feat: implement ambulance team

Author: shima004

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/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/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:
@@ -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/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,

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
@@ -32,14 +33,15 @@ 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:
                 self._path_planning: PathPlanning = cast(
                     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

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: