Workflow update

.github/workflows/main.yml

@@ -1,6 +1,4 @@
-# Publish Asciidoc Documentation
 name: asciidoctor-ghpages
-
 on:
   push:
     paths:
@@ -23,4 +21,4 @@ jobs:
         target_branch: gh-pages
         build_dir: docs
       env:
-        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

README.md

@@ -1,40 +1,41 @@
-# `rcrs-adf-sample` RCRS Agent Development Framework (Sample)
+# `adf-sample-agent-java` Agent Development Framework Sample Agent Java
 
 (Linux) Instructions to download, build and run the sample implementation using the Agent Development Framework (ADF)
 
 ## 1. Software Pre-Requisites
 
-- Git
-- Gradle
-- OpenJDK Java 11+
+* Git
+* OpenJDK Java 17
+* Gradle
 
 ## 2. Download
 
 ```bash
-
-$ git clone https://github.com/roborescue/rcrs-adf-sample.git
+$ git clone https://github.com/roborescue/adf-sample-agent-java.git
 ```
 
 ## 3. Compile
 
 ```bash
 
+$ cd adf-sample-agent-java
+
 $ ./gradlew clean
 
 $ ./gradlew build
 ```
 
 ## 4. Execute
 
-The `rcrs-adf-sample` is a sample team implementation for the RCRS (`rcrs-server`) using the ADF core (`rcrs-adf-core`).
+The `adf-sample-agent-java` is a sample team implementation for the RCRS (`rcrs-server`) using the ADF core (`adf-core-java`).
 
-To run the `rcrs-adf-sample`, first the `rcrs-server` must be running (Instructions of how to download, compile and run the `rcrs-server` are available at <https://github.com/roborescue/rcrs-server>).
+To run the `adf-sample-agent-java`, first the `rcrs-server` must be running (Instructions of how to download, compile and run the `rcrs-server` are available at <https://github.com/roborescue/rcrs-server>).
 
 After start the `rcrs-server`, open a new terminal window and execute
 
 ```bash
 
-$ cd rcrs-adf-sample
+$ cd adf-sample-agent-java
 
 $ ./launch.sh -all
 ```

build.gradle

@@ -2,40 +2,65 @@ plugins {
   id 'java'
 }
 
-sourceCompatibility = '11'
-targetCompatibility = '11'
-version = '1.5'
+defaultTasks 'build'
+
+group = 'com.github.roborescue'
+
+sourceCompatibility = '17'
+targetCompatibility = '17'
+version = '4.0'
 
 dependencies {
-  implementation fileTree( dir: 'library', include: '**/*.jar', exclude: '**/*-source.jar' )
+  implementation 'com.github.roborescue:rcrs-server:master-SNAPSHOT'
+  implementation 'com.github.roborescue:adf-core-java:master-SNAPSHOT'
+
+  implementation 'log4j:log4j:1.2.17'
 
-  testImplementation 'junit:junit:4.12'
+  testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.1'
+  testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.1'
 }
 
 repositories {
   mavenCentral()
-}
 
-sourceSets {
-  main {
-    java {
-      srcDirs = [ 'src' ]
-    }
+  maven {
+    url = 'https://sourceforge.net/projects/jsi/files/m2_repo'
+  }
+  maven {
+    url = 'https://repo.enonic.com/public/'
+  }
+  maven {
+    url 'https://jitpack.io'
   }
 }
 
 test {
-  useJUnit()
+  useJUnitPlatform()
+}
+
+javadoc {
+  options {
+    encoding = 'UTF-8'
+    addStringOption('Xdoclint:none', '-quiet')
+  }
+}
+
+clean {
+  doFirst {
+    delete file( new File( rootDir, 'bin' ) )
+    delete file( new File( rootDir, 'build' ) )
+    delete file( new File( rootDir, 'precomp_data' ) )
+    delete file( new File( rootDir, 'test-results' ) )
+  }
 }
 
-clean.doFirst {
-  delete file( new File( rootDir, 'bin' ) )
-  delete file( new File( rootDir, 'precomp_data' ) )
-  delete file( new File( rootDir, 'test-results' ) )
+[compileJava, compileTestJava].each {
+  it.options.encoding = 'UTF-8'
+  it.options.compilerArgs += [ '-Xlint:unchecked', '-Xlint:deprecation' ]
 }
 
 task launch(type: JavaExec) {
   classpath = sourceSets.main.runtimeClasspath
-  main = 'adf.Main'
+  mainClass = 'adf.core.Main'
   maxHeapSize = '2048m'
 }

config/develop.json

@@ -0,0 +1,20 @@
+{
+  "ActionFireFighting.refill.completed": 10,
+  "ActionFireFighting.refill.request": 1,
+  "ActionFireFighting.rest": 100,
+  "ActionFireRescue.rest": 100,
+  "ActionExtClear.forcedMove": 3,
+  "ActionExtClear.rest": 100,
+  "ActionTransport.rest": 100,
+  "ActionExtMove.rest": 100,
+  "SampleBuildingDetector.sendingAvoidTimeClearRequest": 5,
+  "SampleBuildingDetector.sendingAvoidTimeReceived": 3,
+  "SampleBuildingDetector.sendingAvoidTimeSent": 5,
+  "SampleBuildingDetector.moveDistance": 40000,
+  "SampleHumanDetector.sendingAvoidTimeClearRequest": 5,
+  "SampleHumanDetector.sendingAvoidTimeReceived": 3,
+  "SampleHumanDetector.sendingAvoidTimeSent": 5,
+  "SampleHumanDetector.moveDistance": 40000,
+  "CommandPickerAmbulance.scoutDistance": 40000,
+  "CommandPickerFire.scoutDistance": 40000
+}

config/launch.cfg

@@ -1,19 +1,23 @@
 kernel.host: localhost
-kernel.port: 7000
+kernel.port: 27931
+
+team.name: sample_team
+
+adf.launcher.precompute: 0
 
 adf.debug.flag: 0
+
 adf.develop.flag: 0
-adf.develop.filename: data/develop.json
+adf.develop.filename: config/develop.json
 #adf.develop.data:
 
-adf.team.office.ambulance.count: -1
+adf.agent.moduleconfig.filename: config/module.cfg
+#adf.agent.moduleconfig.data:
+
 adf.team.platoon.ambulance.count: -1
-adf.team.office.fire.count: -1
 adf.team.platoon.fire.count: -1
-adf.team.office.police.count: -1
 adf.team.platoon.police.count: -1
 
-adf.agent.moduleconfig.file: config/module_sample.cfg
-#adf.agent.moduleconfig.data:
-
-adf.launcher.precompute: 0
+adf.team.office.ambulance.count: -1
+adf.team.office.fire.count: -1
+adf.team.office.police.count: -1

config/module.cfg

@@ -1,85 +1,100 @@
-Team.Name: test_team
-
-TacticsAmbulanceTeam.HumanDetector : test_team.module.complex.self.TestHumanDetector
-TacticsAmbulanceTeam.Search : test_team.module.complex.self.TestSearchForFire
-
-TacticsFireBrigade.BuildingDetector : test_team.module.complex.self.TestBuildingDetector
-TacticsFireBrigade.Search : test_team.module.complex.self.TestSearchForFire
-
-TacticsPoliceForce.RoadDetector : test_team.module.complex.self.TestRoadDetector
-TacticsPoliceForce.Search : test_team.module.complex.self.TestSearchForFire
-
-TestBuildingDetector.Clustering : adf.sample.module.algorithm.SampleKMeans
-TestRoadDetector.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-TestHumanDetector.Clustering : adf.sample.module.algorithm.SampleKMeans
-
-TestSearch.PathPlanning.Ambulance : test_team.module.algorithm.AStarPathPlanning
-TestSearch.PathPlanning.Fire : test_team.module.algorithm.AStarPathPlanning
-TestSearch.PathPlanning.Police : test_team.module.algorithm.AStarPathPlanning
-
-TestSearch.Clustering.Ambulance : adf.sample.module.algorithm.SampleKMeans
-TestSearch.Clustering.Fire : adf.sample.module.algorithm.SampleKMeans
-TestSearch.Clustering.Police : adf.sample.module.algorithm.SampleKMeans
-
-TacticsAmbulanceCentre.TargetAllocator : test_team.module.complex.center.TestAmbulanceTargetAllocator
-TacticsFireStation.TargetAllocator : test_team.module.complex.center.TestFireTargetAllocator
-TacticsPoliceOffice.TargetAllocator : test_team.module.complex.center.TestPoliceTargetAllocator
-
-
-TacticsAmbulanceTeam.ActionTransport : adf.sample.extaction.ActionTransport
-TacticsAmbulanceTeam.ActionExtMove : adf.sample.extaction.ActionExtMove
-
-TacticsAmbulanceTeam.CommandExecutorAmbulance : adf.sample.centralized.CommandExecutorAmbulance
-TacticsAmbulanceTeam.CommandExecutorScout : adf.sample.centralized.CommandExecutorScout
-
-TacticsFireBrigade.ActionFireFighting : adf.sample.extaction.ActionFireFighting
-TacticsFireBrigade.ActionExtMove : adf.sample.extaction.ActionExtMove
-
-TacticsFireBrigade.CommandExecutorFire : adf.sample.centralized.CommandExecutorFire
-TacticsFireBrigade.CommandExecutorScout : adf.sample.centralized.CommandExecutorScout
-
-
-TacticsPoliceForce.ActionExtClear : adf.sample.extaction.ActionExtClear
-TacticsPoliceForce.ActionExtMove : adf.sample.extaction.ActionExtMove
-
-TacticsPoliceForce.CommandExecutorPolice : adf.sample.centralized.CommandExecutorPolice
-TacticsPoliceForce.CommandExecutorScout : adf.sample.centralized.CommandExecutorScoutPolice
-
-ActionExtClear.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-ActionExtMove.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-ActionFireFighting.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-ActionTransport.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-
-
-CommandExecutorAmbulance.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-
-CommandExecutorAmbulance.ActionTransport : adf.sample.extaction.ActionTransport
-CommandExecutorAmbulance.ActionExtMove : adf.sample.extaction.ActionExtMove
-
-CommandExecutorFire.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-
-CommandExecutorFire.ActionFireFighting : adf.sample.extaction.ActionFireFighting
-CommandExecutorFire.ActionExtMove : adf.sample.extaction.ActionExtMove
-
-CommandExecutorPolice.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-
-CommandExecutorPolice.ActionExtClear : adf.sample.extaction.ActionExtClear
-CommandExecutorPolice.ActionExtMove : adf.sample.extaction.ActionExtMove
-
-CommandExecutorScout.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-
-CommandExecutorScoutPolice.PathPlanning : test_team.module.algorithm.AStarPathPlanning
-CommandExecutorScoutPolice.ActionExtClear : adf.sample.extaction.ActionExtClear
-
-
-TacticsAmbulanceCentre.CommandPicker : adf.sample.centralized.CommandPickerAmbulance
-TacticsFireStation.CommandPicker : adf.sample.centralized.CommandPickerFire
-TacticsPoliceOffice.CommandPicker : adf.sample.centralized.CommandPickerPolice
-
-MessageManager.PlatoonChannelSubscriber : adf.sample.module.comm.SampleChannelSubscriber
-MessageManager.CenterChannelSubscriber : adf.sample.module.comm.SampleChannelSubscriber
-
-MessageManager.PlatoonMessageCoordinator : adf.sample.module.comm.SampleMessageCoordinator
-MessageManager.CenterMessageCoordinator : adf.sample.module.comm.SampleMessageCoordinator
-
-VisualDebug:true
+## DefaultTacticsAmbulanceTeam
+DefaultTacticsAmbulanceTeam.HumanDetector : sample_team.module.complex.SampleHumanDetector
+DefaultTacticsAmbulanceTeam.Search : sample_team.module.complex.SampleSearch
+DefaultTacticsAmbulanceTeam.ExtActionTransport : adf.impl.extaction.DefaultExtActionTransport
+DefaultTacticsAmbulanceTeam.ExtActionMove : adf.impl.extaction.DefaultExtActionMove
+DefaultTacticsAmbulanceTeam.CommandExecutorAmbulance : adf.impl.centralized.DefaultCommandExecutorAmbulance
+DefaultTacticsAmbulanceTeam.CommandExecutorScout : adf.impl.centralized.DefaultCommandExecutorScout
+
+## DefaultTacticsFireBrigade
+DefaultTacticsFireBrigade.HumanDetector : sample_team.module.complex.SampleHumanDetector
+DefaultTacticsFireBrigade.Search : sample_team.module.complex.self.SampleSearch
+DefaultTacticsFireBrigade.ExtActionFireRescue : adf.impl.extaction.DefaultExtActionFireRescue
+DefaultTacticsFireBrigade.ActionExtMove : adf.impl.extaction.DefaultActionExtMove
+DefaultTacticsFireBrigade.CommandExecutorFire : adf.impl.centralized.DefaultCommandExecutorFire
+DefaultTacticsFireBrigade.CommandExecutorScout : adf.impl.centralized.DefaultCommandExecutorScout
+
+## DefaultTacticsPoliceForce
+DefaultTacticsPoliceForce.RoadDetector : sample_team.module.complex.SampleRoadDetector
+DefaultTacticsPoliceForce.Search : sample_team.module.complex.SampleSearch
+DefaultTacticsPoliceForce.ActionExtClear : adf.impl.extaction.DefaultActionExtClear
+DefaultTacticsPoliceForce.ActionExtMove : adf.impl.extaction.DefaultActionExtMove
+DefaultTacticsPoliceForce.CommandExecutorPolice : adf.impl.centralized.DefaultCommandExecutorPolice
+DefaultTacticsPoliceForce.CommandExecutorScout : adf.impl.centralized.DefaultCommandExecutorScoutPolice
+
+## DefaultTacticsAmbulanceCentre
+DefaultTacticsAmbulanceCentre.TargetAllocator : sample_team.module.complex.SampleAmbulanceTargetAllocator
+DefaultTacticsAmbulanceCentre.CommandPicker : adf.impl.centralized.DefaultCommandPickerAmbulance
+
+## DefaultTacticsFireStation
+DefaultTacticsFireStation.TargetAllocator : sample_team.module.complex.SampleFireTargetAllocator
+DefaultTacticsFireStation.CommandPicker : adf.impl.centralized.DefaultCommandPickerFire
+
+## DefaultTacticsPoliceOffice
+DefaultTacticsPoliceOffice.TargetAllocator : sample_team.module.complex.SamplePoliceTargetAllocator
+DefaultTacticsPoliceOffice.CommandPicker : adf.impl.centralized.DefaultCommandPickerPolice
+
+## SampleSearch
+SampleSearch.PathPlanning.Ambulance : adf.impl.module.algorithm.DijkstraPathPlanning
+SampleSearch.Clustering.Ambulance : adf.impl.module.algorithm.KMeansClustering
+SampleSearch.PathPlanning.Fire : adf.impl.module.algorithm.DijkstraPathPlanning
+SampleSearch.Clustering.Fire : adf.impl.module.algorithm.KMeansClustering
+SampleSearch.PathPlanning.Police : adf.impl.module.algorithm.DijkstraPathPlanning
+SampleSearch.Clustering.Police : adf.impl.module.algorithm.KMeansClustering
+
+## SampleBuildDetector
+SampleBuildingDetector.Clustering : adf.impl.module.algorithm.KMeansClustering
+
+## SampleRoadDetector
+SampleRoadDetector.Clustering : adf.impl.module.algorithm.KMeansClustering
+SampleRoadDetector.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+
+## SampleHumanDetector
+SampleHumanDetector.Clustering : adf.impl.module.algorithm.KMeansClustering
+
+## DefaultExtActionClear
+DefaultExtActionClear.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+
+## DefaultExtActionFireFighting
+DefaultExtActionFireFighting.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+
+## DefaultExtActionFireRescue
+DefaultExtActionFireRescue.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+
+## DefaultExtActionMove
+DefaultExtActionMove.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+
+## DefaultExtActionTransport
+DefaultExtActionTransport.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+
+## DefaultCommandExecutorAmbulance
+DefaultCommandExecutorAmbulance.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+DefaultCommandExecutorAmbulance.ExtActionTransport : adf.impl.extaction.DefaultExtActionTransport
+DefaultCommandExecutorAmbulance.ExtActionMove : adf.impl.extaction.DefaultExtActionMove
+
+## DefaultCommandExecutorFire
+DefaultCommandExecutorFire.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+DefaultCommandExecutorFire.EtxActionFireRescue : adf.impl.extaction.DefaultExtActionFireRescue
+DefaultCommandExecutorFire.EtxActionFireFighting : adf.impl.extaction.DefaultExtActionFireFighting
+DefaultCommandExecutorFire.ExtActionMove : adf.impl.extaction.DefaultExtActionMove
+
+## DefaultCommandExecutorPolice
+DefaultCommandExecutorPolice.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+DefaultCommandExecutorPolice.ExtActionClear : adf.impl.extaction.DefaultExtActionClear
+DefaultCommandExecutorPolice.ExtActionMove : adf.impl.extaction.DefaultExtActionMove
+
+## DefaultCommandExecutorScout
+DefaultCommandExecutorScout.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+
+## DefaultCommandExecutorScoutPolice
+DefaultCommandExecutorScoutPolice.PathPlanning : adf.impl.module.algorithm.DijkstraPathPlanning
+DefaultCommandExecutorScoutPolice.ExtActionClear : adf.impl.extaction.DefaultExtActionClear
+
+## MessageManager
+MessageManager.PlatoonChannelSubscriber : adf.impl.module.comm.DefaultChannelSubscriber
+MessageManager.CenterChannelSubscriber : adf.impl.module.comm.DefaultChannelSubscriber
+MessageManager.PlatoonMessageCoordinator : adf.impl.module.comm.DefaultMessageCoordinator
+MessageManager.CenterMessageCoordinator : adf.impl.module.comm.DefaultMessageCoordinator
+
+## VisualDebug
+VisualDebug : true