Feature/java module

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(
@@ -193,6 +203,12 @@ 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)
 
@@ -288,9 +304,11 @@ def handler_sense(self, msg: Any) -> None:
             if herad_command.urn == CommandURN.AK_SPEAK:
                 heard_commands.append(
                     AKSpeak(
-                        herad_command.components[
-                            ComponentControlMessageID.AgentID
-                        ].entityID,
+                        EntityID(
+                            herad_command.components[
+                                ComponentControlMessageID.AgentID
+                            ].entityID
+                        ),
                         herad_command.components[
                             ComponentControlMessageID.Time
                         ].intValue,

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
 

adf_core_python/core/agent/info/scenario_info.py

@@ -1,12 +1,12 @@
-from enum import Enum
+from enum import IntEnum
 from typing import TypeVar
 
 from adf_core_python.core.config.config import Config
 
 T = TypeVar("T")
 
 
-class Mode(Enum):
+class Mode(IntEnum):
     NON_PRECOMPUTE = 0
     PRECOMPUTED = 1
     PRECOMPUTATION = 2

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 (
@@ -11,7 +11,13 @@
     MessageCoordinator,
 )
 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
@@ -29,12 +35,14 @@ def __init__(
         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] = {}
 
@@ -43,38 +51,79 @@ 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:
-        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
+        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")
 
     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)

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

adf_core_python/core/agent/office/office_ambulance.py

@@ -1,11 +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.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:

adf_core_python/core/agent/office/office_fire.py

@@ -1,11 +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.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]:

adf_core_python/core/agent/office/office_police.py

@@ -1,11 +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.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]: