Merge pull request #44 from adf-python/adf/core/agent/platoon

adf/core/agent/platoon/platoon_ambulance

Author: shima004

adf_core_python/core/agent/agent.py

@@ -0,0 +1,30 @@
+from rcrs_core.entities.entity import Entity
+
+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.info.scenario_info import Mode
+from adf_core_python.core.agent.precompute.precompute_data import PrecomputeData
+
+
+class Agent(Entity):
+    def __init__(
+        self,
+        team_name: str,
+        is_precompute: bool,
+        is_debug: bool,
+        data_storage_name: str,
+        module_config: ModuleConfig,
+        develop_data: DevelopData,
+    ):
+        self._tema_name = team_name
+        self._is_precompute = is_precompute
+        self._is_debug = is_debug
+
+        if self._is_precompute:
+            # PrecomputeData.remove_data(data_storage_name)
+            self._mode = Mode.PRECOMPUTATION
+
+        self._module_config: ModuleConfig = module_config
+        self._develop_data: DevelopData = develop_data
+        self._precompute_data: PrecomputeData = PrecomputeData(data_storage_name)
+        self._message_manager = None

adf_core_python/core/agent/info/scenario_info.py

@@ -1,6 +1,6 @@
 from enum import Enum
 
-from rcrs_core.config.config import Config
+from adf_core_python.core.config.config import Config
 
 
 class Mode(Enum):
@@ -71,4 +71,4 @@ def get_config_value(self, key: str, default: str) -> str:
         str
             Value of the configuration
         """
-        return self._config.get_value_or_default(key, default)
+        return self._config.get_value(key, default)

adf_core_python/core/agent/info/world_info.py

@@ -1,5 +1,6 @@
 from typing import Any
 
+from rcrs_core.worldmodel.changeSet import ChangeSet
 from rcrs_core.worldmodel.entityID import EntityID
 from rcrs_core.worldmodel.worldmodel import WorldModel
 
@@ -10,6 +11,7 @@ def __init__(self, world_model: WorldModel):
         self._time: int = 0
         self._is_run_rollback: bool = False
         self._rollback: dict[EntityID, dict[int, dict[int, Any]]] = {}
+        self._change_set: ChangeSet
 
     # TODO: Implement the worldmodel access methods
     def get_world_model(self) -> WorldModel:
@@ -22,3 +24,14 @@ def get_world_model(self) -> WorldModel:
             World model
         """
         return self._world_model
+
+    def set_change_set(self, change_set: ChangeSet) -> None:
+        """
+        Set the change set
+
+        Parameters
+        ----------
+        change_set : ChangeSet
+            Change set
+        """
+        self._change_set = change_set

adf_core_python/core/agent/platoon/platoon.py

@@ -0,0 +1,102 @@
+from logging import Logger, getLogger
+
+from rcrs_core.agents.agent import Agent
+from rcrs_core.commands.Command import Command
+from rcrs_core.worldmodel.changeSet import ChangeSet
+
+from adf_core_python.core.agent.action.action import Action
+from adf_core_python.core.agent.communication.message_manager import MessageManager
+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.info.agent_info import AgentInfo
+from adf_core_python.core.agent.info.scenario_info import Mode, 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
+from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent
+
+
+class Platoon(Agent):
+    def __init__(
+        self,
+        tactics_agent: TacticsAgent,
+        team_name: str,
+        is_precompute: bool,
+        is_debug: bool,
+        data_storage_name: str,
+        module_config: ModuleConfig,
+        develop_data: DevelopData,
+    ) -> None:
+        super().__init__(
+            is_precompute,
+        )
+        self._tactics_agent = tactics_agent
+        self._team_name = team_name
+        self._is_precompute = is_precompute
+        self._is_debug = is_debug
+        self._data_storage_name = data_storage_name
+        self._module_config = module_config
+        self._develop_data = develop_data
+
+    def post_connect(self) -> None:
+        self._logger: Logger = getLogger(__name__)
+        self._agent_info: AgentInfo = AgentInfo(self, self.world_model)
+        self._world_info: WorldInfo = WorldInfo(self.world_model)
+        self._precompute_data: PrecomputeData = PrecomputeData(self._data_storage_name)
+
+        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
+
+        self._scenario_info: ScenarioInfo = ScenarioInfo(self.config, self._mode)  # type: ignore
+        self._module_manager: ModuleManager = ModuleManager(
+            self._agent_info,
+            self._world_info,
+            self._scenario_info,
+            self._module_config,
+            self._develop_data,
+        )
+
+        self._tactics_agent.initialize(
+            self._agent_info,
+            self._world_info,
+            self._scenario_info,
+            self._module_manager,
+            self._precompute_data,
+            MessageManager(),
+            self._develop_data,
+        )
+
+        match self._mode:
+            case Mode.PRECOMPUTATION:
+                pass
+            case Mode.PRECOMPUTED:
+                pass
+            case Mode.NON_PRECOMPUTE:
+                self._tactics_agent.prepare(
+                    self._agent_info,
+                    self._world_info,
+                    self._scenario_info,
+                    self._module_manager,
+                    self._precompute_data,
+                    self._develop_data,
+                )
+
+    def think(self, time: int, change_set: ChangeSet, hear: list[Command]) -> None:
+        action: Action = self._tactics_agent.think(
+            self._agent_info,
+            self._world_info,
+            self._scenario_info,
+            self._module_manager,
+            self._precompute_data,
+            MessageManager(),
+            self._develop_data,
+        )
+        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))

adf_core_python/core/agent/platoon/platoon_ambulance.py

@@ -0,0 +1,34 @@
+from rcrs_core.connection import URN
+
+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.platoon.platoon import Platoon
+from adf_core_python.core.component.tactics.tactics_agent import TacticsAgent
+
+
+class PlatoonAmbulance(Platoon):
+    def __init__(
+        self,
+        tactics_agent: TacticsAgent,
+        team_name: str,
+        is_precompute: bool,
+        is_debug: bool,
+        data_storage_name: str,
+        module_config: ModuleConfig,
+        develop_data: DevelopData,
+    ):
+        super().__init__(
+            tactics_agent,
+            team_name,
+            is_precompute,
+            is_debug,
+            data_storage_name,
+            module_config,
+            develop_data,
+        )
+
+    def precompute(self) -> None:
+        pass
+
+    def get_requested_entities(self) -> list[str]:
+        return [URN.Entity.AMBULANCE_TEAM]