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feat: Implement DefaultExtendActionMove class for extending action move functionality
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‎adf_core_python/implement/extend_action/default_extend_action_move.py‎

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from typing import Optional, cast
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from rcrs_core.entities.area import Area
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from rcrs_core.entities.blockade import Blockade
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from rcrs_core.entities.entity import Entity
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from rcrs_core.entities.human import Human
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from rcrs_core.worldmodel.entityID import EntityID
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from adf_core_python.core.agent.action.common.action_move import ActionMove
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from adf_core_python.core.agent.communication.message_manager import MessageManager
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from adf_core_python.core.agent.develop.develop_data import DevelopData
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from adf_core_python.core.agent.info.agent_info import AgentInfo
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from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo
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from adf_core_python.core.agent.info.world_info import WorldInfo
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from adf_core_python.core.agent.module.module_manager import ModuleManager
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from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData
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from adf_core_python.core.component.extaction.ext_action import ExtAction
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from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning
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class DefaultExtendActionMove(ExtAction):
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def __init__(
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self,
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agent_info: AgentInfo,
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world_info: WorldInfo,
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scenario_info: ScenarioInfo,
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module_manager: ModuleManager,
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develop_data: DevelopData,
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) -> None:
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super().__init__(
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agent_info, world_info, scenario_info, module_manager, develop_data
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)
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self._target_entity_id: Optional[EntityID] = None
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self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100)
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match self.scenario_info.get_mode():
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case Mode.NON_PRECOMPUTE:
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self._path_planning: PathPlanning = cast(
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PathPlanning,
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self.module_manager.get_module(
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"DefaultExtendActionMove.PathPlanning",
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"adf_core_python.implement.module.astar_path_planning.AStarPathPlanning",
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),
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)
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case Mode.PRECOMPUTATION:
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pass
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case Mode.PRECOMPUTED:
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pass
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def precompute(self, precompute_data: PrecomputeData) -> ExtAction:
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super().precompute(precompute_data)
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if self.get_count_precompute() > 1:
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return self
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self._path_planning.precompute(precompute_data)
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return self
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def resume(self, precompute_data: PrecomputeData) -> ExtAction:
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super().resume(precompute_data)
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if self.get_count_resume() > 1:
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return self
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self._path_planning.resume(precompute_data)
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return self
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def prepare(self) -> ExtAction:
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super().prepare()
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if self.get_count_prepare() > 1:
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return self
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self._path_planning.prepare()
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return self
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def update_info(self, message_manager: MessageManager) -> ExtAction:
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super().update_info(message_manager)
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if self.get_count_update_info() > 1:
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return self
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self._path_planning.update_info(message_manager)
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return self
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def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction:
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entity: Optional[Entity] = self.world_info.get_entity(target_entity_id)
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self._target_entity_id = None
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if entity is None:
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return self
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if isinstance(entity, Blockade):
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entity = self.world_info.get_entity(cast(Blockade, entity).get_position())
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elif isinstance(entity, Human):
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entity = entity.get_position()
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if entity is None and isinstance(entity, Area):
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self._target_entity_id = None
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return self
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def calc(self) -> ExtAction:
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self._result = None
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agent: Human = cast(Human, self.agent_info.get_myself())
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path: list[EntityID] = self._path_planning.get_path(
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agent.get_position(), self._target_entity_id
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)
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if path is not None or len(path) != 0:
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self.result = ActionMove(path)
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return self

‎adf_core_python/implement/extend_action/default_extend_action_transport.py‎

Lines changed: 254 additions & 0 deletions
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from typing import Optional, Union, cast
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from rcrs_core.entities.ambulanceTeam import AmbulanceTeamEntity
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from rcrs_core.entities.area import Area
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from rcrs_core.entities.civilian import Civilian
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from rcrs_core.entities.entity import Entity
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from rcrs_core.entities.human import Human
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from rcrs_core.entities.refuge import Refuge
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from rcrs_core.worldmodel.entityID import EntityID
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from adf_core_python.core.agent.action.ambulance.action_load import ActionLoad
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from adf_core_python.core.agent.action.ambulance.action_unload import ActionUnload
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from adf_core_python.core.agent.action.common.action_move import ActionMove
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from adf_core_python.core.agent.action.common.action_rest import ActionRest
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from adf_core_python.core.agent.communication.message_manager import MessageManager
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from adf_core_python.core.agent.develop.develop_data import DevelopData
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from adf_core_python.core.agent.info.agent_info import AgentInfo
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from adf_core_python.core.agent.info.scenario_info import Mode, ScenarioInfo
19+
from adf_core_python.core.agent.info.world_info import WorldInfo
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from adf_core_python.core.agent.module.module_manager import ModuleManager
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from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData
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from adf_core_python.core.component.extaction.ext_action import ExtAction
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from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning
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class DefaultExtendActionTransport(ExtAction):
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def __init__(
28+
self,
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agent_info: AgentInfo,
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world_info: WorldInfo,
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scenario_info: ScenarioInfo,
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module_manager: ModuleManager,
33+
develop_data: DevelopData,
34+
) -> None:
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super().__init__(
36+
agent_info, world_info, scenario_info, module_manager, develop_data
37+
)
38+
self._target_entity_id: Optional[EntityID] = None
39+
self._threshold_to_rest: int = develop_data.get_value("threshold_to_rest", 100)
40+
41+
match self.scenario_info.get_mode():
42+
case Mode.NON_PRECOMPUTE:
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self._path_planning: PathPlanning = cast(
44+
PathPlanning,
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self.module_manager.get_module(
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"DefaultExtendActionMove.PathPlanning",
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"adf_core_python.implement.module.astar_path_planning.AStarPathPlanning",
48+
),
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)
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case Mode.PRECOMPUTATION:
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pass
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case Mode.PRECOMPUTED:
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pass
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def precompute(self, precompute_data: PrecomputeData) -> ExtAction:
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super().precompute(precompute_data)
57+
if self.get_count_precompute() > 1:
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return self
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self._path_planning.precompute(precompute_data)
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return self
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def resume(self, precompute_data: PrecomputeData) -> ExtAction:
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super().resume(precompute_data)
64+
if self.get_count_resume() > 1:
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return self
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self._path_planning.resume(precompute_data)
67+
return self
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def prepare(self) -> ExtAction:
70+
super().prepare()
71+
if self.get_count_prepare() > 1:
72+
return self
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self._path_planning.prepare()
74+
return self
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def update_info(self, message_manager: MessageManager) -> ExtAction:
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super().update_info(message_manager)
78+
if self.get_count_update_info() > 1:
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return self
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self._path_planning.update_info(message_manager)
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return self
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def set_target_entity_id(self, target_entity_id: EntityID) -> ExtAction:
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entity: Optional[Entity] = self.world_info.get_world_model().get_entity(
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target_entity_id
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)
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self._target_entity_id = None
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if entity is None:
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return self
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if isinstance(entity, Human) or isinstance(entity, Area):
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self._target_entity_id = target_entity_id
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return self
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def calc(self) -> ExtAction:
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self._result = None
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agent: AmbulanceTeamEntity = cast(
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AmbulanceTeamEntity, self.agent_info.get_myself()
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)
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transport_human: Human = self.agent_info.some_one_on_board()
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if transport_human is not None:
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self.result = self.calc_unload(
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agent, self._path_planning, transport_human, self._target_entity_id
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)
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if self.result is not None:
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return self
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if self._target_entity_id is not None:
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self.result = self.calc_rescue(
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agent, self._path_planning, self._target_entity_id
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)
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return self
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def calc_rescue(
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self,
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agent: AmbulanceTeamEntity,
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path_planning: PathPlanning,
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target_id: EntityID,
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) -> Optional[Union[ActionMove, ActionLoad]]:
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target_entity = self.world_info.get_entity(target_id)
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if target_entity is None:
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return None
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agent_position = agent.get_position()
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if isinstance(target_entity, Human):
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human = target_entity
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if human.get_position() is None:
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return None
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if human.get_hp() is None or human.get_hp() == 0:
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return None
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target_position = human.get_position()
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if agent_position == target_position:
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if isinstance(human, Civilian) and (
138+
human.get_buriedness() is not None and human.get_buriedness() > 0
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):
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return ActionLoad(human.get_id())
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else:
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path = path_planning.get_path(agent_position, target_position)
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if path is not None and len(path) > 0:
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return ActionMove(path)
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return None
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if isinstance(target_entity, Area):
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path = path_planning.get_path(agent_position, target_entity.get_id())
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if path is not None and len(path) > 0:
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return ActionMove(path)
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return None
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def calc_unload(
155+
self,
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agent: AmbulanceTeamEntity,
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path_planning: PathPlanning,
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transport_human: Optional[Human],
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target_id: Optional[EntityID],
160+
) -> Optional[ActionMove | ActionUnload | ActionRest]:
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if transport_human is None:
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return None
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if not transport_human.get_hp() or transport_human.get_hp() == 0:
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return ActionUnload()
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agent_position = agent.get_position()
168+
if (
169+
target_id is None
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or transport_human.get_id().get_value() == target_id.get_value()
171+
):
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position = self.world_info.get_entity(agent_position)
173+
if position is None:
174+
return None
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if isinstance(position, Refuge):
177+
return ActionUnload()
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else:
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path = path_planning.get_path(
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agent_position, self.world_info.get_entity_ids_of_type(Refuge)
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)
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if path is not None and len(path) > 0:
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return ActionMove(path)
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if target_id is None:
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return None
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target_entity = self.world_info.get_entity(target_id)
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if isinstance(target_entity, Human):
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human = cast(Human, target_entity)
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if human.get_position() is not None:
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return self.calc_refuge_action(
194+
agent, path_planning, [human.get_position()], True
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)
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path = self.get_nearest_refuge_path(agent, path_planning)
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if path is not None and len(path) > 0:
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return ActionMove(path)
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return None
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def calc_refuge_action(
203+
self,
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human: Human,
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path_planning: PathPlanning,
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target_entity_id: EntityID,
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is_unload: bool,
208+
) -> Optional[ActionMove | ActionUnload | ActionRest]:
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position = human.get_position()
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refuges = self.world_info.get_entity_ids_of_type(Refuge)
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size = len(refuges)
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if position in refuges:
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return ActionUnload() if is_unload else ActionRest()
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first_result = None
217+
while len(refuges) > 0:
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path = path_planning.get_path(position, refuges[0])
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if path is not None and len(path) > 0:
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if first_result is None:
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first_result = path.copy()
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refuge_id = path[-1]
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from_refuge_to_target = path_planning.get_path(
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refuge_id, target_entity_id
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)
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if from_refuge_to_target is not None and len(from_refuge_to_target) > 0:
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return ActionMove(path)
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refuges.remove(refuge_id)
233+
if size == len(refuges):
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break
235+
size = len(refuges)
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else:
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break
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return ActionMove(first_result) if first_result is not None else None
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def get_nearest_refuge_path(
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self, human: Human, path_planning: PathPlanning
243+
) -> list[EntityID]:
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position = human.get_position()
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refuges = self.world_info.get_entity_ids_of_type(Refuge)
246+
nearest_path = None
247+
248+
for refuge_id in refuges:
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path: list[EntityID] = path_planning.get_path(position, refuge_id)
250+
if len(path) > 0:
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if nearest_path is None or len(path) < len(nearest_path):
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nearest_path = path
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return nearest_path if nearest_path is not None else []

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