connect_event + threads[component_thread] = finish_post_connect_event + + if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 028211d..9b5e822 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -1,15 +1,16 @@ import threading +from typing import Optional from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.platoon.platoon_police import PlatoonPolice from adf_core_python.core.component.abstract_loader import AbstractLoader -from adf_core_python.core.component.gateway.gateway_agent import GatewayAgent -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.component.tactics.tactics_police_force import ( TacticsPoliceForce, ) from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -24,7 +25,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, - gateway_launcher: GatewayLauncher, + gateway_launcher: Optional[GatewayLauncher], config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -59,7 +60,9 @@ def connect( finish_post_connect_event = threading.Event() request_id: int = component_launcher.generate_request_id() - gateway_agent: GatewayAgent = GatewayAgent(gateway_launcher) + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) component_thread = threading.Thread( target=component_launcher.connect, @@ -81,10 +84,13 @@ def connect( ) threads[component_thread] = finish_post_connect_event - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event + if isinstance(gateway_launcher, GatewayLauncher) and isinstance( + gateway_agent, GatewayAgent + ): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index eea1a89..1553790 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -1,4 +1,5 @@ import threading +from typing import Optional from adf_core_python.core.agent.config.module_config import ModuleConfig from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -7,8 +8,9 @@ from adf_core_python.core.component.tactics.tactics_police_office import ( TacticsPoliceOffice, ) -from adf_core_python.core.component.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.config.config import Config +from adf_core_python.core.gateway.gateway_agent import GatewayAgent +from adf_core_python.core.gateway.gateway_launcher import GatewayLauncher from adf_core_python.core.launcher.config_key import ConfigKey from adf_core_python.core.launcher.connect.component_launcher import ComponentLauncher from adf_core_python.core.launcher.connect.connector import Connector @@ -23,7 +25,7 @@ def __init__(self) -> None: def connect( self, component_launcher: ComponentLauncher, - gateway_launcher: GatewayLauncher, + gateway_launcher: Optional[GatewayLauncher], config: Config, loader: AbstractLoader, ) -> dict[threading.Thread, threading.Event]: @@ -57,9 +59,14 @@ def connect( precompute_data_dir: str = f"{config.get_value(ConfigKey.KEY_PRECOMPUTE_DATA_DIR, 'precompute')}/police_office" - request_id: int = component_launcher.generate_request_id() finish_post_connect_event = threading.Event() - thread = threading.Thread( + request_id: int = component_launcher.generate_request_id() + + gateway_agent: Optional[GatewayAgent] = None + if isinstance(gateway_launcher, GatewayLauncher): + gateway_agent = GatewayAgent(gateway_launcher) + + component_thread = threading.Thread( target=component_launcher.connect, args=( OfficePolice( @@ -71,11 +78,19 @@ def connect( module_config, develop_data, finish_post_connect_event, + gateway_agent, ), request_id, ), name=f"PoliceOfficeAgent-{request_id}", ) - threads[thread] = finish_post_connect_event + threads[component_thread] = finish_post_connect_event + + if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + threads[gateway_thread] = finish_post_connect_event return threads diff --git a/adf_core_python/implement/action/default_extend_action_clear.py b/adf_core_python/implement/action/default_extend_action_clear.py index d23c8d1..b3e3bb0 100644 --- a/adf_core_python/implement/action/default_extend_action_clear.py +++ b/adf_core_python/implement/action/default_extend_action_clear.py @@ -541,7 +541,7 @@ def _is_intersecting_blockades( if line1.intersects(line2): return True - for i in range(0, len(apexes1) - 2, 2): + for i in range(0, len(apexes2) - 2, 2): line1 = LineString([(apexes1[-2], apexes1[-1]), (apexes1[0], apexes1[1])]) line2 = LineString( [(apexes2[i], apexes2[i + 1]), (apexes2[i + 2], apexes2[i + 3])] diff --git a/adf_core_python/implement/module/complex/java_human_detector.py b/adf_core_python/implement/module/complex/java_human_detector.py deleted file mode 100644 index 47e4507..0000000 --- a/adf_core_python/implement/module/complex/java_human_detector.py +++ /dev/null @@ -1,51 +0,0 @@ -from typing import Optional - -from rcrs_core.worldmodel.entityID import EntityID - -from adf_core_python.core.agent.communication.message_manager import MessageManager -from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.agent.module.module_manager import ModuleManager -from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData -from adf_core_python.core.component.module.complex.human_detector import HumanDetector -from adf_core_python.core.component.module.complex.target_detector import ( - TargetDetector, - T, -) - - -class JavaHumanDetector(HumanDetector): - def __init__( - self, - agent_info: AgentInfo, - world_info: WorldInfo, - scenario_info: ScenarioInfo, - module_manager: ModuleManager, - develop_data: DevelopData, - ) -> None: - super().__init__( - agent_info, world_info, scenario_info, module_manager, develop_data - ) - - def precompute(self, precompute_data: PrecomputeData) -> HumanDetector: - super().precompute(precompute_data) - return self - - def resume(self, precompute_data: PrecomputeData) -> HumanDetector: - super().resume(precompute_data) - return self - - def prepare(self) -> HumanDetector: - super().prepare() - return self - - def calculate(self) -> HumanDetector: - pass - - def get_target_entity_id(self) -> Optional[EntityID]: - pass - - def update_info(self, message_manager: MessageManager) -> TargetDetector[T]: - return super().update_info(message_manager) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 83d0cdf..0f98784 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -39,18 +39,19 @@ def initialize( message_manager, develop_data, ) + self._search: Search = cast( Search, module_manager.get_module( "DefaultTacticsAmbulanceTeam.Search", - "adf_core_python.core.component.module.complex.search.Search", + "adf_core_python.implement.module.complex.default_search.DefaultSearch", ), ) self._human_detector: HumanDetector = cast( HumanDetector, module_manager.get_module( "DefaultTacticsAmbulanceTeam.HumanDetector", - "adf_core_python.core.component.module.complex.human_detector.HumanDetector", + "adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector", ), ) self._action_transport = module_manager.get_extend_action( @@ -61,6 +62,7 @@ def initialize( "DefaultTacticsAmbulanceTeam.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) + self.register_module(self._search) self.register_module(self._human_detector) self.register_action(self._action_transport) diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index d0f8512..e4e09ec 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -44,14 +44,14 @@ def initialize( Search, module_manager.get_module( "DefaultTacticsFireBrigade.Search", - "adf_core_python.core.component.module.complex.search.Search", + "adf_core_python.implement.module.complex.default_search.DefaultSearch", ), ) self._human_detector: HumanDetector = cast( HumanDetector, module_manager.get_module( "DefaultTacticsFireBrigade.HumanDetector", - "adf_core_python.core.component.module.complex.human_detector.HumanDetector", + "adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector", ), ) self._action_rescue = module_manager.get_extend_action( @@ -62,6 +62,7 @@ def initialize( "DefaultTacticsAmbulanceTeam.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) + self.register_module(self._search) self.register_module(self._human_detector) self.register_action(self._action_rescue) diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index 63836a3..bec3434 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -47,7 +47,7 @@ def initialize( Search, module_manager.get_module( "DefaultTacticsPoliceForce.Search", - "adf_core_python.core.component.module.complex.search.Search", + "adf_core_python.implement.module.complex.default_search.DefaultSearch", ), ) self._road_detector: RoadDetector = cast( @@ -65,6 +65,7 @@ def initialize( "DefaultTacticsPoliceForce.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) + self.register_module(self._search) self.register_module(self._road_detector) self.register_action(self._action_ext_clear) diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index bd2025d..a34d21c 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -78,6 +78,11 @@ def __init__( help="precompute flag", ) parser.add_argument("--debug", action="store_true", help="debug flag") + parser.add_argument( + "--java", + action="store_true", + help="using java module flag", + ) args = parser.parse_args() config_map = { @@ -91,6 +96,7 @@ def __init__( ConfigKey.KEY_POLICE_OFFICE_COUNT: args.policeoffice, ConfigKey.KEY_PRECOMPUTE: args.precompute, ConfigKey.KEY_DEBUG_FLAG: args.debug, + ConfigKey.KEY_GATEWAY_FLAG: args.java, } for key, value in config_map.items(): diff --git a/config/launcher.yaml b/config/launcher.yaml index 54d6b53..7423a6c 100644 --- a/config/launcher.yaml +++ b/config/launcher.yaml @@ -4,7 +4,7 @@ kernel: gateway: host: localhost - port: 27920 + port: 27941 team: name: AIT-Rescue @@ -39,3 +39,6 @@ adf: count: 5 police: count: 5 + + gateway: + flag: false diff --git a/java/.gitignore b/java/.gitignore index 1b6985c..4158e07 100644 --- a/java/.gitignore +++ b/java/.gitignore @@ -3,3 +3,5 @@ # Ignore Gradle build output directory build + +!lib \ No newline at end of file diff --git a/java/lib/build.gradle b/java/lib/build.gradle new file mode 100644 index 0000000..de61a5d --- /dev/null +++ b/java/lib/build.gradle @@ -0,0 +1,57 @@ +plugins { + id('java-library') + id('com.google.protobuf') version "0.9.4" +} + +repositories { + mavenCentral() +} + +dependencies { + implementation 'com.github.roborescue:rcrs-server:master-SNAPSHOT' + implementation 'com.github.roborescue:adf-core-java:master-SNAPSHOT' + + // PrecomputeData + implementation 'com.fasterxml.jackson.core:jackson-annotations:2.13.0' + implementation 'com.fasterxml.jackson.core:jackson-core:2.13.0' + implementation 'com.fasterxml.jackson.core:jackson-databind:2.18.1' + implementation 'org.msgpack:jackson-dataformat-msgpack:0.9.0' + implementation 'com.fasterxml.jackson.dataformat:jackson-dataformat-yaml:2.18.1' + + // Protobuf + implementation 'com.google.protobuf:protobuf-java:4.28.3' + + // Annotation + implementation 'jakarta.annotation:jakarta.annotation-api:3.0.0' + + // Logger + implementation 'org.apache.logging.log4j:log4j-core:2.24.2' + implementation 'org.apache.logging.log4j:log4j-api:2.24.2' + + testImplementation libs.junit.jupiter + testRuntimeOnly 'org.junit.platform:junit-platform-launcher' +} + +repositories { + mavenCentral() + + maven { + url = 'https://sourceforge.net/projects/jsi/files/m2_repo' + } + maven { + url = 'https://repo.enonic.com/public/' + } + maven { + url 'https://jitpack.io' + } +} + +java { + toolchain { + languageVersion = JavaLanguageVersion.of(17) + } +} + +tasks.named('test') { + useJUnitPlatform() +} diff --git a/java/lib/src/main/java/adf_core_python/Main.java b/java/lib/src/main/java/adf_core_python/Main.java new file mode 100644 index 0000000..d6fbd5f --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/Main.java @@ -0,0 +1,10 @@ +package adf_core_python; + +import adf_core_python.gateway.Gateway; + +public class Main { + public static void main(String[] args) { + Gateway gateway = new Gateway(27941); + gateway.start(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/Agent.java b/java/lib/src/main/java/adf_core_python/agent/Agent.java new file mode 100644 index 0000000..07c9f0a --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/Agent.java @@ -0,0 +1,116 @@ +package adf_core_python.agent; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.config.ModuleConfig; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.AbstractModule; +import adf_core_python.gateway.mapper.AbstractMapper; +import adf_core_python.gateway.mapper.MapperDict; +import jakarta.annotation.Nonnull; +import jakarta.annotation.Nullable; +import org.apache.logging.log4j.LogManager; +import org.apache.logging.log4j.Logger; +import rescuecore2.config.Config; +import rescuecore2.messages.Command; +import rescuecore2.standard.entities.StandardEntityURN; +import rescuecore2.standard.entities.StandardWorldModel; +import rescuecore2.worldmodel.ChangeSet; +import rescuecore2.worldmodel.Entity; +import rescuecore2.worldmodel.EntityID; + +import java.lang.reflect.Constructor; +import java.lang.reflect.InvocationTargetException; +import java.util.Collection; +import java.util.HashMap; +import java.util.Objects; + +public class Agent { + private final AgentInfo agentInfo; + private final WorldInfo worldInfo; + private final ScenarioInfo scenarioInfo; + private final ModuleManager moduleManager; + private final DevelopData developData; + private final PrecomputeData precomputeData; + private final MessageManager messageManager; + private final HashMap modules = new HashMap<>(); + private final MapperDict mapperDict; + private final Logger logger; + + public Agent(EntityID entityID, Collection entities, ScenarioInfo scenarioInfo, DevelopData developData, ModuleConfig moduleConfig) { + StandardWorldModel worldModel = new StandardWorldModel(); + worldModel.addEntities(entities); + worldModel.index(); + + this.agentInfo = new AgentInfo(entityID, worldModel); + this.worldInfo = new WorldInfo(worldModel); + this.scenarioInfo = scenarioInfo; + this.developData = developData; + this.moduleManager = new ModuleManager(this.agentInfo, this.worldInfo, this.scenarioInfo, moduleConfig, this.developData); + + String dataStorageName = ""; + StandardEntityURN agentURN = Objects.requireNonNull(this.worldInfo.getEntity(this.agentInfo.getID())).getStandardURN(); + if (agentURN == StandardEntityURN.AMBULANCE_TEAM || agentURN == StandardEntityURN.AMBULANCE_CENTRE) { + dataStorageName = "ambulance.bin"; + } + if (agentURN == StandardEntityURN.FIRE_BRIGADE || agentURN == StandardEntityURN.FIRE_STATION) { + dataStorageName = "fire.bin"; + } + if (agentURN == StandardEntityURN.POLICE_FORCE || agentURN == StandardEntityURN.POLICE_OFFICE) { + dataStorageName = "police.bin"; + } + + this.precomputeData = new PrecomputeData(dataStorageName); + this.messageManager = new MessageManager(); + + this.mapperDict = new MapperDict(); + + logger = LogManager.getLogger(this.getClass()); + logger.debug("New Agent Created (EntityID: {}, All Entities: {})", this.agentInfo.getID(), this.worldInfo.getAllEntities()); + } + + public Class registerModule(@Nonnull String moduleID, @Nonnull String moduleName, @Nullable String defaultClassName) { + AbstractModule abstractModule = moduleManager.getModule(moduleName, defaultClassName); + if (abstractModule == null) return null; + Class clazz = abstractModule.getClass(); + while (clazz.getSuperclass() != null) { + if (mapperDict.getMapper(clazz) != null) { + Class mapperClass = mapperDict.getMapper(clazz); + try { + Constructor constructor = mapperClass.getConstructor(clazz, precomputeData.getClass(), messageManager.getClass()); + AbstractMapper mapperInstance = constructor.newInstance(abstractModule, precomputeData, messageManager); + modules.put(moduleID, mapperInstance); + logger.debug("Registered Human Detector (ModuleID: {}, Instance: {})", moduleID, modules.get(moduleID)); + return mapperInstance.getTargetClass(); + } catch (InstantiationException | IllegalAccessException | NoSuchMethodException | + InvocationTargetException e) { + throw new RuntimeException(e); + } + } + clazz = clazz.getSuperclass(); + } + return null; + } + + public void update(int time, ChangeSet changed, Collection heard) { + agentInfo.recordThinkStartTime(); + agentInfo.setTime(time); + agentInfo.setHeard(heard); + agentInfo.setChanged(changed); + worldInfo.setTime(time); + worldInfo.merge(changed); + worldInfo.setChanged(changed); + logger.debug("Agent Update (Time: {}, Changed: {}, Heard: {})", agentInfo.getTime(), agentInfo.getChanged(), agentInfo.getHeard()); + } + + public Config execModuleMethod(String moduleID, String methodName, Config arguments) { + logger.debug("Executing Method (MethodName: {}, Arguments: {}", methodName, arguments); + Config result = modules.get(moduleID).execMethod(methodName, arguments); + logger.debug("Executed Method Result (MethodName: {}, Result: {}", methodName, result); + return result; + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/config/ModuleConfig.java b/java/lib/src/main/java/adf_core_python/agent/config/ModuleConfig.java new file mode 100644 index 0000000..3232d7a --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/config/ModuleConfig.java @@ -0,0 +1,39 @@ +package adf_core_python.agent.config; + +import com.fasterxml.jackson.databind.JsonNode; +import com.fasterxml.jackson.databind.ObjectMapper; +import com.fasterxml.jackson.dataformat.yaml.YAMLFactory; + +import java.io.IOException; +import java.nio.file.Files; +import java.nio.file.Paths; + +public class ModuleConfig { + private static final String DEFAULT_CONFIG_FILE_NAME = "../config/module.yaml"; + private final JsonNode rootNode; + + public ModuleConfig() { + this(DEFAULT_CONFIG_FILE_NAME); + } + + public ModuleConfig(String configFileName) { + try { + String yamlString = Files.readString(Paths.get(configFileName)); + ObjectMapper mapper = new ObjectMapper(new YAMLFactory()); + rootNode = mapper.readTree(yamlString); + } catch (IOException e) { + throw new RuntimeException(e); + } + } + + public String getValue(String moduleName) { + String[] keys = moduleName.split("\\."); + JsonNode moduleNode = rootNode; + for (String key : keys) { + if (moduleNode.has(key)) { + moduleNode = moduleNode.get(key); + } + } + return moduleNode.asText(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java b/java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java new file mode 100644 index 0000000..00652e6 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/develop/DevelopData.java @@ -0,0 +1,40 @@ +package adf_core_python.agent.develop; + +import jakarta.annotation.Nonnull; + +import java.util.List; +import java.util.Map; + +public class DevelopData { + private boolean developFlag = false; + + private Map intValues; + private Map doubleValues; + private Map stringValues; + private Map boolValues; + + private Map> intLists; + private Map> doubleLists; + private Map> stringLists; + private Map> boolLists; + + @Nonnull + public Integer getInteger(@Nonnull String name, int defaultValue) { + if (this.developFlag) { + Integer value = this.intValues.get(name); + if (value == null) { + String rawData = this.stringValues.get(name); + if (rawData != null && !rawData.equals("")) { + value = Integer.valueOf(rawData); + } + if (value != null) { + this.intValues.put(name, value); + } + } + if (value != null) { + return value; + } + } + return defaultValue; + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/info/AgentInfo.java b/java/lib/src/main/java/adf_core_python/agent/info/AgentInfo.java new file mode 100644 index 0000000..e0d63d1 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/info/AgentInfo.java @@ -0,0 +1,119 @@ +package adf_core_python.agent.info; + +import adf.core.agent.action.Action; +import jakarta.annotation.Nonnull; +import jakarta.annotation.Nullable; +import rescuecore2.messages.Command; +import rescuecore2.standard.entities.*; +import rescuecore2.worldmodel.ChangeSet; +import rescuecore2.worldmodel.EntityID; + +import java.util.Collection; +import java.util.HashMap; +import java.util.Map; + +public class AgentInfo { + private final EntityID entityID; + private final StandardWorldModel worldModel; + private int time; + private ChangeSet changed; + private Collection heard; + private long thinkStartTime; + + private Map actionHistory; + + public AgentInfo(@Nonnull EntityID entityID, @Nonnull StandardWorldModel worldModel) { + this.entityID = entityID; + this.worldModel = worldModel; + this.time = 0; + this.actionHistory = new HashMap<>(); + recordThinkStartTime(); + } + + public int getTime() { + return this.time; + } + + public void setTime(int time) { + this.time = time; + } + + @Nullable + public Collection getHeard() { + return this.heard; + } + + public void setHeard(Collection heard) { + this.heard = heard; + } + + @Nonnull + public EntityID getID() { + return this.entityID; + } + + public StandardEntity me() { + return this.worldModel.getEntity(this.getID()); + } + + public double getX() { + return this.worldModel.getEntity(this.entityID).getLocation(this.worldModel).first(); + } + + public double getY() { + return this.worldModel.getEntity(this.entityID).getLocation(this.worldModel).second(); + } + + public EntityID getPosition() { + StandardEntity entity = this.worldModel.getEntity(this.getID()); + return entity instanceof Human ? ((Human) entity).getPosition() : entity.getID(); + } + + @Nonnull + public Area getPositionArea() { + return (Area) this.worldModel.getEntity(this.getPosition()); + } + + @Nullable + public ChangeSet getChanged() { + return this.changed; + } + + public void setChanged(ChangeSet changed) { + this.changed = changed; + } + + @Nullable + public Human someoneOnBoard() { + + for (StandardEntity next : this.worldModel + .getEntitiesOfType(StandardEntityURN.CIVILIAN)) { + Human human = (Human) next; + if (human.getPosition().equals(this.entityID)) { + return human; + } + } + + return null; + } + + @Nullable + public Action getExecutedAction(int time) { + if (time > 0) + return this.actionHistory.get(time); + return this.actionHistory.get(this.getTime() + time); + } + + + public void setExecutedAction(int time, @Nullable Action action) { + this.actionHistory.put(time > 0 ? time : this.getTime() + time, action); + } + + public void recordThinkStartTime() { + this.thinkStartTime = System.currentTimeMillis(); + } + + public long getThinkTimeMillis() { + return (System.currentTimeMillis() - this.thinkStartTime); + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/module/ModuleManager.java b/java/lib/src/main/java/adf_core_python/agent/module/ModuleManager.java new file mode 100644 index 0000000..abc0621 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/module/ModuleManager.java @@ -0,0 +1,427 @@ +package adf_core_python.agent.module; + +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.component.centralized.CommandExecutor; +import adf.core.component.centralized.CommandPicker; +import adf.core.component.communication.ChannelSubscriber; +import adf.core.component.communication.CommunicationMessage; +import adf.core.component.communication.MessageCoordinator; +import adf.core.component.extaction.ExtAction; +import adf_core_python.agent.config.ModuleConfig; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.component.module.AbstractModule; +import jakarta.annotation.Nonnull; +import jakarta.annotation.Nullable; +import org.apache.logging.log4j.LogManager; +import org.apache.logging.log4j.Logger; +import rescuecore2.config.NoSuchConfigOptionException; + +import java.lang.reflect.Constructor; +import java.lang.reflect.InvocationTargetException; +import java.util.HashMap; +import java.util.Map; + +public class ModuleManager { + private final Logger logger; + private Map moduleMap; + private Map actionMap; + private Map> executorMap; + private Map pickerMap; + private Map channelSubscriberMap; + private Map messageCoordinatorMap; + private AgentInfo agentInfo; + private WorldInfo worldInfo; + private ScenarioInfo scenarioInfo; + private ModuleConfig moduleConfig; + private DevelopData developData; + + public ModuleManager(@Nonnull AgentInfo agentInfo, @Nonnull WorldInfo worldInfo, @Nonnull ScenarioInfo scenarioInfo, @Nonnull ModuleConfig moduleConfig, @Nonnull DevelopData developData) { + this.agentInfo = agentInfo; + this.worldInfo = worldInfo; + this.scenarioInfo = scenarioInfo; + this.moduleConfig = moduleConfig; + this.developData = developData; + this.moduleMap = new HashMap<>(); + this.actionMap = new HashMap<>(); + this.executorMap = new HashMap<>(); + this.pickerMap = new HashMap<>(); + this.channelSubscriberMap = new HashMap<>(1); + this.messageCoordinatorMap = new HashMap<>(1); + + logger = LogManager.getLogger(this.getClass()); + } + + @SuppressWarnings("unchecked") + @Nullable + public final T + getModule(@Nonnull String moduleName, @Nullable String defaultClassName) { + String className = moduleName; + try { + className = this.moduleConfig.getValue(moduleName); + } catch (NoSuchConfigOptionException ignored) { + } + + try { + Class moduleClass; + try { + moduleClass = Class.forName(className); + } catch (ClassNotFoundException | NullPointerException e) { + logger.warn("Module " + moduleName + " not found. Using default class " + defaultClassName); + className = defaultClassName; + moduleClass = Class.forName(className); + } + + AbstractModule instance = this.moduleMap.get(className); + if (instance != null) { + return (T) instance; + } + + if (AbstractModule.class.isAssignableFrom(moduleClass)) { + instance = this.getModule((Class) moduleClass); + this.moduleMap.put(className, instance); + return (T) instance; + } + + } catch (ClassNotFoundException | NullPointerException e) { + return null; + } + + throw new IllegalArgumentException( + "Module name is not found : " + className); + } + + + @Nonnull + public final T + getModule(@Nonnull String moduleName) { + return this.getModule(moduleName, ""); + } + + + @Nonnull + private AbstractModule getModule(@Nonnull Class moduleClass) { + try { + Constructor constructor = moduleClass.getConstructor( + AgentInfo.class, WorldInfo.class, ScenarioInfo.class, + ModuleManager.class, DevelopData.class); + AbstractModule instance = constructor.newInstance(this.agentInfo, + this.worldInfo, this.scenarioInfo, this, this.developData); + this.moduleMap.put(moduleClass.getCanonicalName(), instance); + return instance; + } catch (NoSuchMethodException | InstantiationException + | IllegalAccessException | InvocationTargetException e) { + throw new RuntimeException(e); + } + } + + + @SuppressWarnings("unchecked") + @Nonnull + public final ExtAction getExtAction(String actionName, + String defaultClassName) { + String className = actionName; + try { + className = this.moduleConfig.getValue(actionName); + } catch (NoSuchConfigOptionException ignored) { + } + + try { + Class actionClass; + try { + actionClass = Class.forName(className); + } catch (ClassNotFoundException | NullPointerException e) { + className = defaultClassName; + actionClass = Class.forName(className); + } + + ExtAction instance = this.actionMap.get(className); + if (instance != null) { + return instance; + } + + if (ExtAction.class.isAssignableFrom(actionClass)) { + instance = this.getExtAction((Class) actionClass); + this.actionMap.put(className, instance); + return instance; + } + } catch (ClassNotFoundException | NullPointerException e) { + throw new RuntimeException(e); + } + throw new IllegalArgumentException( + "ExtAction name is not found : " + className); + } + + + @Nonnull + public final ExtAction getExtAction(String actionName) { + return getExtAction(actionName, ""); + } + + + @Nonnull + private ExtAction getExtAction(Class actionClass) { + try { + Constructor constructor = actionClass.getConstructor( + AgentInfo.class, WorldInfo.class, ScenarioInfo.class, + ModuleManager.class, DevelopData.class); + ExtAction instance = constructor.newInstance(this.agentInfo, + this.worldInfo, this.scenarioInfo, this, this.developData); + this.actionMap.put(actionClass.getCanonicalName(), instance); + return instance; + } catch (NoSuchMethodException | InstantiationException + | IllegalAccessException | InvocationTargetException e) { + throw new RuntimeException(e); + } + } + + + @SuppressWarnings("unchecked") + @Nonnull + public final > E + getCommandExecutor(String executorName, String defaultClassName) { + String className = executorName; + try { + className = this.moduleConfig.getValue(executorName); + } catch (NoSuchConfigOptionException ignored) { + } + + try { + Class actionClass; + try { + actionClass = Class.forName(className); + } catch (ClassNotFoundException | NullPointerException e) { + className = defaultClassName; + actionClass = Class.forName(className); + } + + CommandExecutor< + CommunicationMessage> instance = this.executorMap.get(className); + if (instance != null) { + return (E) instance; + } + + if (CommandExecutor.class.isAssignableFrom(actionClass)) { + instance = this.getCommandExecutor( + (Class>) actionClass); + this.executorMap.put(className, instance); + return (E) instance; + } + } catch (ClassNotFoundException | NullPointerException e) { + throw new RuntimeException(e); + } + + throw new IllegalArgumentException( + "CommandExecutor name is not found : " + className); + } + + + @Nonnull + public final > E + getCommandExecutor(String executorName) { + return getCommandExecutor(executorName, ""); + } + + + @SuppressWarnings("unchecked") + @Nonnull + private > E + getCommandExecutor(Class actionClass) { + try { + Constructor constructor = actionClass.getConstructor(AgentInfo.class, + WorldInfo.class, ScenarioInfo.class, ModuleManager.class, + DevelopData.class); + E instance = constructor.newInstance(this.agentInfo, this.worldInfo, + this.scenarioInfo, this, this.developData); + this.executorMap.put(actionClass.getCanonicalName(), + (CommandExecutor) instance); + return instance; + } catch (NoSuchMethodException | InstantiationException + | IllegalAccessException | InvocationTargetException e) { + throw new RuntimeException(e); + } + } + + + @SuppressWarnings("unchecked") + @Nonnull + public final CommandPicker getCommandPicker(String pickerName, + String defaultClassName) { + String className = pickerName; + try { + className = this.moduleConfig.getValue(pickerName); + } catch (NoSuchConfigOptionException ignored) { + } + + try { + Class actionClass; + try { + actionClass = Class.forName(className); + } catch (ClassNotFoundException | NullPointerException e) { + className = defaultClassName; + actionClass = Class.forName(className); + } + + CommandPicker instance = this.pickerMap.get(className); + if (instance != null) { + return instance; + } + + if (CommandPicker.class.isAssignableFrom(actionClass)) { + instance = this.getCommandPicker((Class) actionClass); + this.pickerMap.put(className, instance); + return instance; + } + } catch (ClassNotFoundException | NullPointerException e) { + throw new RuntimeException(e); + } + + throw new IllegalArgumentException( + "CommandExecutor name is not found : " + className); + } + + + @Nonnull + public final CommandPicker getCommandPicker(String pickerName) { + return getCommandPicker(pickerName, ""); + } + + + @Nonnull + private CommandPicker getCommandPicker(Class actionClass) { + try { + Constructor constructor = actionClass.getConstructor( + AgentInfo.class, WorldInfo.class, ScenarioInfo.class, + ModuleManager.class, DevelopData.class); + CommandPicker instance = constructor.newInstance(this.agentInfo, + this.worldInfo, this.scenarioInfo, this, this.developData); + this.pickerMap.put(actionClass.getCanonicalName(), instance); + return instance; + } catch (NoSuchMethodException | InstantiationException + | IllegalAccessException | InvocationTargetException e) { + throw new RuntimeException(e); + } + } + + + @SuppressWarnings("unchecked") + public final ChannelSubscriber getChannelSubscriber(String subscriberName, + String defaultClassName) { + String className = subscriberName; + try { + className = this.moduleConfig.getValue(subscriberName); + } catch (NoSuchConfigOptionException ignored) { + } + + try { + Class actionClass; + try { + actionClass = Class.forName(className); + } catch (ClassNotFoundException | NullPointerException e) { + className = defaultClassName; + actionClass = Class.forName(className); + } + + ChannelSubscriber instance = this.channelSubscriberMap.get(className); + if (instance != null) { + return instance; + } + + if (ChannelSubscriber.class.isAssignableFrom(actionClass)) { + instance = this + .getChannelSubscriber((Class) actionClass); + this.channelSubscriberMap.put(className, instance); + return instance; + } + } catch (ClassNotFoundException | NullPointerException e) { + throw new RuntimeException(e); + } + + throw new IllegalArgumentException( + "channelSubscriber name is not found : " + className); + } + + + public final ChannelSubscriber getChannelSubscriber(String subscriberName) { + return getChannelSubscriber(subscriberName, ""); + } + + + public final ChannelSubscriber + getChannelSubscriber(Class subsClass) { + try { + Constructor constructor = subsClass.getConstructor(); + ChannelSubscriber instance = constructor.newInstance(); + this.channelSubscriberMap.put(subsClass.getCanonicalName(), instance); + return instance; + } catch (NoSuchMethodException | InstantiationException + | IllegalAccessException | InvocationTargetException e) { + throw new RuntimeException(e); + } + } + + + @SuppressWarnings("unchecked") + public final MessageCoordinator getMessageCoordinator(String coordinatorName, + String defaultClassName) { + String className = coordinatorName; + try { + className = this.moduleConfig.getValue(coordinatorName); + } catch (NoSuchConfigOptionException ignored) { + } + + try { + Class actionClass; + try { + actionClass = Class.forName(className); + } catch (ClassNotFoundException | NullPointerException e) { + className = defaultClassName; + actionClass = Class.forName(className); + } + + MessageCoordinator instance = this.messageCoordinatorMap.get(className); + if (instance != null) { + return instance; + } + + if (MessageCoordinator.class.isAssignableFrom(actionClass)) { + instance = this + .getMessageCoordinator((Class) actionClass); + this.messageCoordinatorMap.put(className, instance); + return instance; + } + } catch (ClassNotFoundException | NullPointerException e) { + throw new RuntimeException(e); + } + + throw new IllegalArgumentException( + "channelSubscriber name is not found : " + className); + } + + + public final MessageCoordinator + getMessageCoordinator(String coordinatorName) { + return getMessageCoordinator(coordinatorName, ""); + } + + + public final MessageCoordinator + getMessageCoordinator(Class subsClass) { + try { + Constructor constructor = subsClass.getConstructor(); + MessageCoordinator instance = constructor.newInstance(); + this.messageCoordinatorMap.put(subsClass.getCanonicalName(), instance); + return instance; + } catch (NoSuchMethodException | InstantiationException + | IllegalAccessException | InvocationTargetException e) { + throw new RuntimeException(e); + } + } + + + @Nonnull + public ModuleConfig getModuleConfig() { + return this.moduleConfig; + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java b/java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java new file mode 100644 index 0000000..847b4f7 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/precompute/PreData.java @@ -0,0 +1,56 @@ +package adf_core_python.agent.precompute; + +import java.util.HashMap; +import java.util.List; +import java.util.Map; + +public final class PreData { + + public Map intValues; + public Map doubleValues; + public Map stringValues; + public Map idValues; + public Map boolValues; + + public Map> intLists; + public Map> doubleLists; + public Map> stringLists; + public Map> idLists; + public Map> boolLists; + + public boolean isReady; + public String readyID; + + public PreData() { + this.intValues = new HashMap<>(); + this.doubleValues = new HashMap<>(); + this.stringValues = new HashMap<>(); + this.idValues = new HashMap<>(); + this.boolValues = new HashMap<>(); + this.intLists = new HashMap<>(); + this.doubleLists = new HashMap<>(); + this.stringLists = new HashMap<>(); + this.idLists = new HashMap<>(); + this.boolLists = new HashMap<>(); + this.isReady = false; + this.readyID = ""; + } + + + public PreData copy() { + PreData preData = new PreData(); + preData.intValues = new HashMap<>(this.intValues); + preData.doubleValues = new HashMap<>(this.doubleValues); + preData.stringValues = new HashMap<>(this.stringValues); + preData.idValues = new HashMap<>(this.idValues); + preData.boolValues = new HashMap<>(this.boolValues); + preData.intLists = new HashMap<>(this.intLists); + preData.doubleLists = new HashMap<>(this.doubleLists); + preData.stringLists = new HashMap<>(this.stringLists); + preData.idLists = new HashMap<>(this.idLists); + preData.boolLists = new HashMap<>(this.boolLists); + preData.isReady = this.isReady; + preData.readyID = this.readyID; + return preData; + } +} diff --git a/java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java b/java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java new file mode 100644 index 0000000..d838c68 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/agent/precompute/PrecomputeData.java @@ -0,0 +1,400 @@ +package adf_core_python.agent.precompute; + +import adf.core.agent.info.WorldInfo; +import com.fasterxml.jackson.databind.ObjectMapper; +import org.msgpack.jackson.dataformat.MessagePackFactory; +import rescuecore2.worldmodel.EntityID; + +import java.io.*; +import java.util.ArrayList; +import java.util.List; +import java.util.stream.Collectors; + +public final class PrecomputeData { + + public static final String DEFAULT_FILE_NAME = "data.bin"; + public static final File PRECOMP_DATA_DIR = new File("precomp_data"); + + private final String fileName; + + private PreData data; + + public PrecomputeData() { + this(DEFAULT_FILE_NAME); + } + + + public PrecomputeData(String name) { + this.fileName = name; + this.init(); + } + + + private PrecomputeData(String name, PreData precomputeDatas) { + this.fileName = name; + this.data = precomputeDatas; + } + + + public static void removeData(String name) { + if (!PRECOMP_DATA_DIR.exists()) { + return; + } + + File file = new File(PRECOMP_DATA_DIR, name); + if (!file.exists()) { + return; + } + + file.delete(); + } + + + public static void removeData() { + removeData(DEFAULT_FILE_NAME); + } + + + public PrecomputeData copy() { + return new PrecomputeData(this.fileName, this.data.copy()); + } + + + private void init() { + this.data = this.read(this.fileName); + if (this.data == null) { + this.data = new PreData(); + } + } + + + private PreData read(String name) { + try { + if (!PRECOMP_DATA_DIR.exists()) { + if (!PRECOMP_DATA_DIR.mkdir()) { + return null; + } + } + + File readFile = new File(PRECOMP_DATA_DIR, name); + if (!readFile.exists()) { + return null; + } + + FileInputStream fis = new FileInputStream(readFile); + BufferedInputStream bis = new BufferedInputStream(fis); + ByteArrayOutputStream bout = new ByteArrayOutputStream(); + byte[] binary = new byte[1024]; + while (true) { + int len = bis.read(binary); + if (len < 0) { + break; + } + bout.write(binary, 0, len); + } + + binary = bout.toByteArray(); + ObjectMapper om = new ObjectMapper(new MessagePackFactory()); + PreData ds = om.readValue(binary, PreData.class); + bis.close(); + fis.close(); + return ds; + } catch (IOException e) { + return null; + } + } + + + public boolean write() { + try { + if (!PRECOMP_DATA_DIR.exists()) { + if (!PRECOMP_DATA_DIR.mkdir()) { + return false; + } + } + ObjectMapper om = new ObjectMapper(new MessagePackFactory()); + byte[] binary = om.writeValueAsBytes(this.data); + FileOutputStream fos = new FileOutputStream( + new File(PRECOMP_DATA_DIR, this.fileName)); + fos.write(binary); + fos.close(); + return true; + } catch (IOException e) { + e.printStackTrace(); + ; + return false; + } + } + + + public Integer setInteger(String name, int value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intValues.put(callClassName + ":" + name, value); + } + + + public Double setDouble(String name, double value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleValues.put(callClassName + ":" + name, value); + } + + + public Boolean setBoolean(String name, boolean value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolValues.put(callClassName + ":" + name, value); + } + + + public String setString(String name, String value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringValues.put(callClassName + ":" + name, value); + } + + + public EntityID setEntityID(String name, EntityID value) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + Integer id = this.data.idValues.put(callClassName + ":" + name, + value.getValue()); + return id == null ? null : new EntityID(id); + } + + + public List setIntegerList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intLists.put(callClassName + ":" + name, list); + } + + + public List setDoubleList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleLists.put(callClassName + ":" + name, list); + } + + + public List setStringList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringLists.put(callClassName + ":" + name, list); + } + + + public List setEntityIDList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + List cvtList = new ArrayList<>(); + for (EntityID id : list) { + cvtList.add(id.getValue()); + } + + cvtList = this.data.idLists.put(callClassName + ":" + name, cvtList); + return cvtList == null ? null + : cvtList.stream().map(EntityID::new).collect(Collectors.toList()); + } + + + public List setBooleanList(String name, List list) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolLists.put(callClassName + ":" + name, list); + } + + + public boolean setReady(boolean isReady, WorldInfo worldInfo) { + this.data.isReady = isReady; + this.data.readyID = makeReadyID(worldInfo); + return (this.data.isReady + && this.data.readyID.equals(this.makeReadyID(worldInfo))); + } + + + public Integer getInteger(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intValues.get(callClassName + ":" + name); + } + + + public Double getDouble(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleValues.get(callClassName + ":" + name); + } + + + public Boolean getBoolean(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolValues.get(callClassName + ":" + name); + } + + + public String getString(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringValues.get(callClassName + ":" + name); + } + + + public EntityID getEntityID(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + Integer id = this.data.idValues.get(callClassName + ":" + name); + return id == null ? null : new EntityID(id); + } + + + public List getIntegerList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.intLists.get(callClassName + ":" + name); + } + + + public List getDoubleList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.doubleLists.get(callClassName + ":" + name); + } + + + public List getStringList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.stringLists.get(callClassName + ":" + name); + } + + + public List getEntityIDList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + List cvtList = this.data.idLists.get(callClassName + ":" + name); + return cvtList == null ? null + : cvtList.stream().map(EntityID::new).collect(Collectors.toList()); + } + + + public List getBooleanList(String name) { + StackTraceElement[] stackTraceElements = Thread.currentThread() + .getStackTrace(); + if (stackTraceElements.length == 0) { + return null; + } + + String callClassName = stackTraceElements[2].getClassName(); + return this.data.boolLists.get(callClassName + ":" + name); + } + + + public boolean isReady(WorldInfo worldInfo) { + return (this.data.isReady + && this.data.readyID.equals(this.makeReadyID(worldInfo))); + } + + + private String makeReadyID(WorldInfo worldInfo) { + return "" + worldInfo.getBounds().getX() + worldInfo.getBounds().getY() + + worldInfo.getAllEntities().size(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/extaction/ExtAction.java b/java/lib/src/main/java/adf_core_python/component/extaction/ExtAction.java new file mode 100644 index 0000000..0dad82a --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/extaction/ExtAction.java @@ -0,0 +1,137 @@ +package adf_core_python.component.extaction; + +import adf.core.agent.action.Action; +import adf.core.agent.communication.MessageManager; +import adf.core.agent.develop.DevelopData; +import adf.core.agent.info.AgentInfo; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf.core.agent.module.ModuleManager; +import adf.core.agent.precompute.PrecomputeData; +import rescuecore2.worldmodel.EntityID; + +abstract public class ExtAction { + + protected ScenarioInfo scenarioInfo; + protected AgentInfo agentInfo; + protected WorldInfo worldInfo; + protected ModuleManager moduleManager; + protected DevelopData developData; + protected Action result; + private int countPrecompute; + private int countResume; + private int countPreparate; + private int countUpdateInfo; + private int countUpdateInfoCurrentTime; + + public ExtAction(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + this.worldInfo = wi; + this.agentInfo = ai; + this.scenarioInfo = si; + this.moduleManager = moduleManager; + this.developData = developData; + this.result = null; + this.countPrecompute = 0; + this.countResume = 0; + this.countPreparate = 0; + this.countUpdateInfo = 0; + this.countUpdateInfoCurrentTime = 0; + } + + + public abstract ExtAction setTarget(EntityID targets); + + + /** + * @param targets target + * @return ExtAction + * @deprecated {@link #setTarget(EntityID)} + */ + @Deprecated + public ExtAction setTarget(EntityID... targets) { + if (targets != null && targets.length > 0) { + return this.setTarget(targets[0]); + } + return this; + } + + + public abstract ExtAction calc(); + + + public Action getAction() { + return result; + } + + + public ExtAction precompute(PrecomputeData precomputeData) { + this.countPrecompute++; + return this; + } + + + public ExtAction resume(PrecomputeData precomputeData) { + this.countResume++; + return this; + } + + + public ExtAction preparate() { + this.countPreparate++; + return this; + } + + + public ExtAction updateInfo(MessageManager messageManager) { + if (this.countUpdateInfoCurrentTime != this.agentInfo.getTime()) { + this.countUpdateInfo = 0; + this.countUpdateInfoCurrentTime = this.agentInfo.getTime(); + } + this.countUpdateInfo++; + return this; + } + + + public int getCountPrecompute() { + return this.countPrecompute; + } + + + public int getCountResume() { + return this.countResume; + } + + + public int getCountPreparate() { + return this.countPreparate; + } + + + public int getCountUpdateInfo() { + if (this.countUpdateInfoCurrentTime != this.agentInfo.getTime()) { + this.countUpdateInfo = 0; + this.countUpdateInfoCurrentTime = this.agentInfo.getTime(); + } + return this.countUpdateInfo; + } + + + public void resetCountPrecompute() { + this.countPrecompute = 0; + } + + + public void resetCountResume() { + this.countResume = 0; + } + + + public void resetCountPreparate() { + this.countPreparate = 0; + } + + + public void resetCountUpdateInfo() { + this.countUpdateInfo = 0; + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/AbstractModule.java b/java/lib/src/main/java/adf_core_python/component/module/AbstractModule.java new file mode 100644 index 0000000..830ca29 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/AbstractModule.java @@ -0,0 +1,138 @@ +package adf_core_python.component.module; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; + +import java.util.ArrayList; +import java.util.List; + +public abstract class AbstractModule { + + private final List subModules = new ArrayList<>(); + protected AgentInfo agentInfo; + protected WorldInfo worldInfo; + protected ScenarioInfo scenarioInfo; + protected ModuleManager moduleManager; + protected DevelopData developData; + + private int countPrecompute; + private int countResume; + private int countPreparate; + private int countUpdateInfo; + private int countUpdateInfoCurrentTime; + + public AbstractModule(AgentInfo agentInfo, WorldInfo worldInfo, ScenarioInfo scenarioInfo, ModuleManager moduleManager, DevelopData developData) { + this.agentInfo = agentInfo; + this.worldInfo = worldInfo; + this.scenarioInfo = scenarioInfo; + this.moduleManager = moduleManager; + this.developData = developData; + this.countPrecompute = 0; + this.countResume = 0; + this.countPreparate = 0; + this.countUpdateInfo = 0; + this.countUpdateInfoCurrentTime = 0; + } + + + protected void registerModule(AbstractModule module) { + subModules.add(module); + } + + + protected boolean unregisterModule(AbstractModule module) { + return subModules.remove(module); + } + + + public AbstractModule precompute(PrecomputeData precomputeData) { + this.countPrecompute++; + for (AbstractModule abstractModule : subModules) { + abstractModule.precompute(precomputeData); + } + return this; + } + + + public AbstractModule resume(PrecomputeData precomputeData) { + this.countResume++; + for (AbstractModule abstractModule : subModules) { + abstractModule.resume(precomputeData); + } + return this; + } + + + public AbstractModule preparate() { + this.countPreparate++; + for (AbstractModule abstractModule : subModules) { + abstractModule.preparate(); + } + return this; + } + + + public AbstractModule updateInfo(MessageManager messageManager) { + if (this.countUpdateInfoCurrentTime != this.agentInfo.getTime()) { + this.countUpdateInfo = 0; + this.countUpdateInfoCurrentTime = this.agentInfo.getTime(); + } + for (AbstractModule abstractModule : subModules) { + abstractModule.updateInfo(messageManager); + } + this.countUpdateInfo++; + return this; + } + + + public abstract AbstractModule calc(); + + + public int getCountPrecompute() { + return this.countPrecompute; + } + + + public int getCountResume() { + return this.countResume; + } + + + public int getCountPreparate() { + return this.countPreparate; + } + + + public int getCountUpdateInfo() { + if (this.countUpdateInfoCurrentTime != this.agentInfo.getTime()) { + this.countUpdateInfo = 0; + this.countUpdateInfoCurrentTime = this.agentInfo.getTime(); + } + return this.countUpdateInfo; + } + + + public void resetCountPrecompute() { + this.countPrecompute = 0; + } + + + public void resetCountResume() { + this.countResume = 0; + } + + + public void resetCountPreparate() { + this.countPreparate = 0; + } + + + public void resetCountUpdateInfo() { + this.countUpdateInfo = 0; + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/Clustering.java b/java/lib/src/main/java/adf_core_python/component/module/algorithm/Clustering.java new file mode 100644 index 0000000..aba296d --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/algorithm/Clustering.java @@ -0,0 +1,86 @@ +package adf_core_python.component.module.algorithm; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.AbstractModule; +import rescuecore2.standard.entities.StandardEntity; +import rescuecore2.worldmodel.EntityID; + +import java.util.ArrayList; +import java.util.Collection; +import java.util.List; + +public abstract class Clustering extends AbstractModule { + + public Clustering(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + public abstract int getClusterNumber(); + + public abstract int getClusterIndex(StandardEntity entity); + + public abstract int getClusterIndex(EntityID id); + + public abstract Collection getClusterEntities(int index); + + public abstract Collection getClusterEntityIDs(int index); + + + public List> getAllClusterEntities() { + int number = this.getClusterNumber(); + List> result = new ArrayList<>(number); + for (int i = 0; i < number; i++) { + result.add(i, this.getClusterEntities(i)); + } + return result; + } + + + public List> getAllClusterEntityIDs() { + int number = this.getClusterNumber(); + List> result = new ArrayList<>(number); + for (int i = 0; i < number; i++) { + result.add(i, this.getClusterEntityIDs(i)); + } + return result; + } + + + @Override + public Clustering precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public Clustering resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public Clustering preparate() { + super.preparate(); + return this; + } + + + @Override + public Clustering updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } + + + @Override + public abstract Clustering calc(); +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/DynamicClustering.java b/java/lib/src/main/java/adf_core_python/component/module/algorithm/DynamicClustering.java new file mode 100644 index 0000000..208d200 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/algorithm/DynamicClustering.java @@ -0,0 +1,14 @@ +package adf_core_python.component.module.algorithm; + +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; + +public abstract class DynamicClustering extends Clustering { + + public DynamicClustering(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/PathPlanning.java b/java/lib/src/main/java/adf_core_python/component/module/algorithm/PathPlanning.java new file mode 100644 index 0000000..6101ac0 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/algorithm/PathPlanning.java @@ -0,0 +1,101 @@ +package adf_core_python.component.module.algorithm; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.AbstractModule; +import rescuecore2.misc.Pair; +import rescuecore2.worldmodel.EntityID; + +import java.util.Arrays; +import java.util.Collection; +import java.util.List; + +public abstract class PathPlanning extends AbstractModule { + + public PathPlanning(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + public abstract List getResult(); + + public abstract PathPlanning setFrom(EntityID id); + + public abstract PathPlanning setDestination(Collection targets); + + + public PathPlanning setDestination(EntityID... targets) { + return this.setDestination(Arrays.asList(targets)); + } + + + @Override + public PathPlanning precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public PathPlanning resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public PathPlanning preparate() { + super.preparate(); + return this; + } + + + @Override + public PathPlanning updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } + + + @Override + public abstract PathPlanning calc(); + + + public double getDistance() { + double sum = 0.0; + List path = getResult(); + if (path == null || path.size() <= 1) { + return sum; + } + + Pair prevPoint = null; + for (EntityID id : path) { + Pair point = worldInfo.getLocation(worldInfo.getEntity(id)); + if (prevPoint != null) { + int x = prevPoint.first() - point.first(); + int y = prevPoint.second() - point.second(); + sum += x * x + y * y; + } + prevPoint = point; + } + + return Math.sqrt(sum); + } + + + // Alias + public double getDistance(EntityID from, EntityID dest) { + return this.setFrom(from).setDestination(dest).calc().getDistance(); + } + + + public List getResult(EntityID from, EntityID dest) { + return this.setFrom(from).setDestination(dest).calc().getResult(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/algorithm/StaticClustering.java b/java/lib/src/main/java/adf_core_python/component/module/algorithm/StaticClustering.java new file mode 100644 index 0000000..b9647da --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/algorithm/StaticClustering.java @@ -0,0 +1,14 @@ +package adf_core_python.component.module.algorithm; + +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; + +public abstract class StaticClustering extends Clustering { + + public StaticClustering(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/AmbulanceTargetAllocator.java b/java/lib/src/main/java/adf_core_python/component/module/complex/AmbulanceTargetAllocator.java new file mode 100644 index 0000000..41f2e7b --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/AmbulanceTargetAllocator.java @@ -0,0 +1,47 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import rescuecore2.worldmodel.EntityID; + +import java.util.Map; + +public abstract class AmbulanceTargetAllocator extends TargetAllocator { + + public AmbulanceTargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + @Override + public abstract Map getResult(); + + @Override + public abstract AmbulanceTargetAllocator calc(); + + + @Override + public AmbulanceTargetAllocator resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public AmbulanceTargetAllocator preparate() { + super.preparate(); + return this; + } + + + @Override + public AmbulanceTargetAllocator updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/BuildingDetector.java b/java/lib/src/main/java/adf_core_python/component/module/complex/BuildingDetector.java new file mode 100644 index 0000000..34567c8 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/BuildingDetector.java @@ -0,0 +1,49 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import rescuecore2.standard.entities.Building; + +public abstract class BuildingDetector extends TargetDetector { + + public BuildingDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + @Override + public BuildingDetector precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public BuildingDetector resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public BuildingDetector preparate() { + super.preparate(); + return this; + } + + + @Override + public BuildingDetector updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } + + + @Override + public abstract BuildingDetector calc(); +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/FireTargetAllocator.java b/java/lib/src/main/java/adf_core_python/component/module/complex/FireTargetAllocator.java new file mode 100644 index 0000000..65c757e --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/FireTargetAllocator.java @@ -0,0 +1,47 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import rescuecore2.worldmodel.EntityID; + +import java.util.Map; + +public abstract class FireTargetAllocator extends TargetAllocator { + + public FireTargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + @Override + public abstract Map getResult(); + + @Override + public abstract FireTargetAllocator calc(); + + + @Override + public FireTargetAllocator resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public FireTargetAllocator preparate() { + super.preparate(); + return this; + } + + + @Override + public FireTargetAllocator updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/HumanDetector.java b/java/lib/src/main/java/adf_core_python/component/module/complex/HumanDetector.java new file mode 100644 index 0000000..e99db72 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/HumanDetector.java @@ -0,0 +1,49 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import rescuecore2.standard.entities.Human; + +public abstract class HumanDetector extends TargetDetector { + + public HumanDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + @Override + public HumanDetector precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public HumanDetector resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public HumanDetector preparate() { + super.preparate(); + return this; + } + + + @Override + public HumanDetector updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } + + + @Override + public abstract HumanDetector calc(); +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/PoliceTargetAllocator.java b/java/lib/src/main/java/adf_core_python/component/module/complex/PoliceTargetAllocator.java new file mode 100644 index 0000000..846dc06 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/PoliceTargetAllocator.java @@ -0,0 +1,47 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import rescuecore2.worldmodel.EntityID; + +import java.util.Map; + +public abstract class PoliceTargetAllocator extends TargetAllocator { + + public PoliceTargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + @Override + public abstract Map getResult(); + + @Override + public abstract PoliceTargetAllocator calc(); + + + @Override + public PoliceTargetAllocator resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public PoliceTargetAllocator preparate() { + super.preparate(); + return this; + } + + + @Override + public PoliceTargetAllocator updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/RoadDetector.java b/java/lib/src/main/java/adf_core_python/component/module/complex/RoadDetector.java new file mode 100644 index 0000000..9f6acac --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/RoadDetector.java @@ -0,0 +1,49 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import rescuecore2.standard.entities.Road; + +public abstract class RoadDetector extends TargetDetector { + + public RoadDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + @Override + public RoadDetector precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public RoadDetector resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public RoadDetector preparate() { + super.preparate(); + return this; + } + + + @Override + public RoadDetector updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } + + + @Override + public abstract RoadDetector calc(); +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/Search.java b/java/lib/src/main/java/adf_core_python/component/module/complex/Search.java new file mode 100644 index 0000000..13173bb --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/Search.java @@ -0,0 +1,49 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import rescuecore2.standard.entities.Area; + +public abstract class Search extends TargetDetector { + + public Search(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + @Override + public Search precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public Search resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public Search preparate() { + super.preparate(); + return this; + } + + + @Override + public Search updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } + + + @Override + public abstract Search calc(); +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/TargetAllocator.java b/java/lib/src/main/java/adf_core_python/component/module/complex/TargetAllocator.java new file mode 100644 index 0000000..3a85b34 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/TargetAllocator.java @@ -0,0 +1,54 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.AbstractModule; +import rescuecore2.worldmodel.EntityID; + +import java.util.Map; + +public abstract class TargetAllocator extends AbstractModule { + + public TargetAllocator(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + public abstract Map getResult(); + + @Override + public abstract TargetAllocator calc(); + + + @Override + public final TargetAllocator precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public TargetAllocator resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public TargetAllocator preparate() { + super.preparate(); + return this; + } + + + @Override + public TargetAllocator updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } +} diff --git a/java/lib/src/main/java/adf_core_python/component/module/complex/TargetDetector.java b/java/lib/src/main/java/adf_core_python/component/module/complex/TargetDetector.java new file mode 100644 index 0000000..bddd091 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/component/module/complex/TargetDetector.java @@ -0,0 +1,54 @@ +package adf_core_python.component.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.ScenarioInfo; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.agent.info.AgentInfo; +import adf_core_python.agent.module.ModuleManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.AbstractModule; +import rescuecore2.standard.entities.StandardEntity; +import rescuecore2.worldmodel.EntityID; + +public abstract class TargetDetector + extends AbstractModule { + + public TargetDetector(AgentInfo ai, WorldInfo wi, ScenarioInfo si, ModuleManager moduleManager, DevelopData developData) { + super(ai, wi, si, moduleManager, developData); + } + + + public abstract EntityID getTarget(); + + @Override + public abstract TargetDetector calc(); + + + @Override + public TargetDetector precompute(PrecomputeData precomputeData) { + super.precompute(precomputeData); + return this; + } + + + @Override + public TargetDetector resume(PrecomputeData precomputeData) { + super.resume(precomputeData); + return this; + } + + + @Override + public TargetDetector preparate() { + super.preparate(); + return this; + } + + + @Override + public TargetDetector updateInfo(MessageManager messageManager) { + super.updateInfo(messageManager); + return this; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java b/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java new file mode 100644 index 0000000..309e92d --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/Coordinator.java @@ -0,0 +1,132 @@ +package adf_core_python.gateway; + +import adf.core.agent.info.ScenarioInfo; +import adf_core_python.agent.Agent; +import adf_core_python.agent.config.ModuleConfig; +import adf_core_python.agent.develop.DevelopData; +import adf_core_python.gateway.message.*; +import org.apache.logging.log4j.LogManager; +import org.apache.logging.log4j.Logger; +import rescuecore2.config.Config; +import rescuecore2.messages.Command; +import rescuecore2.messages.Message; +import rescuecore2.messages.protobuf.RCRSProto; +import rescuecore2.messages.protobuf.RCRSProto.MessageProto; +import rescuecore2.misc.EncodingTools; +import rescuecore2.worldmodel.ChangeSet; + +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.net.Socket; +import java.util.Collection; +import java.util.HashMap; + +public class Coordinator extends Thread { + private final InputStream inputStream; + private final OutputStream outputStream; + private final HashMap changeSetTemp = new HashMap<>(); + private final HashMap> heardTemp = new HashMap<>(); + private boolean running = true; + private Agent agent; + + public Coordinator(Socket socket) { + try { + socket.setSoTimeout(1000); + socket.setReuseAddress(true); + inputStream = socket.getInputStream(); + outputStream = socket.getOutputStream(); + } catch (IOException e) { + throw new RuntimeException(e); + } + Logger logger = LogManager.getLogger(this.getClass()); + logger.info("Connected from {} on {}", socket.getRemoteSocketAddress(), socket.getLocalSocketAddress()); + } + + @Override + public void run() { + while (running) { + RCRSProto.MessageProto messageProto = receiveMessage(); + if (messageProto == null) continue; + try { + Message message = ModuleControlMessageFactory.makeMessage(messageProto.getUrn(), messageProto); + handleMessage(message); + } catch (IOException e) { + throw new RuntimeException(e); + } + } + } + + private void handleMessage(Message message) { + if (message instanceof AMAgent amAgent) { + ScenarioInfo.Mode mode = ScenarioInfo.Mode.NON_PRECOMPUTE; + switch (amAgent.getMode()) { + case 1: + mode = ScenarioInfo.Mode.PRECOMPUTED; + break; + case 2: + mode = ScenarioInfo.Mode.PRECOMPUTATION_PHASE; + break; + } + agent = new Agent(amAgent.getAgentID(), amAgent.getEntities(), new ScenarioInfo(amAgent.getConfig(), mode), new DevelopData(), new ModuleConfig()); + } else if (message instanceof AMModule amModule) { + if (agent == null) { + throw new IllegalStateException("Agent not found. Make sure agent has been registered."); + } + Class clazz = agent.registerModule(amModule.getModuleID(), amModule.getModuleName(), amModule.getDefaultClassName()); + String class_name = ""; + if (clazz != null) { + class_name = clazz.getName(); + } + MAModuleResponse maModuleResponse = new MAModuleResponse(amModule.getModuleID(), class_name); + sendMessage(maModuleResponse); + } else if (message instanceof AMUpdate amUpdate) { + if (agent == null) { + changeSetTemp.put(amUpdate.getTime(), amUpdate.getChanged()); + heardTemp.put(amUpdate.getTime(), amUpdate.getHeard()); + return; + } + if (!changeSetTemp.isEmpty() && !heardTemp.isEmpty()) { + for (int i = 1; i < amUpdate.getTime(); i++) { + agent.update(i, changeSetTemp.get(i), heardTemp.get(i)); + } + changeSetTemp.clear(); + heardTemp.clear(); + } + agent.update(amUpdate.getTime(), amUpdate.getChanged(), amUpdate.getHeard()); + } else if (message instanceof AMExec amExec) { + Config result = agent.execModuleMethod(amExec.getModuleID(), amExec.getMethodName(), amExec.getArguments()); + MAExecResponse maExecResponse = new MAExecResponse(amExec.getModuleID(), result); + sendMessage(maExecResponse); + } + } + + private MessageProto receiveMessage() { + try { + int size = EncodingTools.readInt32(inputStream); + byte[] bytes = inputStream.readNBytes(size); + return MessageProto.parseFrom(bytes); + } catch (IOException ignored) { + } + return null; + } + + private void sendMessage(MessageProto messageProto) { + try { + byte[] bytes = messageProto.toByteArray(); + EncodingTools.writeInt32(bytes.length, outputStream); + outputStream.write(bytes); + outputStream.flush(); + } catch (IOException e) { + throw new RuntimeException(e); + } + } + + public void sendMessage(Message message) { + sendMessage(message.toMessageProto()); + } + + public void shutdown() { + running = false; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/Gateway.java b/java/lib/src/main/java/adf_core_python/gateway/Gateway.java new file mode 100644 index 0000000..2e97b29 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/Gateway.java @@ -0,0 +1,48 @@ +package adf_core_python.gateway; + +import rescuecore2.registry.Registry; +import rescuecore2.standard.entities.StandardEntityFactory; +import rescuecore2.standard.entities.StandardPropertyFactory; +import rescuecore2.standard.messages.StandardMessageFactory; + +import java.io.IOException; +import java.net.ServerSocket; +import java.net.Socket; +import java.util.ArrayList; + +public class Gateway extends Thread { + private final int port; + private final ArrayList coordinators; + private boolean running = true; + + public Gateway(int port) { + this.port = port; + this.coordinators = new ArrayList<>(); + + Registry.SYSTEM_REGISTRY.registerFactory(StandardEntityFactory.INSTANCE); + Registry.SYSTEM_REGISTRY.registerFactory(StandardMessageFactory.INSTANCE); + Registry.SYSTEM_REGISTRY.registerFactory(StandardPropertyFactory.INSTANCE); + } + + @Override + public void run() { + try (ServerSocket serverSocket = new ServerSocket(port)) { + serverSocket.setReuseAddress(true); + while (running) { + Socket socket = serverSocket.accept(); + Coordinator coordinator = new Coordinator(socket); + coordinator.start(); + coordinators.add(coordinator); + } + } catch (IOException e) { + throw new RuntimeException(e); + } + } + + public void shutdown() { + running = false; + for (Coordinator coordinator : coordinators) { + coordinator.shutdown(); + } + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/AbstractMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/AbstractMapper.java new file mode 100644 index 0000000..3a27ca9 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/AbstractMapper.java @@ -0,0 +1,21 @@ +package adf_core_python.gateway.mapper; + +import org.apache.logging.log4j.LogManager; +import org.apache.logging.log4j.Logger; +import rescuecore2.config.Config; + +public abstract class AbstractMapper { + protected Class targetClass; + protected Logger logger; + + public AbstractMapper() { + this.targetClass = Object.class; + logger = LogManager.getLogger(this.getClass()); + } + + public Class getTargetClass() { + return targetClass; + } + + public abstract Config execMethod(String methodName, Config arguments); +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/MapperDict.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/MapperDict.java new file mode 100644 index 0000000..28e50f3 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/MapperDict.java @@ -0,0 +1,51 @@ +package adf_core_python.gateway.mapper; + +import adf_core_python.component.module.AbstractModule; +import adf_core_python.component.module.algorithm.Clustering; +import adf_core_python.component.module.algorithm.DynamicClustering; +import adf_core_python.component.module.algorithm.PathPlanning; +import adf_core_python.component.module.algorithm.StaticClustering; +import adf_core_python.component.module.complex.*; +import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import adf_core_python.gateway.mapper.module.algorithm.ClusteringMapper; +import adf_core_python.gateway.mapper.module.algorithm.DynamicClusteringMapper; +import adf_core_python.gateway.mapper.module.algorithm.PathPlanningMapper; +import adf_core_python.gateway.mapper.module.algorithm.StaticClusteringMapper; +import adf_core_python.gateway.mapper.module.complex.*; + +import java.util.HashMap; + +public class MapperDict { + private final HashMap, Class> mapperDict; + + public MapperDict() { + mapperDict = new HashMap<>(); + registerMapper(Clustering.class, ClusteringMapper.class); + registerMapper(DynamicClustering.class, DynamicClusteringMapper.class); + registerMapper(StaticClustering.class, StaticClusteringMapper.class); + + registerMapper(PathPlanning.class, PathPlanningMapper.class); + + registerMapper(TargetDetector.class, TargetDetectorMapper.class); + registerMapper(HumanDetector.class, HumanDetectorMapper.class); + registerMapper(RoadDetector.class, RoadDetectorMapper.class); + registerMapper(BuildingDetector.class, BuildingDetectorMapper.class); + + registerMapper(Search.class, SearchMapper.class); + + registerMapper(TargetAllocator.class, TargetAllocatorMapper.class); + registerMapper(AmbulanceTargetAllocator.class, AmbulanceTargetAllocatorMapper.class); + registerMapper(FireTargetAllocator.class, FireTargetAllocatorMapper.class); + registerMapper(PoliceTargetAllocator.class, PoliceTargetAllocatorMapper.class); + + registerMapper(AbstractModule.class, AbstractModuleMapper.class); + } + + public void registerMapper(Class component, Class mapper) { + mapperDict.put(component, mapper); + } + + public Class getMapper(Class component) { + return mapperDict.get(component); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/AbstractModuleMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/AbstractModuleMapper.java new file mode 100644 index 0000000..984d801 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/AbstractModuleMapper.java @@ -0,0 +1,64 @@ +package adf_core_python.gateway.mapper.module; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.AbstractModule; +import adf_core_python.gateway.mapper.AbstractMapper; +import rescuecore2.config.Config; + +public class AbstractModuleMapper extends AbstractMapper { + protected final AbstractModule abstractModule; + private final PrecomputeData precomputeData; + private final MessageManager messageManager; + + public AbstractModuleMapper(AbstractModule abstractModule, PrecomputeData precomputeData, MessageManager messageManager) { + super(); + this.targetClass = AbstractModule.class; + this.abstractModule = abstractModule; + this.precomputeData = precomputeData; + this.messageManager = messageManager; + } + + @Override + public Config execMethod(String methodName, Config arguments) { + switch (methodName) { + case "precompute": + execPrecompute(); + break; + case "resume": + execResume(); + break; + case "preparate": + execPreparate(); + break; + case "updateInfo": + execUpdateInfo(); + break; + case "calc": + execCalc(); + break; + } + + return new Config(); + } + + public void execPrecompute() { + abstractModule.precompute(precomputeData); + } + + public void execResume() { + abstractModule.resume(precomputeData); + } + + public void execPreparate() { + abstractModule.preparate(); + } + + public void execUpdateInfo() { + abstractModule.updateInfo(messageManager); + } + + public void execCalc() { + abstractModule.calc(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/ClusteringMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/ClusteringMapper.java new file mode 100644 index 0000000..a063c20 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/ClusteringMapper.java @@ -0,0 +1,133 @@ +package adf_core_python.gateway.mapper.module.algorithm; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.algorithm.Clustering; +import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.databind.ObjectMapper; +import rescuecore2.config.Config; +import rescuecore2.standard.entities.StandardEntity; +import rescuecore2.worldmodel.EntityID; + +import java.util.Collection; +import java.util.List; +import java.util.stream.Collectors; + +public class ClusteringMapper extends AbstractModuleMapper { + private final WorldInfo worldInfo; + + public ClusteringMapper(Clustering clustering, PrecomputeData precomputeData, MessageManager messageManager, WorldInfo worldInfo) { + super(clustering, precomputeData, messageManager); + this.targetClass = Clustering.class; + this.worldInfo = worldInfo; + } + + @Override + public Config execMethod(String methodName, Config arguments) { + Config result = super.execMethod(methodName, arguments); + if (methodName.equals("getClusterNumber")) { + result = execGetClusterNumber(); + } + if (methodName.equals("getClusterIndex(StandardEntity)")) { + result = execGetClusterIndex(worldInfo.getEntity(new EntityID(arguments.getIntValue("EntityID")))); + } + if (methodName.equals("getClusterIndex(EntityID)")) { + result = execGetClusterIndex(new EntityID(arguments.getIntValue("EntityID"))); + } + if (methodName.equals("getClusterEntities(int)")) { + result = execGetClusterEntities(arguments.getIntValue("Index")); + } + if (methodName.equals("getClusterEntityIDs(int)")) { + result = execGetClusterEntityIDs(arguments.getIntValue("Index")); + } + if (methodName.equals("getAllClusterEntities")) { + result = execGetAllClusterEntities(); + } + if (methodName.equals("getAllClusterEntityIDs")) { + result = execGetAllClusterEntityIDs(); + } + return result; + } + + private Config execGetClusterNumber() { + Clustering clustering = (Clustering) abstractModule; + int clusterNumber = clustering.getClusterNumber(); + Config result = new Config(); + result.setIntValue("ClusterNumber", clusterNumber); + return result; + } + + private Config execGetClusterIndex(StandardEntity standardEntity) { + Clustering clustering = (Clustering) abstractModule; + int clusterIndex = clustering.getClusterIndex(standardEntity); + Config result = new Config(); + result.setIntValue("ClusterIndex", clusterIndex); + return result; + } + + private Config execGetClusterIndex(EntityID entityID) { + Clustering clustering = (Clustering) abstractModule; + int clusterIndex = clustering.getClusterIndex(entityID); + Config result = new Config(); + result.setIntValue("ClusterIndex", clusterIndex); + return result; + } + + private Config execGetClusterEntities(int index) { + Clustering clustering = (Clustering) abstractModule; + Collection entities = clustering.getClusterEntities(index); + ObjectMapper objectMapper = new ObjectMapper(); + String jsonStr = ""; + try { + jsonStr = objectMapper.writeValueAsString(entities.stream().map(e -> e.getID().getValue()).toArray()); + } catch (JsonProcessingException ignored) { + } + Config result = new Config(); + result.setValue("EntityIDs", jsonStr); + return result; + } + + private Config execGetClusterEntityIDs(int index) { + Clustering clustering = (Clustering) abstractModule; + Collection entities = clustering.getClusterEntityIDs(index); + ObjectMapper objectMapper = new ObjectMapper(); + String jsonStr = ""; + try { + jsonStr = objectMapper.writeValueAsString(entities.stream().map(EntityID::getValue).toArray()); + } catch (JsonProcessingException ignored) { + } + Config result = new Config(); + result.setValue("EntityIDs", jsonStr); + return result; + } + + private Config execGetAllClusterEntities() { + Clustering clustering = (Clustering) abstractModule; + List> allClusterEntities = clustering.getAllClusterEntities(); + ObjectMapper objectMapper = new ObjectMapper(); + String jsonStr = ""; + try { + jsonStr = objectMapper.writeValueAsString(allClusterEntities.stream().map(e -> e.stream().map(f -> f.getID().getValue()).collect(Collectors.toList())).toArray()); + } catch (JsonProcessingException ignored) { + } + Config result = new Config(); + result.setValue("EntityIDs", jsonStr); + return result; + } + + private Config execGetAllClusterEntityIDs() { + Clustering clustering = (Clustering) abstractModule; + List> allClusterEntityIDs = clustering.getAllClusterEntityIDs(); + ObjectMapper objectMapper = new ObjectMapper(); + String jsonStr = ""; + try { + jsonStr = objectMapper.writeValueAsString(allClusterEntityIDs.stream().map(e -> e.stream().map(EntityID::getValue).collect(Collectors.toList())).toArray()); + } catch (JsonProcessingException ignored) { + } + Config result = new Config(); + result.setValue("EntityIDs", jsonStr); + return result; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/DynamicClusteringMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/DynamicClusteringMapper.java new file mode 100644 index 0000000..3dfdb43 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/DynamicClusteringMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.algorithm; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.algorithm.DynamicClustering; + +public class DynamicClusteringMapper extends ClusteringMapper { + public DynamicClusteringMapper(DynamicClustering dynamicClustering, PrecomputeData precomputeData, MessageManager messageManager, WorldInfo worldInfo) { + super(dynamicClustering, precomputeData, messageManager, worldInfo); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java new file mode 100644 index 0000000..3bfb84f --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/PathPlanningMapper.java @@ -0,0 +1,108 @@ +package adf_core_python.gateway.mapper.module.algorithm; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.algorithm.PathPlanning; +import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import com.fasterxml.jackson.core.JsonProcessingException; +import com.fasterxml.jackson.core.type.TypeReference; +import com.fasterxml.jackson.databind.ObjectMapper; +import rescuecore2.config.Config; +import rescuecore2.worldmodel.EntityID; + +import java.util.Collection; +import java.util.List; + +public class PathPlanningMapper extends AbstractModuleMapper { + public PathPlanningMapper(PathPlanning pathPlanning, PrecomputeData precomputeData, MessageManager messageManager) { + super(pathPlanning, precomputeData, messageManager); + } + + @Override + public Config execMethod(String methodName, Config arguments) { + Config result = super.execMethod(methodName, arguments); + if (methodName.equals("getResult")) { + result = execGetResult(); + } + if (methodName.equals("setFrom(EntityID)")) { + execSetFrom(new EntityID(arguments.getIntValue("EntityID"))); + } + if (methodName.equals("setDestination(Collection)")) { + ObjectMapper objectMapper = new ObjectMapper(); + Collection targets; + try { + targets = objectMapper.readValue(arguments.getValue("Targets"), new TypeReference>() { + }); + } catch (JsonProcessingException e) { + throw new RuntimeException(e); + } + execSetDestination(targets); + } + if (methodName.equals("getDistance")) { + result = execGetDistance(); + } + if (methodName.equals("getDistance(EntityID, EntityID)")) { + result = execGetDistance(new EntityID(arguments.getIntValue("From")), new EntityID(arguments.getIntValue("Dest"))); + } + if (methodName.equals("getResult(EntityID, EntityID)")) { + result = execGetResult(new EntityID(arguments.getIntValue("From")), new EntityID(arguments.getIntValue("Dest"))); + } + return result; + } + + private Config execGetResult() { + PathPlanning pathPlanning = (PathPlanning) abstractModule; + List entityIDs = pathPlanning.getResult(); + ObjectMapper objectMapper = new ObjectMapper(); + String jsonStr; + try { + jsonStr = objectMapper.writeValueAsString(entityIDs); + } catch (JsonProcessingException e) { + throw new RuntimeException(e); + } + Config result = new Config(); + result.setValue("EntityIDs", jsonStr); + return result; + } + + private void execSetFrom(EntityID entityID) { + PathPlanning pathPlanning = (PathPlanning) abstractModule; + pathPlanning.setFrom(entityID); + } + + private void execSetDestination(Collection targets) { + PathPlanning pathPlanning = (PathPlanning) abstractModule; + pathPlanning.setDestination(targets); + } + + private Config execGetDistance() { + PathPlanning pathPlanning = (PathPlanning) abstractModule; + Double distance = pathPlanning.getDistance(); + Config result = new Config(); + result.setValue("Distance", String.valueOf(distance)); + return result; + } + + private Config execGetDistance(EntityID from, EntityID dest) { + PathPlanning pathPlanning = (PathPlanning) abstractModule; + Double distance = pathPlanning.getDistance(from, dest); + Config result = new Config(); + result.setValue("Distance", String.valueOf(distance)); + return result; + } + + private Config execGetResult(EntityID from, EntityID dest) { + PathPlanning pathPlanning = (PathPlanning) abstractModule; + List entityIDs = pathPlanning.getResult(from, dest); + Config result = new Config(); + ObjectMapper objectMapper = new ObjectMapper(); + String jsonStr; + try { + jsonStr = objectMapper.writeValueAsString(entityIDs.stream().map(EntityID::getValue).toArray()); + } catch (JsonProcessingException e) { + throw new RuntimeException(e); + } + result.setValue("Result", String.valueOf(jsonStr)); + return result; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/StaticClusteringMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/StaticClusteringMapper.java new file mode 100644 index 0000000..daeaec3 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/algorithm/StaticClusteringMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.algorithm; + +import adf.core.agent.communication.MessageManager; +import adf.core.agent.info.WorldInfo; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.algorithm.StaticClustering; + +public class StaticClusteringMapper extends ClusteringMapper { + public StaticClusteringMapper(StaticClustering staticClustering, PrecomputeData precomputeData, MessageManager messageManager, WorldInfo worldInfo) { + super(staticClustering, precomputeData, messageManager, worldInfo); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java new file mode 100644 index 0000000..e7beb49 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/AmbulanceTargetAllocatorMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.AmbulanceTargetAllocator; + +public class AmbulanceTargetAllocatorMapper extends TargetAllocatorMapper { + public AmbulanceTargetAllocatorMapper(AmbulanceTargetAllocator ambulanceTargetAllocator, PrecomputeData precomputeData, MessageManager messageManager) { + super(ambulanceTargetAllocator, precomputeData, messageManager); + this.targetClass = AmbulanceTargetAllocator.class; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/BuildingDetectorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/BuildingDetectorMapper.java new file mode 100644 index 0000000..448dd1c --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/BuildingDetectorMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.BuildingDetector; + +public class BuildingDetectorMapper extends TargetDetectorMapper { + public BuildingDetectorMapper(BuildingDetector buildingDetector, PrecomputeData precomputeData, MessageManager messageManager) { + super(buildingDetector, precomputeData, messageManager); + this.targetClass = BuildingDetector.class; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/FireTargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/FireTargetAllocatorMapper.java new file mode 100644 index 0000000..235d3fa --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/FireTargetAllocatorMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.FireTargetAllocator; + +public class FireTargetAllocatorMapper extends TargetAllocatorMapper { + public FireTargetAllocatorMapper(FireTargetAllocator fireTargetAllocator, PrecomputeData precomputeData, MessageManager messageManager) { + super(fireTargetAllocator, precomputeData, messageManager); + this.targetClass = FireTargetAllocator.class; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/HumanDetectorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/HumanDetectorMapper.java new file mode 100644 index 0000000..2db6fed --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/HumanDetectorMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.HumanDetector; + +public class HumanDetectorMapper extends TargetDetectorMapper { + public HumanDetectorMapper(HumanDetector humanDetector, PrecomputeData precomputeData, MessageManager messageManager) { + super(humanDetector, precomputeData, messageManager); + this.targetClass = HumanDetector.class; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java new file mode 100644 index 0000000..5092b72 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/PoliceTargetAllocatorMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.PoliceTargetAllocator; + +public class PoliceTargetAllocatorMapper extends TargetAllocatorMapper { + public PoliceTargetAllocatorMapper(PoliceTargetAllocator policeTargetAllocator, PrecomputeData precomputeData, MessageManager messageManager) { + super(policeTargetAllocator, precomputeData, messageManager); + this.targetClass = PoliceTargetAllocator.class; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/RoadDetectorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/RoadDetectorMapper.java new file mode 100644 index 0000000..4945c38 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/RoadDetectorMapper.java @@ -0,0 +1,12 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.RoadDetector; + +public class RoadDetectorMapper extends TargetDetectorMapper { + public RoadDetectorMapper(RoadDetector roadDetector, PrecomputeData precomputeData, MessageManager messageManager) { + super(roadDetector, precomputeData, messageManager); + this.targetClass = RoadDetector.class; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java new file mode 100644 index 0000000..94f42db --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/SearchMapper.java @@ -0,0 +1,11 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.Search; + +public class SearchMapper extends TargetDetectorMapper { + public SearchMapper(Search search, PrecomputeData precomputeData, MessageManager messageManager) { + super(search, precomputeData, messageManager); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetAllocatorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetAllocatorMapper.java new file mode 100644 index 0000000..78ba9d2 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetAllocatorMapper.java @@ -0,0 +1,34 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.TargetAllocator; +import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import rescuecore2.config.Config; +import rescuecore2.worldmodel.EntityID; + +import java.util.Map; + +public class TargetAllocatorMapper extends AbstractModuleMapper { + public TargetAllocatorMapper(TargetAllocator targetAllocator, PrecomputeData precomputeData, MessageManager messageManager) { + super(targetAllocator, precomputeData, messageManager); + this.targetClass = TargetAllocator.class; + } + + @Override + public Config execMethod(String methodName, Config arguments) { + Config result = super.execMethod(methodName, arguments); + if (methodName.equals("getResult")) { + result = execGetResult(); + } + return result; + } + + public Config execGetResult() { + TargetAllocator targetAllocator = (TargetAllocator) abstractModule; + Map result = targetAllocator.getResult(); + Config response = new Config(); + result.forEach((k, v) -> response.setValue(String.valueOf(k.getValue()), String.valueOf(v.getValue()))); + return response; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetDetectorMapper.java b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetDetectorMapper.java new file mode 100644 index 0000000..e0bb851 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/mapper/module/complex/TargetDetectorMapper.java @@ -0,0 +1,35 @@ +package adf_core_python.gateway.mapper.module.complex; + +import adf.core.agent.communication.MessageManager; +import adf_core_python.agent.precompute.PrecomputeData; +import adf_core_python.component.module.complex.TargetDetector; +import adf_core_python.gateway.mapper.module.AbstractModuleMapper; +import rescuecore2.config.Config; +import rescuecore2.worldmodel.EntityID; + +public class TargetDetectorMapper extends AbstractModuleMapper { + public TargetDetectorMapper(TargetDetector targetDetector, PrecomputeData precomputeData, MessageManager messageManager) { + super(targetDetector, precomputeData, messageManager); + this.targetClass = TargetDetector.class; + } + + @Override + public Config execMethod(String methodName, Config arguments) { + Config result = super.execMethod(methodName, arguments); + if (methodName.equals("getTarget")) { + result = execGetTarget(); + } + return result; + } + + public Config execGetTarget() { + TargetDetector targetDetector = (TargetDetector) abstractModule; + EntityID entityID = targetDetector.getTarget(); + Config result = new Config(); + result.setIntValue("EntityID", -1); + if (entityID != null) { + result.setIntValue("EntityID", entityID.getValue()); + } + return result; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMAgent.java b/java/lib/src/main/java/adf_core_python/gateway/message/AMAgent.java new file mode 100644 index 0000000..a7e34a5 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/AMAgent.java @@ -0,0 +1,71 @@ +package adf_core_python.gateway.message; + +import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.gateway.message.urn.ModuleMessageURN; +import rescuecore2.config.Config; +import rescuecore2.messages.AbstractMessage; +import rescuecore2.messages.components.ConfigComponent; +import rescuecore2.messages.components.EntityIDComponent; +import rescuecore2.messages.components.EntityListComponent; +import rescuecore2.messages.components.IntComponent; +import rescuecore2.messages.protobuf.RCRSProto; +import rescuecore2.worldmodel.Entity; +import rescuecore2.worldmodel.EntityID; + +import java.io.IOException; +import java.io.InputStream; +import java.util.Collection; +import java.util.List; + +public class AMAgent extends AbstractMessage { + private final EntityIDComponent agentID; + private final EntityListComponent entities; + private final ConfigComponent config; + private final IntComponent mode; + + public AMAgent(EntityID agentID, Collection entities, Config config, int mode) { + this(); + this.agentID.setValue(agentID); + this.entities.setEntities(entities); + this.config.setConfig(config); + this.mode.setValue(mode); + } + + public AMAgent(InputStream inputStream) throws IOException { + this(); + read(inputStream); + } + + public AMAgent(RCRSProto.MessageProto messageProto) { + this(); + fromMessageProto(messageProto); + } + + private AMAgent() { + super(ModuleMessageURN.AM_AGENT); + this.agentID = new EntityIDComponent(ModuleMessageComponentURN.AgentID); + this.entities = new EntityListComponent(ModuleMessageComponentURN.Entities); + this.config = new ConfigComponent(ModuleMessageComponentURN.Config); + this.mode = new IntComponent(ModuleMessageComponentURN.Mode); + addMessageComponent(agentID); + addMessageComponent(entities); + addMessageComponent(config); + addMessageComponent(mode); + } + + public EntityID getAgentID() { + return this.agentID.getValue(); + } + + public List getEntities() { + return this.entities.getEntities(); + } + + public Config getConfig() { + return this.config.getConfig(); + } + + public int getMode() { + return this.mode.getValue(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMExec.java b/java/lib/src/main/java/adf_core_python/gateway/message/AMExec.java new file mode 100644 index 0000000..199f97d --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/AMExec.java @@ -0,0 +1,57 @@ +package adf_core_python.gateway.message; + +import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.gateway.message.urn.ModuleMessageURN; +import rescuecore2.config.Config; +import rescuecore2.messages.AbstractMessage; +import rescuecore2.messages.components.ConfigComponent; +import rescuecore2.messages.components.StringComponent; +import rescuecore2.messages.protobuf.RCRSProto; + +import java.io.IOException; +import java.io.InputStream; + +public class AMExec extends AbstractMessage { + private final StringComponent moduleID; + private final StringComponent methodName; + private final ConfigComponent arguments; + + public AMExec(String moduleID, String methodName, Config arguments) { + this(); + this.moduleID.setValue(moduleID); + this.methodName.setValue(methodName); + this.arguments.setConfig(arguments); + } + + public AMExec(InputStream inputStream) throws IOException { + this(); + read(inputStream); + } + + public AMExec(RCRSProto.MessageProto messageProto) { + this(); + fromMessageProto(messageProto); + } + + private AMExec() { + super(ModuleMessageURN.AM_MODULE); + this.moduleID = new StringComponent(ModuleMessageComponentURN.ModuleID); + this.methodName = new StringComponent(ModuleMessageComponentURN.MethodName); + this.arguments = new ConfigComponent(ModuleMessageComponentURN.Arguments); + addMessageComponent(moduleID); + addMessageComponent(methodName); + addMessageComponent(arguments); + } + + public String getModuleID() { + return this.moduleID.getValue(); + } + + public String getMethodName() { + return this.methodName.getValue(); + } + + public Config getArguments() { + return this.arguments.getConfig(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMModule.java b/java/lib/src/main/java/adf_core_python/gateway/message/AMModule.java new file mode 100644 index 0000000..a597897 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/AMModule.java @@ -0,0 +1,55 @@ +package adf_core_python.gateway.message; + +import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.gateway.message.urn.ModuleMessageURN; +import rescuecore2.messages.AbstractMessage; +import rescuecore2.messages.components.StringComponent; +import rescuecore2.messages.protobuf.RCRSProto; + +import java.io.IOException; +import java.io.InputStream; + +public class AMModule extends AbstractMessage { + private final StringComponent moduleID; + private final StringComponent moduleName; + private final StringComponent defaultClassName; + + public AMModule(String moduleID, String moduleName, String defaultClassName) { + this(); + this.moduleID.setValue(moduleID); + this.moduleName.setValue(moduleName); + this.defaultClassName.setValue(defaultClassName); + } + + public AMModule(InputStream inputStream) throws IOException { + this(); + read(inputStream); + } + + public AMModule(RCRSProto.MessageProto messageProto) { + this(); + fromMessageProto(messageProto); + } + + private AMModule() { + super(ModuleMessageURN.AM_MODULE); + this.moduleID = new StringComponent(ModuleMessageComponentURN.ModuleID); + this.moduleName = new StringComponent(ModuleMessageComponentURN.ModuleName); + this.defaultClassName = new StringComponent(ModuleMessageComponentURN.DefaultClassName); + addMessageComponent(moduleID); + addMessageComponent(moduleName); + addMessageComponent(defaultClassName); + } + + public String getModuleID() { + return this.moduleID.getValue(); + } + + public String getModuleName() { + return this.moduleName.getValue(); + } + + public String getDefaultClassName() { + return this.defaultClassName.getValue(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/AMUpdate.java b/java/lib/src/main/java/adf_core_python/gateway/message/AMUpdate.java new file mode 100644 index 0000000..ab3b03e --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/AMUpdate.java @@ -0,0 +1,61 @@ +package adf_core_python.gateway.message; + +import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.gateway.message.urn.ModuleMessageURN; +import rescuecore2.messages.AbstractMessage; +import rescuecore2.messages.Command; +import rescuecore2.messages.components.ChangeSetComponent; +import rescuecore2.messages.components.CommandListComponent; +import rescuecore2.messages.components.IntComponent; +import rescuecore2.messages.protobuf.RCRSProto; +import rescuecore2.worldmodel.ChangeSet; + +import java.io.IOException; +import java.io.InputStream; +import java.util.Collection; +import java.util.List; + +public class AMUpdate extends AbstractMessage { + private final IntComponent time; + private final ChangeSetComponent changed; + private final CommandListComponent heard; + + public AMUpdate(int time, ChangeSet changed, Collection heard) { + this(); + this.time.setValue(time); + this.changed.setChangeSet(changed); + this.heard.setCommands(heard); + } + + public AMUpdate(InputStream inputStream) throws IOException { + this(); + read(inputStream); + } + + public AMUpdate(RCRSProto.MessageProto messageProto) { + this(); + fromMessageProto(messageProto); + } + + private AMUpdate() { + super(ModuleMessageURN.AM_UPDATE); + this.time = new IntComponent(ModuleMessageComponentURN.Time); + this.changed = new ChangeSetComponent(ModuleMessageComponentURN.Changed); + this.heard = new CommandListComponent(ModuleMessageComponentURN.Heard); + addMessageComponent(this.time); + addMessageComponent(this.changed); + addMessageComponent(this.heard); + } + + public int getTime() { + return this.time.getValue(); + } + + public ChangeSet getChanged() { + return this.changed.getChangeSet(); + } + + public List getHeard() { + return this.heard.getCommands(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/MAExecResponse.java b/java/lib/src/main/java/adf_core_python/gateway/message/MAExecResponse.java new file mode 100644 index 0000000..e648838 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/MAExecResponse.java @@ -0,0 +1,49 @@ +package adf_core_python.gateway.message; + +import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.gateway.message.urn.ModuleMessageURN; +import rescuecore2.config.Config; +import rescuecore2.messages.AbstractMessage; +import rescuecore2.messages.components.ConfigComponent; +import rescuecore2.messages.components.StringComponent; +import rescuecore2.messages.protobuf.RCRSProto; + +import java.io.IOException; +import java.io.InputStream; + +public class MAExecResponse extends AbstractMessage { + private final StringComponent moduleID; + private final ConfigComponent result; + + public MAExecResponse(String moduleID, Config result) { + this(); + this.moduleID.setValue(moduleID); + this.result.setConfig(result); + } + + public MAExecResponse(InputStream inputStream) throws IOException { + this(); + read(inputStream); + } + + public MAExecResponse(RCRSProto.MessageProto messageProto) { + this(); + fromMessageProto(messageProto); + } + + private MAExecResponse() { + super(ModuleMessageURN.MA_EXEC_RESPONSE); + this.moduleID = new StringComponent(ModuleMessageComponentURN.ModuleID); + this.result = new ConfigComponent(ModuleMessageComponentURN.Result); + addMessageComponent(moduleID); + addMessageComponent(result); + } + + public String getModuleID() { + return this.moduleID.getValue(); + } + + public Config getResult() { + return this.result.getConfig(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/MAModuleResponse.java b/java/lib/src/main/java/adf_core_python/gateway/message/MAModuleResponse.java new file mode 100644 index 0000000..d568a61 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/MAModuleResponse.java @@ -0,0 +1,47 @@ +package adf_core_python.gateway.message; + +import adf_core_python.gateway.message.urn.ModuleMessageComponentURN; +import adf_core_python.gateway.message.urn.ModuleMessageURN; +import rescuecore2.messages.AbstractMessage; +import rescuecore2.messages.components.StringComponent; +import rescuecore2.messages.protobuf.RCRSProto; + +import java.io.IOException; +import java.io.InputStream; + +public class MAModuleResponse extends AbstractMessage { + private final StringComponent moduleID; + private final StringComponent className; + + public MAModuleResponse(String moduleID, String className) { + this(); + this.moduleID.setValue(moduleID); + this.className.setValue(className); + } + + public MAModuleResponse(InputStream inputStream) throws IOException { + this(); + read(inputStream); + } + + public MAModuleResponse(RCRSProto.MessageProto messageProto) { + this(); + fromMessageProto(messageProto); + } + + private MAModuleResponse() { + super(ModuleMessageURN.MA_MODULE_RESPONSE); + this.moduleID = new StringComponent(ModuleMessageComponentURN.ModuleID); + this.className = new StringComponent(ModuleMessageComponentURN.ClassName); + addMessageComponent(moduleID); + addMessageComponent(className); + } + + public String getModuleID() { + return this.moduleID.getValue(); + } + + public String getClassName() { + return this.className.getValue(); + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/ModuleControlMessageFactory.java b/java/lib/src/main/java/adf_core_python/gateway/message/ModuleControlMessageFactory.java new file mode 100644 index 0000000..3952131 --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/ModuleControlMessageFactory.java @@ -0,0 +1,42 @@ +package adf_core_python.gateway.message; + +import adf_core_python.gateway.message.urn.ModuleMessageURN; +import rescuecore2.messages.Message; +import rescuecore2.messages.protobuf.RCRSProto.MessageProto; + +import java.io.IOException; +import java.io.InputStream; + +public class ModuleControlMessageFactory { + public static Message makeMessage(int urn, InputStream inputStream) throws IOException { + return makeMessage(ModuleMessageURN.fromInt(urn), inputStream); + } + + public static Message makeMessage(ModuleMessageURN urn, InputStream inputStream) throws IOException { + switch (urn) { + case AM_AGENT -> new AMAgent(inputStream); + case AM_MODULE -> new AMModule(inputStream); + case MA_MODULE_RESPONSE -> new MAModuleResponse(inputStream); + case AM_UPDATE -> new AMUpdate(inputStream); + case AM_EXEC -> new AMExec(inputStream); + } + return null; + } + + public static Message makeMessage(int urn, MessageProto messageProto) throws IOException { + return makeMessage(ModuleMessageURN.fromInt(urn), messageProto); + } + + public static Message makeMessage(ModuleMessageURN urn, MessageProto messageProto) { + if (urn.equals(ModuleMessageURN.AM_AGENT)) { + return new AMAgent(messageProto); + } else if (urn.equals(ModuleMessageURN.AM_MODULE)) { + return new AMModule(messageProto); + } else if (urn.equals(ModuleMessageURN.AM_UPDATE)) { + return new AMUpdate(messageProto); + } else if (urn.equals(ModuleMessageURN.AM_EXEC)) { + return new AMExec(messageProto); + } + return null; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageComponentURN.java b/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageComponentURN.java new file mode 100644 index 0000000..868439c --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageComponentURN.java @@ -0,0 +1,52 @@ +package adf_core_python.gateway.message.urn; + +import rescuecore2.URN; + +import java.util.Map; + +public enum ModuleMessageComponentURN implements URN { + AgentID(0x0400 | 1, "Agent ID"), + Entities(0x0400 | 2, "Entities"), + Config(0x0400 | 3, "Entities"), + Mode(0x0400 | 4, "Entities"), + ModuleID(0x0400 | 5, "Module ID"), + ModuleName(0x0400 | 6, "Module Name"), + DefaultClassName(0x0400 | 7, "Default Class Name"), + ClassName(0x0400 | 8, "Class Name"), + Time(0x0400 | 9, "Time"), + Changed(0x0400 | 10, "Changed"), + Heard(0x0400 | 11, "Heard"), + MethodName(0x0400 | 12, "Method Name"), + Arguments(0x0400 | 13, "Arguments"), + Result(0x0400 | 14, "Result"); + + + public static final Map MAP = URN.generateMap(ModuleMessageComponentURN.class); + public static final Map MAP_STR = URN + .generateMapStr(ModuleMessageComponentURN.class); + private final int urnId; + private final String urnStr; + + ModuleMessageComponentURN(int urnId, String urnStr) { + this.urnId = urnId; + this.urnStr = urnStr; + } + + public static ModuleMessageComponentURN fromInt(int urnId) { + return MAP.get(urnId); + } + + public static ModuleMessageComponentURN fromString(String urnStr) { + return MAP_STR.get(urnStr); + } + + @Override + public int getURNId() { + return urnId; + } + + @Override + public String getURNStr() { + return urnStr; + } +} diff --git a/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageURN.java b/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageURN.java new file mode 100644 index 0000000..8c90a4e --- /dev/null +++ b/java/lib/src/main/java/adf_core_python/gateway/message/urn/ModuleMessageURN.java @@ -0,0 +1,42 @@ +package adf_core_python.gateway.message.urn; + +import rescuecore2.URN; + +import java.util.Map; + +public enum ModuleMessageURN implements URN { + AM_AGENT(0x0300 | 1, "urn:adf_core_python.gateway.messages:am_agent"), + AM_MODULE(0x0300 | 2, "urn:adf_core_python.gateway.messages:am_module"), + MA_MODULE_RESPONSE(0x0300 | 3, "urn:adf_core_python.gateway.messages:am_module_response"), + AM_UPDATE(0x0300 | 4, "urn:adf_core_python.gateway.messages:am_update"), + AM_EXEC(0x0300 | 5, "urn:adf_core_python.gateway.messages:am_exec"), + MA_EXEC_RESPONSE(0x0300 | 6, "urn:adf_core_python.gateway.messages:am_exec_response"); + + public static final Map MAP = URN.generateMap(ModuleMessageURN.class); + public static final Map MAP_STR = URN.generateMapStr(ModuleMessageURN.class); + private final int urnId; + private final String urnStr; + + private ModuleMessageURN(int urnId, String urnStr) { + this.urnId = urnId; + this.urnStr = urnStr; + } + + public static ModuleMessageURN fromInt(int s) { + return MAP.get(s); + } + + public static ModuleMessageURN fromString(String urn) { + return MAP_STR.get(urn); + } + + @Override + public int getURNId() { + return urnId; + } + + @Override + public String getURNStr() { + return urnStr; + } +} diff --git a/java/lib/src/main/resources/log4j2.xml b/java/lib/src/main/resources/log4j2.xml new file mode 100644 index 0000000..893c33d --- /dev/null +++ b/java/lib/src/main/resources/log4j2.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/java/lib/src/test/java/org/example/LibraryTest.java b/java/lib/src/test/java/org/example/LibraryTest.java new file mode 100644 index 0000000..01e3af0 --- /dev/null +++ b/java/lib/src/test/java/org/example/LibraryTest.java @@ -0,0 +1,14 @@ +/* + * This source file was generated by the Gradle 'init' task + */ +package org.example; + +import org.junit.jupiter.api.Test; + +class LibraryTest { + @Test + void someLibraryMethodReturnsTrue() { +// Library classUnderTest = new Library(); +// assertTrue(classUnderTest.someLibraryMethod(), "someLibraryMethod should return 'true'"); + } +} diff --git a/poetry.lock b/poetry.lock index 11eee0e..1b520aa 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. [[package]] name = "accessible-pygments" @@ -939,7 +939,7 @@ rtree = "*" type = "git" url = "https://github.com/adf-python/rcrs-core-python" reference = "HEAD" -resolved_reference = "aa661b19c98f82d8d648317f386c2f9d2c26a8fc" +resolved_reference = "42a20e312de20ea46f1e0622a82f41e81fc3514f" [[package]] name = "requests" @@ -1029,6 +1029,11 @@ files = [ {file = "scikit_learn-1.5.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f60021ec1574e56632be2a36b946f8143bf4e5e6af4a06d85281adc22938e0dd"}, {file = "scikit_learn-1.5.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:394397841449853c2290a32050382edaec3da89e35b3e03d6cc966aebc6a8ae6"}, {file = "scikit_learn-1.5.2-cp312-cp312-win_amd64.whl", hash = "sha256:57cc1786cfd6bd118220a92ede80270132aa353647684efa385a74244a41e3b1"}, + {file = "scikit_learn-1.5.2-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:e9a702e2de732bbb20d3bad29ebd77fc05a6b427dc49964300340e4c9328b3f5"}, + {file = "scikit_learn-1.5.2-cp313-cp313-macosx_12_0_arm64.whl", hash = "sha256:b0768ad641981f5d3a198430a1d31c3e044ed2e8a6f22166b4d546a5116d7908"}, + {file = "scikit_learn-1.5.2-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:178ddd0a5cb0044464fc1bfc4cca5b1833bfc7bb022d70b05db8530da4bb3dd3"}, + {file = "scikit_learn-1.5.2-cp313-cp313-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f7284ade780084d94505632241bf78c44ab3b6f1e8ccab3d2af58e0e950f9c12"}, + {file = "scikit_learn-1.5.2-cp313-cp313-win_amd64.whl", hash = "sha256:b7b0f9a0b1040830d38c39b91b3a44e1b643f4b36e36567b80b7c6bd2202a27f"}, {file = "scikit_learn-1.5.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:757c7d514ddb00ae249832fe87100d9c73c6ea91423802872d9e74970a0e40b9"}, {file = "scikit_learn-1.5.2-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:52788f48b5d8bca5c0736c175fa6bdaab2ef00a8f536cda698db61bd89c551c1"}, {file = "scikit_learn-1.5.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:643964678f4b5fbdc95cbf8aec638acc7aa70f5f79ee2cdad1eec3df4ba6ead8"}, From c8d41bff044d52004463bae3c5f4f7ba920b6210 Mon Sep 17 00:00:00 2001 From: harrki Date: Sat, 14 Dec 2024 01:55:33 +0900 Subject: [PATCH 196/249] fix: gateway module error --- adf_core_python/core/agent/agent.py | 8 +++--- .../module/complex/gateway_human_detector.py | 13 +++++----- .../connect/connector_ambulance_center.py | 14 +++++----- .../connect/connector_ambulance_team.py | 14 +++++----- .../connect/connector_fire_brigade.py | 14 +++++----- .../connect/connector_fire_station.py | 14 +++++----- .../connect/connector_police_force.py | 16 +++++------- .../connect/connector_police_office.py | 14 +++++----- .../tactics/default_tactics_ambulance_team.py | 2 +- adf_core_python/launcher.py | 2 +- java/lib/build.gradle | 26 ++++++++----------- 11 files changed, 67 insertions(+), 70 deletions(-) diff --git a/adf_core_python/core/agent/agent.py b/adf_core_python/core/agent/agent.py index 7593410..6c8275b 100644 --- a/adf_core_python/core/agent/agent.py +++ b/adf_core_python/core/agent/agent.py @@ -304,9 +304,11 @@ def handler_sense(self, msg: Any) -> None: if herad_command.urn == CommandURN.AK_SPEAK: heard_commands.append( AKSpeak( - EntityID(herad_command.components[ - ComponentControlMessageID.AgentID - ].entityID), + EntityID( + herad_command.components[ + ComponentControlMessageID.AgentID + ].entityID + ), herad_command.components[ ComponentControlMessageID.Time ].intValue, diff --git a/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py b/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py index 715feba..7fc6fe7 100644 --- a/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py +++ b/adf_core_python/core/gateway/component/module/complex/gateway_human_detector.py @@ -4,6 +4,13 @@ from rcrs_core.entities.human import Human +from adf_core_python.core.component.module.complex.human_detector import ( + HumanDetector, +) +from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( + GatewayTargetDetector, +) + if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -12,12 +19,6 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData - from adf_core_python.core.component.module.complex.human_detector import ( - HumanDetector, - ) - from adf_core_python.core.gateway.component.module.complex.gateway_target_detector import ( - GatewayTargetDetector, - ) from adf_core_python.core.gateway.gateway_module import GatewayModule diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_center.py b/adf_core_python/core/launcher/connect/connector_ambulance_center.py index 4e716a2..ac99bf7 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_center.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_center.py @@ -65,6 +65,13 @@ def connect( gateway_agent: Optional[GatewayAgent] = None if isinstance(gateway_launcher, GatewayLauncher): gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() component_thread = threading.Thread( target=component_launcher.connect, @@ -86,11 +93,4 @@ def connect( ) threads[component_thread] = finish_post_connect_event - if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event - return threads diff --git a/adf_core_python/core/launcher/connect/connector_ambulance_team.py b/adf_core_python/core/launcher/connect/connector_ambulance_team.py index 3e8d47e..b354c7c 100644 --- a/adf_core_python/core/launcher/connect/connector_ambulance_team.py +++ b/adf_core_python/core/launcher/connect/connector_ambulance_team.py @@ -65,6 +65,13 @@ def connect( gateway_agent: Optional[GatewayAgent] = None if isinstance(gateway_launcher, GatewayLauncher): gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() component_thread = threading.Thread( target=component_launcher.connect, @@ -86,11 +93,4 @@ def connect( ) threads[component_thread] = finish_post_connect_event - if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event - return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_brigade.py b/adf_core_python/core/launcher/connect/connector_fire_brigade.py index df420a2..6e5fda3 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_brigade.py +++ b/adf_core_python/core/launcher/connect/connector_fire_brigade.py @@ -63,6 +63,13 @@ def connect( gateway_agent: Optional[GatewayAgent] = None if isinstance(gateway_launcher, GatewayLauncher): gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() component_thread = threading.Thread( target=component_launcher.connect, @@ -84,11 +91,4 @@ def connect( ) threads[component_thread] = finish_post_connect_event - if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event - return threads diff --git a/adf_core_python/core/launcher/connect/connector_fire_station.py b/adf_core_python/core/launcher/connect/connector_fire_station.py index 5cb7d01..2263167 100644 --- a/adf_core_python/core/launcher/connect/connector_fire_station.py +++ b/adf_core_python/core/launcher/connect/connector_fire_station.py @@ -63,6 +63,13 @@ def connect( gateway_agent: Optional[GatewayAgent] = None if isinstance(gateway_launcher, GatewayLauncher): gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() component_thread = threading.Thread( target=component_launcher.connect, @@ -84,11 +91,4 @@ def connect( ) threads[component_thread] = finish_post_connect_event - if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event - return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_force.py b/adf_core_python/core/launcher/connect/connector_police_force.py index 9b5e822..e2d379b 100644 --- a/adf_core_python/core/launcher/connect/connector_police_force.py +++ b/adf_core_python/core/launcher/connect/connector_police_force.py @@ -63,6 +63,13 @@ def connect( gateway_agent: Optional[GatewayAgent] = None if isinstance(gateway_launcher, GatewayLauncher): gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() component_thread = threading.Thread( target=component_launcher.connect, @@ -84,13 +91,4 @@ def connect( ) threads[component_thread] = finish_post_connect_event - if isinstance(gateway_launcher, GatewayLauncher) and isinstance( - gateway_agent, GatewayAgent - ): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event - return threads diff --git a/adf_core_python/core/launcher/connect/connector_police_office.py b/adf_core_python/core/launcher/connect/connector_police_office.py index 1553790..1d26a92 100644 --- a/adf_core_python/core/launcher/connect/connector_police_office.py +++ b/adf_core_python/core/launcher/connect/connector_police_office.py @@ -65,6 +65,13 @@ def connect( gateway_agent: Optional[GatewayAgent] = None if isinstance(gateway_launcher, GatewayLauncher): gateway_agent = GatewayAgent(gateway_launcher) + if isinstance(gateway_agent, GatewayAgent): + gateway_thread = threading.Thread( + target=gateway_launcher.connect, + args=(gateway_agent,), + ) + gateway_thread.daemon = True + gateway_thread.start() component_thread = threading.Thread( target=component_launcher.connect, @@ -86,11 +93,4 @@ def connect( ) threads[component_thread] = finish_post_connect_event - if isinstance(gateway_launcher, GatewayLauncher) and isinstance(gateway_agent, GatewayAgent): - gateway_thread = threading.Thread( - target=gateway_launcher.connect, - args=(gateway_agent,), - ) - threads[gateway_thread] = finish_post_connect_event - return threads diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 0f98784..2ae7158 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -39,7 +39,7 @@ def initialize( message_manager, develop_data, ) - + self._search: Search = cast( Search, module_manager.get_module( diff --git a/adf_core_python/launcher.py b/adf_core_python/launcher.py index a34d21c..89cb927 100644 --- a/adf_core_python/launcher.py +++ b/adf_core_python/launcher.py @@ -80,7 +80,7 @@ def __init__( parser.add_argument("--debug", action="store_true", help="debug flag") parser.add_argument( "--java", - action="store_true", + action="store_true", help="using java module flag", ) args = parser.parse_args() diff --git a/java/lib/build.gradle b/java/lib/build.gradle index de61a5d..3aae4e5 100644 --- a/java/lib/build.gradle +++ b/java/lib/build.gradle @@ -5,6 +5,16 @@ plugins { repositories { mavenCentral() + + maven { + url = 'https://sourceforge.net/projects/jsi/files/m2_repo' + } + maven { + url = 'https://repo.enonic.com/public/' + } + maven { + url 'https://jitpack.io' + } } dependencies { @@ -19,7 +29,7 @@ dependencies { implementation 'com.fasterxml.jackson.dataformat:jackson-dataformat-yaml:2.18.1' // Protobuf - implementation 'com.google.protobuf:protobuf-java:4.28.3' + implementation 'com.google.protobuf:protobuf-java:3.19.1' // Annotation implementation 'jakarta.annotation:jakarta.annotation-api:3.0.0' @@ -32,20 +42,6 @@ dependencies { testRuntimeOnly 'org.junit.platform:junit-platform-launcher' } -repositories { - mavenCentral() - - maven { - url = 'https://sourceforge.net/projects/jsi/files/m2_repo' - } - maven { - url = 'https://repo.enonic.com/public/' - } - maven { - url 'https://jitpack.io' - } -} - java { toolchain { languageVersion = JavaLanguageVersion.of(17) From 58e2d678a513a92aeed0b54efa0710845e285fc7 Mon Sep 17 00:00:00 2001 From: harrki Date: Mon, 16 Dec 2024 13:56:34 +0900 Subject: [PATCH 197/249] feat:add java's github package ci/cd --- .github/workflows/ci.yaml | 19 +++++++++++++++++++ java/lib/build.gradle | 14 ++++++++++++++ 2 files changed, 33 insertions(+) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index 9854a70..b10f9d2 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -122,3 +122,22 @@ jobs: - name: Run pytest run: pytest tests/ + + publish: + runs-on: ubuntu-latest + permissions: + contents: read + packages: write + steps: + - uses: actions/checkout@v4 + - uses: actions/setup-java@v4 + with: + java-version: '17' + distribution: 'temurin' + - name: Setup Gradle + uses: gradle/actions/setup-gradle@v3 + + - name: Publish package + run: cd java && ./gradlew publish + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} \ No newline at end of file diff --git a/java/lib/build.gradle b/java/lib/build.gradle index 3aae4e5..46f6e8d 100644 --- a/java/lib/build.gradle +++ b/java/lib/build.gradle @@ -1,6 +1,7 @@ plugins { id('java-library') id('com.google.protobuf') version "0.9.4" + id('maven-publish') } repositories { @@ -51,3 +52,16 @@ java { tasks.named('test') { useJUnitPlatform() } + +publishing { + repositories { + maven { + name = "GitHubPackages" + url = "https://maven.pkg.github.com/adf-python/adf-core-python" + credentials { + username = System.getenv("GITHUB_ACTOR") + password = System.getenv("GITHUB_TOKEN") + } + } + } +} \ No newline at end of file From 56fee121f24acd1b1484b79c30d1943ce67eb747 Mon Sep 17 00:00:00 2001 From: harrki Date: Mon, 16 Dec 2024 14:50:37 +0900 Subject: [PATCH 198/249] fix: java's github package ci/cd --- java/lib/build.gradle | 30 ++++++++++++++++++++---------- 1 file changed, 20 insertions(+), 10 deletions(-) diff --git a/java/lib/build.gradle b/java/lib/build.gradle index 46f6e8d..386d59b 100644 --- a/java/lib/build.gradle +++ b/java/lib/build.gradle @@ -54,14 +54,24 @@ tasks.named('test') { } publishing { - repositories { - maven { - name = "GitHubPackages" - url = "https://maven.pkg.github.com/adf-python/adf-core-python" - credentials { - username = System.getenv("GITHUB_ACTOR") - password = System.getenv("GITHUB_TOKEN") - } + publications { + mavenJava(MavenPublication) { + groupId = 'com.github.adf-python' + artifactId = 'adf-core-python' + version = 'master-SNAPSHOT' + + from components.java + } } - } -} \ No newline at end of file + + repositories { + maven { + name = "GitHubPackages" + url = "https://maven.pkg.github.com/adf-python/adf-core-python" + credentials { + username = System.getenv("GITHUB_ACTOR") + password = System.getenv("GITHUB_TOKEN") + } + } + } +} From 5cdc74af5b7a423445307b1eb5a49d0e0e4dc186 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 12 Dec 2024 19:22:04 +0900 Subject: [PATCH 199/249] feat: Add CommandExecutor, CommandPicker, and DefaultCommandPickerPolice classes for centralized command handling --- .../component/centralized/command_executor.py | 93 ++++++++++++++++++ .../component/centralized/command_picker.py | 95 +++++++++++++++++++ .../default_command_picker_ambulance.py | 88 +++++++++++++++++ .../default_command_picker_fire.py | 88 +++++++++++++++++ .../default_command_picker_police.py | 80 ++++++++++++++++ 5 files changed, 444 insertions(+) create mode 100644 adf_core_python/core/component/centralized/command_executor.py create mode 100644 adf_core_python/core/component/centralized/command_picker.py create mode 100644 adf_core_python/implement/centralized/default_command_picker_ambulance.py create mode 100644 adf_core_python/implement/centralized/default_command_picker_fire.py create mode 100644 adf_core_python/implement/centralized/default_command_picker_police.py diff --git a/adf_core_python/core/component/centralized/command_executor.py b/adf_core_python/core/component/centralized/command_executor.py new file mode 100644 index 0000000..80f70c5 --- /dev/null +++ b/adf_core_python/core/component/centralized/command_executor.py @@ -0,0 +1,93 @@ +from __future__ import annotations + +from abc import ABC, abstractmethod +from typing import Generic, Optional, TypeVar + +from adf_core_python.core.agent.action.action import Action +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) + +T = TypeVar("T", bound=CommunicationMessage) + + +class CommandExecutor(ABC, Generic[T]): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_manager = module_manager + self._develop_data = develop_data + + self._result: Optional[Action] = None + + self._count_precompute: int = 0 + self._count_prepare: int = 0 + self._count_resume: int = 0 + self._count_update_info: int = 0 + self._count_update_info_current_time: int = 0 + + @abstractmethod + def set_command(self, command: T) -> CommandExecutor: + pass + + @abstractmethod + def calculate(self) -> CommandExecutor: + pass + + def get_action(self) -> Optional[Action]: + return self._result + + def precompute(self) -> CommandExecutor: + self._count_precompute += 1 + return self + + def prepare(self) -> CommandExecutor: + self._count_prepare += 1 + return self + + def resume(self) -> CommandExecutor: + self._count_resume += 1 + return self + + def update_info(self) -> CommandExecutor: + if self._count_update_info_current_time != self._agent_info.get_time(): + self._count_update_info_current_time = self._agent_info.get_time() + self._count_update_info += 1 + return self + + def get_count_precompute(self) -> int: + return self._count_precompute + + def get_count_prepare(self) -> int: + return self._count_prepare + + def get_count_resume(self) -> int: + return self._count_resume + + def get_count_update_info(self) -> int: + return self._count_update_info + + def reset_count_precompute(self) -> None: + self._count_precompute = 0 + + def reset_count_prepare(self) -> None: + self._count_prepare = 0 + + def reset_count_resume(self) -> None: + self._count_resume = 0 + + def reset_count_update_info(self) -> None: + self._count_update_info = 0 diff --git a/adf_core_python/core/component/centralized/command_picker.py b/adf_core_python/core/component/centralized/command_picker.py new file mode 100644 index 0000000..6e84e52 --- /dev/null +++ b/adf_core_python/core/component/centralized/command_picker.py @@ -0,0 +1,95 @@ +from __future__ import annotations + +from abc import ABC, abstractmethod + +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) + + +class CommandPicker(ABC): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + self._agent_info = agent_info + self._world_info = world_info + self._scenario_info = scenario_info + self._module_manager = module_manager + self._develop_data = develop_data + self._count_precompute: int = 0 + self._count_prepare: int = 0 + self._count_resume: int = 0 + self._count_update_info: int = 0 + self._count_update_info_current_time: int = 0 + + @abstractmethod + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + pass + + @abstractmethod + def calculate(self) -> CommandPicker: + pass + + @abstractmethod + def get_result(self) -> list[CommunicationMessage]: + pass + + def precompute(self) -> CommandPicker: + self._count_precompute += 1 + return self + + def prepare(self) -> CommandPicker: + self._count_prepare += 1 + return self + + def resume(self) -> CommandPicker: + self._count_resume += 1 + return self + + def update_info(self) -> CommandPicker: + if self._count_update_info_current_time != self._agent_info.get_time(): + self._count_update_info_current_time = self._agent_info.get_time() + self._count_update_info = 0 + self._count_update_info += 1 + return self + + def get_count_precompute(self) -> int: + return self._count_precompute + + def get_count_prepare(self) -> int: + return self._count_prepare + + def get_count_resume(self) -> int: + return self._count_resume + + def get_count_update_info(self) -> int: + return self._count_update_info + + def get_count_update_info_current_time(self) -> int: + return self._count_update_info_current_time + + def reset_count_precompute(self) -> None: + self._count_precompute = 0 + + def reset_count_prepare(self) -> None: + self._count_prepare = 0 + + def reset_count_resume(self) -> None: + self._count_resume = 0 + + def reset_count_update_info(self) -> None: + self._count_update_info = 0 diff --git a/adf_core_python/implement/centralized/default_command_picker_ambulance.py b/adf_core_python/implement/centralized/default_command_picker_ambulance.py new file mode 100644 index 0000000..4092b8c --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_picker_ambulance.py @@ -0,0 +1,88 @@ +from __future__ import annotations + +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam +from rcrs_core.entities.area import Area +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.centralized.command_picker import CommandPicker +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) + + +class DefaultCommandPickerAmbulance(CommandPicker): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.messages: list[CommunicationMessage] = [] + self.scout_distance: int = 40000 + self.allocation_data: dict[EntityID, EntityID] = {} + + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + self.allocation_data = allocation_data + return self + + def calculate(self) -> CommandPicker: + self.messages.clear() + if not self.allocation_data: + return self + + for ambulance_id in self.allocation_data.keys(): + agent = self._world_info.get_entity(ambulance_id) + if agent is None or not isinstance(agent, AmbulanceTeam): + continue + + target = self._world_info.get_entity(self.allocation_data[ambulance_id]) + if target is None: + continue + + if isinstance(target, Human): + command = CommandAmbulance( + True, + ambulance_id, + agent.get_id(), + CommandAmbulance.ACTION_RESCUE, + StandardMessagePriority.NORMAL, + target.get_id(), + ) + self.messages.append(command) + + if isinstance(target, Area): + command = CommandScout( + True, + ambulance_id, + agent.get_id(), + self.scout_distance, + StandardMessagePriority.NORMAL, + target.get_id(), + ) + self.messages.append(command) + return self + + def get_result(self) -> list[CommunicationMessage]: + return self.messages diff --git a/adf_core_python/implement/centralized/default_command_picker_fire.py b/adf_core_python/implement/centralized/default_command_picker_fire.py new file mode 100644 index 0000000..99f5b72 --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_picker_fire.py @@ -0,0 +1,88 @@ +from __future__ import annotations + +from rcrs_core.entities.area import Area +from rcrs_core.entities.fireBrigade import FireBrigade +from rcrs_core.entities.human import Human +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.centralized.command_picker import CommandPicker +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) + + +class DefaultCommandPickerFire(CommandPicker): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.messages: list[CommunicationMessage] = [] + self.scout_distance: int = 40000 + self.allocation_data: dict[EntityID, EntityID] = {} + + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + self.allocation_data = allocation_data + return self + + def calculate(self) -> CommandPicker: + self.messages.clear() + if not self.allocation_data: + return self + + for ambulance_id in self.allocation_data.keys(): + agent = self._world_info.get_entity(ambulance_id) + if agent is None or not isinstance(agent, FireBrigade): + continue + + target = self._world_info.get_entity(self.allocation_data[ambulance_id]) + if target is None: + continue + + if isinstance(target, Human): + command = CommandAmbulance( + True, + ambulance_id, + agent.get_id(), + CommandAmbulance.ACTION_RESCUE, + StandardMessagePriority.NORMAL, + target.get_id(), + ) + self.messages.append(command) + + if isinstance(target, Area): + command = CommandScout( + True, + ambulance_id, + agent.get_id(), + self.scout_distance, + StandardMessagePriority.NORMAL, + target.get_id(), + ) + self.messages.append(command) + return self + + def get_result(self) -> list[CommunicationMessage]: + return self.messages diff --git a/adf_core_python/implement/centralized/default_command_picker_police.py b/adf_core_python/implement/centralized/default_command_picker_police.py new file mode 100644 index 0000000..9f2d044 --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_picker_police.py @@ -0,0 +1,80 @@ +from __future__ import annotations + +from rcrs_core.entities.area import Area +from rcrs_core.entities.human import Human +from rcrs_core.entities.policeForce import PoliceForce +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( + CommandPolice, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.component.centralized.command_picker import CommandPicker +from adf_core_python.core.component.communication.communication_message import ( + CommunicationMessage, +) + + +class DefaultCommandPickerPolice(CommandPicker): + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self.messages: list[CommunicationMessage] = [] + self.allocation_data: dict[EntityID, EntityID] = {} + + def set_allocator_result( + self, allocation_data: dict[EntityID, EntityID] + ) -> CommandPicker: + self.allocation_data = allocation_data + return self + + def calculate(self) -> CommandPicker: + self.messages.clear() + if not self.allocation_data: + return self + + for ambulance_id in self.allocation_data.keys(): + agent = self._world_info.get_entity(ambulance_id) + if agent is None or not isinstance(agent, PoliceForce): + continue + + target = self._world_info.get_entity(self.allocation_data[ambulance_id]) + if target is None: + continue + + if isinstance(target, Area): + # TODO: Implement the command + # command = CommandPolice( + # True, + # agent.get_id(), + + # target.get_id(), + # StandardMessagePriority.NORMAL, + # ) + # self.messages.append(command) + pass + return self + + def get_result(self) -> list[CommunicationMessage]: + return self.messages From 10f26d652a80cddab7c846f705b66447c1c7e9cc Mon Sep 17 00:00:00 2001 From: shima004 Date: Mon, 16 Dec 2024 01:09:40 +0900 Subject: [PATCH 200/249] fix: Update agent ID retrieval in command picker classes for consistency --- .../default_command_picker_ambulance.py | 4 ++-- .../default_command_picker_fire.py | 4 ++-- .../default_command_picker_police.py | 19 +++++++++---------- 3 files changed, 13 insertions(+), 14 deletions(-) diff --git a/adf_core_python/implement/centralized/default_command_picker_ambulance.py b/adf_core_python/implement/centralized/default_command_picker_ambulance.py index 4092b8c..9af9523 100644 --- a/adf_core_python/implement/centralized/default_command_picker_ambulance.py +++ b/adf_core_python/implement/centralized/default_command_picker_ambulance.py @@ -65,7 +65,7 @@ def calculate(self) -> CommandPicker: command = CommandAmbulance( True, ambulance_id, - agent.get_id(), + self._agent_info.get_entity_id(), CommandAmbulance.ACTION_RESCUE, StandardMessagePriority.NORMAL, target.get_id(), @@ -76,7 +76,7 @@ def calculate(self) -> CommandPicker: command = CommandScout( True, ambulance_id, - agent.get_id(), + self._agent_info.get_entity_id(), self.scout_distance, StandardMessagePriority.NORMAL, target.get_id(), diff --git a/adf_core_python/implement/centralized/default_command_picker_fire.py b/adf_core_python/implement/centralized/default_command_picker_fire.py index 99f5b72..435d931 100644 --- a/adf_core_python/implement/centralized/default_command_picker_fire.py +++ b/adf_core_python/implement/centralized/default_command_picker_fire.py @@ -65,7 +65,7 @@ def calculate(self) -> CommandPicker: command = CommandAmbulance( True, ambulance_id, - agent.get_id(), + self._agent_info.get_entity_id(), CommandAmbulance.ACTION_RESCUE, StandardMessagePriority.NORMAL, target.get_id(), @@ -76,7 +76,7 @@ def calculate(self) -> CommandPicker: command = CommandScout( True, ambulance_id, - agent.get_id(), + self._agent_info.get_entity_id(), self.scout_distance, StandardMessagePriority.NORMAL, target.get_id(), diff --git a/adf_core_python/implement/centralized/default_command_picker_police.py b/adf_core_python/implement/centralized/default_command_picker_police.py index 9f2d044..75b7ef7 100644 --- a/adf_core_python/implement/centralized/default_command_picker_police.py +++ b/adf_core_python/implement/centralized/default_command_picker_police.py @@ -64,16 +64,15 @@ def calculate(self) -> CommandPicker: continue if isinstance(target, Area): - # TODO: Implement the command - # command = CommandPolice( - # True, - # agent.get_id(), - - # target.get_id(), - # StandardMessagePriority.NORMAL, - # ) - # self.messages.append(command) - pass + command = CommandPolice( + True, + agent.get_id(), + self._agent_info.get_entity_id(), + CommandPolice.ACTION_AUTONOMY, + StandardMessagePriority.NORMAL, + target.get_id(), + ) + self.messages.append(command) return self def get_result(self) -> list[CommunicationMessage]: From 524b2a9b0c3dd76d79a5fc42d4d14d382089a5ec Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Dec 2024 01:50:45 +0900 Subject: [PATCH 201/249] feat: Integrate CommandPicker into TacticsCenter and related classes for improved command handling --- .../core/agent/module/module_manager.py | 54 ++++ .../component/centralized/command_executor.py | 22 +- .../component/centralized/command_picker.py | 21 +- .../core/component/tactics/tactics_center.py | 4 +- .../default_command_executor_ambulance.py | 302 ++++++++++++++++++ .../default_command_executor_fire.py | 243 ++++++++++++++ .../default_command_executor_police.py | 261 +++++++++++++++ .../default_command_executor_scout.py | 158 +++++++++ .../default_command_executor_scout_police.py | 170 ++++++++++ .../default_tactics_ambulance_center.py | 21 +- .../tactics/default_tactics_ambulance_team.py | 51 ++- .../tactics/default_tactics_fire_brigade.py | 51 ++- .../tactics/default_tactics_fire_station.py | 21 +- .../tactics/default_tactics_police_force.py | 54 +++- .../tactics/default_tactics_police_office.py | 21 +- config/module.yaml | 53 ++- 16 files changed, 1453 insertions(+), 54 deletions(-) create mode 100644 adf_core_python/implement/centralized/default_command_executor_ambulance.py create mode 100644 adf_core_python/implement/centralized/default_command_executor_fire.py create mode 100644 adf_core_python/implement/centralized/default_command_executor_police.py create mode 100644 adf_core_python/implement/centralized/default_command_executor_scout.py create mode 100644 adf_core_python/implement/centralized/default_command_executor_scout_police.py diff --git a/adf_core_python/core/agent/module/module_manager.py b/adf_core_python/core/agent/module/module_manager.py index 18346aa..0d5695c 100644 --- a/adf_core_python/core/agent/module/module_manager.py +++ b/adf_core_python/core/agent/module/module_manager.py @@ -4,6 +4,8 @@ from typing import TYPE_CHECKING, Any, Optional from adf_core_python.core.component.action.extend_action import ExtendAction +from adf_core_python.core.component.centralized.command_executor import CommandExecutor +from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.communication.channel_subscriber import ( ChannelSubscriber, ) @@ -189,6 +191,58 @@ def get_message_coordinator( f"Message coordinator {class_name} is not a subclass of MessageCoordinator" ) + def get_command_executor( + self, command_executor_name: str, default_command_executor_name: str + ) -> CommandExecutor: + class_name = self._module_config.get_value_or_default( + command_executor_name, default_command_executor_name + ) + + command_executor_class: type = self._load_module(class_name) + + instance = self._executors.get(command_executor_name) + if instance is not None: + return instance + + if issubclass(command_executor_class, CommandExecutor): + instance = command_executor_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._executors[command_executor_name] = instance + return instance + + raise RuntimeError(f"Command executor {class_name} is not a subclass of object") + + def get_command_picker( + self, command_picker_name: str, default_command_picker_name: str + ) -> CommandPicker: + class_name = self._module_config.get_value_or_default( + command_picker_name, default_command_picker_name + ) + + command_picker_class: type = self._load_module(class_name) + + instance = self._pickers.get(command_picker_name) + if instance is not None: + return instance + + if issubclass(command_picker_class, CommandPicker): + instance = command_picker_class( + self._agent_info, + self._world_info, + self._scenario_info, + self, + self._develop_data, + ) + self._pickers[command_picker_name] = instance + return instance + + raise RuntimeError(f"Command picker {class_name} is not a subclass of object") + def _load_module(self, class_name: str) -> type: module_name, module_class_name = class_name.rsplit(".", 1) module = importlib.import_module(module_name) diff --git a/adf_core_python/core/component/centralized/command_executor.py b/adf_core_python/core/component/centralized/command_executor.py index 80f70c5..ebd501f 100644 --- a/adf_core_python/core/component/centralized/command_executor.py +++ b/adf_core_python/core/component/centralized/command_executor.py @@ -1,14 +1,18 @@ from __future__ import annotations from abc import ABC, abstractmethod -from typing import Generic, Optional, TypeVar +from typing import TYPE_CHECKING, Generic, Optional, TypeVar + +if TYPE_CHECKING: + from adf_core_python.core.agent.communication.message_manager import MessageManager + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.agent.action.action import Action -from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.component.communication.communication_message import ( CommunicationMessage, ) @@ -50,7 +54,7 @@ def calculate(self) -> CommandExecutor: def get_action(self) -> Optional[Action]: return self._result - def precompute(self) -> CommandExecutor: + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: self._count_precompute += 1 return self @@ -58,11 +62,11 @@ def prepare(self) -> CommandExecutor: self._count_prepare += 1 return self - def resume(self) -> CommandExecutor: + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: self._count_resume += 1 return self - def update_info(self) -> CommandExecutor: + def update_info(self, message_manager: MessageManager) -> CommandExecutor: if self._count_update_info_current_time != self._agent_info.get_time(): self._count_update_info_current_time = self._agent_info.get_time() self._count_update_info += 1 diff --git a/adf_core_python/core/component/centralized/command_picker.py b/adf_core_python/core/component/centralized/command_picker.py index 6e84e52..19c869a 100644 --- a/adf_core_python/core/component/centralized/command_picker.py +++ b/adf_core_python/core/component/centralized/command_picker.py @@ -1,14 +1,19 @@ from __future__ import annotations from abc import ABC, abstractmethod +from typing import TYPE_CHECKING from rcrs_core.worldmodel.entityID import EntityID -from adf_core_python.core.agent.develop.develop_data import DevelopData -from adf_core_python.core.agent.info.agent_info import AgentInfo -from adf_core_python.core.agent.info.scenario_info import ScenarioInfo -from adf_core_python.core.agent.info.world_info import WorldInfo -from adf_core_python.core.agent.module.module_manager import ModuleManager +if TYPE_CHECKING: + from adf_core_python.core.agent.develop.develop_data import DevelopData + from adf_core_python.core.agent.info.agent_info import AgentInfo + from adf_core_python.core.agent.info.scenario_info import ScenarioInfo + from adf_core_python.core.agent.info.world_info import WorldInfo + from adf_core_python.core.agent.module.module_manager import ModuleManager + +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData from adf_core_python.core.component.communication.communication_message import ( CommunicationMessage, ) @@ -48,7 +53,7 @@ def calculate(self) -> CommandPicker: def get_result(self) -> list[CommunicationMessage]: pass - def precompute(self) -> CommandPicker: + def precompute(self, precompute_data: PrecomputeData) -> CommandPicker: self._count_precompute += 1 return self @@ -56,11 +61,11 @@ def prepare(self) -> CommandPicker: self._count_prepare += 1 return self - def resume(self) -> CommandPicker: + def resume(self, precompute_data: PrecomputeData) -> CommandPicker: self._count_resume += 1 return self - def update_info(self) -> CommandPicker: + def update_info(self, message_manager: MessageManager) -> CommandPicker: if self._count_update_info_current_time != self._agent_info.get_time(): self._count_update_info_current_time = self._agent_info.get_time() self._count_update_info = 0 diff --git a/adf_core_python/core/component/tactics/tactics_center.py b/adf_core_python/core/component/tactics/tactics_center.py index 2469cc6..0e76a79 100644 --- a/adf_core_python/core/component/tactics/tactics_center.py +++ b/adf_core_python/core/component/tactics/tactics_center.py @@ -3,6 +3,8 @@ from abc import ABC, abstractmethod from typing import TYPE_CHECKING, Any, Optional +from adf_core_python.core.component.centralized.command_picker import CommandPicker + if TYPE_CHECKING: from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData @@ -18,7 +20,7 @@ class TacticsCenter(ABC): def __init__(self, parent: Optional[TacticsCenter] = None) -> None: self._parent = parent self._modules: list[AbstractModule] = [] - self._command_pickers: list[Any] = [] + self._command_pickers: list[CommandPicker] = [] @abstractmethod def initialize( diff --git a/adf_core_python/implement/centralized/default_command_executor_ambulance.py b/adf_core_python/implement/centralized/default_command_executor_ambulance.py new file mode 100644 index 0000000..f2c00d6 --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_executor_ambulance.py @@ -0,0 +1,302 @@ +from typing import Optional, cast + +from rcrs_core.entities.ambulanceTeam import AmbulanceTeam +from rcrs_core.entities.area import Area +from rcrs_core.entities.civilian import Civilian +from rcrs_core.entities.human import Human +from rcrs_core.entities.refuge import Refuge +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.action.common.action_rest import ActionRest +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + MessageReport, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.centralized.command_executor import CommandExecutor +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultCommandExecutorAmbulance(CommandExecutor): + ACTION_UNKNOWN: int = -1 + ACTION_REST = CommandAmbulance.ACTION_REST + ACTION_MOVE = CommandAmbulance.ACTION_MOVE + ACTION_RESCUE = CommandAmbulance.ACTION_RESCUE + ACTION_LOAD = CommandAmbulance.ACTION_LOAD + ACTION_UNLOAD = CommandAmbulance.ACTION_UNLOAD + ACTION_AUTONOMY = CommandAmbulance.ACTION_AUTONOMY + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._command_type = self.ACTION_UNKNOWN + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorAmbulance.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_transport = module_manager.get_extend_action( + "DefaultCommandExecutorAmbulance.ExtActionTransport", + "adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport", + ) + self._action_move = module_manager.get_extend_action( + "DefaultCommandExecutorAmbulance.ExtActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._target: Optional[EntityID] = None + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandAmbulance) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN + self._target = command.get_command_target_entity_id() + self._commander = command.get_sender_entity_id() + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_REST: + position = self._agent_info.get_entity_id() + if self._target is None: + refuges = self._world_info.get_entity_ids_of_types([Refuge]) + if position in refuges: + self._result = ActionRest() + else: + path = self._path_planning.get_path(position, refuges[0]) + if path: + self._result = ActionMove(path) + else: + self._result = ActionRest() + return self + if position != self._target: + path = self._path_planning.get_path(position, self._target) + if path: + self._result = ActionMove(path) + return self + self._result = ActionRest() + return self + case self.ACTION_MOVE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_RESCUE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_LOAD: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_UNLOAD: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_AUTONOMY: + if self._target is None: + return self + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + if self._agent_info.some_one_on_board() is None: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + else: + self._result = ( + self._action_transport.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + elif isinstance(target_entity, Human): + self._result = ( + self._action_transport.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + self._path_planning.update_info(message_manager) + self._action_transport.update_info(message_manager) + self._action_move.update_info(message_manager) + + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: + return self + if self._commander is None: + return self + + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + + if self._command_type == self.ACTION_LOAD: + self._command_type = self.ACTION_UNLOAD + self._target = None + else: + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._action_transport.precompute(precompute_data) + self._action_move.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._action_transport.resume(precompute_data) + self._action_move.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._action_transport.prepare() + self._action_move.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_REST: + if self._target is None: + return agent.get_damage() == 0 + if (target_entity := self._world_info.get_entity(self._target)) is None: + return False + if isinstance(target_entity, Refuge): + return agent.get_damage() == 0 + return False + case self.ACTION_MOVE: + return ( + self._target is None + or self._agent_info.get_position_entity_id() == self._target + ) + case self.ACTION_RESCUE: + if self._target is None: + return True + human = self._world_info.get_entity(self._target) + if not isinstance(human, Human): + return True + return human.get_buriedness() == 0 or human.get_hp() == 0 + case self.ACTION_LOAD: + if self._target is None: + return True + human = self._world_info.get_entity(self._target) + if not isinstance(human, Human): + return True + if human.get_hp() == 0: + return True + if isinstance(human, Civilian): + self._command_type = self.ACTION_RESCUE + return self._is_command_completed() + if human.get_position() is not None: + position = human.get_position() + if position in self._world_info.get_entity_ids_of_types( + [AmbulanceTeam] + ): + return True + elif isinstance(self._world_info.get_entity(position), Refuge): + return True + return False + + case self.ACTION_UNLOAD: + if self._target is not None: + entity = self._world_info.get_entity(self._target) + if entity is not None and isinstance(entity, Refuge): + if self._target == self._agent_info.get_position_entity_id(): + return False + return self._agent_info.some_one_on_board() is None + case self.ACTION_AUTONOMY: + if self._target is not None: + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + self._command_type = ( + self._agent_info.some_one_on_board() is None + and self.ACTION_MOVE + or self.ACTION_UNLOAD + ) + return self._is_command_completed() + elif isinstance(target_entity, Human): + human = target_entity + if human.get_hp() == 0: + return True + self._command_type = ( + isinstance(human, Civilian) + and self.ACTION_LOAD + or self.ACTION_RESCUE + ) + return self._is_command_completed() + return True + case _: + return True diff --git a/adf_core_python/implement/centralized/default_command_executor_fire.py b/adf_core_python/implement/centralized/default_command_executor_fire.py new file mode 100644 index 0000000..abd2ebe --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_executor_fire.py @@ -0,0 +1,243 @@ +from typing import Optional, cast + +from rcrs_core.entities.area import Area +from rcrs_core.entities.civilian import Civilian +from rcrs_core.entities.human import Human +from rcrs_core.entities.refuge import Refuge +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.action.common.action_rest import ActionRest +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + MessageReport, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.centralized.command_executor import CommandExecutor +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultCommandExecutorFire(CommandExecutor): + ACTION_UNKNOWN: int = -1 + ACTION_REST = CommandAmbulance.ACTION_REST + ACTION_MOVE = CommandAmbulance.ACTION_MOVE + ACTION_RESCUE = CommandAmbulance.ACTION_RESCUE + ACTION_AUTONOMY = CommandAmbulance.ACTION_AUTONOMY + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._command_type = self.ACTION_UNKNOWN + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorFire.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_fire_rescue = module_manager.get_extend_action( + "DefaultCommandExecutorFire.ExtActionFireRescue", + "adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue", + ) + self._action_move = module_manager.get_extend_action( + "DefaultCommandExecutorFire.ExtActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._target: Optional[EntityID] = None + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandAmbulance) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN + self._target = command.get_command_target_entity_id() + self._commander = command.get_sender_entity_id() + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_REST: + position = self._agent_info.get_entity_id() + if self._target is None: + refuges = self._world_info.get_entity_ids_of_types([Refuge]) + if position in refuges: + self._result = ActionRest() + else: + path = self._path_planning.get_path(position, refuges[0]) + if path: + self._result = ActionMove(path) + else: + self._result = ActionRest() + return self + if position != self._target: + path = self._path_planning.get_path(position, self._target) + if path: + self._result = ActionMove(path) + return self + self._result = ActionRest() + return self + case self.ACTION_MOVE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_RESCUE: + if self._target: + self._result = ( + self._action_fire_rescue.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_AUTONOMY: + if self._target is None: + return self + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + if self._agent_info.some_one_on_board() is None: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + else: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + elif isinstance(target_entity, Human): + self._result = ( + self._action_fire_rescue.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + self._path_planning.update_info(message_manager) + self._action_fire_rescue.update_info(message_manager) + self._action_move.update_info(message_manager) + + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: + return self + if self._commander is None: + return self + + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._action_fire_rescue.precompute(precompute_data) + self._action_move.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._action_fire_rescue.resume(precompute_data) + self._action_move.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._action_fire_rescue.prepare() + self._action_move.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_REST: + if self._target is None: + return agent.get_damage() == 0 + if (target_entity := self._world_info.get_entity(self._target)) is None: + return False + if isinstance(target_entity, Refuge): + return agent.get_damage() == 0 + return False + case self.ACTION_MOVE: + return ( + self._target is None + or self._agent_info.get_position_entity_id() == self._target + ) + case self.ACTION_RESCUE: + if self._target is None: + return True + human = self._world_info.get_entity(self._target) + if not isinstance(human, Human): + return True + return human.get_buriedness() == 0 or human.get_hp() == 0 + case self.ACTION_AUTONOMY: + if self._target is not None: + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + self._command_type = self.ACTION_MOVE + return self._is_command_completed() + elif isinstance(target_entity, Human): + human = target_entity + if human.get_hp() == 0: + return True + if isinstance(human, Civilian): + self._command_type = self.ACTION_RESCUE + return self._is_command_completed() + return True + case _: + return True diff --git a/adf_core_python/implement/centralized/default_command_executor_police.py b/adf_core_python/implement/centralized/default_command_executor_police.py new file mode 100644 index 0000000..aecd574 --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_executor_police.py @@ -0,0 +1,261 @@ +from typing import Optional, cast + +from rcrs_core.entities.area import Area +from rcrs_core.entities.blockade import Blockade +from rcrs_core.entities.human import Human +from rcrs_core.entities.refuge import Refuge +from rcrs_core.entities.road import Road +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.action.common.action_rest import ActionRest +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( + CommandPolice, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + MessageReport, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.centralized.command_executor import CommandExecutor +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultCommandExecutorPolice(CommandExecutor): + ACTION_UNKNOWN: int = -1 + ACTION_REST = CommandPolice.ACTION_REST + ACTION_MOVE = CommandPolice.ACTION_MOVE + ACTION_CLEAR = CommandPolice.ACTION_CLEAR + ACTION_AUTONOMY = CommandPolice.ACTION_AUTONOMY + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._command_type = self.ACTION_UNKNOWN + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorPolice.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_clear = module_manager.get_extend_action( + "DefaultCommandExecutorPolice.ExtActionClear", + "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", + ) + self._action_move = module_manager.get_extend_action( + "DefaultCommandExecutorPolice.ExtActionMove", + "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._target: Optional[EntityID] = None + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandPolice) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + self._command_type = command.get_execute_action() or self.ACTION_UNKNOWN + self._target = command.get_command_target_entity_id() + self._commander = command.get_sender_entity_id() + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_REST: + position = self._agent_info.get_entity_id() + if self._target is None: + refuges = self._world_info.get_entity_ids_of_types([Refuge]) + if position in refuges: + self._result = ActionRest() + else: + path = self._path_planning.get_path(position, refuges[0]) + if path: + self._result = ActionMove(path) + else: + self._result = ActionRest() + return self + if position != self._target: + path = self._path_planning.get_path(position, self._target) + if path: + self._result = ActionMove(path) + return self + self._result = ActionRest() + return self + case self.ACTION_MOVE: + if self._target: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_CLEAR: + if self._target: + self._result = ( + self._action_clear.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + case self.ACTION_AUTONOMY: + if self._target is None: + return self + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Area): + if self._agent_info.some_one_on_board() is None: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + else: + self._result = ( + self._action_move.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + elif isinstance(target_entity, Human): + self._result = ( + self._action_clear.set_target_entity_id(self._target) + .calculate() + .get_action() + ) + return self + + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + self._path_planning.update_info(message_manager) + self._action_clear.update_info(message_manager) + self._action_move.update_info(message_manager) + + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: + return self + if self._commander is None: + return self + + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + self._action_clear.precompute(precompute_data) + self._action_move.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + self._action_clear.resume(precompute_data) + self._action_move.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + self._action_clear.prepare() + self._action_move.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_REST: + if self._target is None: + return agent.get_damage() == 0 + if (target_entity := self._world_info.get_entity(self._target)) is None: + return False + if isinstance(target_entity, Refuge): + return agent.get_damage() == 0 + return False + case self.ACTION_MOVE: + return ( + self._target is None + or self._agent_info.get_position_entity_id() == self._target + ) + case self.ACTION_CLEAR: + if self._target is None: + return True + entity = self._world_info.get_entity(self._target) + if isinstance(entity, Road): + if entity.get_blockades is not None: + return len(entity.get_blockades()) == 0 + return self._agent_info.get_position_entity_id() == self._target + return True + case self.ACTION_AUTONOMY: + if self._target is not None: + target_entity = self._world_info.get_entity(self._target) + if isinstance(target_entity, Refuge): + self._command_type = ( + self.ACTION_REST + if agent.get_damage() > 0 + else self.ACTION_CLEAR + ) + return self._is_command_completed() + elif isinstance(target_entity, Area): + self._command_type = self.ACTION_CLEAR + return self._is_command_completed() + elif isinstance(target_entity, Human): + if target_entity.get_hp() == 0: + return True + if target_entity.get_position() is not None and isinstance( + self._world_info.get_entity(target_entity.get_position()), + Area, + ): + self._target = target_entity.get_position() + self._command_type = self.ACTION_CLEAR + return self._is_command_completed() + elif isinstance(target_entity, Blockade): + if target_entity.get_position() is not None: + self._target = target_entity.get_position() + self._command_type = self.ACTION_CLEAR + return self._is_command_completed() + return True + case _: + return True diff --git a/adf_core_python/implement/centralized/default_command_executor_scout.py b/adf_core_python/implement/centralized/default_command_executor_scout.py new file mode 100644 index 0000000..1186155 --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_executor_scout.py @@ -0,0 +1,158 @@ +from typing import Optional, cast + +from rcrs_core.entities.area import Area +from rcrs_core.entities.human import Human +from rcrs_core.entities.refuge import Refuge +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + MessageReport, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.centralized.command_executor import CommandExecutor +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultCommandExecutorScout(CommandExecutor): + ACTION_UNKNOWN: int = -1 + ACTION_SCOUT: int = 1 + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._command_type = self.ACTION_UNKNOWN + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorScout.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._targets: list[EntityID] = [] + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandScout) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + target = command.get_command_target_entity_id() + if target is None: + target = self._agent_info.get_position_entity_id() + + self._command_type = self.ACTION_SCOUT + self._commander = command.get_sender_entity_id() + self._targets = [] + if (scout_distance := command.get_scout_range()) is None: + return self + + for entity in self._world_info.get_entities_of_types([Area]): + if isinstance(entity, Refuge): + continue + if self._world_info.get_distance(target, entity.get_id()) <= scout_distance: + self._targets.append(entity.get_id()) + + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) == 0: + return self + path = self._path_planning.get_path( + self._agent_info.get_position_entity_id(), self._targets[0] + ) + if path is None: + return self + self._result = ActionMove(path) + case _: + return self + return self + + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + self._path_planning.update_info(message_manager) + + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: + return self + if self._commander is None: + return self + + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) != 0: + for entity in self._world_info.get_entities_of_types([Area]): + self._targets.remove(entity.get_id()) + return len(self._targets) == 0 + case _: + return True diff --git a/adf_core_python/implement/centralized/default_command_executor_scout_police.py b/adf_core_python/implement/centralized/default_command_executor_scout_police.py new file mode 100644 index 0000000..01f44c9 --- /dev/null +++ b/adf_core_python/implement/centralized/default_command_executor_scout_police.py @@ -0,0 +1,170 @@ +from typing import Optional, cast + +from rcrs_core.entities.area import Area +from rcrs_core.entities.human import Human +from rcrs_core.entities.refuge import Refuge +from rcrs_core.worldmodel.entityID import EntityID + +from adf_core_python.core.agent.action.common.action_move import ActionMove +from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import ( + MessageReport, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( + StandardMessagePriority, +) +from adf_core_python.core.agent.develop.develop_data import DevelopData +from adf_core_python.core.agent.info.agent_info import AgentInfo +from adf_core_python.core.agent.info.scenario_info import ScenarioInfo +from adf_core_python.core.agent.info.world_info import WorldInfo +from adf_core_python.core.agent.module.module_manager import ModuleManager +from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.action.extend_action import ExtendAction +from adf_core_python.core.component.centralized.command_executor import CommandExecutor +from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning + + +class DefaultCommandExecutorScoutPolice(CommandExecutor): + ACTION_UNKNOWN: int = -1 + ACTION_SCOUT: int = 1 + + def __init__( + self, + agent_info: AgentInfo, + world_info: WorldInfo, + scenario_info: ScenarioInfo, + module_manager: ModuleManager, + develop_data: DevelopData, + ) -> None: + super().__init__( + agent_info, world_info, scenario_info, module_manager, develop_data + ) + self._command_type = self.ACTION_UNKNOWN + + self._path_planning: PathPlanning = cast( + PathPlanning, + module_manager.get_module( + "DefaultCommandExecutorScoutPolice.PathPlanning", + "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning", + ), + ) + self._action_clear: ExtendAction = module_manager.get_extend_action( + "DefaultCommandExecutorScoutPolice.ExtActionClear", + "adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear", + ) + + self._command_type: int = self.ACTION_UNKNOWN + self._targets: list[EntityID] = [] + self._commander: Optional[EntityID] = None + + def set_command(self, command: CommandScout) -> CommandExecutor: + agent_id: EntityID = self._agent_info.get_entity_id() + if command.get_command_executor_agent_entity_id() != agent_id: + return self + + target = command.get_command_target_entity_id() + if target is None: + target = self._agent_info.get_position_entity_id() + + self._command_type = self.ACTION_SCOUT + self._commander = command.get_sender_entity_id() + self._targets = [] + if (scout_distance := command.get_scout_range()) is None: + return self + + for entity in self._world_info.get_entities_of_types([Area]): + if isinstance(entity, Refuge): + continue + if self._world_info.get_distance(target, entity.get_id()) <= scout_distance: + self._targets.append(entity.get_id()) + + return self + + def calculate(self) -> CommandExecutor: + self._result = None + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) == 0: + return self + path = self._path_planning.get_path( + self._agent_info.get_position_entity_id(), self._targets[0] + ) + if path is None: + return self + action = ( + self._action_clear.set_target_entity_id(self._targets[0]) + .calculate() + .get_action() + ) + if action is None: + action = ActionMove(path) + self._result = action + case _: + return self + return self + + def update_info(self, message_manager: MessageManager) -> CommandExecutor: + super().update_info(message_manager) + if self.get_count_update_info() >= 2: + return self + + self._path_planning.update_info(message_manager) + + if self._is_command_completed(): + if self._command_type == self.ACTION_UNKNOWN: + return self + if self._commander is None: + return self + + message_manager.add_message( + MessageReport( + True, + True, + False, + self._commander, + StandardMessagePriority.NORMAL, + ) + ) + self._command_type = self.ACTION_UNKNOWN + self._target = None + self._commander = None + + return self + + def precompute(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().precompute(precompute_data) + if self.get_count_precompute() >= 2: + return self + self._path_planning.precompute(precompute_data) + return self + + def resume(self, precompute_data: PrecomputeData) -> CommandExecutor: + super().resume(precompute_data) + if self.get_count_resume() >= 2: + return self + self._path_planning.resume(precompute_data) + return self + + def prepare(self) -> CommandExecutor: + super().prepare() + if self.get_count_prepare() >= 2: + return self + self._path_planning.prepare() + return self + + def _is_command_completed(self) -> bool: + agent = self._agent_info.get_myself() + if not isinstance(agent, Human): + return False + + match self._command_type: + case self.ACTION_SCOUT: + if len(self._targets) != 0: + for entity in self._world_info.get_entities_of_types([Area]): + self._targets.remove(entity.get_id()) + return len(self._targets) == 0 + case _: + return True diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py index d1dd248..23a9d85 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_center.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_center.py @@ -1,5 +1,7 @@ from typing import cast +from rcrs_core.worldmodel.entityID import EntityID + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -7,6 +9,7 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.module.complex.target_allocator import ( TargetAllocator, ) @@ -33,7 +36,12 @@ def initialize( "adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator", ), ) + self._picker: CommandPicker = module_manager.get_command_picker( + "DefaultTacticsAmbulanceCenter.CommandPicker", + "adf_core_python.implement.centralized.default_command_picker_ambulance.DefaultCommandPickerAmbulance", + ) self.register_module(self._allocator) + self.register_command_picker(self._picker) def precompute( self, @@ -80,5 +88,14 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - # TODO: implement - pass + self.module_update_info(message_manager) + + allocation_result: dict[EntityID, EntityID] = ( + self._allocator.calculate().get_result() + ) + for message in ( + self._picker.set_allocator_result(allocation_result) + .calculate() + .get_result() + ): + message_manager.add_message(message) diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 2ae7158..8e7df9c 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -1,10 +1,19 @@ -from typing import cast +from typing import Optional, cast from rcrs_core.entities.ambulanceTeam import AmbulanceTeam from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( + CommandAmbulance, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo @@ -62,11 +71,23 @@ def initialize( "DefaultTacticsAmbulanceTeam.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) + self._command_executor_ambulance = module_manager.get_command_executor( + "DefaultTacticsAmbulanceTeam.CommandExecutorAmbulance", + "adf_core_python.implement.centralized.default_command_executor_ambulance.DefaultCommandExecutorAmbulance", + ) + self._command_executor_scout = module_manager.get_command_executor( + "DefaultTacticsAmbulanceTeam.CommandExecutorScout", + "adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout", + ) self.register_module(self._search) self.register_module(self._human_detector) self.register_action(self._action_transport) self.register_action(self._action_ext_move) + self.register_command_executor(self._command_executor_ambulance) + self.register_command_executor(self._command_executor_scout) + + self._recent_command: Optional[StandardMessage] = None def precompute( self, @@ -124,6 +145,34 @@ def think( message_manager=message_manager, ) + for message in message_manager.get_received_message_list(): + if isinstance(message, CommandScout): + if ( + message.get_command_executor_agent_entity_id() + == agent_info.get_entity_id() + ): + self._recent_command = message + self._command_executor_scout.set_command(message) + if isinstance(message, CommandAmbulance): + if ( + message.get_command_executor_agent_entity_id() + == agent_info.get_entity_id() + ): + self._recent_command = message + self._command_executor_ambulance.set_command(message) + + if self._recent_command is not None: + action: Optional[Action] = None + if isinstance(self._recent_command, CommandScout): + action = self._command_executor_scout.calculate().get_action() + elif isinstance(self._recent_command, CommandAmbulance): + action = self._command_executor_ambulance.calculate().get_action() + if action is not None: + self._logger.debug( + f"action decided by command: {action}", time=agent_info.get_time() + ) + return action + target_entity_id = self._human_detector.calculate().get_target_entity_id() self._logger.debug( f"human detector target_entity_id: {target_entity_id}", diff --git a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py index e4e09ec..0d9740e 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_brigade.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_brigade.py @@ -1,10 +1,19 @@ -from typing import cast +from typing import Optional, cast from rcrs_core.entities.fireBrigade import FireBrigade from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( + CommandFire, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo @@ -62,11 +71,23 @@ def initialize( "DefaultTacticsAmbulanceTeam.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) + self._command_executor_fire = module_manager.get_command_executor( + "DefaultTacticsFireBrigade.CommandExecutorFire", + "adf_core_python.implement.centralized.default_command_executor_fire.DefaultCommandExecutorFire", + ) + self._command_executor_scout = module_manager.get_command_executor( + "DefaultTacticsAmbulanceTeam.CommandExecutorScout", + "adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout", + ) self.register_module(self._search) self.register_module(self._human_detector) self.register_action(self._action_rescue) self.register_action(self._action_ext_move) + self.register_command_executor(self._command_executor_fire) + self.register_command_executor(self._command_executor_scout) + + self._recent_command: Optional[StandardMessage] = None def precompute( self, @@ -119,6 +140,34 @@ def think( agent: FireBrigade = cast(FireBrigade, agent_info.get_myself()) # noqa: F841 entity_id = agent_info.get_entity_id() # noqa: F841 + for message in message_manager.get_received_message_list(): + if isinstance(message, CommandScout): + if ( + message.get_command_executor_agent_entity_id() + == agent_info.get_entity_id() + ): + self._recent_command = message + self._command_executor_scout.set_command(command=message) + if isinstance(message, CommandFire): + if ( + message.get_command_executor_agent_entity_id() + == agent_info.get_entity_id() + ): + self._recent_command = message + self._command_executor_fire.set_command(message) + + if self._recent_command is not None: + action: Optional[Action] = None + if isinstance(self._recent_command, CommandScout): + action = self._command_executor_scout.calculate().get_action() + elif isinstance(self._recent_command, CommandFire): + action = self._command_executor_fire.calculate().get_action() + if action is not None: + self._logger.debug( + f"action decided by command: {action}", time=agent_info.get_time() + ) + return action + target_entity_id = self._human_detector.calculate().get_target_entity_id() self._logger.debug( f"human detector target_entity_id: {target_entity_id}", diff --git a/adf_core_python/implement/tactics/default_tactics_fire_station.py b/adf_core_python/implement/tactics/default_tactics_fire_station.py index 6b3dcb2..0b15a3e 100644 --- a/adf_core_python/implement/tactics/default_tactics_fire_station.py +++ b/adf_core_python/implement/tactics/default_tactics_fire_station.py @@ -1,5 +1,7 @@ from typing import cast +from rcrs_core.worldmodel.entityID import EntityID + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -7,6 +9,7 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.module.complex.target_allocator import ( TargetAllocator, ) @@ -33,7 +36,12 @@ def initialize( "adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator", ), ) + self._picker: CommandPicker = module_manager.get_command_picker( + "DefaultTacticsFireStation.CommandPicker", + "adf_core_python.implement.centralized.default_command_picker_fire.DefaultCommandPickerFire", + ) self.register_module(self._allocator) + self.register_command_picker(self._picker) def resume( self, @@ -80,5 +88,14 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - # TODO: implement - pass + self.module_update_info(message_manager) + + allocation_result: dict[EntityID, EntityID] = ( + self._allocator.calculate().get_result() + ) + for message in ( + self._picker.set_allocator_result(allocation_result) + .calculate() + .get_result() + ): + message_manager.add_message(message) diff --git a/adf_core_python/implement/tactics/default_tactics_police_force.py b/adf_core_python/implement/tactics/default_tactics_police_force.py index bec3434..6a1f2f6 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_force.py +++ b/adf_core_python/implement/tactics/default_tactics_police_force.py @@ -1,10 +1,22 @@ -from typing import cast +from typing import Optional, cast from rcrs_core.entities.policeForce import PoliceForce from adf_core_python.core.agent.action.action import Action from adf_core_python.core.agent.action.common.action_rest import ActionRest from adf_core_python.core.agent.communication.message_manager import MessageManager +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import ( + CommandFire, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( + CommandPolice, +) +from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( + CommandScout, +) +from adf_core_python.core.agent.communication.standard.bundle.standard_message import ( + StandardMessage, +) from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo from adf_core_python.core.agent.info.scenario_info import ScenarioInfo @@ -65,11 +77,23 @@ def initialize( "DefaultTacticsPoliceForce.ExtendActionMove", "adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove", ) + self._command_executor_police = module_manager.get_command_executor( + "DefaultTacticsPoliceForce.CommandExecutorPolice", + "adf_core_python.implement.centralized.default_command_executor_police.DefaultCommandExecutorPolice", + ) + self._command_executor_scout = module_manager.get_command_executor( + "DefaultTacticsPoliceForce.CommandExecutorScout", + "adf_core_python.implement.centralized.default_command_executor_scout_police.DefaultCommandExecutorScoutPolice", + ) self.register_module(self._search) self.register_module(self._road_detector) self.register_action(self._action_ext_clear) self.register_action(self._action_ext_move) + self.register_command_executor(self._command_executor_police) + self.register_command_executor(self._command_executor_scout) + + self._recent_command: Optional[StandardMessage] = None def precompute( self, @@ -122,6 +146,34 @@ def think( agent: PoliceForce = cast(PoliceForce, agent_info.get_myself()) # noqa: F841 entity_id = agent_info.get_entity_id() # noqa: F841 + for message in message_manager.get_received_message_list(): + if isinstance(message, CommandScout): + if ( + message.get_command_executor_agent_entity_id() + == agent_info.get_entity_id() + ): + self._recent_command = message + self._command_executor_scout.set_command(command=message) + if isinstance(message, CommandPolice): + if ( + message.get_command_executor_agent_entity_id() + == agent_info.get_entity_id() + ): + self._recent_command = message + self._command_executor_police.set_command(message) + + if self._recent_command is not None: + action: Optional[Action] = None + if isinstance(self._recent_command, CommandScout): + action = self._command_executor_scout.calculate().get_action() + elif isinstance(self._recent_command, CommandFire): + action = self._command_executor_police.calculate().get_action() + if action is not None: + self._logger.debug( + f"action decided by command: {action}", time=agent_info.get_time() + ) + return action + target_entity_id = self._road_detector.calculate().get_target_entity_id() self._logger.debug( f"road detector target_entity_id: {target_entity_id}", diff --git a/adf_core_python/implement/tactics/default_tactics_police_office.py b/adf_core_python/implement/tactics/default_tactics_police_office.py index 554fe53..df095cc 100644 --- a/adf_core_python/implement/tactics/default_tactics_police_office.py +++ b/adf_core_python/implement/tactics/default_tactics_police_office.py @@ -1,5 +1,7 @@ from typing import cast +from rcrs_core.worldmodel.entityID import EntityID + from adf_core_python.core.agent.communication.message_manager import MessageManager from adf_core_python.core.agent.develop.develop_data import DevelopData from adf_core_python.core.agent.info.agent_info import AgentInfo @@ -7,6 +9,7 @@ from adf_core_python.core.agent.info.world_info import WorldInfo from adf_core_python.core.agent.module.module_manager import ModuleManager from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData +from adf_core_python.core.component.centralized.command_picker import CommandPicker from adf_core_python.core.component.module.complex.target_allocator import ( TargetAllocator, ) @@ -33,7 +36,12 @@ def initialize( "adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator", ), ) + self._picker: CommandPicker = module_manager.get_command_picker( + "DefaultTacticsPoliceOffice.CommandPicker", + "adf_core_python.implement.centralized.default_command_picker_police.DefaultCommandPickerPolice", + ) self.register_module(self._allocator) + self.register_command_picker(self._picker) def resume( self, @@ -80,5 +88,14 @@ def think( message_manager: MessageManager, develop_data: DevelopData, ) -> None: - # TODO: implement - pass + self.module_update_info(message_manager) + + allocation_result: dict[EntityID, EntityID] = ( + self._allocator.calculate().get_result() + ) + for message in ( + self._picker.set_allocator_result(allocation_result) + .calculate() + .get_result() + ): + message_manager.add_message(message) diff --git a/config/module.yaml b/config/module.yaml index 75c15a0..706c82e 100644 --- a/config/module.yaml +++ b/config/module.yaml @@ -3,36 +3,36 @@ DefaultTacticsAmbulanceTeam: Search: adf_core_python.implement.module.complex.default_search.DefaultSearch ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove - CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance - CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout + CommandExecutorAmbulance: adf_core_python.implement.centralized.default_command_executor_ambulance.DefaultCommandExecutorAmbulance + CommandExecutorScout: adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout DefaultTacticsFireBrigade: HumanDetector: adf_core_python.implement.module.complex.default_human_detector.DefaultHumanDetector Search: adf_core_python.implement.module.complex.default_search.DefaultSearch ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove - CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire - CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout + CommandExecutorFire: adf_core_python.implement.centralized.default_command_executor_fire.DefaultCommandExecutorFire + CommandExecutorScout: adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout DefaultTacticsPoliceForce: RoadDetector: adf_core_python.implement.module.complex.default_road_detector.DefaultRoadDetector Search: adf_core_python.implement.module.complex.default_search.DefaultSearch ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove - CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice - CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice + CommandExecutorPolice: adf_core_python.implement.centralized.default_command_executor_police.DefaultCommandExecutorPolice + CommandExecutorScout: adf_core_python.implement.centralized.default_command_executor_scout.DefaultCommandExecutorScout DefaultTacticsAmbulanceCenter: TargetAllocator: adf_core_python.implement.module.complex.default_ambulance_target_allocator.DefaultAmbulanceTargetAllocator - # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance + CommandPicker: adf_core_python.implement.centralized.default_command_picker_ambulance.DefaultCommandPickerAmbulance DefaultTacticsFireStation: TargetAllocator: adf_core_python.implement.module.complex.default_fire_target_allocator.DefaultFireTargetAllocator - # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire + CommandPicker: adf_core_python.implement.centralized.default_command_picker_fire.DefaultCommandPickerFire DefaultTacticsPoliceOffice: TargetAllocator: adf_core_python.implement.module.complex.default_police_target_allocator.DefaultPoliceTargetAllocator - # CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice + CommandPicker: adf_core_python.implement.centralized.default_command_picker_police.DefaultCommandPickerPolice DefaultSearch: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning @@ -56,28 +56,27 @@ DefaultExtendActionMove: DefaultExtendActionTransport: PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# DefaultCommandExecutorAmbulance: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +DefaultCommandExecutorAmbulance: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove -# DefaultCommandExecutorFire: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue -# EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +DefaultCommandExecutorFire: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + EtxActionFireRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove -# DefaultCommandExecutorPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear -# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove +DefaultCommandExecutorPolice: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear + ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove -# DefaultCommandExecutorScout: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning +DefaultCommandExecutorScout: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# DefaultCommandExecutorScoutPolice: -# PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning -# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear +DefaultCommandExecutorScoutPolice: + PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning + ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear MessageManager: PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber From 4c933de821cb197032a367260b05025a28794179 Mon Sep 17 00:00:00 2001 From: shima004 Date: Wed, 18 Dec 2024 02:08:44 +0900 Subject: [PATCH 202/249] refactor: Remove unused command_type initialization in command executor classes --- .../centralized/default_command_executor_ambulance.py | 1 - .../implement/centralized/default_command_executor_fire.py | 1 - .../centralized/default_command_executor_police.py | 1 - .../centralized/default_command_executor_scout.py | 1 - .../centralized/default_command_executor_scout_police.py | 1 - .../centralized/default_command_picker_ambulance.py | 1 + .../implement/centralized/default_command_picker_fire.py | 1 + .../implement/centralized/default_command_picker_police.py | 7 ------- 8 files changed, 2 insertions(+), 12 deletions(-) diff --git a/adf_core_python/implement/centralized/default_command_executor_ambulance.py b/adf_core_python/implement/centralized/default_command_executor_ambulance.py index f2c00d6..ac29680 100644 --- a/adf_core_python/implement/centralized/default_command_executor_ambulance.py +++ b/adf_core_python/implement/centralized/default_command_executor_ambulance.py @@ -49,7 +49,6 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._command_type = self.ACTION_UNKNOWN self._path_planning: PathPlanning = cast( PathPlanning, diff --git a/adf_core_python/implement/centralized/default_command_executor_fire.py b/adf_core_python/implement/centralized/default_command_executor_fire.py index abd2ebe..680320b 100644 --- a/adf_core_python/implement/centralized/default_command_executor_fire.py +++ b/adf_core_python/implement/centralized/default_command_executor_fire.py @@ -46,7 +46,6 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._command_type = self.ACTION_UNKNOWN self._path_planning: PathPlanning = cast( PathPlanning, diff --git a/adf_core_python/implement/centralized/default_command_executor_police.py b/adf_core_python/implement/centralized/default_command_executor_police.py index aecd574..69ad622 100644 --- a/adf_core_python/implement/centralized/default_command_executor_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_police.py @@ -47,7 +47,6 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._command_type = self.ACTION_UNKNOWN self._path_planning: PathPlanning = cast( PathPlanning, diff --git a/adf_core_python/implement/centralized/default_command_executor_scout.py b/adf_core_python/implement/centralized/default_command_executor_scout.py index 1186155..28fdd78 100644 --- a/adf_core_python/implement/centralized/default_command_executor_scout.py +++ b/adf_core_python/implement/centralized/default_command_executor_scout.py @@ -41,7 +41,6 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._command_type = self.ACTION_UNKNOWN self._path_planning: PathPlanning = cast( PathPlanning, diff --git a/adf_core_python/implement/centralized/default_command_executor_scout_police.py b/adf_core_python/implement/centralized/default_command_executor_scout_police.py index 01f44c9..ad17d67 100644 --- a/adf_core_python/implement/centralized/default_command_executor_scout_police.py +++ b/adf_core_python/implement/centralized/default_command_executor_scout_police.py @@ -42,7 +42,6 @@ def __init__( super().__init__( agent_info, world_info, scenario_info, module_manager, develop_data ) - self._command_type = self.ACTION_UNKNOWN self._path_planning: PathPlanning = cast( PathPlanning, diff --git a/adf_core_python/implement/centralized/default_command_picker_ambulance.py b/adf_core_python/implement/centralized/default_command_picker_ambulance.py index 9af9523..b2a507d 100644 --- a/adf_core_python/implement/centralized/default_command_picker_ambulance.py +++ b/adf_core_python/implement/centralized/default_command_picker_ambulance.py @@ -61,6 +61,7 @@ def calculate(self) -> CommandPicker: if target is None: continue + command: CommunicationMessage if isinstance(target, Human): command = CommandAmbulance( True, diff --git a/adf_core_python/implement/centralized/default_command_picker_fire.py b/adf_core_python/implement/centralized/default_command_picker_fire.py index 435d931..bacb996 100644 --- a/adf_core_python/implement/centralized/default_command_picker_fire.py +++ b/adf_core_python/implement/centralized/default_command_picker_fire.py @@ -61,6 +61,7 @@ def calculate(self) -> CommandPicker: if target is None: continue + command: CommunicationMessage if isinstance(target, Human): command = CommandAmbulance( True, diff --git a/adf_core_python/implement/centralized/default_command_picker_police.py b/adf_core_python/implement/centralized/default_command_picker_police.py index 75b7ef7..bbda78e 100644 --- a/adf_core_python/implement/centralized/default_command_picker_police.py +++ b/adf_core_python/implement/centralized/default_command_picker_police.py @@ -1,19 +1,12 @@ from __future__ import annotations from rcrs_core.entities.area import Area -from rcrs_core.entities.human import Human from rcrs_core.entities.policeForce import PoliceForce from rcrs_core.worldmodel.entityID import EntityID -from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import ( - CommandAmbulance, -) from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import ( CommandPolice, ) -from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import ( - CommandScout, -) from adf_core_python.core.agent.communication.standard.bundle.standard_message_priority import ( StandardMessagePriority, ) From cad57bda93403d510c9a712018838dfb06e3cef6 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 19 Dec 2024 11:56:58 +0900 Subject: [PATCH 203/249] refactor: Replace Any with specific types in agent_info and tactics_agent classes for improved type safety --- adf_core_python/core/agent/info/agent_info.py | 5 ++- adf_core_python/core/agent/info/world_info.py | 1 - .../core/component/tactics/tactics_agent.py | 36 ++++++++++--------- adf_core_python/core/logger/logger.py | 2 +- .../action/default_extend_action_transport.py | 1 - .../tactics/default_tactics_ambulance_team.py | 3 +- 6 files changed, 24 insertions(+), 24 deletions(-) diff --git a/adf_core_python/core/agent/info/agent_info.py b/adf_core_python/core/agent/info/agent_info.py index b3e78ee..23f6657 100644 --- a/adf_core_python/core/agent/info/agent_info.py +++ b/adf_core_python/core/agent/info/agent_info.py @@ -1,7 +1,7 @@ from __future__ import annotations from time import time -from typing import TYPE_CHECKING, Any +from typing import TYPE_CHECKING from rcrs_core.commands.Command import Command from rcrs_core.entities.civilian import Civilian @@ -18,13 +18,12 @@ class AgentInfo: - # TODO: Replace Any with the actual type def __init__(self, agent: Agent, world_model: WorldModel): self._agent: Agent = agent self._world_model: WorldModel = world_model self._time: int = 0 self._action_history: dict[int, Action] = {} - self._heard_commands: list[Any] = [] + self._heard_commands: list[Command] = [] self._change_set: ChangeSet = ChangeSet() self._start_think_time: float = 0.0 diff --git a/adf_core_python/core/agent/info/world_info.py b/adf_core_python/core/agent/info/world_info.py index c447d7b..c4dec84 100644 --- a/adf_core_python/core/agent/info/world_info.py +++ b/adf_core_python/core/agent/info/world_info.py @@ -17,7 +17,6 @@ def __init__(self, world_model: WorldModel): self._rollback: dict[EntityID, dict[int, dict[int, Any]]] = {} self._change_set: ChangeSet - # TODO: Implement the worldmodel access methods def get_world_model(self) -> WorldModel: """ Get the world model diff --git a/adf_core_python/core/component/tactics/tactics_agent.py b/adf_core_python/core/component/tactics/tactics_agent.py index b092517..3f1343e 100644 --- a/adf_core_python/core/component/tactics/tactics_agent.py +++ b/adf_core_python/core/component/tactics/tactics_agent.py @@ -2,8 +2,9 @@ import time from abc import ABC, abstractmethod -from typing import TYPE_CHECKING, Any, Optional +from typing import TYPE_CHECKING, Optional +from adf_core_python.core.component.centralized.command_executor import CommandExecutor from adf_core_python.core.logger.logger import get_agent_logger if TYPE_CHECKING: @@ -24,7 +25,7 @@ def __init__(self, parent: Optional[TacticsAgent] = None) -> None: self._parent = parent self._modules: list[AbstractModule] = [] self._actions: list[ExtendAction] = [] - self._command_executor: Any = None + self._command_executor: list[CommandExecutor] = [] @abstractmethod def initialize( @@ -107,27 +108,27 @@ def register_action(self, action: ExtendAction) -> None: def unregister_action(self, action: ExtendAction) -> None: self._actions.remove(action) - def register_command_executor(self, command_executor: Any) -> None: - self._command_executor = command_executor + def register_command_executor(self, command_executor: CommandExecutor) -> None: + self._command_executor.append(command_executor) - def unregister_command_executor(self) -> None: - self._command_executor = None + def unregister_command_executor(self, command_executor: CommandExecutor) -> None: + self._command_executor.remove(command_executor) def module_precompute(self, precompute_data: PrecomputeData) -> None: for module in self._modules: module.precompute(precompute_data) for action in self._actions: action.precompute(precompute_data) - # for executor in self._command_executor: - # executor.precompute(precompute_data) + for executor in self._command_executor: + executor.precompute(precompute_data) def module_resume(self, precompute_data: PrecomputeData) -> None: for module in self._modules: module.resume(precompute_data) for action in self._actions: action.resume(precompute_data) - # for executor in self._command_executor: - # executor.resume(precompute_data) + for executor in self._command_executor: + executor.resume(precompute_data) def module_prepare(self) -> None: for module in self._modules: @@ -142,16 +143,16 @@ def module_prepare(self) -> None: self._logger.debug( f"module {action.__class__.__name__} prepare time: {time.time() - start_time:.3f}", ) - # for executor in self._command_executor: - # executor.prepare() + for executor in self._command_executor: + executor.prepare() def module_update_info(self, message_manager: MessageManager) -> None: for module in self._modules: module.update_info(message_manager) for action in self._actions: action.update_info(message_manager) - # for executor in self._command_executor: - # executor.update_info(message_manager) + for executor in self._command_executor: + executor.update_info(message_manager) def reset_count(self) -> None: for module in self._modules: @@ -164,5 +165,8 @@ def reset_count(self) -> None: action.reset_count_resume() action.reset_count_prepare() action.reset_count_update_info() - # for executor in self._command_executor: - # executor.reset_count() + for executor in self._command_executor: + executor.reset_count_precompute() + executor.reset_count_resume() + executor.reset_count_prepare() + executor.reset_count_update_info() diff --git a/adf_core_python/core/logger/logger.py b/adf_core_python/core/logger/logger.py index 440cef0..766e283 100644 --- a/adf_core_python/core/logger/logger.py +++ b/adf_core_python/core/logger/logger.py @@ -72,7 +72,7 @@ def configure_logger() -> None: handler_stdout.setLevel(logging.INFO) handler_file = RotatingFileHandler( - "agent.log", maxBytes=10 * 1024 * 1024, backupCount=5 + "agent.log", maxBytes=1024 * 1024 * 1024, backupCount=5 ) handler_file.doRollover() handler_file.setFormatter( diff --git a/adf_core_python/implement/action/default_extend_action_transport.py b/adf_core_python/implement/action/default_extend_action_transport.py index 8e6c71a..b1c9629 100644 --- a/adf_core_python/implement/action/default_extend_action_transport.py +++ b/adf_core_python/implement/action/default_extend_action_transport.py @@ -24,7 +24,6 @@ from adf_core_python.core.logger.logger import get_agent_logger -# TODO: refactor this class class DefaultExtendActionTransport(ExtendAction): def __init__( self, diff --git a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py index 8e7df9c..76b6c47 100644 --- a/adf_core_python/implement/tactics/default_tactics_ambulance_team.py +++ b/adf_core_python/implement/tactics/default_tactics_ambulance_team.py @@ -141,8 +141,7 @@ def think( entity_id = agent_info.get_entity_id() # noqa: F841 self._logger.debug( - f"received messages: {[str(message) for message in message_manager.get_received_message_list()]}, help: {message_manager.get_heard_agent_help_message_count()}", - message_manager=message_manager, + f"received messages: {[str(message) for message in message_manager.get_received_message_list()]}, help: {message_manager.get_heard_agent_help_message_count()}" ) for message in message_manager.get_received_message_list(): From 98c1db930d08e44048a6b1b28829177b55ca7095 Mon Sep 17 00:00:00 2001 From: shima004 Date: Thu, 19 Dec 2024 16:59:12 +0900 Subject: [PATCH 204/249] feat: Add versioning support and improve documentation localization --- .github/workflows/document.yaml | 6 +- docs/.gitignore | 1 + docs/build.py | 43 ++ docs/source/_templates/versions.html | 31 + docs/source/conf.py | 50 +- docs/source/index.rst | 5 + .../en/LC_MESSAGES/adf_core_python.cli.po | 38 ++ ...core_python.core.agent.action.ambulance.po | 52 ++ ...df_core_python.core.agent.action.common.po | 47 ++ .../adf_core_python.core.agent.action.fire.po | 52 ++ .../adf_core_python.core.agent.action.po | 46 ++ ...df_core_python.core.agent.action.police.po | 48 ++ ...df_core_python.core.agent.communication.po | 251 +++++++ ...mmunication.standard.bundle.centralized.po | 77 +++ ...mmunication.standard.bundle.information.po | 84 +++ ...ore.agent.communication.standard.bundle.po | 67 ++ ...ython.core.agent.communication.standard.po | 51 ++ ...re.agent.communication.standard.utility.po | 133 ++++ .../adf_core_python.core.agent.config.po | 42 ++ .../adf_core_python.core.agent.develop.po | 78 +++ .../adf_core_python.core.agent.info.po | 317 +++++++++ .../adf_core_python.core.agent.module.po | 42 ++ .../adf_core_python.core.agent.platoon.po | 60 ++ .../LC_MESSAGES/adf_core_python.core.agent.po | 46 ++ .../adf_core_python.core.agent.precompute.po | 93 +++ .../adf_core_python.core.component.action.po | 42 ++ ...ore_python.core.component.communication.po | 103 +++ ..._python.core.component.module.algorithm.po | 50 ++ ...re_python.core.component.module.complex.po | 122 ++++ .../adf_core_python.core.component.module.po | 46 ++ .../adf_core_python.core.component.po | 46 ++ .../adf_core_python.core.component.tactics.po | 95 +++ .../adf_core_python.core.config.po | 42 ++ .../adf_core_python.core.launcher.connect.po | 134 ++++ .../adf_core_python.core.launcher.po | 51 ++ .../adf_core_python.core.logger.po | 79 +++ .../en/LC_MESSAGES/adf_core_python.core.po | 34 + .../adf_core_python.implement.action.po | 68 ++ ..._core_python.implement.module.algorithm.po | 60 ++ ...e_python.implement.module.communication.po | 97 +++ ...df_core_python.implement.module.complex.po | 116 ++++ .../adf_core_python.implement.module.po | 34 + .../LC_MESSAGES/adf_core_python.implement.po | 48 ++ .../adf_core_python.implement.tactics.po | 112 ++++ .../locale/en/LC_MESSAGES/adf_core_python.po | 46 ++ docs/source/locale/en/LC_MESSAGES/hands-on.po | 284 ++++++++ docs/source/locale/en/LC_MESSAGES/index.po | 98 +++ docs/source/locale/en/LC_MESSAGES/install.po | 387 +++++++++++ docs/source/locale/en/LC_MESSAGES/modules.po | 26 + .../locale/en/LC_MESSAGES/quickstart.po | 77 +++ docs/source/locale/en/LC_MESSAGES/tutorial.po | 626 ++++++++++++++++++ docs/versions.yaml | 10 + poetry.lock | 62 +- pyproject.toml | 2 + 54 files changed, 4744 insertions(+), 13 deletions(-) create mode 100644 docs/build.py create mode 100644 docs/source/_templates/versions.html create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.cli.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.ambulance.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.common.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.fire.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.action.police.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.centralized.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.information.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.bundle.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.communication.standard.utility.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.config.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.develop.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.info.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.module.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.platoon.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.agent.precompute.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.action.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.communication.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.algorithm.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.complex.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.module.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.component.tactics.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.config.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.connect.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.launcher.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.logger.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.core.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.action.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.algorithm.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.communication.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.complex.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.module.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.implement.tactics.po create mode 100644 docs/source/locale/en/LC_MESSAGES/adf_core_python.po create mode 100644 docs/source/locale/en/LC_MESSAGES/hands-on.po create mode 100644 docs/source/locale/en/LC_MESSAGES/index.po create mode 100644 docs/source/locale/en/LC_MESSAGES/install.po create mode 100644 docs/source/locale/en/LC_MESSAGES/modules.po create mode 100644 docs/source/locale/en/LC_MESSAGES/quickstart.po create mode 100644 docs/source/locale/en/LC_MESSAGES/tutorial.po create mode 100644 docs/versions.yaml diff --git a/.github/workflows/document.yaml b/.github/workflows/document.yaml index bccc46d..b1b958a 100644 --- a/.github/workflows/document.yaml +++ b/.github/workflows/document.yaml @@ -54,13 +54,11 @@ jobs: - name: Build documentation run: | source .venv/bin/activate - sphinx-apidoc -f -o ./docs/source ./adf_core_python cd docs - make html - ls build/html + python build.py - name: Deploy documentation uses: peaceiris/actions-gh-pages@v4 with: github_token: ${{ secrets.GITHUB_TOKEN }} - publish_dir: ./docs/build/html + publish_dir: ./docs/pages diff --git a/docs/.gitignore b/docs/.gitignore index b9913b1..be43638 100644 --- a/docs/.gitignore +++ b/docs/.gitignore @@ -1 +1,2 @@ source/adf_core_python.* +pages diff --git a/docs/build.py b/docs/build.py new file mode 100644 index 0000000..430bfad --- /dev/null +++ b/docs/build.py @@ -0,0 +1,43 @@ +import os +import subprocess +import yaml + +# a single build step, which keeps conf.py and versions.yaml at the main branch +# in generall we use environment variables to pass values to conf.py, see below +# and runs the build as we did locally +def build_doc(version, language, tag): + os.environ["current_version"] = version + os.environ["current_language"] = language + subprocess.run("git checkout " + tag, shell=True) + subprocess.run("git checkout main -- conf.py", shell=True) + subprocess.run("git checkout main -- versions.yaml", shell=True) + subprocess.run("doxygen Doxyfile", shell=True) + os.environ['SPHINXOPTS'] = "-D language='{}'".format(language) + subprocess.run("make html", shell=True) + +# a move dir method because we run multiple builds and bring the html folders to a +# location which we then push to github pages +def move_dir(src, dst): + subprocess.run(["mkdir", "-p", dst]) + subprocess.run("mv "+src+'* ' + dst, shell=True) + +# to separate a single local build from all builds we have a flag, see conf.py +os.environ["build_all_docs"] = str(True) +os.environ["pages_root"] = "http://127.0.0.1:5500/docs/pages" + +# manually the main branch build in the current supported languages +build_doc("latest", "en", "main") +move_dir("./build/html/", "./pages/") +build_doc("latest", "ja", "main") +move_dir("./build/html/", "./pages/ja/") + +# reading the yaml file +with open("versions.yaml", "r") as yaml_file: + docs = yaml.safe_load(yaml_file) + +# and looping over all values to call our build with version, language and its tag +# for version, details in docs.items(): +# tag = details.get('tag', '') +# for language in details.get('languages', []): +# build_doc(version, language, version) +# move_dir("./build/html/", "./pages/"+version+'/'+language+'/') diff --git a/docs/source/_templates/versions.html b/docs/source/_templates/versions.html new file mode 100644 index 0000000..7b7d0bc --- /dev/null +++ b/docs/source/_templates/versions.html @@ -0,0 +1,31 @@ +