public static SearchResults runPlanner(string problem, Heuristic h, bool useTwoQueues = false, int maxTimeMinutes = 10)
{
Problem p = new Problem(problem, false);
p.DomainName = Path.GetFileName(Path.GetDirectoryName(problem));
if (useTwoQueues)
{
MultiHeuristicAStarSearch engine = new MultiHeuristicAStarSearch(p, new List <IHeuristic>()
{
h, new FFHeuristic(p)
});
engine.TimeLimitOfSearch = TimeSpan.FromMinutes(maxTimeMinutes);
engine.Start();
return(engine.GetSearchResults(false));
}
else
{
AStarSearch engine = new AStarSearch(p, h);
engine.TimeLimitOfSearch = TimeSpan.FromMinutes(maxTimeMinutes);
engine.Start();
return(engine.GetSearchResults(false));
}
}
public void TC_AStarSearch()
{
var sasProblem = new Planner.SAS.Problem(new SASInputData(GetFilePath("TC_Gripper.sas")));
var sasSearch = new AStarSearch(sasProblem, new BlindHeuristic(), new RegularBinaryHeap());
sasSearch.Start();
var sasSolution = sasSearch.GetSearchResults();
Assert.AreEqual("A* Search", sasSolution.Algorithm);
Assert.AreEqual("TC_Gripper", sasSolution.ProblemName);
Assert.AreEqual("Blind Heuristic", sasSolution.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, sasSolution.ResultStatus);
Assert.IsTrue(sasSolution.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(11, sasSolution.SolutionCost);
Assert.IsNotNull(sasSolution.SolutionPlan);
Assert.AreEqual(11, sasSolution.SolutionPlan.GetCost());
var sasSearch2 = new AStarSearch(sasProblem, new BlindHeuristic(), new RegularBinaryHeap());
sasSearch2.Start(SearchType.BackwardWithConditions);
var sasSolution2 = sasSearch2.GetSearchResults();
Assert.AreEqual("A* Search (Backward)", sasSolution2.Algorithm);
Assert.AreEqual("TC_Gripper", sasSolution2.ProblemName);
Assert.AreEqual("Blind Heuristic", sasSolution2.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, sasSolution2.ResultStatus);
Assert.IsTrue(sasSolution2.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(11, sasSolution2.SolutionCost);
Assert.IsNotNull(sasSolution2.SolutionPlan);
Assert.AreEqual(11, sasSolution2.SolutionPlan.GetCost());
var sasSearch3 = new AStarSearch(sasProblem, new BlindHeuristic(), new RegularBinaryHeap());
sasSearch3.Start(SearchType.BackwardWithStates);
var sasSolution3 = sasSearch3.GetSearchResults();
Assert.AreEqual("A* Search (Backward)", sasSolution3.Algorithm);
Assert.AreEqual("TC_Gripper", sasSolution3.ProblemName);
Assert.AreEqual("Blind Heuristic", sasSolution3.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, sasSolution3.ResultStatus);
Assert.IsTrue(sasSolution3.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(11, sasSolution3.SolutionCost);
Assert.IsNotNull(sasSolution3.SolutionPlan);
Assert.AreEqual(11, sasSolution3.SolutionPlan.GetCost());
var pddlProblem = new Planner.PDDL.Problem(new PDDLInputData(GetFilePath("TC_Gripper_D.pddl"), GetFilePath("TC_Gripper_P.pddl")));
var pddlSearch = new AStarSearch(pddlProblem, new BlindHeuristic(), new RegularBinaryHeap());
pddlSearch.Start();
var pddlSolution = pddlSearch.GetSearchResults();
Assert.AreEqual("A* Search", pddlSolution.Algorithm);
Assert.AreEqual("gripper", pddlSolution.DomainName);
Assert.AreEqual("problem-1", pddlSolution.ProblemName);
Assert.AreEqual("Blind Heuristic", pddlSolution.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, pddlSolution.ResultStatus);
Assert.IsTrue(pddlSolution.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(5, pddlSolution.SolutionCost);
Assert.IsNotNull(pddlSolution.SolutionPlan);
Assert.AreEqual(5, pddlSolution.SolutionPlan.GetCost());
var pddlSearch2 = new AStarSearch(pddlProblem, new BlindHeuristic(), new RegularBinaryHeap());
pddlSearch2.Start(SearchType.BackwardWithConditions);
var pddlSolution2 = pddlSearch2.GetSearchResults();
Assert.AreEqual("A* Search (Backward)", pddlSolution2.Algorithm);
Assert.AreEqual("gripper", pddlSolution2.DomainName);
Assert.AreEqual("problem-1", pddlSolution2.ProblemName);
Assert.AreEqual("Blind Heuristic", pddlSolution2.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, pddlSolution2.ResultStatus);
Assert.IsTrue(pddlSolution2.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(5, pddlSolution2.SolutionCost);
Assert.IsNotNull(pddlSolution2.SolutionPlan);
Assert.AreEqual(5, pddlSolution2.SolutionPlan.GetCost());
var pddlSearch3 = new AStarSearch(pddlProblem, new BlindHeuristic(), new RegularBinaryHeap());
pddlSearch3.Start(SearchType.BackwardWithStates);
var pddlSolution3 = pddlSearch3.GetSearchResults();
Assert.AreEqual("A* Search (Backward)", pddlSolution3.Algorithm);
Assert.AreEqual("gripper", pddlSolution3.DomainName);
Assert.AreEqual("problem-1", pddlSolution3.ProblemName);
Assert.AreEqual("Blind Heuristic", pddlSolution3.Heuristic);
Assert.AreEqual(ResultStatus.SolutionFound, pddlSolution3.ResultStatus);
Assert.IsTrue(pddlSolution3.SearchTime.TotalMilliseconds > 0);
Assert.AreEqual(5, pddlSolution3.SolutionCost);
Assert.IsNotNull(pddlSolution3.SolutionPlan);
Assert.AreEqual(5, pddlSolution3.SolutionPlan.GetCost());
}
public static void runPlanningExperiments(string domainsFolder, TimeSpan timeLimit, int param)
{
Logger logger = new Logger();
List <SearchResults> allResults = new List <SearchResults>();
//try
//{
//the number of computes that participate on this job. Computation is distributed among them.
int numberOfComputes = 2;
//if set to true, problem file that don't have histogram computed will be skipped. Otherwise all problems will be processed.
bool onlyWhenHistogramExists = false;
Problem d;
AStarSearch ast;
//HillClimbingSearch ast;
var directories = Directory.EnumerateDirectories(domainsFolder);
allResults = new List <SearchResults>();
foreach (var directory in directories)
{
var files = Directory.EnumerateFiles(directory).ToList();
foreach (var SASFile in files)
{
int indexOfFile = files.IndexOf(SASFile);
if (indexOfFile % numberOfComputes != param) //if (indexOfFile != param)
{
continue;
}
if (onlyWhenHistogramExists && !IsHistogramComputed(directory, SASFile))
{
continue;
}
logger.Log(" ----- new problem ----- ");
logger.Log(directory + "\\" + SASFile);
d = new Problem(SASFile, false);
Heuristic h = new FFHeuristic(d);
/*
* string histogramFolder = @"C:\Users\Ota\Documents\Visual Studio 2017\Projects\PADD\heuristicStats";
* var samples = HistogramVisualizer.Form1.getHistograms(histogramFolder);
* List<HistogramVisualizer.Histograms> selectedSamples = new List<HistogramVisualizer.Histograms>();
* foreach (var item in samples[Path.GetFileName(directory)].Values)
* {
* selectedSamples.AddRange(item);
* }
*/
//string trainedNetworkFile = Path.Combine("..", "trainedNetwork.bin");
//Heuristic h = new NNHeuristic(d, trainedNetworkFile);
//string dataFile = Path.Combine(directory, "histograms", "dataToLearn.tsv");
//Heuristic h = new FileBasedHeuristic(d, dataFile, false);
//Heuristic h = new FFHeuristic(d);
//Heuristic h = new RegHeuristic(new FFHeuristic(d));
//Heuristic h = new FileBasedHeuristic(d, dataFile, false);
//h = getHeuristicByParam(param, d);
//h = getHeuristicByParam(6, d);
ISearchHeap heapStructure = null;
//heapStructure = getHeapByParam(param);
//ISearchHeap heapStructure = new Heaps.MeasuredHeap();
heapStructure = new RedBlackTreeHeap();
//ISearchHeap heapStructure = new Heaps.FibonacciHeap1();
//ISearchHeap heapStructure = new Heaps.FibonacciHeap2();
//ISearchHeap heapStructure = new Heaps.RegularBinaryHeap();
//ISearchHeap heapStructure = new Heaps.RegularTernaryHeap();
//ISearchHeap heapStructure = new Heaps.BinomialHeap();
//ISearchHeap heapStructure = new Heaps.LeftistHeap();
ast = new AStarSearch(d, h, heapStructure);
//ast = new MultiHeuristicAStarSearch(d, h);
//ast = new MultiHeuristicAStarSearch(d, new List<Heuristic>() { h, hNN });
//ast = new IterativeDeepeningAStarSearch(d, null);
DirectoryInfo currentDirectory = new DirectoryInfo(directory);
FileInfo currentFile = new FileInfo(SASFile);
if (ast.OpenNodes is MeasuredHeap <IState> )
{
((MeasuredHeap <IState>)ast.OpenNodes).SetLoggingOutputFile(currentDirectory.Name + "_" + currentFile.Name);
}
ast.TimeLimitOfSearch = timeLimit;
ast.Start();
var searchResult = ast.GetSearchResults(false);
searchResult.DomainName = (Path.GetFileName(directory));
searchResult.ProblemName = (Path.GetFileName(SASFile));
searchResult.Heuristic = h.GetDescription();
searchResult.Algorithm = ast.GetDescription() + "+" + heapStructure.GetName();
searchResult.BestHeuristicValue = h.Statistics.BestHeuristicValue;
searchResult.AverageHeuristicValue = h.Statistics.AverageHeuristicValue;
//foreach (var item in ast.GetSolution().GetOperatorSeqIndices())
// Console.Write(item + " ");
allResults.Add(searchResult);
if (ast.OpenNodes is MeasuredHeap <IState> )
{
((MeasuredHeap <IState>)ast.OpenNodes).ClearStats();
}
logger.Log();
}
logger.Log(" ----- new domain ----- ");
}
// catch (Exception e)
// {
// using (var writer = new System.IO.StreamWriter("results" + Environment.MachineName + ".txt"))
// foreach (var item in allResults)
// {
// writer.WriteLine(item.ToString());
// }
//}
using (var writer = new System.IO.StreamWriter("results" + Environment.MachineName + ".txt"))
foreach (var item in allResults)
{
writer.WriteLine(item.ToString());
}
}
