From ca400cacf04955fb3d9d7c9726e9d1a23e05a0a2 Mon Sep 17 00:00:00 2001
From: shima004 <yellow030408@gmail.com>
Date: Fri, 16 Oct 2026 15:32:06 +0900
Subject: [PATCH] Fix search target selection to use path planning distance

---
 .../src/team_name/module/complex/sample_search.py   | 13 ++++++++-----
 .../implement/module/complex/default_search.py      | 13 ++++++++-----
 2 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py
index 9da8af33..55aa4bdb 100644
--- a/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py
+++ b/src/adf_core_python/cli/template/src/team_name/module/complex/sample_search.py
@@ -73,13 +73,16 @@ def update_info(self, message_manager: MessageManager) -> Search:
     return self
 
   def calculate(self) -> Search:
+    position = self._agent_info.get_position_entity_id()
+    if position is None:
+      self._result = None
+      return self
+
     nearest_building_id: Optional[EntityID] = None
-    nearest_distance: Optional[float] = None
+    nearest_distance = float("inf")
     for building_id in self._unreached_building_ids:
-      distance = self._world_info.get_distance(
-        self._agent_info.get_entity_id(), building_id
-      )
-      if nearest_distance is None or distance < nearest_distance:
+      distance = self._path_planning.get_distance(position, building_id)
+      if distance < nearest_distance:
         nearest_building_id = building_id
         nearest_distance = distance
     self._result = nearest_building_id
diff --git a/src/adf_core_python/implement/module/complex/default_search.py b/src/adf_core_python/implement/module/complex/default_search.py
index 9d303ed2..6dacaa3b 100644
--- a/src/adf_core_python/implement/module/complex/default_search.py
+++ b/src/adf_core_python/implement/module/complex/default_search.py
@@ -73,13 +73,16 @@ def update_info(self, message_manager: MessageManager) -> Search:
     return self
 
   def calculate(self) -> Search:
+    position = self._agent_info.get_position_entity_id()
+    if position is None:
+      self._result = None
+      return self
+
     nearest_building_id: Optional[EntityID] = None
-    nearest_distance: Optional[float] = None
+    nearest_distance = float("inf")
     for building_id in self._unreached_building_ids:
-      distance = self._world_info.get_distance(
-        self._agent_info.get_entity_id(), building_id
-      )
-      if nearest_distance is None or distance < nearest_distance:
+      distance = self._path_planning.get_distance(position, building_id)
+      if distance < nearest_distance:
         nearest_building_id = building_id
         nearest_distance = distance
     self._result = nearest_building_id