public void PrepareAndRun()
{
Parser.path = @"D:\documents\frostbow\";
UPC.ReadProblem();
if (DeCacheIt)
{
DeCacheIt = false;
cacheManager.DeCacheIt();
}
else if (justCacheMapsAndEffort)
{
cacheManager.DecacheSteps();
AddObservedNegativeConditions(UPC);
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, UPC.goalPredicateList);
CacheMaps.CacheAddReuseHeuristic(new State(UPC.initialPredicateList) as IState);
UnityGroundActionFactory.PrimaryEffectHack(new State(UPC.initialPredicateList) as IState);
cacheManager.justCacheMapsAndEffort = true;
cacheManager.CacheIt();
cacheManager.justCacheMapsAndEffort = false;
return;
}
else
{
UGAF.PreparePlanner(true);
GroundActionFactory.GroundActions = new HashSet <IOperator>(GroundActionFactory.GroundActions).ToList();
AddObservedNegativeConditions(UPC);
UnityGroundActionFactory.CreateSteps(UPC, UGAF.DecompositionSchemata);
cacheManager.CacheIt();
}
var initialPlan = PlannerScheduler.CreateInitialPlan(UPC.initialPredicateList, UPC.goalPredicateList);
Debug.Log("Planner and initial plan Prepared");
// MW-Loc-Conf
var solution = Run(initialPlan, new ADstar(false), new E0(new AddReuseHeuristic(), true), cutoffTime);
//var solution = Run(initialPlan, new ADstar(false), new E3(new AddReuseHeuristic()), cutoffTime);
//var solution = Run(initPlan, new BFS(), new Nada(new ZeroHeuristic()), 20000);
if (solution != null)
{
//Debug.Log(solution.ToStringOrdered());
PlanSteps = new List <string>();
foreach (var step in solution.Orderings.TopoSort(solution.InitialStep))
{
Debug.Log(step);
PlanSteps.Add(step.ToString());
}
}
else
{
Debug.Log("No good");
}
}
// Update is called once per frame
void Update()
{
if (compilePrimitiveSteps)
{
compilePrimitiveSteps = false;
initialPlan = PreparePlanner(true);
PrimitiveOps = GroundActionFactory.GroundActions;
PrimitiveSteps = PrimitiveOps.Count;
CompositeSteps = 0;
}
if (compileCompositeSteps)
{
compileCompositeSteps = false;
CompileCompositeSteps();
}
if (checkEffects)
{
checkEffects = false;
foreach (var compstep in CompositeOps)
{
foreach (var effect in compstep.Effects)
{
if (effect.Name != "obs") // && effect.Name != "obs-starts")
{
continue;
}
Debug.Log(effect.ToString());
}
}
// do we have what we need?
}
if (regenerateInitialPlanWithComposite)
{
regenerateInitialPlanWithComposite = false;
Parser.path = "/";
var domainOperatorComponent = GameObject.FindGameObjectWithTag("ActionHost").GetComponent <DomainOperators>();
domainOperatorComponent.Reset();
var problem = CreateProblem(domainOperatorComponent.DomainOps);
var domain = CreateDomain(domainOperatorComponent);
var PF = new ProblemFreezer("Unity", "", domain, problem);
var initPlan = PlannerScheduler.CreateInitialPlan(PF);
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
PrimaryEffectHack(InitialPlan.Initial);
}
}
public IPlan Run(IPlan initPlan, ISearch SearchMethod, ISelection SelectMethod, float cutoff)
{
var directory = Parser.GetTopDirectory() + "/Results/";
System.IO.Directory.CreateDirectory(directory);
var POP = new PlannerScheduler(initPlan.Clone() as IPlan, SelectMethod, SearchMethod)
{
directory = directory,
problemNumber = 0
};
Debug.Log("Running plan-search");
var Solutions = POP.Solve(1, cutoff);
if (Solutions != null)
{
return(Solutions[0]);
}
Debug.Log(string.Format("explored: {0}, expanded: {1}", POP.Open, POP.Expanded));
return(null);
}
public IPlan PreparePlanner(bool resetCache)
{
Parser.path = "/";
// Update Domain Operators
var domainOperatorComponent = GameObject.FindGameObjectWithTag("ActionHost").GetComponent <DomainOperators>();
domainOperatorComponent.Reset();
// Read and Create Problem
var problem = CreateProblem(domainOperatorComponent.DomainOps);
// Create Domain
var domain = CreateDomain(domainOperatorComponent);
// Create Problem Freezer.
var PF = new ProblemFreezer("Unity", "", domain, problem);
// Create Initial Plan
var initPlan = PlannerScheduler.CreateInitialPlan(PF);
if (!resetCache)
{
if (GroundActionFactory.GroundActions != null)
{
if (HeuristicMethods.visitedPreds == null || HeuristicMethods.visitedPreds.Get(true).Count == 0)
{
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
//PrimaryEffectHack(initPlan.Initial);
}
Debug.Log("test");
return(initPlan);
}
}
// Reset Cache
GroundActionFactory.Reset();
CacheMaps.Reset();
GroundActionFactory.PopulateGroundActions(domain, problem);
// Remove Irrelevant Actions (those which require an adjacent edge but which does not exist. In Refactoring--> make any static
Debug.Log("removing irrelevant actions");
var adjInitial = initPlan.Initial.Predicates.Where(state => state.Name.Equals("adjacent"));
var replacedActions = new List <IOperator>();
foreach (var ga in GroundActionFactory.GroundActions)
{
// If this action has a precondition with name adjacent this is not in initial state, then it's impossible. True ==> impossible. False ==> OK!
var isImpossible = ga.Preconditions.Where(pre => pre.Name.Equals("adjacent") && pre.Sign).Any(pre => !adjInitial.Contains(pre));
if (isImpossible)
{
continue;
}
replacedActions.Add(ga);
}
GroundActionFactory.Reset();
GroundActionFactory.GroundActions = replacedActions;
GroundActionFactory.GroundLibrary = replacedActions.ToDictionary(item => item.ID, item => item);
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, problem.Goal);
// Detect Statics
Debug.Log("Detecting Statics");
GroundActionFactory.DetectStatics(CacheMaps.CausalTupleMap, CacheMaps.ThreatTupleMap);
Debug.Log("Caching Heuristic costs");
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
// Recreate Initial Plan
initPlan = PlannerScheduler.CreateInitialPlan(PF);
return(initPlan);
}
