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Merge pull request #76 from adf-python/feature/cli
コマンドでテンプレの開発環境を作成する
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‎adf_core_python/cli/__init__.py‎

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‎adf_core_python/cli/cli.py‎

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import os
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import click
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NAME_PLACEHOLDER = "team_name"
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@click.command()
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@click.option(
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"--name", prompt="Your agent team name", help="The name of your agent team"
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)
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def cli(name: str) -> None:
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# load template dir and create a new agent team
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click.echo(f"Creating a new agent team with name: {name}")
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# 自身がいるディレクトリを取得
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template_dir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "template")
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# コマンドラインのカレントディレクトリを取得
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current_dir = os.getcwd()
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_copy_template(
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template_dir,
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current_dir,
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name,
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)
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def _copy_template(
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src: str,
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dest: str,
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name: str,
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) -> None:
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if os.path.isdir(src):
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if not os.path.exists(dest):
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os.makedirs(dest)
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for item in os.listdir(src):
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s = os.path.join(src, item)
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d = os.path.join(
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dest,
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item.replace(NAME_PLACEHOLDER, name),
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)
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_copy_template(s, d, name)
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else:
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with open(src, "r") as f:
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content = f.read()
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with open(dest, "w") as f:
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f.write(content.replace(NAME_PLACEHOLDER, name))
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new_dest = dest.replace(NAME_PLACEHOLDER, name)
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if new_dest != dest:
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os.rename(dest, new_dest)
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if __name__ == "__main__":
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cli()

‎adf_core_python/cli/template/config/development.json‎

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{
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"test": "test"
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}

‎adf_core_python/cli/template/config/launcher.yaml‎

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kernel:
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host: localhost
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port: 27931
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team:
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name: team_name
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adf:
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launcher:
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precompute: 0
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debug:
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flag: 0
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agent:
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moduleconfig:
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filename: config/module.yaml
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develop:
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flag: 1
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filename: config/development.json
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team:
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platoon:
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ambulance:
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count: 100
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fire:
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count: 100
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police:
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count: 100
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office:
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ambulance:
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count: -1
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fire:
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count: -1
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police:
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count: -1

‎adf_core_python/cli/template/config/module.yaml‎

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## DefaultTacticsAmbulanceTeam
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DefaultTacticsAmbulanceTeam:
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HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector
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Search: src.team_name.module.complex.sample_search.SampleSearch
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ExtendActionTransport: adf_core_python.implement.action.default_extend_action_transport.DefaultExtendActionTransport
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ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove
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CommandExecutorAmbulance: adf_core_python.implement.centralized.DefaultCommandExecutorAmbulance
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CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout
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# ## DefaultTacticsFireBrigade
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DefaultTacticsFireBrigade:
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HumanDetector: src.team_name.module.complex.sample_human_detector.SampleHumanDetector
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Search: src.team_name.module.complex.sample_search.SampleSearch
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ExtendActionRescue: adf_core_python.implement.action.default_extend_action_rescue.DefaultExtendActionRescue
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ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove
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CommandExecutorFire: adf_core_python.implement.centralized.DefaultCommandExecutorFire
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CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScout
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# ## DefaultTacticsPoliceForce
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DefaultTacticsPoliceForce:
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RoadDetector: src.team_name.module.complex.sample_road_detector.SampleRoadDetector
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Search: src.team_name.module.complex.sample_search.SampleSearch
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ExtendActionClear: adf_core_python.implement.action.default_extend_action_clear.DefaultExtendActionClear
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ExtendActionMove: adf_core_python.implement.action.default_extend_action_move.DefaultExtendActionMove
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CommandExecutorPolice: adf_core_python.implement.centralized.DefaultCommandExecutorPolice
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CommandExecutorScout: adf_core_python.implement.centralized.DefaultCommandExecutorScoutPolice
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# ## DefaultTacticsAmbulanceCentre
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# DefaultTacticsAmbulanceCentre:
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# TargetAllocator: sample_team.module.complex.SampleAmbulanceTargetAllocator
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# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerAmbulance
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# ## DefaultTacticsFireStation
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# DefaultTacticsFireStation:
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# TargetAllocator: sample_team.module.complex.SampleFireTargetAllocator
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# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerFire
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# ## DefaultTacticsPoliceOffice
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# DefaultTacticsPoliceOffice:
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# TargetAllocator: sample_team.module.complex.SamplePoliceTargetAllocator
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# CommandPicker: adf_core_python.implement.centralized.DefaultCommandPickerPolice
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## SampleSearch
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SampleSearch:
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PathPlanning: adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning
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Clustering: adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering
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# ## SampleBuildDetector
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# SampleBuildingDetector:
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# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
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# ## SampleRoadDetector
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# SampleRoadDetector:
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# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ## SampleHumanDetector
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# SampleHumanDetector:
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# Clustering: adf_core_python.implement.module.algorithm.KMeansClustering
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# ## DefaultExtendActionClear
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# DefaultExtendActionClear:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ## DefaultExtendActionFireFighting
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# DefaultExtendActionFireFighting:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ## DefaultExtendActionRescue
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# DefaultExtendActionRescue:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ## DefaultExtendActionMove
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# DefaultExtendActionMove:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ## DefaultExtendActionTransport
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# DefaultExtendActionTransport:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ## DefaultCommandExecutorAmbulance
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# DefaultCommandExecutorAmbulance:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ExtendActionTransport: adf_core_python.implement.action.DefaultExtendActionTransport
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# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
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# ## DefaultCommandExecutorFire
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# DefaultCommandExecutorFire:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# EtxActionFireRescue: adf_core_python.implement.action.DefaultExtendActionRescue
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# EtxActionFireFighting: adf_core_python.implement.action.DefaultExtendActionFireFighting
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# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
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# ## DefaultCommandExecutorPolice
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# DefaultCommandExecutorPolice:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear
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# ExtendActionMove: adf_core_python.implement.action.DefaultExtendActionMove
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# ## DefaultCommandExecutorScout
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# DefaultCommandExecutorScout:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ## DefaultCommandExecutorScoutPolice
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# DefaultCommandExecutorScoutPolice:
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# PathPlanning: adf_core_python.implement.module.algorithm.DijkstraPathPlanning
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# ExtendActionClear: adf_core_python.implement.action.DefaultExtendActionClear
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# ## MessageManager
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MessageManager:
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PlatoonChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber
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CenterChannelSubscriber: adf_core_python.implement.module.communication.default_channel_subscriber.DefaultChannelSubscriber
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PlatoonMessageCoordinator: adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator
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CenterMessageCoordinator: adf_core_python.implement.module.communication.default_message_coordinator.DefaultMessageCoordinator

‎adf_core_python/cli/template/main.py‎

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from adf_core_python.launcher import Launcher
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if __name__ == "__main__":
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launcher = Launcher("./config/launcher.yaml")
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launcher.launch()

‎adf_core_python/cli/template/src/team_name/__init__.py‎

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‎adf_core_python/cli/template/src/team_name/module/__init__.py‎

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‎adf_core_python/cli/template/src/team_name/module/complex/__init__.py‎

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‎adf_core_python/cli/template/src/team_name/module/complex/sample_human_detector.py‎

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from typing import Optional, cast
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from rcrs_core.connection.URN import Entity as EntityURN
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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.worldmodel.entityID import EntityID
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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 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.component.module.algorithm.clustering import Clustering
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from adf_core_python.core.component.module.complex.human_detector import HumanDetector
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from adf_core_python.core.logger.logger import get_agent_logger
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class SampleHumanDetector(HumanDetector):
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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._clustering: Clustering = cast(
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Clustering,
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module_manager.get_module(
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"DefaultHumanDetector.Clustering",
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"adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering",
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),
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)
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self.register_sub_module(self._clustering)
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self._result: Optional[EntityID] = None
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self._logger = get_agent_logger(
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f"{self.__class__.__module__}.{self.__class__.__qualname__}",
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self._agent_info,
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)
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def calculate(self) -> HumanDetector:
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transport_human: Optional[Human] = self._agent_info.some_one_on_board()
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if transport_human is not None:
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self._result = transport_human.get_id()
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return self
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if self._result is not None:
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if not self._is_valid_human(self._result):
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self._result = None
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if self._result is None:
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self._result = self._select_target()
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return self
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def _select_target(self) -> Optional[EntityID]:
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if self._result is not None and self._is_valid_human(self._result):
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return self._result
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cluster_index: int = self._clustering.get_cluster_index(
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self._agent_info.get_entity_id()
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)
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cluster_entities: list[Entity] = self._clustering.get_cluster_entities(
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cluster_index
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)
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cluster_valid_human_entities: list[Entity] = [
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entity
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for entity in cluster_entities
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if self._is_valid_human(entity.get_id()) and isinstance(entity, Civilian)
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]
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if len(cluster_valid_human_entities) != 0:
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nearest_human_entity = cluster_valid_human_entities[0]
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nearest_distance = self._world_info.get_distance(
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self._agent_info.get_entity_id(),
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nearest_human_entity.get_id(),
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)
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for entity in cluster_valid_human_entities:
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distance = self._world_info.get_distance(
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self._agent_info.get_entity_id(),
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entity.get_id(),
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)
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if distance < nearest_distance:
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nearest_distance = distance
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nearest_human_entity = entity
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return nearest_human_entity.get_id()
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world_valid_human_entities: list[Entity] = [
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entity
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for entity in self._world_info.get_entities_of_types([Civilian])
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if self._is_valid_human(entity.get_id())
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]
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if len(world_valid_human_entities) != 0:
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nearest_human_entity = world_valid_human_entities[0]
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nearest_distance = self._world_info.get_distance(
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self._agent_info.get_entity_id(),
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nearest_human_entity.get_id(),
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)
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for entity in world_valid_human_entities:
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distance = self._world_info.get_distance(
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self._agent_info.get_entity_id(),
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entity.get_id(),
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)
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if distance < nearest_distance:
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nearest_distance = distance
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nearest_human_entity = entity
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return nearest_human_entity.get_id()
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return None
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def _is_valid_human(self, target_entity_id: EntityID) -> bool:
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target: Optional[Entity] = self._world_info.get_entity(target_entity_id)
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if target is None:
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return False
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if not isinstance(target, Human):
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return False
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hp: Optional[int] = target.get_hp()
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if hp is None or hp <= 0:
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return False
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buriedness: Optional[int] = target.get_buriedness()
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if buriedness is None:
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return False
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myself = self._agent_info.get_myself()
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if myself.get_urn() == EntityURN.FIRE_BRIGADE and buriedness == 0:
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return False
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if myself.get_urn() == EntityURN.AMBULANCE_TEAM and buriedness > 0:
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return False
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damage: Optional[int] = target.get_damage()
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if damage is None or damage == 0:
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return False
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position_entity_id: Optional[EntityID] = target.get_position()
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if position_entity_id is None:
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return False
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position: Optional[Entity] = self._world_info.get_entity(position_entity_id)
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if position is None:
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return False
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urn: EntityURN = position.get_urn()
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if urn == EntityURN.REFUGE or urn == EntityURN.AMBULANCE_TEAM:
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return False
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return True
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def get_target_entity_id(self) -> Optional[EntityID]:
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return self._result

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