adf-javaの接続形式と同じにする

adf_core_python/core/agent/agent.py

@@ -1,5 +1,7 @@
 import sys
+import time as _time
 from abc import abstractmethod
+from threading import Event
 from typing import Any, Callable, NoReturn
 
 from bitarray import bitarray
@@ -91,6 +93,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ) -> None:
         self.name = name
         self.connect_request_id = None
@@ -102,6 +105,7 @@ def __init__(
         self.logger = get_logger(
             f"{self.__class__.__module__}.{self.__class__.__qualname__}"
         )
+        self.finish_post_connect_event = finish_post_connect_event
 
         self.team_name = team_name
         self.is_debug = is_debug
@@ -148,7 +152,7 @@ def post_connect(self) -> None:
             self._agent_info,
         )
 
-        self.logger.info(f"config: {self.config}")
+        self.logger.debug(f"agent_config: {self.config}")
 
     def update_step_info(
         self, time: int, change_set: ChangeSet, hear: list[Command]
@@ -293,9 +297,12 @@ def handler_sense(self, msg: Any) -> None:
                         ].intValue,
                     )
                 )
-
         self.world_model.merge(change_set)
+        start_update_info_time = _time.time()
         self.update_step_info(time, change_set, heard_commands)
+        self.logger.debug(
+            f"{time} step calculation time: {_time.time() - start_update_info_time}"
+        )
 
     def send_acknowledge(self, request_id: int) -> None:
         ak_ack = AKAcknowledge()

adf_core_python/core/agent/office/office.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from adf_core_python.core.agent.agent import Agent
 from adf_core_python.core.agent.config.module_config import ModuleConfig
 from adf_core_python.core.agent.develop.develop_data import DevelopData
@@ -18,6 +20,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ) -> None:
         super().__init__(
             is_precompute,
@@ -27,6 +30,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
         self._tactics_center = tactics_center
         self._team_name = team_name
@@ -90,6 +94,7 @@ def post_connect(self) -> None:
                     self.precompute_data,
                     self._develop_data,
                 )
+        self.finish_post_connect_event.set()
 
     def think(self) -> None:
         self._tactics_center.think(

adf_core_python/core/agent/office/office_ambulance.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from rcrs_core.connection.URN import Entity as EntityURN
 
 from adf_core_python.core.agent.config.module_config import ModuleConfig
@@ -16,6 +18,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ) -> None:
         super().__init__(
             tactics_center,
@@ -25,6 +28,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
 
     def precompute(self) -> None:

adf_core_python/core/agent/office/office_fire.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from rcrs_core.connection.URN import Entity as EntityURN
 
 from adf_core_python.core.agent.config.module_config import ModuleConfig
@@ -16,6 +18,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ) -> None:
         super().__init__(
             tactics_center,
@@ -25,6 +28,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
 
     def precompute(self) -> None:

adf_core_python/core/agent/office/office_police.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from rcrs_core.connection.URN import Entity as EntityURN
 
 from adf_core_python.core.agent.config.module_config import ModuleConfig
@@ -16,6 +18,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ) -> None:
         super().__init__(
             tactics_center,
@@ -25,6 +28,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
 
     def precompute(self) -> None:

adf_core_python/core/agent/platoon/platoon.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from adf_core_python.core.agent.action.action import Action
 from adf_core_python.core.agent.agent import Agent
 from adf_core_python.core.agent.config.module_config import ModuleConfig
@@ -19,6 +21,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ) -> None:
         super().__init__(
             is_precompute,
@@ -28,6 +31,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
         self._tactics_agent = tactics_agent
         self._team_name = team_name
@@ -92,6 +96,8 @@ def post_connect(self) -> None:
                     self._develop_data,
                 )
 
+        self.finish_post_connect_event.set()
+
     def think(self) -> None:
         action: Action = self._tactics_agent.think(
             self._agent_info,

adf_core_python/core/agent/platoon/platoon_ambulance.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from rcrs_core.connection.URN import Entity as EntityURN
 
 from adf_core_python.core.agent.config.module_config import ModuleConfig
@@ -16,6 +18,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ):
         super().__init__(
             tactics_agent,
@@ -25,6 +28,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
 
     def precompute(self) -> None:

adf_core_python/core/agent/platoon/platoon_fire.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from rcrs_core.connection.URN import Entity as EntityURN
 
 from adf_core_python.core.agent.config.module_config import ModuleConfig
@@ -16,6 +18,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ):
         super().__init__(
             tactics_agent,
@@ -25,6 +28,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
 
     def precompute(self) -> None:

adf_core_python/core/agent/platoon/platoon_police.py

@@ -1,3 +1,5 @@
+from threading import Event
+
 from rcrs_core.connection.URN import Entity as EntityURN
 
 from adf_core_python.core.agent.config.module_config import ModuleConfig
@@ -16,6 +18,7 @@ def __init__(
         data_storage_name: str,
         module_config: ModuleConfig,
         develop_data: DevelopData,
+        finish_post_connect_event: Event,
     ):
         super().__init__(
             tactics_agent,
@@ -25,6 +28,7 @@ def __init__(
             data_storage_name,
             module_config,
             develop_data,
+            finish_post_connect_event,
         )
 
     def precompute(self) -> None:

adf_core_python/core/component/module/abstract_module.py

@@ -1,8 +1,11 @@
 from __future__ import annotations
 
+import time
 from abc import ABC, abstractmethod
 from typing import TYPE_CHECKING
 
+from adf_core_python.core.logger.logger import get_agent_logger
+
 if TYPE_CHECKING:
     from adf_core_python.core.agent.communication.message_manager import MessageManager
     from adf_core_python.core.agent.develop.develop_data import DevelopData
@@ -32,6 +35,10 @@ def __init__(
         self._count_prepare: int = 0
         self._count_update_info: int = 0
         self._count_update_info_current_time: int = 0
+        self._logger = get_agent_logger(
+            f"{self.__class__.__module__}.{self.__class__.__qualname__}",
+            self._agent_info,
+        )
 
         self._sub_modules: list[AbstractModule] = []
 
@@ -56,7 +63,11 @@ def resume(self, precompute_data: PrecomputeData) -> AbstractModule:
     def prepare(self) -> AbstractModule:
         self._count_prepare += 1
         for sub_module in self._sub_modules:
+            start_time = time.time()
             sub_module.prepare()
+            self._logger.debug(
+                f"{self.__class__.__name__}'s sub_module {sub_module.__class__.__name__} prepare time: {time.time() - start_time:.3f}",
+            )
         return self
 
     def update_info(self, message_manager: MessageManager) -> AbstractModule:

adf_core_python/core/component/tactics/tactics_agent.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import time
 from abc import ABC, abstractmethod
 from typing import TYPE_CHECKING, Any, Optional
 
@@ -130,9 +131,17 @@ def module_resume(self, precompute_data: PrecomputeData) -> None:
 
     def module_prepare(self) -> None:
         for module in self._modules:
+            start_time = time.time()
             module.prepare()
+            self._logger.debug(
+                f"module {module.__class__.__name__} prepare time: {time.time() - start_time:.3f}",
+            )
         for action in self._actions:
+            start_time = time.time()
             action.prepare()
+            self._logger.debug(
+                f"module {action.__class__.__name__} prepare time: {time.time() - start_time:.3f}",
+            )
         # for executor in self._command_executor:
         #     executor.prepare()
 

adf_core_python/core/launcher/agent_launcher.py

@@ -32,7 +32,7 @@ def __init__(self, config: Config):
         self.config = config
         self.logger = get_logger(__name__)
         self.connectors: list[Connector] = []
-        self.thread_list: list[threading.Thread] = []
+        self.agent_thread_list: list[threading.Thread] = []
 
     def init_connector(self) -> None:
         loader_name, loader_class_name = self.config.get_value(
@@ -63,12 +63,27 @@ def launch(self) -> None:
             host, port, self.logger
         )
 
+        connector_thread_list: list[threading.Thread] = []
         for connector in self.connectors:
             threads = connector.connect(component_launcher, self.config, self.loader)
-            for thread in threads:
-                thread.daemon = True
-                thread.start()
-            self.thread_list.extend(threads)
+            self.agent_thread_list.extend(threads)
 
-        for thread in self.thread_list:
+            def connect() -> None:
+                for thread, event in threads.items():
+                    thread.daemon = True
+                    thread.start()
+                    is_not_timeout = event.wait(5)
+                    if not is_not_timeout:
+                        break
+
+            connector_thread = threading.Thread(target=connect)
+            connector_thread_list.append(connector_thread)
+            connector_thread.start()
+
+        for thread in connector_thread_list:
+            thread.join()
+
+        self.logger.info("All agents have been launched")
+
+        for thread in self.agent_thread_list:
             thread.join()

adf_core_python/core/launcher/config_key.py

@@ -22,3 +22,4 @@ class ConfigKey:
     KEY_AMBULANCE_CENTRE_COUNT: Final[str] = "adf.team.office.ambulance.count"
     KEY_FIRE_STATION_COUNT: Final[str] = "adf.team.office.fire.count"
     KEY_POLICE_OFFICE_COUNT: Final[str] = "adf.team.office.police.count"
+    # adf-core-python

adf_core_python/core/launcher/connect/component_launcher.py

@@ -17,19 +17,12 @@ def make_connection(self) -> Connection:
         return Connection(self.host, self.port)
 
     def connect(self, agent: Agent, _request_id: int) -> None:
-        # self.logger.bind(agent_id=agent.get_id())
-
         self.logger.info(
-            f"{agent.__class__.__name__} connecting to {self.host}:{self.port} request_id: {_request_id}"
+            f"{agent.__class__.__name__} trying to connect to {self.host}:{self.port} request_id: {_request_id}"
         )
         connection = self.make_connection()
         try:
             connection.connect()
-            # ソケットが使用しているPORT番号を取得
-            if connection.socket is not None:
-                self.logger.info(
-                    f"Connected to {self.host}:{self.port} on port {connection.socket.getsockname()[1]}"
-                )
         except socket.timeout:
             self.logger.warning(f"Connection to {self.host}:{self.port} timed out")
             return

adf_core_python/core/launcher/connect/connector.py

@@ -16,7 +16,7 @@ def connect(
         component_launcher: ComponentLauncher,
         config: Config,
         loader: AbstractLoader,
-    ) -> list[threading.Thread]:
+    ) -> dict[threading.Thread, threading.Event]:
         raise NotImplementedError
 
     def get_connected_agent_count(self) -> int: