refactor: Update KMeansClustering to set random_state and rename unsearched_building_ids in DefaultSearch

Author: shima004

adf_core_python/implement/module/algorithm/k_means_clustering.py

@@ -112,7 +112,7 @@ def prepare(self) -> Clustering:
     def create_cluster(
         self, cluster_number: int, entities: list[Entity]
     ) -> list[list[Entity]]:
-        kmeans = KMeans(n_clusters=cluster_number)
+        kmeans = KMeans(n_clusters=cluster_number, random_state=0)
         entity_positions: np.ndarray = np.array([])
         for entity in entities:
             location1_x, location1_y = entity.get_location()

adf_core_python/implement/module/complex/default_human_detector.py

@@ -69,10 +69,6 @@ def _select_target(self) -> Optional[EntityID]:
             cluster_index
         )
 
-        self._logger.debug(
-            f"cluster_entities: {[str(entity.get_id()) for entity in cluster_entities]}"
-        )
-
         cluster_valid_human_entities: list[Entity] = [
             entity
             for entity in cluster_entities

adf_core_python/implement/module/complex/default_search.py

@@ -14,6 +14,7 @@
 from adf_core_python.core.component.module.algorithm.clustering import Clustering
 from adf_core_python.core.component.module.algorithm.path_planning import PathPlanning
 from adf_core_python.core.component.module.complex.search import Search
+from adf_core_python.core.logger.logger import get_agent_logger
 
 
 class DefaultSearch(Search):
@@ -29,7 +30,7 @@ def __init__(
             agent_info, world_info, scenario_info, module_manager, develop_data
         )
 
-        self._unsearched_building_ids: set[EntityID] = set()
+        self._unreached_building_ids: set[EntityID] = set()
         self._result: Optional[EntityID] = None
 
         self._clustering: Clustering = cast(
@@ -48,6 +49,11 @@ def __init__(
             ),
         )
 
+        self._logger = get_agent_logger(
+            f"{self.__class__.__module__}.{self.__class__.__qualname__}",
+            self._agent_info,
+        )
+
         self.register_sub_module(self._clustering)
         self.register_sub_module(self._path_planning)
 
@@ -56,18 +62,22 @@ def update_info(self, message_manager: MessageManager) -> Search:
         if self.get_count_update_info() > 1:
             return self
 
+        self._logger.debug(
+            f"unreached_building_ids: {[str(id) for id in self._unreached_building_ids]}"
+        )
+
         searched_building_id = self._agent_info.get_position_entity_id()
-        self._unsearched_building_ids.discard(searched_building_id)
+        self._unreached_building_ids.discard(searched_building_id)
 
-        if len(self._unsearched_building_ids) == 0:
-            self._unsearched_building_ids = self._get_search_targets()
+        if len(self._unreached_building_ids) == 0:
+            self._unreached_building_ids = self._get_search_targets()
 
         return self
 
     def calculate(self) -> Search:
         nearest_building_id: Optional[EntityID] = None
         nearest_distance: Optional[float] = None
-        for building_id in self._unsearched_building_ids:
+        for building_id in self._unreached_building_ids:
             distance = self._world_info.get_distance(
                 self._agent_info.get_entity_id(), building_id
             )