public static IPlan ReadAndCompile(bool serializeIt, int whichProblem)
{
Parser.path = @"D:\documents\frostbow\boltfreezer\";
GroundActionFactory.Reset();
CacheMaps.Reset();
var pfreeze = ReadDomainAndProblem(serializeIt, whichProblem);
var decomps = ReadDecompositions();
var composite = AddCompositeOperator();
var CompositeMethods = new Dictionary <Composite, List <Decomposition> >();
CompositeMethods[composite] = decomps;
Composite.ComposeHTNs(2, CompositeMethods);
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
var initPlan = PlanSpacePlanner.CreateInitialPlan(pfreeze);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, initPlan.Goal.Predicates);
GroundActionFactory.DetectStatics(CacheMaps.CausalTupleMap, CacheMaps.ThreatTupleMap);
return(initPlan);
}
public static void RunProblem(string directory, string domainName, string domainDirectory, Domain domain, Problem problem, float cutoff, int HTN_level, Dictionary <Composite, List <Decomposition> > CompositeMethods)
{
// Reset Cached Items
GroundActionFactory.Reset();
CacheMaps.Reset();
var PF = new ProblemFreezer(domainName, domainDirectory, domain, problem);
PF.Serialize();
Console.WriteLine("Detecting Statics");
GroundActionFactory.DetectStatics();
var initPlan = PlanSpacePlanner.CreateInitialPlan(PF);
// Removing irrelevant actions
Console.WriteLine("Removing Irrelevant Actions");
var staticInitial = initPlan.Initial.Predicates.Where(state => GroundActionFactory.Statics.Contains(state));
// Every action that has No preconditions which are both static and not in staticInitial
var possibleActions = GroundActionFactory.GroundActions.Where(action => !action.Preconditions.Any(pre => GroundActionFactory.Statics.Contains(pre) && !staticInitial.Contains(pre)));
GroundActionFactory.GroundActions = possibleActions.ToList();
GroundActionFactory.GroundLibrary = possibleActions.ToDictionary(item => item.ID, item => item);
// Composing HTNs
Console.WriteLine("Composing HTNs");
Composite.ComposeHTNs(HTN_level, CompositeMethods);
// Caching Causal Maps
Console.WriteLine("Caching Causal Maps");
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, initPlan.Goal.Predicates);
// Cache Heuristic Costs (dynamic programming)
Console.WriteLine("Caching Heuristic Costs");
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
// Redo to gaurantee accuracy (needs refactoring)
initPlan = PlanSpacePlanner.CreateInitialPlan(PF);
var probNum = Int32.Parse(problem.Name);
Console.WriteLine(String.Format("Running Problem {0}", probNum));
RunPlanner(initPlan.Clone() as IPlan, new ADstar(false), new E0(new AddReuseHeuristic(), true), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E0(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E1(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E2(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(true), new E3(new AddReuseHeuristic()), cutoff, directory, probNum);
//RunPlanner(initPlan.Clone() as IPlan, new BFS(false), new Nada(new ZeroHeuristic()), cutoff, directory, probNum);
// RunPlanner(initPlan.Clone() as IPlan, new BFS(true), new Nada(new ZeroHeuristic()), cutoff, directory, probNum);
}
static void Main(string[] args)
{
Console.Write("hello world\n");
var cutoff = 100000f;
var k = 1;
// var testDomainName = "batman";
// var directory = Parser.GetTopDirectory() + @"/Results/" + testDomainName + @"/";
// System.IO.Directory.CreateDirectory(directory);
// var testDomainDirectory = Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl";
//var testDomain = Parser.GetDomain(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\domain.pddl", PlanType.PlanSpace);
//var testProblem = Parser.GetProblem(Parser.GetTopDirectory() + @"Benchmarks\" + testDomainName + @"\prob01.pddl");
Parser.path = @"D:\Documents\classical-domains\classical\hiking-sat14-strips\";
var testDomainName = "hiking -sat14-strips";
var directory = @"D:\Documents\classical-domains\classical\hiking-sat14-strips\Results\";
System.IO.Directory.CreateDirectory(directory);
var testDomainDirectory = @"D:\Documents\classical-domains\classical\hiking-sat14-strips\domain.pddl";
var testDomain = Parser.GetDomain(testDomainDirectory, PlanType.PlanSpace);
var testProblem = Parser.GetProblem(@"D:\Documents\classical-domains\classical\hiking-sat14-strips\ptesting-1-2-7.pddl");
Console.WriteLine("Creating Ground Operators");
GroundActionFactory.Reset();
GroundActionFactory.PopulateGroundActions(testDomain, testProblem);
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, testProblem.Goal);
var iniTstate = new State(testProblem.Initial) as IState;
CacheMaps.CacheAddReuseHeuristic(iniTstate);
// var problemFreezer = new ProblemFreezer(testDomainName, testDomainDirectory, testDomain, testProblem);
//problemFreezer.Serialize();
//problemFreezer.Deserialize();
var initPlan = PlanSpacePlanner.CreateInitialPlan(testProblem);
RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E0(new AddReuseHeuristic()), k, cutoff, directory, 1);
//initPlan = PlanSpacePlanner.CreateInitialPlan(testProblem);
//RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E0(new NumOpenConditionsHeuristic()), k, cutoff, directory, 1);
//RunPlanner(initPlan.Clone() as IPlan, new DFS(), new Nada(new ZeroHeuristic()), k, cutoff, directory, 1);
//RunPlanner(initPlan.Clone() as IPlan, new BFS(), new Nada(new ZeroHeuristic()), k, cutoff, directory, 1);
}
public static IPlan ReadAndCompile(bool serializeIt, int whichProblem)
{
Parser.path = @"D:\documents\frostbow\boltfreezer\";
GroundActionFactory.Reset();
CacheMaps.Reset();
// Reads Domain and problem, also populates ground actions and caches causal maps
var pfreeze = ReadDomainAndProblem(serializeIt, whichProblem);
// Detecting static conditions
Console.WriteLine("Detecting Statics");
GroundActionFactory.DetectStatics();
var initPlan = PlanSpacePlanner.CreateInitialPlan(pfreeze);
// Removing irrelevant actions
Console.WriteLine("Removing Irrelevant Actions");
var staticInitial = initPlan.Initial.Predicates.Where(state => GroundActionFactory.Statics.Contains(state));
// Every action that has No preconditions which are both static and not in staticInitial
var possibleActions = GroundActionFactory.GroundActions.Where(action => !action.Preconditions.Any(pre => GroundActionFactory.Statics.Contains(pre) && !staticInitial.Contains(pre)));
GroundActionFactory.GroundActions = possibleActions.ToList();
GroundActionFactory.GroundLibrary = possibleActions.ToDictionary(item => item.ID, item => item);
var CompositeMethods = ReadCompositeOperators();
// Composing HTNs
Console.WriteLine("Composing HTNs");
Composite.ComposeHTNs(2, CompositeMethods);
// Caching Causal Maps
Console.WriteLine("Caching Causal Maps");
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, initPlan.Goal.Predicates);
CacheMaps.CacheAddReuseHeuristic(initPlan.Initial);
initPlan = PlanSpacePlanner.CreateInitialPlan(pfreeze);
return(initPlan);
}
public static IPlan ReadAndCompile(bool serializeIt, int whichProblem)
{
Parser.path = @"D:\documents\frostbow\boltfreezer\";
GroundActionFactory.Reset();
CacheMaps.Reset();
Tuple <Domain, Problem> problemSpec = JustReadDomainAndProblem(whichProblem);
var domain = problemSpec.First;
var problem = problemSpec.Second;
GroundActionFactory.PopulateGroundActions(domain, problem);
GroundActionFactory.DetectStatics();
var subsetOfOps = RemoveIrrelevantActions(new State(problem.Initial));
GroundActionFactory.Reset();
GroundActionFactory.GroundActions = subsetOfOps;
GroundActionFactory.GroundLibrary = subsetOfOps.ToDictionary(item => item.ID, item => item);
RemoveStaticPreconditions(GroundActionFactory.GroundActions);
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, problem.Goal);
CacheMaps.CacheAddReuseHeuristic(new State(problem.Initial));
var decomps = ReadDecompositions();
var composite = AddCompositeOperator();
var CompositeMethods = new Dictionary <Composite, List <Decomposition> >();
CompositeMethods[composite] = decomps;
Composite.ComposeHTNs(2, CompositeMethods);
// Cache links, now not bothering with statics
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, problem.Goal);
CacheMaps.PrimaryEffectHack(new State(problem.Initial) as IState);
var initPlan = PlanSpacePlanner.CreateInitialPlan(problem);
return(initPlan);
}
static void Main(string[] args)
{
Console.Write("hello world\n");
///////////////////////
//// Set path variables
///////////////////////
Parser.path = @"D:\Documents\Frostbow\VHPOP-PlayTrace\Benchmarks\Rogelio_POCL_compilation";
// Where the Results will be inserted
var directory = Parser.path + @"\Results";
System.IO.Directory.CreateDirectory(directory);
// Where the ground operator instances will be cached
var problemFreezeDirectory = Parser.path + @"\Cached\";
System.IO.Directory.CreateDirectory(problemFreezeDirectory);
// Where to read the domain and problem
var domainDirectory = Parser.path + @"\domain.pddl";
var problemDirectory = Parser.path + @"\prob01.pddl";
// Where to read the player trace
var playerTraceDirectory = Parser.path + @"\chronology_arthur156.pddl";
/////////////////////
//// Read Domain ////
/////////////////////
var domain = Parser.GetDomain(domainDirectory, PlanType.PlanSpace);
var problem = Parser.GetProblem(problemDirectory);
// Create Operators
Console.WriteLine("Creating Ground Operators");
GroundActionFactory.Reset();
/*
* For compiling the player trace, we only need just those ground instances of steps that appear in the trace
* Whereas typically one can follow the following code to Serialize and Deserialize all ground action instances as follows...
*
* /*
*
* // To Serialize: it's a large problem, so we only want to read this once.
* ProblemFreezer.Serialize(domain, problem, problemFreezeDirectory);
*
* //// To Deserialize, if we're already read it and serialized
* ////ProblemFreezer.Deserialize(problemFreezeDirectory);
*
* //// If you want to avoid serialization/deserialization, you've got to do this every time.
* ////GroundActionFactory.PopulateGroundActions(domain, problem);
* /*
*
* Here instead we read the player trace and compile just those action instances that appear. Note then that this removes the functionality of considering "what-if" actions
*/
//////////////////////////////////////////////////////
//// Read Player trace ///////////////////////////////
//////////////////////////////////////////////////////
// Needs to be set manually because we aren't running standard "Populate" method
GroundActionFactory.CreateTypeDict(domain, problem);
// playerTraceDirectory
var PlanStepList = PlayerTraceUtilities.ReadPlayerTrace(playerTraceDirectory, domain, problem);
// Remove those that aren't any good
PlanStepList = PlayerTraceUtilities.RemoveUseless(PlanStepList);
// Find Quests completed to create goal conditions.
var goals = PlayerTraceUtilities.CreateGoalDisjunctions(problem.Initial, PlanStepList);
problem.Goal = goals;
/////////////////////////////////////////////////////////////////////////////////
// Create Causal Maps (using just those gorund actions found in the plan trace
/////////////////////////////////////////////////////////////////////////////////
CacheMaps.Reset();
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, problem.Goal);
//////////////////////////////////////////////////////
// Create Initial State ///////////////////////////
//////////////////////////////////////////////////////
var iniTstate = new State(problem.Initial) as IState;
// Use Initial State to Cache effort values VHPOP style
CacheMaps.CacheAddReuseHeuristic(iniTstate);
//////////////////////////////////////////////////////
// Create Initial Plan///////////////////////////
//////////////////////////////////////////////////////
// Need to modify goal state
var initPlan = PlanSpacePlanner.CreateInitialPlan(problem);
var lastInsertedStep = initPlan.InitialStep;
foreach (var step in PlanStepList)
{
initPlan.Insert(step);
initPlan.Orderings.Insert(lastInsertedStep, step);
lastInsertedStep = step;
}
////////////////////////////////////////////////
//// Run Planner ///////////////////////////////
////////////////////////////////////////////////
// Time limit in milliseconds for search
var cutoff = 6000000f;
// Number of plans to return
var k = 1;
// Static method called
RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E0(new AddReuseHeuristic()), k, cutoff, directory, 1);
/*
* ************************************************************
* *************** Other ways to run the planner **************
* ************************************************************
* RunPlanner(initPlan.Clone() as IPlan, new ADstar(), new E0(new NumOpenConditionsHeuristic()), k, cutoff, directory, 1);
* RunPlanner(initPlan.Clone() as IPlan, new DFS(), new Nada(new ZeroHeuristic()), k, cutoff, directory, 1);
* RunPlanner(initPlan.Clone() as IPlan, new BFS(), new Nada(new ZeroHeuristic()), k, cutoff, directory, 1);
*/
}
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);
}