public List <string> FDPlan(Domain d, Problem p, State curentState, Formula goal, List <Action> privateActions, int cMaxMilliseconds, out bool bUnsolvable)
{
RunUtils.KillPlanners();
List <string> ffLplan = new List <string>();
List <string> lPlan = new List <string>();
File.Delete("plan.txt");
File.Delete("sas_plan");
if (privateActions != null)
{
d.Actions = privateActions;
}
if (goal != null)
{
p.Goal = goal;
}
MemoryStream msDomain = d.WriteSimpleDomain();
MemoryStream problem_M_S = p.WriteSimpleProblem(curentState);
//for now, saving files in the working directory
StreamWriter swDomainFile = new StreamWriter("dFD.pddl");
StreamReader srDomain = new StreamReader(msDomain);
swDomainFile.Write(srDomain.ReadToEnd());
swDomainFile.Close();
StreamWriter swProblemFile = new StreamWriter("pFD.pddl");
StreamReader srProblem = new StreamReader(problem_M_S);
swProblemFile.Write(srProblem.ReadToEnd());
swProblemFile.Close();
problem_M_S.Position = 0;
msDomain.Position = 0;
bUnsolvable = false;
if (RunFD("./", cMaxMilliseconds))
{
return(ReadPlan("./"));
}
return(null);
}
public static List <string> PdbFFPlan(Domain d, Problem p, State curentState, Formula goal, List <Action> privateActions, int cMaxMilliseconds, out bool bUnsolvable)
{
Program.KillPlanners();
List <string> ffLplan = new List <string>();
List <string> lPlan = new List <string>();
if (privateActions != null)
{
d.Actions = privateActions;
}
if (goal != null)
{
p.Goal = goal;
}
MemoryStream msDomain = d.WriteSimpleDomain();
MemoryStream problem_M_S = p.WriteSimpleProblem(curentState);
//StreamWriter swDomainFile = new StreamWriter(@"D:\Dropbox-users\shanigu\Dropbox\Dropbox\privacyPreserving\Competition\all\factored\testd.pddl");
// StreamReader srDomain = new StreamReader(msDomain);
// swDomainFile.Write(srDomain.ReadToEnd());
// swDomainFile.Close();
// StreamWriter swProblemFile = new StreamWriter(@"D:\Dropbox-users\shanigu\Dropbox\Dropbox\privacyPreserving\Competition\all\factored\testp.pddl");
// StreamReader srProblem = new StreamReader(problem_M_S);
// swProblemFile.Write(srProblem.ReadToEnd());
// swProblemFile.Close();
problem_M_S.Position = 0;
msDomain.Position = 0;
Process planer = new Process();
//planer.StartInfo.WorkingDirectory = @"C:\project\Planning 2 new\PDDLTEST\temp";
planer.StartInfo.FileName = "ff.exe";
//planer.StartInfo.Arguments += "-o dT.pddl -f pT.pddl";
FFOutput = "";
planer.StartInfo.UseShellExecute = false;
planer.StartInfo.RedirectStandardInput = true;
planer.StartInfo.RedirectStandardOutput = true;
planer.OutputDataReceived += new DataReceivedEventHandler(FFOutputHandler);
planer.Start();
planer.BeginOutputReadLine();
StreamReader srOps = new StreamReader(msDomain);
string domain = srOps.ReadToEnd();
planer.StandardInput.Write(domain);
srOps.Close();
BinaryWriter b = new BinaryWriter(planer.StandardInput.BaseStream);
b.Write('\0');
StreamReader srFct = new StreamReader(problem_M_S);
string problem = srFct.ReadToEnd();
planer.StandardInput.Write(problem);
srFct.Close();
b.Write('\0');
//planer.StandardInput.Flush();
planer.StandardInput.Close();
if (cMaxMilliseconds != -1)
{
if (!planer.WaitForExit(cMaxMilliseconds))//2 minutes max
{
planer.Kill();
bUnsolvable = false;
return(null);
}
}
else
{
planer.WaitForExit();
}
planer.Close();
//string sOutput = planer.StandardOutput.ReadToEnd();
Thread.Sleep(50);
string sOutput = FFOutput;
//throw new NotImplementedException();
//Console.WriteLine(sOutput);
MemoryStream planMs = new MemoryStream();
if (sOutput.Contains("found legal plan as follows"))
{
string sPlan = sOutput.Substring(sOutput.IndexOf("found legal plan as follows"));
sPlan = sPlan.Replace("found legal plan as follows", "").Trim();
string[] asPlan = sPlan.Split('\n');
string sFinalPlan = "";
for (int i = 0; i < asPlan.Length; i++)
{
if (!asPlan[i].Contains(":"))
{
break;
}
if (asPlan[i].Contains("time spent:"))
{
break;
}
sFinalPlan += asPlan[i].Substring(asPlan[i].IndexOf(':') + 2).Trim() + "\n";
}
StreamWriter sw = new StreamWriter(planMs);
sw.WriteLine(sFinalPlan);
sw.Close();
bUnsolvable = false;
}
else
{
if (sOutput.Contains("goal can be simplified to TRUE"))
{
ffLplan = new List <string>();
bUnsolvable = false;
return(ffLplan);
}
else if (sOutput.Contains("goal can be simplified to FALSE"))
{
ffLplan = null;
bUnsolvable = true;
return(null);
}
else
{
ffLplan = null;
bUnsolvable = false;
return(null);
}
}
lPlan = ReadPlan(new MemoryStream(planMs.ToArray()));
ffLplan = lPlan;
return(lPlan);
}
public List <string> Plan(string agent, bool bUseFF, bool bUseFD, Domain d, Problem p, State curentState, Formula goal, List <Action> privateActions, int cMaxMilliseconds, out bool bUnsolvable)
{
//Program.KillPlanners();
List <string> lPlan = null;
if (privateActions != null)
{
d.Actions = privateActions;
}
if (goal != null)
{
p.Goal = goal;
}
string sFDPath = @"C:\cygwin\home\shlomi\FastDownward\src\";
Process pFF = null, pFD = null;
if (bUseFF)
{
pFF = RunFF(d.WriteSimpleDomain(), p.WriteSimpleProblem(curentState));
}
if (bUseFD)
{
pFD = RunFD(agent, sFDPath, d.WriteSimpleDomain(), p.WriteSimpleProblem(curentState));
}
bUnsolvable = false;
bool bFFDone = false, bFDDone = false;
Process[] process;
if (bUseFF && !bUseFD)
{
process = new Process[] { pFF }
}
;
else
if (!bUseFF && bUseFD)
{
process = new Process[] { pFD }
}
;
else
{
process = new Process[] { pFF, pFD }
};
if (WaitForProcesses(process, cMaxMilliseconds, out bFFDone, out bFDDone))
{
if (bFFDone)
{
// Console.WriteLine("Plan found by FF");
Thread.Sleep(200);
lPlan = ReadFFPlan(process[0].Id, out bUnsolvable);
KillAll(process.ToList());
}
else if (bFDDone)
{
Console.WriteLine("Plan found by FD");
Thread.Sleep(100);
lPlan = ReadPlan(@"C:\cygwin\home\shlomi\");
KillAll(process.ToList());
}
return(lPlan);
}
return(null);
}
