About Modules

How to specify modules

To specify a module, write the module name and path in module.yaml.

For example, write as follows:

SampleSearch:
    PathPlanning: src.<your_team_name>.module.complex.sample_search.SampleSearch
    Clustering: src.<your_team_name>.module.complex.sample_search.SampleClustering

In this case, the modules PathPlanning and Clustering used in the SampleSearch module are specified.

How to load modules

To load other modules within a module, write as follows:

from adf_core_python.core.agent.module.module_manager import ModuleManager

class SampleSearch(Search):
    def __init__(
        self,
        agent_info: AgentInfo,
        world_info: WorldInfo,
        scenario_info: ScenarioInfo,
        module_manager: ModuleManager,
        develop_data: DevelopData,
    ) -> None:
        super().__init__(
            agent_info, world_info, scenario_info, module_manager, develop_data
        )

        # クラスタリングモジュールの取得
        self._clustering: Clustering = cast(
            # モジュールの型を指定
            Clustering,
            # モジュールの取得
            module_manager.get_module(
                # モジュールの名前
                "DefaultSearch.Clustering",
                # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス
                "adf_core_python.implement.module.algorithm.k_means_clustering.KMeansClustering",
            ),
        )

        # パスプランニングモジュールの取得
        self._path_planning: PathPlanning = cast(
            # モジュールの型を指定
            PathPlanning,
            # モジュールの取得
            module_manager.get_module(
                # モジュールの名前
                "DefaultSearch.PathPlanning",
                # 上記のモジュールの名前が指定されていない場合のデフォルトのモジュールのパス
                "adf_core_python.implement.module.algorithm.a_star_path_planning.AStarPathPlanning",
            ),
        )

        # モジュールの登録(これをしないと、モジュール内のシミュレーション環境の情報が更新されません)
        self.register_sub_module(self._clustering)
        self.register_sub_module(self._path_planning)

About the types of modules

The following modules are provided in adf-core-python.

Class	Role
TacticsFireBrigade	Module call for fire brigade (cannot be changed in competition)
TacticsPoliceForce	Module call for police force (cannot be changed in competition)
TacticsAmbulanceTeam	Module call for ambulance team (cannot be changed in competition)
BuildingDetector	Selection of activity target for fire brigade
RoadDetector	Selection of activity target for police force
HumanDetector	Selection of activity target for ambulance team
Search	Selection of activity target for information search
PathPlanning	Path Planning
DynamicClustering	Clustering that changes as the simulation progresses
StaticClustering	Clustering that is determined at the start of the simulation
ExtAction	Determination of agent actions after selecting the activity target
MessageCoordinator	Distribution of messages to channels, which are the routes for sending messages (information) via communication
ChannelSubscriber	Selection of channels to receive messages via communication

When creating a module with a role other than the above, inherit AbstractModule.