Merge pull request #73 from adf-python/feature/message

message関連の実装

Author: shima004

adf_core_python/core/agent/__init__.py

@@ -1,27 +1,348 @@
 import sys
-from typing import Any, NoReturn
+from abc import abstractmethod
+from typing import Any, Callable, NoReturn
 
-from rcrs_core.agents.agent import Agent as RCRSAgent
+from bitarray import bitarray
+from rcrs_core.commands.AKClear import AKClear
+from rcrs_core.commands.AKClearArea import AKClearArea
+from rcrs_core.commands.AKLoad import AKLoad
+from rcrs_core.commands.AKMove import AKMove
+from rcrs_core.commands.AKRescue import AKRescue
+from rcrs_core.commands.AKRest import AKRest
+from rcrs_core.commands.AKSay import AKSay
+from rcrs_core.commands.AKSpeak import AKSpeak
+from rcrs_core.commands.AKSubscribe import AKSubscribe
+from rcrs_core.commands.AKTell import AKTell
+from rcrs_core.commands.AKUnload import AKUnload
+from rcrs_core.commands.Command import Command
+from rcrs_core.config.config import Config as RCRSConfig
+from rcrs_core.connection.URN import Command as CommandURN
+from rcrs_core.connection.URN import ComponentCommand as ComponentCommandMessageID
+from rcrs_core.connection.URN import ComponentControlMSG as ComponentControlMessageID
+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.worldmodel.changeSet import ChangeSet
+from rcrs_core.worldmodel.entityID import EntityID
 from rcrs_core.worldmodel.worldmodel import WorldModel
 
-from adf_core_python.core.logger.logger import get_logger
+from adf_core_python.core.agent.communication.message_manager import MessageManager
+from adf_core_python.core.agent.communication.standard.bundle.centralized.command_ambulance import (
+    CommandAmbulance,
+)
+from adf_core_python.core.agent.communication.standard.bundle.centralized.command_fire import (
+    CommandFire,
+)
+from adf_core_python.core.agent.communication.standard.bundle.centralized.command_police import (
+    CommandPolice,
+)
+from adf_core_python.core.agent.communication.standard.bundle.centralized.command_scout import (
+    CommandScout,
+)
+from adf_core_python.core.agent.communication.standard.bundle.centralized.message_report import (
+    MessageReport,
+)
+from adf_core_python.core.agent.communication.standard.bundle.information.message_ambulance_team import (
+    MessageAmbulanceTeam,
+)
+from adf_core_python.core.agent.communication.standard.bundle.information.message_building import (
+    MessageBuilding,
+)
+from adf_core_python.core.agent.communication.standard.bundle.information.message_civilian import (
+    MessageCivilian,
+)
+from adf_core_python.core.agent.communication.standard.bundle.information.message_fire_brigade import (
+    MessageFireBrigade,
+)
+from adf_core_python.core.agent.communication.standard.bundle.information.message_police_force import (
+    MessagePoliceForce,
+)
+from adf_core_python.core.agent.communication.standard.bundle.information.message_road import (
+    MessageRoad,
+)
+from adf_core_python.core.agent.communication.standard.standard_communication_module import (
+    StandardCommunicationModule,
+)
+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.precompute.precompute_data import PrecomputeData
+from adf_core_python.core.component.communication.communication_module import (
+    CommunicationModule,
+)
+from adf_core_python.core.config.config import Config
+from adf_core_python.core.launcher.config_key import ConfigKey
+from adf_core_python.core.logger.logger import get_agent_logger, get_logger
 
 
-class Agent(RCRSAgent):
-    def __init__(self, is_precompute: bool, name: str) -> None:
+class Agent:
+    def __init__(
+        self,
+        is_precompute: bool,
+        name: str,
+        is_debug: bool,
+        team_name: str,
+        data_storage_name: str,
+        module_config: ModuleConfig,
+        develop_data: DevelopData,
+    ) -> None:
         self.name = name
         self.connect_request_id = None
         self.world_model = WorldModel()
-        self.config = None
+        self.config: Config
         self.random = None
-        self.agent_id = None
+        self.agent_id: EntityID
         self.precompute_flag = is_precompute
         self.logger = get_logger(
             f"{self.__class__.__module__}.{self.__class__.__qualname__}"
         )
 
+        self.team_name = team_name
+        self.is_debug = is_debug
+        self.is_precompute = is_precompute
+
+        if is_precompute:
+            # PrecomputeData.remove_date(data_storage_name)
+            self.mode = Mode.PRECOMPUTATION
+
+        self._module_config = module_config
+        self._develop_data = develop_data
+        self._precompute_data = PrecomputeData(data_storage_name)
+        self._message_manager: MessageManager = MessageManager()
+        self._communication_module: CommunicationModule = StandardCommunicationModule()
+
+    def get_entity_id(self) -> EntityID:
+        return self.agent_id
+
+    def set_send_msg(self, connection_send_func: Callable) -> None:
+        self.send_msg = connection_send_func
+
+    def post_connect(self) -> None:
+        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.config.set_value(ConfigKey.KEY_DEBUG_FLAG, self.is_debug)
+        self.config.set_value(
+            ConfigKey.KEY_DEVELOP_FLAG, self._develop_data.is_develop_mode()
+        )
+        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)
+        self.logger = get_agent_logger(
+            f"{self.__class__.__module__}.{self.__class__.__qualname__}",
+            self._agent_info,
+        )
+
+        self.logger.info(f"config: {self.config}")
+
+    def update_step_info(
+        self, time: int, change_set: ChangeSet, hear: list[Command]
+    ) -> None:
+        self._agent_info.record_think_start_time()
+        self._agent_info.set_time(time)
+
+        if time == 1:
+            self._message_manager.register_message_class(0, MessageAmbulanceTeam)
+            self._message_manager.register_message_class(1, MessageFireBrigade)
+            self._message_manager.register_message_class(2, MessagePoliceForce)
+            self._message_manager.register_message_class(3, MessageBuilding)
+            self._message_manager.register_message_class(4, MessageCivilian)
+            self._message_manager.register_message_class(5, MessageRoad)
+            self._message_manager.register_message_class(6, CommandAmbulance)
+            self._message_manager.register_message_class(7, CommandFire)
+            self._message_manager.register_message_class(8, CommandPolice)
+            self._message_manager.register_message_class(9, CommandScout)
+            self._message_manager.register_message_class(10, MessageReport)
+
+        if time > self._ignore_time:
+            self._message_manager.subscribe(
+                self._agent_info, self._world_info, self._scenario_info
+            )
+            if not self._message_manager.get_is_subscribed():
+                subscribed_channels = self._message_manager.get_subscribed_channels()
+                if subscribed_channels:
+                    self.logger.debug(
+                        f"Subscribed channels: {subscribed_channels}",
+                        message_manager=self._message_manager,
+                    )
+                    self.send_subscribe(time, subscribed_channels)
+                    self._message_manager.set_is_subscribed(True)
+
+        self._agent_info.set_heard_commands(hear)
+        self._agent_info.set_change_set(change_set)
+        self._world_info.set_change_set(change_set)
+
+        self._message_manager.refresh()
+        self._communication_module.receive(self, self._message_manager)
+
+        self.think()
+
+        self.logger.debug(
+            f"send messages: {self._message_manager.get_send_message_list()}",
+            message_manager=self._message_manager,
+        )
+
+        self._message_manager.coordinate_message(
+            self._agent_info, self._world_info, self._scenario_info
+        )
+        self._communication_module.send(self, self._message_manager)
+
+    @abstractmethod
+    def think(self) -> None:
+        pass
+
+    @abstractmethod
+    def precompute(self) -> None:
+        pass
+
+    @abstractmethod
+    def get_requested_entities(self) -> list[EntityURN]:
+        pass
+
+    def start_up(self, request_id: int) -> None:
+        ak_connect = AKConnect()
+        self.send_msg(ak_connect.write(request_id, self))
+
+    def message_received(self, msg: Any) -> None:
+        c_msg = ControlMessageFactory().make_message(msg)
+        if isinstance(c_msg, KASense):
+            self.handler_sense(c_msg)
+        elif isinstance(c_msg, KAConnectOK):
+            self.handle_connect_ok(c_msg)
+        elif isinstance(c_msg, KAConnectError):
+            self.handle_connect_error(c_msg)
+
     def handle_connect_error(self, msg: Any) -> NoReturn:
         self.logger.error(
             "Failed to connect agent: %s(request_id: %s)", msg.reason, msg.request_id
         )
         sys.exit(1)
+
+    def handle_connect_ok(self, msg: Any) -> None:
+        self.agent_id = EntityID(msg.agent_id)
+        self.world_model.add_entities(msg.world)
+        config: RCRSConfig = msg.config
+        self.config = Config()
+        if config is not None:
+            for key, value in config.data.items():
+                self.config.set_value(key, value)
+            for key, value in config.int_data.items():
+                self.config.set_value(key, value)
+            for key, value in config.float_data.items():
+                self.config.set_value(key, value)
+            for key, value in config.boolean_data.items():
+                self.config.set_value(key, value)
+            for key, value in config.array_data.items():
+                self.config.set_value(key, value)
+        self.send_acknowledge(msg.request_id)
+        self.post_connect()
+        if self.precompute_flag:
+            print("self.precompute_flag: ", self.precompute_flag)
+            self.precompute()
+
+    def handler_sense(self, msg: Any) -> None:
+        _id = EntityID(msg.agent_id)
+        time = msg.time
+        change_set = msg.change_set
+        heard = msg.hear.commands
+
+        if _id != self.get_entity_id():
+            self.logger.error("Agent ID mismatch: %s != %s", _id, self.get_entity_id())
+            return
+
+        heard_commands: list[Command] = []
+        for herad_command in heard:
+            if herad_command.urn == CommandURN.AK_SPEAK:
+                heard_commands.append(
+                    AKSpeak(
+                        herad_command.components[
+                            ComponentControlMessageID.AgentID
+                        ].entityID,
+                        herad_command.components[
+                            ComponentControlMessageID.Time
+                        ].intValue,
+                        herad_command.components[
+                            ComponentCommandMessageID.Message
+                        ].rawData,
+                        herad_command.components[
+                            ComponentCommandMessageID.Channel
+                        ].intValue,
+                    )
+                )
+
+        self.world_model.merge(change_set)
+        self.update_step_info(time, change_set, heard_commands)
+
+    def send_acknowledge(self, request_id: int) -> None:
+        ak_ack = AKAcknowledge()
+        self.send_msg(ak_ack.write(request_id, self.agent_id))
+
+    def send_clear(self, time: int, target: EntityID) -> None:
+        cmd = AKClear(self.get_entity_id(), time, target)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_clear_area(self, time: int, x: int = -1, y: int = -1) -> None:
+        cmd = AKClearArea(self.get_entity_id(), time, x, y)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_load(self, time: int, target: EntityID) -> None:
+        cmd = AKLoad(self.get_entity_id(), time, target)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_move(self, time: int, path: list[int], x: int = -1, y: int = -1) -> None:
+        cmd = AKMove(self.get_entity_id(), time, path[:], x, y)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_rescue(self, time: int, target: EntityID) -> None:
+        cmd = AKRescue(self.get_entity_id(), time, target)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_rest(self, time: int) -> None:
+        cmd = AKRest(self.get_entity_id(), time)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_say(self, time_step: int, message: str) -> None:
+        cmd = AKSay(self.get_entity_id(), time_step, message)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_speak(self, time_step: int, message: bitarray, channel: int) -> None:
+        cmd = AKSpeak(self.get_entity_id(), time_step, bytes(message), channel)  # type: ignore
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_subscribe(self, time: int, channels: list[int]) -> None:
+        cmd = AKSubscribe(self.get_entity_id(), time, channels)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_tell(self, time: int, message: str) -> None:
+        cmd = AKTell(self.get_entity_id(), time, message)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)
+
+    def send_unload(self, time: int) -> None:
+        cmd = AKUnload(self.get_entity_id(), time)
+        msg = cmd.prepare_cmd()
+        self.send_msg(msg)