public List <VertexHsp> Expand(VertexHsp v, HashSet <CompoundFormula> levelPotential, List <VertexHsp> needUpDate)
{
List <VertexHsp> lExpanded = new List <VertexHsp>();
foreach (Agent agent in agents)
{
foreach (Action act in agent.publicActions)
{
//if (act.Name.Contains("p1_black"))
// Console.WriteLine("*");
Program.messages += agents.Count;
VertexHsp newVertexHsp = v.OnlyApply(act);
if (newVertexHsp != null)
{
lExpanded.Add(newVertexHsp);
CompoundFormula effect = new CompoundFormula("and");
foreach (GroundedPredicate gp in act.HashEffects)
{
if (agent.PublicPredicates.Contains(gp))
{
effect.AddOperand(gp);
}
}
levelPotential.Add(effect);
// needUpDate.Add(newVertexHsp);
}
}
}
return(lExpanded);
}
public PlanerHspAndLandmarks(List <Agent> m_agents)
{
// d = m_d;
// p = m_p;
agents = m_agents;
publicActions = new List <Action>();
foreach (Agent agent in agents)
{
publicActions.AddRange(agent.publicActions);
agent.initPlaner();
}
countOfLandmarks = agents[0].publicRelevantLandmark.Count;
VertexHsp.initVertxClass(agents);
//countOfLandmarks = (countOfLandmarks / agents.Count) * 2;
}
public VertexHsp FindMinHsp(List <VertexHsp> lvertxs)
{
int index = 0;
int counter = 0;
VertexHsp min = lvertxs.ElementAt(0);
foreach (VertexHsp v in lvertxs)
{
if (VertexHsp.HspComparer(min, v) == 1)
{
min = v;
index = counter;
}
counter++;
}
var ans = lvertxs.ElementAt(index);
lvertxs.RemoveAt(index);
return(ans);
}
// public static int counter=0;
public List <string> Plan()
{
bool bAllAgentsEqual = CheckAgentEquality();
int i = 200;
int[] statesNum = new int[agents.Count];
for (int k = 0; k < statesNum.Length; k++)
{
statesNum[k] = 0;
}
VertexHsp rootVertexHsp = new VertexHsp(statesNum, new List <Action>(), 0, countOfLandmarks, 0, 0, null);
rootVertexHsp.h = rootVertexHsp.ComputeFF_h(new bool[countOfLandmarks]);
rootVertexHsp.ComputePreferActions();
int count = 0;
VertexHsp curentVertex = null;
DateTime dtStart = DateTime.Now;
DateTime begin = DateTime.Now;
int queue1PriorityCounter = 0;
int queue2PriorityCounter = 0;
List <VertexHsp> queue = new List <VertexHsp>();
List <VertexHsp> queue2 = new List <VertexHsp>();
// List<VertexHsp> queue2 = new List<VertexHsp>();
bool first = true;
bool first2 = true;
HashSet <int[]> lVisited = new HashSet <int[]>(new ComparerArray());
HashSet <VertexHsp> lVisited2 = new HashSet <VertexHsp>();
queue.Add(rootVertexHsp);
// lVisited.Add(rootVertexHsp.statesNubmber);
// lVisited2.Add(rootVertexHsp);
int temp = 0;
List <string> lplan = null;
bool flag = true;
double minLandmark_h = countOfLandmarks;
double minHsp_h = rootVertexHsp.h;
int c = 0;
int cResets = 0;
double minh = 1000;
int blindCounter = 0;
TimeSpan tsDeadendDetection = new TimeSpan();
try
{
while (queue.Count > 0 || queue2.Count > 0)
{
c++;
if (c % 30 == 0 && curentVertex != null)
{
Console.Write("\rExpanded: " + c + ", open: " + queue.Count +
", h: " + curentVertex.h + ", h2: " + curentVertex.h2 + ", T: " + (int)(DateTime.Now - dtStart).TotalSeconds
+ ", deadend = " + (int)tsDeadendDetection.TotalSeconds);
if (queue.Count > 2000000)
{
return(null);
}
}
flag = true;
temp++;
if (queue.Count > 0 && (queue1PriorityCounter > queue2PriorityCounter || queue2.Count == 0))
{
if (first)
{
first = false;
curentVertex = FindMinLandmarks(queue);
}
else
{
first = true;
curentVertex = FindMinHsp(queue);
queue1PriorityCounter--;
}
curentVertex = curentVertex.Calculate_h();
}
else
{
if (first2)
{
first2 = false;
curentVertex = FindMinLandmarks(queue2);
}
else
{
first2 = true;
curentVertex = FindMinHsp(queue2);
queue2PriorityCounter--;
}
curentVertex = curentVertex.Calculate_h();
if (curentVertex != null && (curentVertex.h2 < minLandmark_h || curentVertex.h < minHsp_h))
{
queue2PriorityCounter += 1000;
}
}
if (curentVertex == null)
{
continue;
}
// counter++;
// Console.WriteLine(counter);
bool bVisited = false;
if (bAllAgentsEqual)
{
bVisited = lVisited2.Contains(curentVertex);
}
else
{
bVisited = lVisited.Contains(curentVertex.statesNubmber);
}
if (bVisited)
{
continue;
}
if (bAllAgentsEqual)
{
lVisited2.Add(curentVertex);
}
else
{
lVisited.Add(curentVertex.statesNubmber);
}
if (curentVertex.h2 < minLandmark_h)
{
minLandmark_h = curentVertex.h2;
}
if (curentVertex.h < minHsp_h)
{
minHsp_h = curentVertex.h;
}
// DateTime dtBefore = DateTime.Now;
//tsDeadendDetection += (DateTime.Now - dtBefore);
count++;
blindCounter++;
int f = 0;
List <VertexHsp> needUpDate = new List <VertexHsp>();
HashSet <CompoundFormula> levelPotential = new HashSet <CompoundFormula>();
int index = 1;
bool con = false;
Program.StateExpendCounter++;
List <VertexHsp> lExpanded = Expand(curentVertex, levelPotential, needUpDate);
/*if (lExpanded.Count == 0)
* {
* curentVertex.onlyPrefered = false;
* lExpanded = Expand(curentVertex, levelPotential, needUpDate);
* }*/
foreach (VertexHsp newVertexHsp in lExpanded)
{
f++;
newVertexHsp.g += (double)index / 1000000;
//bool bVisited = false;
/* if(bAllAgentsEqual)
* bVisited = lVisited2.Contains(newVertexHsp);
* else
* bVisited = lVisited.Contains(newVertexHsp.statesNubmber);
*/
// if (!bVisited)
{
if (newVertexHsp.isPrefered)
{
queue2.Add(newVertexHsp);
}
else
{
queue.Add(newVertexHsp);
}
// queue2.Add(newVertexHsp);
// lVisited.Add(newVertexHsp.statesNubmber);
//lVisited2.Add(newVertexHsp);
}
index++;
/*if (minh > newVertexHsp.h)
* {
* minh = newVertexHsp.h;
*
* }*/
/*if (VertexHsp.Comparer(newVertexHsp, curentVertex) == -1 && !con)
* {
* blindCounter = 0;
* }*/
}
curentVertex.canGetInParallel = levelPotential;
if (curentVertex.h == 0 || curentVertex.h2 == 0)
{
curentVertex.publicPredicateImplications = new List <HashSet <CompoundFormula> >();
VertexHsp tmp = curentVertex;
while (tmp != null)
{
curentVertex.publicPredicateImplications.Insert(0, tmp.canGetInParallel);
tmp = tmp.Parent;
}
string isGoal = curentVertex.IsGoal(out lplan);
if (isGoal.Equals("true"))
{
double time = ((double)((DateTime.Now.Subtract(begin)).Minutes)) * 60.0;
time += ((double)((DateTime.Now.Subtract(begin)).Seconds));
time += ((double)((DateTime.Now.Subtract(begin)).Milliseconds) / 1000);
Program.times.Add(time);
Program.countActions.Add(lplan.Count);
Program.timeSum += time;
Program.actionSum += lplan.Count;
return(lplan);
}
if (!isGoal.Equals("false"))
{
}
}
}
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
return(null);
}
return(null);
}
public List <string> Plan()
{
bool bAllAgentsEqual = CheckAgentEquality();
int i = 200;
int[] statesNum = new int[agents.Count];
for (int k = 0; k < statesNum.Length; k++)
{
statesNum[k] = 0;
}
VertexHsp rootVertexHsp = new VertexHsp(statesNum, new List <Action>(), 0, countOfLandmarks, 0, 0, null);
rootVertexHsp.h = rootVertexHsp.ComputeFF_h(new bool[countOfLandmarks]);
rootVertexHsp.ComputePreferActions();
int count = 0;
VertexHsp curentVertexHsp = null;
DateTime dtStart = DateTime.Now;
DateTime begin = DateTime.Now;
List <VertexHsp> queue = new List <VertexHsp>();
HashSet <int[]> lVisited = new HashSet <int[]>(new ComparerArray());
HashSet <VertexHsp> lVisited2 = new HashSet <VertexHsp>();
queue.Add(rootVertexHsp);
lVisited.Add(rootVertexHsp.statesNubmber);
lVisited2.Add(rootVertexHsp);
int temp = 0;
List <string> lplan = null;
bool flag = true;
int c = 0;
int cResets = 0;
double minh = 1000;
int blindCounter = 0;
TimeSpan tsDeadendDetection = new TimeSpan();
while (queue.Count > 0)
{
c++;
if (c % 30 == 0)
{
Console.Write("\rExpanded: " + c + ", open: " + queue.Count +
", h: " + curentVertexHsp.h + ", h2: " + curentVertexHsp.h2 + ", T: " + (int)(DateTime.Now - dtStart).TotalSeconds
+ ", deadend = " + (int)tsDeadendDetection.TotalSeconds);
if (queue.Count > 200000)
{
return(null);
}
}
flag = true;
temp++;
curentVertexHsp = FindMin(queue);
DateTime dtBefore = DateTime.Now;
tsDeadendDetection += (DateTime.Now - dtBefore);
count++;
blindCounter++;
int f = 0;
List <VertexHsp> needUpDate = new List <VertexHsp>();
HashSet <CompoundFormula> levelPotential = new HashSet <CompoundFormula>();
int index = 1;
bool con = false;
List <VertexHsp> lExpanded = Expand(curentVertexHsp, levelPotential, needUpDate);
foreach (VertexHsp newVertexHsp in lExpanded)
{
f++;
newVertexHsp.g += (double)index / 1000000;
bool bVisited = false;
if (bAllAgentsEqual)
{
bVisited = lVisited2.Contains(newVertexHsp);
}
else
{
bVisited = lVisited.Contains(newVertexHsp.statesNubmber);
}
if (!bVisited)
{
queue.Add(newVertexHsp);
lVisited.Add(newVertexHsp.statesNubmber);
lVisited2.Add(newVertexHsp);
}
index++;
if (minh > newVertexHsp.h)
{
minh = newVertexHsp.h;
}
/*if (VertexHsp.Comparer(newVertexHsp, curentVertexHsp) == -1 && !con)
* {
* blindCounter = 0;
* }*/
}
curentVertexHsp.canGetInParallel = levelPotential;
if (curentVertexHsp.h == 0)
{
curentVertexHsp.publicPredicateImplications = new List <HashSet <CompoundFormula> >();
VertexHsp tmp = curentVertexHsp;
while (tmp != null)
{
curentVertexHsp.publicPredicateImplications.Insert(0, tmp.canGetInParallel);
tmp = tmp.Parent;
}
string isGoal = curentVertexHsp.IsGoal(out lplan);
if (isGoal.Equals("true"))
{
double time = ((double)((DateTime.Now.Subtract(begin)).Minutes)) * 60.0;
time += ((double)((DateTime.Now.Subtract(begin)).Seconds));
time += ((double)((DateTime.Now.Subtract(begin)).Milliseconds) / 1000);
Program.times.Add(time);
Program.countActions.Add(lplan.Count);
Program.timeSum += time;
Program.actionSum += lplan.Count;
return(lplan);
}
if (!isGoal.Equals("false"))
{
}
}
}
return(null);
}
