public List <string> FDPlan(Domain d, Problem p, State curentState, Formula goal, List <Action> privateActions, int cMaxMilliseconds, out bool bUnsolvable)
{
RunUtils.KillPlanners();
List <string> ffLplan = new List <string>();
List <string> lPlan = new List <string>();
File.Delete("plan.txt");
File.Delete("sas_plan");
if (privateActions != null)
{
d.Actions = privateActions;
}
if (goal != null)
{
p.Goal = goal;
}
MemoryStream msDomain = d.WriteSimpleDomain();
MemoryStream problem_M_S = p.WriteSimpleProblem(curentState);
//for now, saving files in the working directory
StreamWriter swDomainFile = new StreamWriter("dFD.pddl");
StreamReader srDomain = new StreamReader(msDomain);
swDomainFile.Write(srDomain.ReadToEnd());
swDomainFile.Close();
StreamWriter swProblemFile = new StreamWriter("pFD.pddl");
StreamReader srProblem = new StreamReader(problem_M_S);
swProblemFile.Write(srProblem.ReadToEnd());
swProblemFile.Close();
problem_M_S.Position = 0;
msDomain.Position = 0;
bUnsolvable = false;
if (RunFD("./", cMaxMilliseconds))
{
return(ReadPlan("./"));
}
return(null);
}
public List <string> ManualSolve(Domain d, Problem p, State curentState, Formula goal, List <Action> privateActions, int cMaxMilliseconds, out bool bUnsolvable)
{
RunUtils.KillPlanners();
List <string> ffLplan = new List <string>();
List <string> lPlan = new List <string>();
if (privateActions != null)
{
d.Actions = privateActions;
}
if (goal != null)
{
p.Goal = goal;
}
bUnsolvable = false;
return(ManualSolve(p, d));
}
public static List <string> SolveFactored(List <Domain> lDomains, List <Problem> lProblems, ref List <Agent> m_agents, Domain joinDomain)
{
if (Program.highLevelPlanerType != Program.HighLevelPlanerType.ProjectionMafs)
{
Program.projectionVersion = Program.ProjectionVersion.NULL;
}
Program.Start = DateTime.Now;
pdbCreationTime = 0;
var lGroundedProblems = GroundProblems(lDomains, lProblems);
Program.internalPlaner = Program.PlanerType.ff_toActions;
BuildAgents_II buildAgents = new BuildAgents_II(lDomains, lGroundedProblems, lProblems);
List <Agent> agents = buildAgents.ReturnAgents();
GetPublicPredicates(agents);
List <string> lPlan = null;
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Projection)
{
Console.WriteLine("Planning");
ShareGoals(agents);
AdvancedLandmarkProjectionPlaner planner = new AdvancedLandmarkProjectionPlaner();
lPlan = planner.Plan(agents, lDomains, lProblems, joinDomain);
}
else
{
try
{
Program.StartHighLevelPlanning = DateTime.Now;
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Landmark)
{
Console.WriteLine("Identifying landmarks");
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
Planer_I Planner = new Planer_I(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.PDB)
{
DateTime startPdbCreation = DateTime.Now;
PdbPlaner.pdb = new PatternDatabase(lDomains, lProblems, agents, pdbPath);
pdbCreationTime = DateTime.Now.Subtract(startPdbCreation).TotalSeconds;
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
List <Landmark> PublicAndArtificialGoals = FindPublicAndArtificialGoals(agents);
PdbPlaner Planner = new PdbPlaner(agents, PublicAndArtificialGoals, PdbPlaner.pdb);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.ForwardHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
PlanerHsp Planner = new PlanerHsp(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.BackwardHsp)
{
bool stop = false;
List <GroundedPredicate> publishPublic = new List <GroundedPredicate>();
List <GroundedPredicate> nextPublishPublic = new List <GroundedPredicate>();
foreach (Agent a in agents)
{
publishPublic.AddRange(a.InitBackwardHspGraph());
}
bool outFlag = false;
while (!stop)
{
stop = true;
outFlag = false;
foreach (Agent agent in agents)
{
nextPublishPublic.AddRange(agent.UpdateBackwardHspGraph(publishPublic, out outFlag));
if (outFlag)
{
stop = false;
}
}
publishPublic = nextPublishPublic;
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
// agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents);
PlanerHspII Planner = new PlanerHspII(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.LandmarkAndHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerHspAndLandmarks Planner = new PlanerHspAndLandmarks(agents);
Console.WriteLine("Planning..");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.WeightedLandmarkAndHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerWeightedLandmarkAndHsp Planner = new PlanerWeightedLandmarkAndHsp(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.SophisticatedProjection)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
// agents = AdvancedLandmarkProjectionAgents.CreateProjAgents(agents, lDomains, lProblems);
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerHspAndLandmarks Planner = new PlanerHspAndLandmarks(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.PDBMafs)
{
MapsVertex.pdb = new PatternDatabase(lDomains, lProblems, agents, pdbPath);
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.Plan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.MafsLandmark)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.Plan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Mafsff)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.PreferableFFPlan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.ProjectionMafs)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.PreferablePlan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.DistrebutedProjectionMafs)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.DistrebutedPreferablePlan();
}
else
{
Console.WriteLine("highLevelPlanerType did not selected");
}
}
}
}
}
}
}
}
}
}
catch (Exception ex)
{
RunUtils.KillPlanners();
return(null);
}
}
Program.End = DateTime.Now;
RunUtils.KillPlanners();
m_agents = agents;
return(lPlan);
}
public static void ParseAll(DirectoryInfo di, string sOutputPlanFile)
{
Program.Start = new DateTime(0);
Program.StartHighLevelPlanning = new DateTime(0);
Program.StartGrounding = new DateTime(0);
Program.End = new DateTime(0);
Program.PlanCost = -1;
Program.PlanMakeSpan = -1;
Console.WriteLine("Scanning directory " + di.Name);
bool bContainsRealDirectories = false;
int cSubs = 0;
if (di.GetDirectories().Length != 0)
{
foreach (DirectoryInfo diSub in di.GetDirectories().OrderBy(d => d.Name.ToString()))
{
if (!diSub.Name.ToLower().Contains("pdb"))
{
ParseAll(diSub, sOutputPlanFile);
bContainsRealDirectories = true;
cSubs++;
//if (cSubs == 2 && di.Name != "factored")
// return;
}
}
}
if (!bContainsRealDirectories)
{
if (di.ToString().Contains("PdbFiles"))
{
return;
}
if (sOutputPlanFile == "")
{
sOutputPlanFile = "Plan.txt";
}
sOutputPlanFile += "Plan.txt";
Vertex.agents = new List <Agent>();
Vertex.ffLplan = new List <string>();
Vertex.map = new Dictionary <string, int>();
Vertex.forwardSearch = null;
Vertex.hsp = null;
GC.Collect();
//ReadAgentFiles(di, sOutputPlanFile);
Thread t = new Thread(() => ReadAgentFiles(di, sOutputPlanFile));
t.Name = "ReadAgentFiles " + di.Name;
t.Start();
if (t.Join(5 * 60 * 1000))
{
}
else
{
t.Abort();
// Program.timeResults.WriteLine("*");
//Program.timeResults.Flush();
Thread.Sleep(1000);
//writing an empty plan file
StreamWriter sw = new StreamWriter(sOutputPlanFile + "plan.txt");
sw.Close();
Program.WriteResults(di.Name, " failed - timeout");
}
RunUtils.KillPlanners();
}
}
public List <string> PdbFFPlan(Domain d, Problem p, State curentState, Formula goal, List <Action> privateActions, int cMaxMilliseconds, out bool bUnsolvable)
{
RunUtils.KillPlanners();
List <string> ffLplan = new List <string>();
List <string> lPlan = new List <string>();
if (privateActions != null)
{
d.Actions = privateActions;
}
if (goal != null)
{
p.Goal = goal;
}
MemoryStream msDomain = d.WriteSimpleDomain();
MemoryStream problem_M_S = p.WriteSimpleProblem(curentState);
//StreamWriter swDomainFile = new StreamWriter(@"C:\Dropbox-users\shlomi\Dropbox\Dropbox\privacyPreserving\Competition\all\factored\testd.pddl");
// StreamReader srDomain = new StreamReader(msDomain);
// swDomainFile.Write(srDomain.ReadToEnd());
// swDomainFile.Close();
// StreamWriter swProblemFile = new StreamWriter(@"C:\Dropbox-users\shlomi\Dropbox\Dropbox\privacyPreserving\Competition\all\factored\testp.pddl");
// StreamReader srProblem = new StreamReader(problem_M_S);
// swProblemFile.Write(srProblem.ReadToEnd());
// swProblemFile.Close();
problem_M_S.Position = 0;
msDomain.Position = 0;
Process planer = new Process();
//planer.StartInfo.WorkingDirectory = @"C:\project\Planning 2 new\PDDLTEST\temp";
planer.StartInfo.FileName = "ff.exe";
//planer.StartInfo.Arguments += "-o dT.pddl -f pT.pddl";
FFOutput[planer.Id] = "";
planer.StartInfo.UseShellExecute = false;
planer.StartInfo.RedirectStandardInput = true;
planer.StartInfo.RedirectStandardOutput = true;
planer.OutputDataReceived += new DataReceivedEventHandler(FFOutputHandler);
planer.Start();
planer.BeginOutputReadLine();
StreamReader srOps = new StreamReader(msDomain);
string domain = srOps.ReadToEnd();
planer.StandardInput.Write(domain);
srOps.Close();
BinaryWriter b = new BinaryWriter(planer.StandardInput.BaseStream);
b.Write('\0');
StreamReader srFct = new StreamReader(problem_M_S);
string problem = srFct.ReadToEnd();
planer.StandardInput.Write(problem);
srFct.Close();
b.Write('\0');
//planer.StandardInput.Flush();
planer.StandardInput.Close();
if (cMaxMilliseconds != -1)
{
if (!planer.WaitForExit(cMaxMilliseconds))//2 minutes max
{
planer.Kill();
bUnsolvable = false;
return(null);
}
}
else
{
planer.WaitForExit();
}
planer.Close();
//string sOutput = planer.StandardOutput.ReadToEnd();
// planer.WaitForExit();
string sOutput = FFOutput[planer.Id];
//throw new NotImplementedException();
//Console.WriteLine(sOutput);
MemoryStream planMs = new MemoryStream();
if (sOutput.Contains("found legal plan as follows"))
{
string sPlan = sOutput.Substring(sOutput.IndexOf("found legal plan as follows"));
sPlan = sPlan.Replace("found legal plan as follows", "").Trim();
string[] asPlan = sPlan.Split('\n');
string sFinalPlan = "";
for (int i = 0; i < asPlan.Length; i++)
{
if (!asPlan[i].Contains(":"))
{
break;
}
if (asPlan[i].Contains("time spent:"))
{
break;
}
sFinalPlan += asPlan[i].Substring(asPlan[i].IndexOf(':') + 2).Trim() + "\n";
}
StreamWriter sw = new StreamWriter(planMs);
sw.WriteLine(sFinalPlan);
sw.Close();
bUnsolvable = false;
}
else
{
if (sOutput.Contains("goal can be simplified to TRUE"))
{
ffLplan = new List <string>();
bUnsolvable = false;
return(ffLplan);
}
else if (sOutput.Contains("goal can be simplified to FALSE"))
{
ffLplan = null;
bUnsolvable = true;
return(null);
}
else
{
ffLplan = null;
bUnsolvable = false;
return(null);
}
}
lPlan = ReadPlan(new MemoryStream(planMs.ToArray()));
ffLplan = lPlan;
return(lPlan);
}
