def create_agents_and_tasks(num_agents: int, num_tasks: int, WorldInfoInput: WorldInfo, config_data):
"""
Generate agents and tasks based on a json configuration file.
config_data:
config_file_name = "config.json"
json_file = open(config_file_name)
config_data = json.load(json_file)
"""
# Create some default agents
# quad
agent_quad_default = Agent()
# agent type
agent_quad_default.agent_type = config_data["AGENT_TYPES"].index("quad")
# agent cruise velocity (m/s)
agent_quad_default.nom_velocity = float(config_data["QUAD_DEFAULT"]["NOM_VELOCITY"])
# agent fuel penalty (per meter)
agent_quad_default.fuel = float(config_data["QUAD_DEFAULT"]["FUEL"])
# car
agent_car_default = Agent()
# agent type
agent_car_default.agent_type = config_data["AGENT_TYPES"].index("car")
# agent cruise velocity (m/s)
agent_car_default.nom_velocity = float(config_data["CAR_DEFAULT"]["NOM_VELOCITY"])
# agent fuel penalty (per meter)
agent_car_default.fuel = float(config_data["CAR_DEFAULT"]["FUEL"])
# Create some default tasks
# Track
task_track_default = Task()
# task type
task_track_default.task_type = config_data["TASK_TYPES"].index("track")
# task reward
task_track_default.task_value = float(config_data["TRACK_DEFAULT"]["TASK_VALUE"])
# task start time (sec)
task_track_default.start_time = float(config_data["TRACK_DEFAULT"]["START_TIME"])
# task expiry time (sec)
task_track_default.end_time = float(config_data["TRACK_DEFAULT"]["END_TIME"])
# task default duration (sec)
task_track_default.duration = float(config_data["TRACK_DEFAULT"]["DURATION"])
# Rescue
task_rescue_default = Task()
# task type
task_rescue_default.task_type = config_data["TASK_TYPES"].index("rescue")
# task reward
task_rescue_default.task_value = float(config_data["RESCUE_DEFAULT"]["TASK_VALUE"])
# task start time (sec)
task_rescue_default.start_time = float(config_data["RESCUE_DEFAULT"]["START_TIME"])
# task expiry time (sec)
task_rescue_default.end_time = float(config_data["RESCUE_DEFAULT"]["END_TIME"])
# task default duration (sec)
task_rescue_default.duration = float(config_data["RESCUE_DEFAULT"]["DURATION"])
# create empty list, each element is a dataclass Agent() or Task()
AgentList = []
TaskList = []
# create random agents
for idx_agent in range(0, num_agents):
# create a new instance of dataclass agent_quad_default
if (idx_agent/num_agents <= 0.5):
AgentList.append(Agent(**agent_quad_default.__dict__))
else:
AgentList.append(Agent(**agent_car_default.__dict__))
# AgentList.append(Agent(**agent_quad_default.__dict__))
AgentList[idx_agent].agent_id = idx_agent
AgentList[idx_agent].x = random.uniform(WorldInfoInput.limit_x[0], WorldInfoInput.limit_x[1])
AgentList[idx_agent].y = random.uniform(WorldInfoInput.limit_y[0], WorldInfoInput.limit_y[1])
AgentList[idx_agent].z = 0
# create random tasks (track only)
for idx_task in range(0, num_tasks):
# create a new instance of dataclass task_track_default
if (idx_task/num_tasks <= 0.5):
TaskList.append(Task(**task_track_default.__dict__))
else:
TaskList.append(Task(**task_rescue_default.__dict__))
TaskList[idx_task].task_id = idx_task
TaskList[idx_task].x = random.uniform(WorldInfoInput.limit_x[0], WorldInfoInput.limit_x[1])
TaskList[idx_task].y = random.uniform(WorldInfoInput.limit_y[0], WorldInfoInput.limit_y[1])
TaskList[idx_task].z = 0
TaskList[idx_task].start_time = random.uniform( 0,
max(float(config_data["TRACK_DEFAULT"]["END_TIME"]), float(config_data["RESCUE_DEFAULT"]["END_TIME"])) - \
max(float(config_data["TRACK_DEFAULT"]["DURATION"]), float(config_data["RESCUE_DEFAULT"]["DURATION"])) )
TaskList[idx_task].end_time = TaskList[idx_task].start_time + TaskList[idx_task].duration
for n in range(0,num_tasks):
print("Task " + str(n))
print(str(TaskList[n].x)+", "+str(TaskList[n].y)+", "+str(TaskList[n].z))
print(str(TaskList[n].start_time)+" - "+str(TaskList[n].end_time))
for m in range(0,num_agents):
print("Agent " + str(n))
print(str(AgentList[m].x)+", "+str(AgentList[m].y)+", "+str(AgentList[m].z))
return AgentList, TaskList
