public void TestGetGoalsTiming()
{
string main_path = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\BoxPushing\B3\";
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var ma_result = ma_planner.Plan();
Assert.IsNotNull(ma_result);
Constant a1 = d.GetAgents()[0];
PlanResult pr = ma_result[a1];
List <Predicate> goals = p.GetGoals();
Dictionary <Predicate, int> timing = new Dictionary <Predicate, int>();
pr.Plan.GetGoalsTiming(goals, null, ref timing);
string plan = PlanTreePrinter.Print(pr.Plan);
File.WriteAllText(main_path + "plan_" + a1.Name + ".txt", plan);
Assert.AreEqual(timing.Count, p.GetGoals().Count - 1);
}
public PlanResult Plan(Constant activeAgent, List <Predicate> activeGoals,
List <KeyValuePair <Predicate, int> > goalsCompletionTime,
List <Action> reqActions)
{
m_AgentDomain = Parser.ParseDomain(m_GeneralDomain.FilePath, m_GeneralDomain.AgentCallsign);
m_AgentProblem = Parser.ParseProblem(m_GeneralProblem.FilePath, m_AgentDomain);
m_ActiveAgent = activeAgent;
m_ActiveGoals = m_AgentProblem.GetGoals();
m_GoalsCompletionTime = goalsCompletionTime;
m_ReqCollabActions = reqActions;
DateTime start = DateTime.Now;
AddNoopAction();
AddTimeConstraints();
List <Action> extractedActions;
AddCollabActionReq(out extractedActions);
ConvertToSingleAgentProblem();
AddPrevCompletionOfGoals();
SetGoals();
//Reasoning not working for button pushing domain
AddReasoningActions();
//AddCosts();
SDRPlanner sdrPlanner = new SDRPlanner(m_AgentDomain, m_AgentProblem, m_planner);
string s1 = m_AgentDomain.ToString();
string s2 = m_AgentProblem.ToString();
ConditionalPlanTreeNode Plan = sdrPlanner.OfflinePlanning();
string s = m_AgentDomain.ToString();
bool Valid = sdrPlanner.Valid;
// Return extracted actions to domain
foreach (var action in extractedActions)
{
m_AgentDomain.Actions.Add(action);
}
TimeSpan PlanningTime = DateTime.Now - start;
PlanResult result = new PlanResult(activeAgent, Plan, PlanningTime, Valid,
goalsCompletionTime, reqActions,
m_AgentDomain, m_AgentProblem,
m_GeneralDomain, m_GeneralProblem);
// Write plan to file
string path = Path.GetDirectoryName(m_AgentDomain.FilePath) + "\\plan_" + m_ActiveAgent.Name + ".txt";
File.WriteAllText(path, PlanTreePrinter.Print(result.Plan));
return(result);
}
private void AddResult(Constant agent, ConditionalPlanTreeNode plan, PlanDetails pd, TimeSpan planningTime, Boolean valid)
{
string planAsText = PlanTreePrinter.Print(plan);
ucExecuteResults er = new ucExecuteResults(agent, planAsText, pd, planningTime, valid);
er.SelectedGoalAchievementTime += Er_SelectedGoalAchievementTime;
er.CloseTab += Er_CloseTab;
er.AddtoFinal += Er_AddtoFinal;
TabPage tp = new TabPage();
tp.Text = "agent " + agent.ToString();
tp.Controls.Add(er);
tcResults.TabPages.Add(tp);
}
public ucExecuteResults(PlanDetails pd) : this()
{
PlanDetails = pd;
rtxtPlan.Text = PlanTreePrinter.Print(pd.Plan);;
lblAvgDepth.Text = pd.LeafsDepth.Average().ToString();
lblMakespan.Text = pd.MakeSpan.ToString();
lblValid.Text = pd.Valid.ToString();
lblPlanningTime.Text = (pd.PlanningTime.TotalMilliseconds / (double)1000).ToString(".##") + "s";
UpdateCollabActions(pd.JointActionsTimes);
UpdateGoalAchievementsTime(pd.GoalsTiming);
}
public void SingleAgentSDRPlanner_TestConvertToSingleAgentProblemButtonsTwoJoint()
{
string filePathProblem = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\ButtonPushing\B2\p.pddl";
string filePathDomain = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\ButtonPushing\B2\d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
// parameters
Constant currentAgent = new Constant("agent", "a1");
SingleAgentSDRPlanner saSDR = new SingleAgentSDRPlanner(d, p, SDRPlanner.Planners.FF);
PlanResult result = saSDR.Plan(currentAgent, null, null, null);
string s = PlanTreePrinter.Print(result.Plan);
Assert.IsNotNull(result.Plan);
}
public void RunPP_ButtonPushing_TestB2()
{
string main_path = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\ButtonPushing\B2\";
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(main_path + "plan_" + res.Key.Name + ".txt", plan);
}
Console.WriteLine("Done");
}
internal static bool RunProblem(string mainPath)
{
string filePathProblem = mainPath + "p.pddl";
string filePathDomain = mainPath + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(mainPath + "plan_" + res.Key.Name + ".txt", plan);
}
bool isValid = CheckMAPlan.IsValid2(d, p, result);
return(isValid);
}
private void RunTest(string ProblemPath)
{
string main_path = ProblemPath;
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "rover");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(main_path + "plan_" + res.Key.Name + ".txt", plan);
}
bool isValid = CheckMAPlan.IsValid(result);
Console.WriteLine("Is valid? " + isValid);
Console.WriteLine("Done");
}
public void RunPP_RescueOperation_TestRO1()
{
string main_path = Directory.GetParent(Directory.GetCurrentDirectory()).Parent.Parent.Parent.FullName + @"\PlanningProblems\RescueOperation\RO1\";
string filePathProblem = main_path + "p.pddl";
string filePathDomain = main_path + "d.pddl";
Domain d = Parser.ParseDomain(filePathDomain, "agent");
Problem p = Parser.ParseProblem(filePathProblem, d);
IterativeMAPlanner ma_planner = new IterativeMAPlanner(d, p, SDRPlanner.Planners.FF);
var result = ma_planner.Plan();
foreach (var res in result)
{
string plan = PlanTreePrinter.Print(res.Value.Plan);
File.WriteAllText(main_path + "plan_" + res.Key.Name + ".txt", plan);
}
bool isValid = CheckMAPlan.IsValid(result);
Console.WriteLine("Is valid? " + isValid);
Console.WriteLine("Done");
}
public void TestPrint2()
{
ConditionalPlanTreeNode cptn1 = new ConditionalPlanTreeNode();
Assert.AreEqual(PlanTreePrinter.Print(cptn1), "");
}
