About Modules

How to Specify Modules

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

For example, write it 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 PathPlanning and Clustering modules used by the SampleSearch module are specified.

How to Load Modules

When loading another module within a module, write it 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 Module Types

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

Class	Role
TacticsFireBrigade	Module invocation for the fire brigade (cannot be changed during competition)
TacticsPoliceForce	Module invocation for the police force (cannot be changed during competition)
TacticsAmbulanceTeam	Module invocation for the ambulance team (cannot be changed during competition)
BuildingDetector	Selecting the fire brigade’s activity target
RoadDetector	Selecting the police force’s activity target
HumanDetector	Selecting the ambulance team’s activity target
Search	Selecting activity targets for information search
PathPlanning	Path planning
DynamicClustering	Clustering in which clusters change as the simulation progresses
StaticClustering	Clustering in which clusters are determined at the start of the simulation
ExtAction	Determining the agent’s behavior after the activity target is decided
MessageCoordinator	Distributing messages to channels, which are the paths used to send messages (information) by communication
ChannelSubscriber	Selecting channels that receive messages via communication

If you create a module for a role other than those listed above, inherit from AbstractModule.