public static ProblemInstance ImportFromScenFile(string fileName)
{
string fileNameWithoutExtension = Path.GetFileNameWithoutExtension(fileName);
int instanceId = int.Parse(fileNameWithoutExtension.Split('-').Last());
//string scen_type = "";
string mapfileName = "";
int scen_type_seperator_index = 0;
if (fileNameWithoutExtension.Split('-')[0].Contains("empty")) //empty map
{
scen_type_seperator_index = 2;
}
else if (fileNameWithoutExtension.Split('-')[0].Contains("maze") || fileNameWithoutExtension.Split('-')[0].Contains("random") ||
fileNameWithoutExtension.Split('-')[0].Contains("room"))
{
scen_type_seperator_index = 3;
}
else if (fileNameWithoutExtension.Split('-')[0].Contains("warehouse"))
{
scen_type_seperator_index = 5;
}
mapfileName = fileNameWithoutExtension.Substring(0, length: IndexOfNth(fileNameWithoutExtension, "-", scen_type_seperator_index));
Console.WriteLine(mapfileName);
string mapFilePath = Path.Combine(Path.GetDirectoryName(fileName), @"..", @"..", "maps", mapfileName + ".map");
Console.WriteLine("map file path {0} {1}", Path.GetDirectoryName(fileName), mapFilePath);
bool[][] grid;
string line;
string[] lineParts;
int maxX;
int maxY;
using (TextReader input = new StreamReader(mapFilePath))
{
// Read grid dimensions
line = input.ReadLine();
Debug.Assert(line.StartsWith("type octile"));
line = input.ReadLine();
lineParts = line.Split(' ');
Trace.Assert(lineParts.Length == 2);
//Trace.Assert(lineParts[0].Equals("height"));
maxY = int.Parse(lineParts[1]); // The height is the number of rows
line = input.ReadLine();
lineParts = line.Split(' ');
Trace.Assert(lineParts.Length == 2);
//Trace.Assert(lineParts[0].Equals("width"));
maxX = int.Parse(lineParts[1]); // The width is the number of columns
grid = new bool[maxY][];
line = input.ReadLine();
Trace.Assert(line.StartsWith("map"));
char cell;
// Read grid
for (int i = 0; i < maxY; i++)
{
grid[i] = new bool[maxX];
line = input.ReadLine();
for (int j = 0; j < maxX; j++)
{
cell = line[j];
if (cell == '@' || cell == 'O' || cell == 'T' || cell == 'W' /* Water isn't traversable from land */)
{
grid[i][j] = true;
}
else
{
grid[i][j] = false;
}
}
}
}
List <AgentState> stateList = new List <AgentState>();
Run runner = new Run();
Console.WriteLine("Starting scen file {0}", fileName);
var rnd = new Random();
var filename_without_extension = fileName.Substring(0, fileName.IndexOf(".scen"));
var agents_fileName = filename_without_extension + ".agents";
var plan_fileName = filename_without_extension + ".plans";
//if (File.Exists(agents_fileName))
// File.Delete(agents_fileName);
using (TextReader input = new StreamReader(fileName))
{
// Read the format version number
line = input.ReadLine();
lineParts = line.Split(' ');
Debug.Assert(lineParts[0].Equals("version"));
int version = int.Parse(lineParts[1]);
Debug.Assert(version == 1, "Only version 1 is currently supported");
// Read the agents' start and goal states
AgentState state;
Agent agent;
int agentNum = 0;
int block;
int goalX;
int goalY;
int startX;
int startY;
string mapFileName;
int mapRows;
int mapCols;
double optimalCost; // Assuming diagonal moves are allowed and cost sqrt(2)
List <string> lines = new List <string>();
ProblemInstance instance = new ProblemInstance();
while (true)
{
line = input.ReadLine();
if (string.IsNullOrWhiteSpace(line))
{
break;
}
lines.Add(line);
}
Console.WriteLine("Found {0} agents", lines.Count);
for (int i = 2; i < lines.Count + 1; i++)
{
agentNum = 0;
if (i > 1000)
{
break;
}
stateList = new List <AgentState>();
//var rand_lines = lines.AsEnumerable().OrderBy(n => Guid.NewGuid()).Take(i).Cast<String>().ToList();
var rand_lines = lines.Take(i);
if (File.Exists(agents_fileName))
{
bool already_executed = File.ReadLines(agents_fileName)
.Any(curr_line => curr_line.Contains("NumAgents: " + i));
if (already_executed)
{
Console.WriteLine("Skipping already solved problem with {0} agents", i);
continue;
}
}
var agents_writer = new StreamWriter(agents_fileName, true);
agents_writer.WriteLine("NumAgents: {0}", i);
foreach (String rand_line in rand_lines)
{
lineParts = rand_line.Split('\t');
block = int.Parse(lineParts[0]);
mapFileName = lineParts[1];
mapRows = int.Parse(lineParts[2]);
Debug.Assert(mapRows == maxX);
mapCols = int.Parse(lineParts[3]);
Debug.Assert(mapCols == maxY);
startY = int.Parse(lineParts[4]);
startX = int.Parse(lineParts[5]);
goalY = int.Parse(lineParts[6]);
goalX = int.Parse(lineParts[7]);
optimalCost = double.Parse(lineParts[8]);
agent = new Agent(goalX, goalY, agentNum);
state = new AgentState(startX, startY, agent);
stateList.Add(state);
agents_writer.WriteLine("{0},{1},{2},{3}", startX, startY, goalX, goalY);
agentNum++;
}
agents_writer.Close();
bool resultsFileExisted = File.Exists(Program.RESULTS_FILE_NAME);
runner.OpenResultsFile(Program.RESULTS_FILE_NAME);
if (resultsFileExisted == false)
{
runner.PrintResultsFileHeader();
}
runner.CloseResultsFile();
agents_writer = new StreamWriter(agents_fileName, true);
Console.WriteLine("Starting scen with {0} agents", i);
// Generate the problem instance
/////------------- Generate SAT file from scen+map
var scen_files_dir = Directory.GetParent(filename_without_extension);
var sat_mpf_fileName = Path.Combine(scen_files_dir.ToString(), "sat_files", Path.GetFileName(filename_without_extension)
+ String.Format("_a_{0}.mpf", i));
/////------------- Generate SAT file from scen+map
if (instance.agents == null) //Should init the ProblemInstance
{
instance.Init(stateList.ToArray(), grid);
instance.ComputeSingleAgentShortestPaths();
}
else
{
instance.AddSingleAgent(stateList.Last());
}
var lazyCbsAgentsFileName = Path.Combine(scen_files_dir.ToString(), "lazycbs", Path.GetFileName(filename_without_extension)
+ String.Format("_a_{0}.agents", i));
string lazyCbsMapFileName = Path.Combine(Path.GetDirectoryName(fileName), @"..", @"..", "maps", mapfileName + ".map.ecbs");
instance.parameters[ProblemInstance.SAT_FILE_NAME] = sat_mpf_fileName;
instance.parameters[ProblemInstance.MAP_FILE_PATH] = mapFilePath;
instance.parameters[ProblemInstance.SCEN_FILE] = fileName;
instance.parameters[ProblemInstance.LAZY_CBS_AGENTS_FILE_NAME] = lazyCbsAgentsFileName;
instance.parameters[ProblemInstance.LAZY_CBS_MAP_FILE_NAME] = lazyCbsMapFileName;
instance.parameters[ProblemInstance.SCEN_DIR] = scen_files_dir;
instance.parameters[ProblemInstance.N_AGENTS] = i;
instance.instanceId = instanceId;
instance.parameters[ProblemInstance.GRID_NAME_KEY] = mapfileName;
instance.parameters[ProblemInstance.INSTANCE_NAME_KEY] = fileNameWithoutExtension + ".scen";
runner.OpenResultsFile(Program.RESULTS_FILE_NAME);
Boolean solved = runner.SolveGivenProblem(instance, plan_fileName);
runner.CloseResultsFile();
agents_writer.Close();
if (!solved)
{
break;
}
}
}
return(null);
}
/// <summary>
/// Imports a problem instance from a given file
/// </summary>
/// <param name="filePath"></param>
/// <param name="mapFilePath"></param>
/// <returns></returns>
public static ProblemInstance Import(string filePath, string mapFilePath = null)
{
if (filePath.EndsWith(".agents"))
{
string fileNameWithoutExtension = Path.GetFileNameWithoutExtension(filePath);
int instanceId = 0;
string mapfileNameWithoutExtension;
if (mapFilePath == null)
{
mapfileNameWithoutExtension = fileNameWithoutExtension.Substring(0, length: fileNameWithoutExtension.LastIndexOf('_')) + ".map"; // Passing a length parameter is like specifying a non-inclusive end index
mapFilePath = Path.Combine(Path.GetDirectoryName(filePath), "..", "maps", mapfileNameWithoutExtension);
instanceId = int.Parse(filePath.Split('_').Last());
}
else
{
mapfileNameWithoutExtension = Path.GetFileNameWithoutExtension(mapFilePath);
}
bool[][] grid;
string line;
string[] lineParts;
using (TextReader input = new StreamReader(mapFilePath))
{
// Read grid dimensions
line = input.ReadLine();
lineParts = line.Split(',');
int maxX = int.Parse(lineParts[0]);
int maxY = int.Parse(lineParts[1]);
grid = new bool[maxX][];
char cell;
// Read grid
for (int i = 0; i < maxX; i++)
{
grid[i] = new bool[maxY];
line = input.ReadLine();
for (int j = 0; j < maxY; j++)
{
cell = line.ElementAt(j);
if (cell == '1')
{
grid[i][j] = true;
}
else
{
grid[i][j] = false;
}
}
}
}
AgentState[] states;
using (TextReader input = new StreamReader(filePath))
{
// Read the number of agents
line = input.ReadLine();
int numOfAgents = int.Parse(line);
// Read the agents' start and goal states
states = new AgentState[numOfAgents];
AgentState state;
Agent agent;
int goalX;
int goalY;
int startX;
int startY;
for (int i = 0; i < numOfAgents; i++)
{
line = input.ReadLine();
lineParts = line.Split(EXPORT_DELIMITER);
goalX = int.Parse(lineParts[0]);
goalY = int.Parse(lineParts[1]);
startX = int.Parse(lineParts[2]);
startY = int.Parse(lineParts[3]);
agent = new Agent(goalX, goalY, i);
state = new AgentState(startX, startY, agent);
states[i] = state;
}
}
// Generate the problem instance
ProblemInstance instance = new ProblemInstance();
instance.Init(states, grid);
instance.instanceId = instanceId;
instance.parameters[ProblemInstance.GRID_NAME_KEY] = mapfileNameWithoutExtension;
instance.parameters[ProblemInstance.INSTANCE_NAME_KEY] = fileNameWithoutExtension + ".agents";
instance.ComputeSingleAgentShortestPaths();
return(instance);
}
else if (filePath.EndsWith(".scen"))
{
return(ImportFromScenFile(filePath));
}
else // Combined map and scenario, no suffix
{
using (TextReader input = new StreamReader(filePath))
{
string[] lineParts;
string line;
int instanceId = 0;
string gridName = "Random Grid"; // The default
line = input.ReadLine();
if (line.StartsWith("Grid:") == false)
{
lineParts = line.Split(',');
instanceId = int.Parse(lineParts[0]);
if (lineParts.Length > 1)
{
gridName = lineParts[1];
}
line = input.ReadLine();
}
// First/second line is Grid:
Debug.Assert(line.StartsWith("Grid:"));
// Read grid dimensions
line = input.ReadLine();
lineParts = line.Split(',');
int maxX = int.Parse(lineParts[0]);
int maxY = int.Parse(lineParts[1]);
bool[][] grid = new bool[maxX][];
// Read grid
char cell;
for (int i = 0; i < maxX; i++)
{
grid[i] = new bool[maxY];
line = input.ReadLine();
for (int j = 0; j < maxY; j++)
{
cell = line.ElementAt(j);
if (cell == '@' || cell == 'O' || cell == 'T' || cell == 'W' /* Water isn't traversable from land */)
{
grid[i][j] = true;
}
else
{
grid[i][j] = false;
}
}
}
// Next line is Agents:
line = input.ReadLine();
Debug.Assert(line.StartsWith("Agents:"));
// Read the number of agents
line = input.ReadLine();
int numOfAgents = int.Parse(line);
// Read the agents' start and goal states
AgentState[] states = new AgentState[numOfAgents];
AgentState state;
Agent agent;
int agentNum;
int goalX;
int goalY;
int startX;
int startY;
for (int i = 0; i < numOfAgents; i++)
{
line = input.ReadLine();
lineParts = line.Split(EXPORT_DELIMITER);
agentNum = int.Parse(lineParts[0]);
goalX = int.Parse(lineParts[1]);
goalY = int.Parse(lineParts[2]);
startX = int.Parse(lineParts[3]);
startY = int.Parse(lineParts[4]);
agent = new Agent(goalX, goalY, agentNum);
state = new AgentState(startX, startY, agent);
states[i] = state;
}
// Generate the problem instance
ProblemInstance instance = new ProblemInstance();
instance.Init(states, grid);
instance.instanceId = instanceId;
instance.parameters[ProblemInstance.GRID_NAME_KEY] = gridName;
instance.parameters[ProblemInstance.INSTANCE_NAME_KEY] = Path.GetFileName(filePath);
instance.ComputeSingleAgentShortestPaths();
return(instance);
}
}
}
/// <summary>
/// Imports a problem instance from a given file
/// </summary>
/// <param name="filePath"></param>
/// <param name="mapFilePath"></param>
/// <returns></returns>
public static ProblemInstance Import(string filePath, string mapFilePath = null)
{
if (filePath.EndsWith(".agents"))
{
string fileNameWithoutExtension = Path.GetFileNameWithoutExtension(filePath);
int instanceId = 0;
try
{
instanceId = int.Parse(filePath.Split('_').Last());
}
catch (Exception) {}
string mapfileNameWithoutExtension;
if (mapFilePath == null)
{
mapfileNameWithoutExtension = fileNameWithoutExtension.Substring(0, length: fileNameWithoutExtension.LastIndexOf('_')) + ".map"; // Passing a length parameter is like specifying a non-inclusive end index
mapFilePath = Path.Combine(Path.GetDirectoryName(filePath), "..", "maps", mapfileNameWithoutExtension);
}
else
{
mapfileNameWithoutExtension = Path.GetFileNameWithoutExtension(mapFilePath);
}
bool[][] grid = readMapFile(mapFilePath);
string line;
string[] lineParts;
AgentState[] states;
using (TextReader input = new StreamReader(filePath))
{
// Read the number of agents
line = input.ReadLine();
int numOfAgents = int.Parse(line);
// Read the agents' start and goal states
states = new AgentState[numOfAgents];
AgentState state;
Agent agent;
int goalX;
int goalY;
int startX;
int startY;
for (int i = 0; i < numOfAgents; i++)
{
line = input.ReadLine();
lineParts = line.Split(EXPORT_DELIMITER);
goalX = int.Parse(lineParts[0]);
goalY = int.Parse(lineParts[1]);
startX = int.Parse(lineParts[2]);
startY = int.Parse(lineParts[3]);
agent = new Agent(goalX, goalY, i);
state = new AgentState(startX, startY, agent);
states[i] = state;
}
}
// Generate the problem instance
ProblemInstance instance = new ProblemInstance();
instance.Init(states, grid);
instance.instanceId = instanceId;
instance.parameters[ProblemInstance.GRID_NAME_KEY] = mapfileNameWithoutExtension;
instance.parameters[ProblemInstance.INSTANCE_NAME_KEY] = fileNameWithoutExtension + ".agents";
instance.ComputeSingleAgentShortestPaths();
return(instance);
}
else if (filePath.EndsWith(".scen"))
{
string fileNameWithoutExtension = Path.GetFileNameWithoutExtension(filePath);
int instanceId = int.Parse(fileNameWithoutExtension.Split('-').Last());
string mapfileName = fileNameWithoutExtension.Substring(0, length: fileNameWithoutExtension.LastIndexOf('-')); // Passing a length parameter is like specifying a non-inclusive end index
if (mapFilePath == null)
{
mapFilePath = Path.Combine(Path.GetDirectoryName(filePath), "..", "..", "..", "maps", mapfileName);
}
bool[][] grid = readMapFile(mapFilePath);
string line;
string[] lineParts;
List <AgentState> stateList = new List <AgentState>();
using (TextReader input = new StreamReader(filePath))
{
// Read the format version number
line = input.ReadLine();
lineParts = line.Split(' ');
Trace.Assert(lineParts[0].Equals("version"));
int version = int.Parse(lineParts[1]);
Trace.Assert(version == 1, "Only version 1 is currently supported");
// Read the agents' start and goal states
AgentState state;
Agent agent;
int agentNum = 0;
int block;
int goalX;
int goalY;
int startX;
int startY;
string mapFileName;
int mapRows;
int mapCols;
double optimalCost; // Assuming diagonal moves are allowed and cost sqrt(2)
while (true)
{
line = input.ReadLine();
if (string.IsNullOrWhiteSpace(line))
{
break;
}
lineParts = line.Split('\t');
block = int.Parse(lineParts[0]);
mapFileName = lineParts[1];
mapRows = int.Parse(lineParts[2]);
Trace.Assert(mapRows == grid.GetLength(0));
mapCols = int.Parse(lineParts[3]);
Trace.Assert(mapCols == grid.GetLength(1));
startY = int.Parse(lineParts[4]);
startX = int.Parse(lineParts[5]);
goalY = int.Parse(lineParts[6]);
goalX = int.Parse(lineParts[7]);
optimalCost = double.Parse(lineParts[8]);
agent = new Agent(goalX, goalY, agentNum);
state = new AgentState(startX, startY, agent);
stateList.Add(state);
agentNum++;
}
}
// Generate the problem instance
ProblemInstance instance = new ProblemInstance();
instance.Init(stateList.ToArray(), grid);
instance.instanceId = instanceId;
instance.parameters[ProblemInstance.GRID_NAME_KEY] = mapfileName;
instance.parameters[ProblemInstance.INSTANCE_NAME_KEY] = fileNameWithoutExtension + ".scen";
instance.ComputeSingleAgentShortestPaths();
return(instance);
}
else // Combined map and scenario, no suffix
{
using (TextReader input = new StreamReader(filePath))
{
string[] lineParts;
string line;
int instanceId = 0;
string gridName = "Random Grid"; // The default
line = input.ReadLine();
if (line.StartsWith("Grid:") == false)
{
lineParts = line.Split(',');
instanceId = int.Parse(lineParts[0]);
if (lineParts.Length > 1)
{
gridName = lineParts[1];
}
line = input.ReadLine();
}
// First/second line is Grid:
Trace.Assert(line.StartsWith("Grid:"));
// Read grid dimensions
line = input.ReadLine();
lineParts = line.Split(',');
int maxX = int.Parse(lineParts[0]);
int maxY = int.Parse(lineParts[1]);
bool[][] grid = new bool[maxX][];
// Read grid
char cell;
for (int i = 0; i < maxX; i++)
{
grid[i] = new bool[maxY];
line = input.ReadLine();
for (int j = 0; j < maxY; j++)
{
cell = line[j];
if (cell == '@' || cell == 'O' || cell == 'T' || cell == 'W' /* Water isn't traversable from land */)
{
grid[i][j] = true;
}
else
{
grid[i][j] = false;
}
}
}
// Next line is Agents:
line = input.ReadLine();
Trace.Assert(line.StartsWith("Agents:"));
// Read the number of agents
line = input.ReadLine();
int numOfAgents = int.Parse(line);
// Read the agents' start and goal states
AgentState[] states = new AgentState[numOfAgents];
AgentState state;
Agent agent;
int agentNum;
int goalX;
int goalY;
int startX;
int startY;
for (int i = 0; i < numOfAgents; i++)
{
line = input.ReadLine();
lineParts = line.Split(EXPORT_DELIMITER);
agentNum = int.Parse(lineParts[0]);
goalX = int.Parse(lineParts[1]);
goalY = int.Parse(lineParts[2]);
startX = int.Parse(lineParts[3]);
startY = int.Parse(lineParts[4]);
agent = new Agent(goalX, goalY, agentNum);
state = new AgentState(startX, startY, agent);
states[i] = state;
}
// Generate the problem instance
ProblemInstance instance = new ProblemInstance();
instance.Init(states, grid);
instance.instanceId = instanceId;
instance.parameters[ProblemInstance.GRID_NAME_KEY] = gridName;
instance.parameters[ProblemInstance.INSTANCE_NAME_KEY] = Path.GetFileName(filePath);
instance.ComputeSingleAgentShortestPaths();
return(instance);
}
}
}