public void TestMethod1()
{
string sBenchmarkPath = "Boxes";
string sDomain = "boxes5";
string sBenchmark = "boxes5_Benchmark";
BoxDomain bd = new BoxDomain("\\" + sBenchmarkPath + "\\" + sDomain + ".txt");
string sPath = sBenchmarkPath + sBenchmark + "\\";
bd.WriteDomain(sPath);
bd.WriteProblem(sPath);
Parser parser = new Parser();
Domain domain = parser.ParseDomain(sPath + "d.pddl");
Problem problem = parser.ParseProblem(sPath + "p.pddl", domain);
SDRPlanner sdr = new SDRPlanner(sPath, domain, problem);
//SDRPlanner.TagsCount = 2;
//Domain.MAX_OPTIONS = 2;
//BeliefState.AddAllKnownToGiven = true;
//TestCLG(sBenchmarkPath + sBenchmark + "\\", 10);
//SDRPlanner.SDR_OBS = false;
//SDRPlanner.AddTagRefutationToGoal = true;
//IMAP.Program.TestBenchmark(sBenchmarkPath, sBenchmark, 25, true, false);
//TestBenchmark(sBenchmarkPath, sBenchmark, 25, true, false);
//SDR_OBS = true;
//TestBenchmark(sBenchmarkPath, sBenchmark, 25, true, false);
sdr.Start();
}
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);
}
void TestBenchmark(string sBenchmarkPath, string sBenchmark, int cTrials, bool bWriteResults)
{
StringWriter sw = new StringWriter();
List<double> lTime = new List<double>();
List<double> lActions = new List<double>();
List<double> lPlanning = new List<double>();
List<double> lObservations = new List<double>();
int cFailure = 0;
try
{
string sPath = sBenchmarkPath + sBenchmark + @"\";
Parser parser = new Parser();
Domain domain = parser.ParseDomain(sPath + "d.pddl");
Debug.WriteLine("Reading domain and problem");
Problem problem = parser.ParseProblem(sPath + "p.pddl", domain);
//domain.Actions = domain.GroundAllActions(problem);
Debug.WriteLine("Done reading domain and problem");
DateTime dtStart = DateTime.Now;
//domain.WriteKnowledgeDomain(sPath + "Kd.pddl", problem);
DateTime dtEnd = DateTime.Now;
//Debug.WriteLine("Done writing knowledge translation. Time = " + (dtEnd - dtStart).TotalSeconds);
//sw.WriteLine();
sw.Write(sBenchmark + "\t" + DateTime.Now + "\t" +
(dtEnd - dtStart).TotalSeconds + "\t" + SDRPlanner.TagsCount);
for (int i = 0; i < cTrials; i++)
{
//int cActions = 0, cPlanning = 0;
//TimeSpan tsTime;
//OnlineReplanning(sPath, domain, problem, out cActions, out cPlanning, out tsTime);
//WriteKnowledgeDomain(domain, problem, i);
//continue;
DateTime dtStartTask = DateTime.Now;
SDRPlanner sdr = new SDRPlanner(sPath, domain, problem);
Thread t = new Thread(sdr.Start);
t.Name = "OfflinePlanningData " + domain.Name;
t.Start();
bool bFailed = false;
if (!t.Join(new TimeSpan(0, MaxTimePerProblem, 0)))
//t.Join();
{
//if (!t.Join(100))
t.Abort();
t.Join();
cFailure++;
bFailed = true;
}
sdr.TerminateFFPRocesses(t);
SDRPlanner.ExecutionData data = sdr.Data;
if (data.Failure)
{
cFailure++;
bFailed = true;
}
else
{
lActions.Add(data.Actions);
lPlanning.Add(data.Planning);
lTime.Add(data.Time.TotalSeconds);
lObservations.Add(data.Observations);
}
sw.Write(i + ": " + data.Actions + "\t" + data.Planning + "\t" + data.Time.TotalSeconds);
Console.WriteLine(sBenchmark + ", " + i + "/" + cTrials + ", " + Math.Round((DateTime.Now - dtStartTask).TotalMinutes) + ", failed? " + bFailed);
}
}
catch (Exception e)
{
//sw.Write(e.Message);
Console.WriteLine(e);
}
if (bWriteResults)
{
m_mWriteToFile.WaitOne();
StreamWriter swFile = new StreamWriter(sBenchmarkPath + ResultsFile, true);
//swFile.Write(sw.ToString());
swFile.Write(sBenchmark + "\t" + SDRPlanner.TagsCount);
swFile.Close();
WriteResultsToFile(sBenchmarkPath + ResultsFile, lActions);
WriteResultsToFile(sBenchmarkPath + ResultsFile, lPlanning);
WriteResultsToFile(sBenchmarkPath + ResultsFile, lObservations);
WriteResultsToFile(sBenchmarkPath + ResultsFile, lTime);
swFile = new StreamWriter(sBenchmarkPath + ResultsFile, true);
swFile.WriteLine("\t" + cFailure);
swFile.Close();
m_mWriteToFile.ReleaseMutex();
}
}