事前計算の実装

.gitignore

@@ -172,3 +172,4 @@ cython_debug/
 
 # ADF
 agent.log*
+precompute

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
@@ -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

adf_core_python/core/agent/agent.py

@@ -112,12 +112,15 @@ def __init__(
         self.is_precompute = is_precompute
 
         if is_precompute:
-            # PrecomputeData.remove_date(data_storage_name)
-            self.mode = Mode.PRECOMPUTATION
+            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._precompute_data = PrecomputeData(data_storage_name)
         self._message_manager: MessageManager = MessageManager()
         self._communication_module: CommunicationModule = StandardCommunicationModule()
 
@@ -131,11 +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(
@@ -210,10 +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
@@ -266,12 +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()
 

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,

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]

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]

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,

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]

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]

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]

adf_core_python/core/agent/precompute/precompute_data.py

@@ -1,4 +1,75 @@
-# TODO: Implement the PrecomputeData class
+import json
+import os
+
+ENCODE = "utf-8"
+
+
 class PrecomputeData:
-    def __init__(self, file_path: str) -> None:
-        self._file_path = file_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)

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,

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"

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,

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,

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,

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,