private static async Task Render()
{
RenderStopWatch.Restart();
if (_workerWindow == IntPtr.Zero && !DesktopHandler.TryGetWorkerWindow(out _workerWindow))
{
return;
}
if (!DesktopHandler.TryGetDeviceContext(_workerWindow, out var deviceContext))
{
return;
}
using (var bufferedGraphics = _bufferedGraphicsContext.Allocate(deviceContext, _area))
{
await _widgetService.Render(bufferedGraphics.Graphics);
bufferedGraphics.Render(deviceContext);
_bufferedGraphicsContext.Invalidate();
}
Native.ReleaseDC(_workerWindow, deviceContext);
Debug.WriteLine($"Render() took: {RenderStopWatch.ElapsedMilliseconds}ms");
}
public static void Run(string csvFile, string solversDir, string inputFile, string optionFile)
{
FileManager.WriteToFile(csvFile, inputFile, true, true);
foreach (string solver in SolverEnum.GetSolvers())
{
if (!FileManager.SolverPresent(solversDir, solver + ".solver"))
{
continue;
}
ASPInputProgram inputProgram = new ASPInputProgram();
DesktopHandler handler = new DesktopHandler(SolverEnum.GetService(solversDir, solver));
List <ISet <object> > answerSets = new List <ISet <object> >();
int optionID = handler.AddOption(new OptionDescriptor(SolverEnum.GetOutputOption(solver)));
if (string.IsNullOrWhiteSpace(optionFile))
{
FileManager.ReadFilters(optionFile, solver).ForEach(filter => handler.AddOption(new OptionDescriptor(" " + filter)));
}
handler.AddProgram(inputProgram);
inputProgram.AddFilesPath(inputFile);
List <string> sortedOutput = OutputManager.ProcessRawOutput(solver, ((AnswerSets)(handler.StartSync())).OutputString);
handler.RemoveOption(optionID);
var watch = System.Diagnostics.Stopwatch.StartNew();
foreach (AnswerSet answerSet in ((AnswerSets)(handler.StartSync())).Answersets)
{
answerSets.Add(answerSet.Atoms);
}
watch.Stop();
FileManager.WriteToFile(csvFile, solver + ":" + watch.ElapsedMilliseconds.ToString(), null, true);
if (answerSets.Count > 0)
{
foreach (ISet <object> answerSet in answerSets)
{
string tmp = string.Join(" ", SortFacts(answerSet));
if (!sortedOutput.Contains(tmp))
{
Console.WriteLine("ERROR! Original " + solver + " output does not contain:\n" + tmp + "\n");
}
;
}
}
}
Console.WriteLine("END");
}
private static void Invalidate()
{
if (_workerWindow == IntPtr.Zero && !DesktopHandler.TryGetWorkerWindow(out _workerWindow))
{
return;
}
if (!DesktopHandler.TryGetDeviceContext(_workerWindow, out var deviceContext))
{
return;
}
var graphics = Graphics.FromHdc(deviceContext);
using (graphics)
{
graphics.Clear(Color.Teal);
}
}
public void TransitiveClosureTest()
{
try
{
DesktopHandler handler = new DesktopHandler(new IDLVDesktopService(GetPath()));
DatalogMapper.Instance.RegisterClass(typeof(UnweightedPath));
InputProgram input = new DatalogInputProgram();
input.AddObjectInput(new UnweightedEdge(1, 2));
input.AddObjectInput(new UnweightedEdge(2, 3));
input.AddObjectInput(new UnweightedEdge(2, 4));
input.AddObjectInput(new UnweightedEdge(3, 5));
input.AddObjectInput(new UnweightedEdge(3, 6));
input.AddProgram("path(X,Y) :- edge(X,Y).");
input.AddProgram("path(X,Y) :- path(X,Z), path(Z,Y).");
handler.AddProgram(input);
IDLVMinimalModels minimalModels = (IDLVMinimalModels)handler.StartSync();
Assert.IsNotNull(minimalModels);
Assert.IsTrue(minimalModels.Minimalmodels.Count == 1);
Assert.IsTrue(minimalModels.ErrorsString == "", "Found error:\n" + minimalModels.ErrorsString);
foreach (MinimalModel m in minimalModels.Minimalmodels)
{
foreach (object a in m.Atoms)
{
if (typeof(UnweightedPath).IsInstanceOfType(a))
{
Console.WriteLine(a);
}
}
}
}
catch (Exception e)
{
Assert.Fail("Exception " + e.Message);
}
}
public SymbolicConstant GetNextMove(InputProgram facts)
{
SymbolicConstant move = new SymbolicConstant();
string encodingResource = @".\encodings\pacman.asp";
//string encodingResource2 = @"encodings\min_distances_5.asp";
//Debug.Log("DLV Started: " + numberOfSteps++);
Handler handler = new DesktopHandler(new DLVDesktopService(@".\lib\dlv.exe"));
InputProgram encoding = new ASPInputProgram();
encoding.AddFilesPath(encodingResource);
//InputProgram encoding2 = new ASPInputProgram();
//encoding.AddFilesPath(encodingResource2);
handler.AddProgram(encoding);
//handler.AddProgram(encoding2);
handler.AddProgram(facts);
handler.AddOption(new OptionDescriptor("-filter=next"));
Output o = handler.StartSync();
//EmbaspCall++;
AnswerSets answers = (AnswerSets)o;
System.Random r = new System.Random();
int answer = r.Next(answers.Answersets.Count);
AnswerSet a = answers.Answersets[answer];
foreach (object obj in a.Atoms)
{
//Debug.Log(obj.ToString());
if (obj is Next)
{
Next nextAction = (Next)obj;
move = nextAction.getAction();
return(move);
//Debug.Log("Next Action: " + move);
}
}
return(move);
}
private static async Task Main(string[] args)
{
var displays = DisplayHandler.GetAll();
var width = 0;
var height = 0;
foreach (var display in displays)
{
width += display.Width;
height += display.Height;
}
_area = new Rectangle(
0,
0,
width,
height
);
_widgetService = new WidgetService();
await _widgetService.Initialize();
_bufferedGraphicsContext = new BufferedGraphicsContext();
DesktopHandler.Initialize();
var updateTimer = new QueuedTimer(async x => await Update(), UpdateInterval);
var renderTimer = new QueuedTimer(async x => await Render(), RenderInterval);
GC.KeepAlive(updateTimer);
GC.KeepAlive(renderTimer);
AppDomain.CurrentDomain.ProcessExit += OnProcessExit;
AppDomain.CurrentDomain.UnhandledException += OnUnhandledException;
SystemEvents.SessionEnded += OnSessionEnded;
new ManualResetEvent(false).WaitOne();
}
private void GenerateFacts(int dimension)
{
string encodingResource = @".\encodings\min_distances_" + dimension + ".asp";
//Debug.Log("DLV Started: " + numberOfSteps++);
Handler handler = new DesktopHandler(new DLVDesktopService(@".\lib\dlv.exe"));
InputProgram encoding = new ASPInputProgram();
encoding.AddFilesPath(encodingResource);
handler.AddProgram(encoding);
Output o = handler.StartSync();
AnswerSets answers = (AnswerSets)o;
//Debug.Log("Answers: " + o.OutputString);
AnswerSet a = answers.Answersets[0];
foreach (object obj in a.Atoms)
{
//Debug.Log(obj.ToString());
if (obj is Distance)
{
Distance d = (Distance)obj;
if (dimension == 10)
{
distances_10[d.getX1(), d.getY1()].Add(d);
}
else if (dimension == 5)
{
distances_5[d.getX1(), d.getY1()].Add(d);
}
//move = nextAction.getAction();
//Debug.Log("Next Action: " + move);
}
}
}
public void SudokuTest()
{
try
{
Handler handler = new DesktopHandler(new DLVDesktopService(GetPath()));
InputProgram inputProgram = new ASPInputProgram();
for (int i = 0; i < N; i++)
{
for (int j = 0; j < N; j++)
{
if (sudokuMatrix[i, j] != 0)
{
inputProgram.AddObjectInput(new Cell(i, j, sudokuMatrix[i, j]));
}
}
}
inputProgram.AddFilesPath(".." + Path.DirectorySeparatorChar + ".." + Path.DirectorySeparatorChar + "test-resources" + Path.DirectorySeparatorChar + "asp" + Path.DirectorySeparatorChar + "sudoku");
handler.AddProgram(inputProgram);
handler.StartAsync(new CallbackAction(o =>
{
if (!(o is AnswerSets))
{
return;
}
answerSets = (AnswerSets)o;
@lock.Signal();
}));
@lock.Wait(new TimeSpan(0, 0, 0, 0, 5000));
Assert.IsNotNull(answerSets);
Assert.IsTrue(String.IsNullOrEmpty(answerSets.ErrorsString), "Found error in the Plan\n" + answerSets.ErrorsString);
if (answerSets.Answersets.Count == 0)
{
return;
}
AnswerSet @as = answerSets.Answersets[0];
foreach (object obj in @as.Atoms)
{
Cell cell = (Cell)obj;
sudokuMatrix[cell.getRow(), cell.getColumn()] = cell.getValue();
}
for (int i = 0; i < N; i++)
{
for (int j = 0; j < N; j++)
{
Console.Write(sudokuMatrix[i, j] + " ");
if (sudokuMatrix[i, j] == 0)
{
Assert.Fail("NumberNotValid");
}
}
Console.WriteLine();
}
}
catch (Exception e)
{
Assert.Fail("Exception " + e.Message);
}
}
public void Run()
{
reason = true;
IMapper sensorMapper = mapper.getMapper(typeof(AdvancedSensor));
while (reason)
{
if (!brain.executeReasonerOn.Equals("When Sensors are ready"))
{
lock (brain.toLock)
{
MyDebugger.MyDebug("going to wait for pulse by brain");
brain.solverWaiting = true;
Monitor.Wait(brain.toLock);
}
}
try
{
factsPath = Path.GetTempFileName();
using (StreamWriter fs = new StreamWriter(factsPath, true))
{
string toAppend = SensorsManager.GetSensorsMapping(brain);
if (!reason)
{
return;
}
fs.Write(toAppend);
fs.Close();
}
}
catch (Exception e)
{
MyDebugger.MyDebug("CAUGHT EXECPTION!!!!");
MyDebugger.MyDebug(e.Message);
MyDebugger.MyDebug(e.StackTrace);
}
Handler handler = new DesktopHandler(new DLV2DesktopService(@".\lib\dlv2.exe"));
//With DLV2DesktopService I get a Error during parsing: --> Invalid #show directive: setOnActuator/1--competition-output.
//With DLVDesktopService the AS, obviously, are wrongly parsed
InputProgram encoding = new ASPInputProgram();
MyDebugger.MyDebug("adding encoding");
encoding.AddFilesPath(Path.GetFullPath(brain.ASPFilePath));
InputProgram facts = new ASPInputProgram();
MyDebugger.MyDebug("adding facts");
facts.AddFilesPath(factsPath);
handler.AddProgram(encoding);
handler.AddProgram(facts);
handler.AddOption(new OptionDescriptor("--filter=setOnActuator/1 "));
stopwatch.Restart();
MyDebugger.MyDebug("starting sync");
Output o = handler.StartSync();
if (!o.ErrorsString.Equals(""))
{
MyDebugger.MyDebug(o.ErrorsString + " " + o.OutputString);
}
AnswerSets answers = (AnswerSets)o;
stopwatch.Stop();
brain.asSteps++;
brain.asTotalMS += stopwatch.ElapsedMilliseconds;
MyDebugger.MyDebug("num of AS " + answers.Answersets.Count);
if (answers.Answersets.Count > 0)
{
lock (brain.toLock)
{
foreach (SimpleActuator actuator in brain.getActuators())
{
actuator.parse(answers.Answersets[0]);
}
brain.setActuatorsReady(true);
}
}
if (!brain.maintainFactFile)
{
File.Delete(factsPath);
}
}
}
private void Test(int[] results_sizes, string instance_name)
{
string instance_path = base_path + instance_name + Path.DirectorySeparatorChar;
Console.WriteLine("Testing " + results_sizes.Length + " files for " + instance_path);
for (int i = 1; i <= results_sizes.Length; i++)
{
try
{
plan = null;
@lock = new CountdownEvent(1);
Handler handler = new DesktopHandler(new SPDDesktopService());
Console.WriteLine();
InputProgram inputProgramDomain = new PDDLInputProgram(PDDLProgramType.DOMAIN);
inputProgramDomain.AddFilesPath(instance_path + "domain.pddl");
InputProgram inputProgramProblem = new PDDLInputProgram(PDDLProgramType.PROBLEM);
string problem = instance_path + "p" + (i < 10 ? "0" : "") + i + ".pddl";
Console.WriteLine(problem);
Assert.IsTrue(File.Exists(problem), "File not found: " + problem);
inputProgramProblem.AddFilesPath(problem);
handler.AddProgram(inputProgramDomain);
handler.AddProgram(inputProgramProblem);
PDDLMapper.Instance.RegisterClass(typeof(PickUp));
Assert.IsNull(plan);
handler.StartAsync(new CallbackAction(o =>
{
if (!(o is Plan))
{
return;
}
plan = (Plan)o;
foreach (embasp.languages.pddl.Action action in plan.Actions)
{
Console.Write(action.Name + ",");
}
@lock.Signal();
}));
@lock.Wait(new TimeSpan(0, 0, 0, 0, 15000));
Assert.IsNotNull(plan);
if (results_sizes[i - 1] != 0)
{
Assert.IsTrue(String.IsNullOrEmpty(plan.ErrorsString) || plan.ErrorsString.ToLower().Contains("server busy"), "Found error in the Plan " + problem + "\n" + plan.ErrorsString);
}
if (plan.ErrorsString.ToLower().Contains("server busy."))
{
Console.WriteLine("[WARNING] Server busy occurred!");
}
Assert.AreEqual(results_sizes[i - 1], plan.Actions.Count);
foreach (object obj in plan.ActionsObjects)
{
if (obj is PickUp)
{
PickUp pickUp = (PickUp)obj;
Console.WriteLine(pickUp.getBlock());
}
}
Thread.Sleep(500);
}
catch (Exception e)
{
Assert.Fail(e.Message);
}
}
Console.WriteLine();
}
public void Run()
{
reason = true;
IMapper sensorMapper = mapper.getMapper(typeof(AdvancedSensor));
//Debug.Log("mapper " + sensorMapper);
while (reason)
{
//Thread.Sleep(1000);
//Debug.Log("executing thread");
lock (brain.toLock)
{
brain.solverWaiting = true;
Monitor.Wait(brain.toLock);
try
{
stopwatch.Restart();
factsPath = Path.GetTempFileName();
using (StreamWriter fs = new StreamWriter(factsPath, true))
{
//Debug.Log("creating file "+ factsPath);
string toAppend = "";
foreach (AdvancedSensor sensor in brain.getSensors())
{
//Stopwatch temp = new Stopwatch();
//temp.Start();
toAppend += sensor.Map();
//temp.Stop();
//Debug.Log(toAppend);
//Debug.Log(toAppend);
}
//Debug.Lof(fs.)
fs.Write(toAppend);
fs.Close();
//Debug.Log("closing stream");
}
stopwatch.Stop();
factsSteps++;
factsAvgTime += stopwatch.ElapsedMilliseconds;
}
catch (Exception e)
{
UnityEngine.Debug.LogError(e.Message);
UnityEngine.Debug.LogError(e.StackTrace);
}
}
//Debug.Log(Path.GetFullPath(@".\lib\dlv.exe"));
Handler handler = new DesktopHandler(new DLVDesktopService(@".\lib\dlv2.exe"));
InputProgram encoding = new ASPInputProgram();
encoding.AddFilesPath(Path.GetFullPath(brain.ASPFilePath));
InputProgram facts = new ASPInputProgram();
facts.AddFilesPath(factsPath);
handler.AddProgram(encoding);
handler.AddProgram(facts);
handler.AddOption(new OptionDescriptor("--filter=setOnActuator/1"));
stopwatch.Restart();
//Debug.Log("reasoning");
Output o = handler.StartSync();
if (!o.ErrorsString.Equals(""))
{
Debug.Log(o.ErrorsString + " " + o.OutputString);
}
AnswerSets answers = (AnswerSets)o;
stopwatch.Stop();
asSteps++;
asAvgTime += stopwatch.ElapsedMilliseconds;
//Debug.Log("debugging answer set");
//Debug.Log("there are "+answers.Answersets.Count);
//Debug.Log("error: " + answers.ErrorsString);
if (answers.Answersets.Count > 0)
{
/*string asPath = Path.GetTempFileName();
* using (StreamWriter fs = new StreamWriter(asPath, true))
* {
* fs.Write(o.OutputString);
* fs.Close();
* }*/
lock (brain.toLock)
{
foreach (SimpleActuator actuator in brain.getActuators())
{
Debug.Log("input fact " + factsPath);
Debug.Log("parsing " + actuator.actuatorName);
if (answers.Answersets[0].GetAnswerSet().Count > 0)
{
Debug.Log(answers.Answersets[0].GetAnswerSet()[0]);
}
actuator.parse(answers.Answersets[0]);
}
brain.setActuatorsReady(true);
}
}
if (!brain.maintainFactFile)
{
File.Delete(factsPath);
}
}
}
public void ShortestPathTest()
{
try
{
DesktopHandler handler = new DesktopHandler(new DLV2DesktopService(GetPath()));
ASPMapper.Instance.RegisterClass(typeof(Edge));
ASPMapper.Instance.RegisterClass(typeof(Path));
InputProgram input = new ASPInputProgram();
from = 0; // source node
to = 7; // destination node
String rules = "from(" + from + ").to(" + to + ")." +
"path(X,Y,W) | notPath(X,Y,W) :- from(X), edge(X,Y,W)." +
"path(X,Y,W) | notPath(X,Y,W) :- path(_,X,_), edge(X,Y,W), not to(X)." +
"visited(X) :- path(_,X,_)." +
":- to(X), not visited(X)." +
":~ path(X,Y,W). [W@1 ,X,Y]";
input.AddProgram(rules);
foreach (Edge edge in getEdges())
{
input.AddObjectInput(edge);
}
handler.AddProgram(input);
DLV2AnswerSets answerSets = (DLV2AnswerSets)handler.StartSync();
Assert.IsNotNull(answerSets);
Assert.IsTrue(answerSets.GetOptimalAnswerSets().Count != 0);
Assert.IsTrue(answerSets.ErrorsString == "", "Found error:\n" + answerSets.ErrorsString);
AnswerSet answerSet = answerSets.GetOptimalAnswerSets()[0];
List <Path> path = new List <Path>(); // edges in the shortest path (unsorted)
int sum = 0; // total weight of the path
foreach (object obj in answerSet.Atoms)
{
if (typeof(Path).IsInstanceOfType(obj))
{
path.Add((Path)obj);
sum += ((Path)obj).getWeight();
}
}
sortedPath = new List <int>(); // edges in the shorted path (sorted)
sortedPath.Add(from);
join(from, path, sortedPath); // sorts the edges
print(sortedPath, sum); // shows the result
}
catch (Exception e)
{
Assert.Fail("Exception " + e.Message);
}
}
