AmbulanceTeamが動くようにする

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):

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})"

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

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

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:

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())

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]

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):

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()

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:
@@ -48,12 +50,12 @@ 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")
@@ -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()

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:

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