public void Setup(ProblemInstance problemInstance, Run runner)
{
this.equivalenceWasOn = AgentState.EquivalenceOverDifferentTimes == true;
AgentState.EquivalenceOverDifferentTimes = false;
globalConflictsCounter = new int[problemInstance.agents.Length][];
for (int i = 0; i < globalConflictsCounter.Length; i++)
{
globalConflictsCounter[i] = new int[i];
for (int j = 0; j < i; j++)
{
globalConflictsCounter[i][j] = 0;
}
}
this.instance = problemInstance;
this.runner = runner;
//root = new CbsNode(instance.agents.Length, problemInstance, this.solver, this.lowLevelSolver, this); // FIXME!
this.highLevelExpanded = 0;
this.highLevelGenerated = 1;
maxSizeGroup = 1;
this.totalCost = 0;
if (problemInstance.parameters.ContainsKey(IndependenceDetection.MAX_COST_KEY))
{
this.maxCost = (int)(problemInstance.parameters[IndependenceDetection.MAX_COST_KEY]);
}
else
{
this.maxCost = int.MaxValue;
}
if (problemInstance.parameters.ContainsKey(CBS.CAT) == false) // Top-most CBS only
{
problemInstance.parameters[CBS.CAT] = new HashSet_U <TimedMove>();
problemInstance.parameters[CBS.CONSTRAINTS] = new HashSet_U <CbsConstraint>();
problemInstance.parameters[CBS.MUST_CONSTRAINTS] = new List <CbsConstraint>();
this.topMost = true;
}
else
{
this.topMost = false;
}
minDepth = 0;
}
public void RunNathanExperimentSet(String scenMapFileName)
{
try
{
ProblemInstance.Import(Path.Combine(Directory.GetCurrentDirectory(), scenMapFileName));
}
catch (Exception e)
{
StringBuilder sb = new StringBuilder();
sb.Append("ERROR! occured at: " + DateTime.Now.ToString());
sb.Append(e);
// flush every 20 seconds as you do it
File.AppendAllText("log.txt", sb.ToString());
sb.Clear();
Console.WriteLine(String.Format("Skipping bad problem instance {0}. Error: {1}", scenMapFileName, e.Message));
return;
}
}
} // Nonsense values until Init, just allocate move
public CbsConstraint(CbsConflict conflict, ProblemInstance instance, bool agentA)
{
Move move;
int agentNum;
if (agentA)
{
move = conflict.agentAmove;
agentNum = instance.agents[conflict.agentAIndex].agent.agentNum;
}
else
{
move = conflict.agentBmove;
agentNum = instance.agents[conflict.agentBIndex].agent.agentNum;
}
this.agentNum = (byte)agentNum;
this.move = new TimedMove(move, conflict.timeStep);
if (conflict.isVertexConflict)
{
this.move.direction = Move.Direction.NO_DIRECTION;
}
}
public override (ProblemInstance, ISet <CbsConstraint>) ToProblemInstance(ProblemInstance initial)
{
WorldState state = this;
if (this.agentTurn != 0)
{
// CBS doesn't handle partially expanded nodes well.
// Use the last fully expanded node and add the additional moves as must conds:
state = this.prevStep; // Points to the last fully expanded node.
}
ProblemInstance subproblem = initial.Subproblem(state.allAgentsState); // Can't use base's method because we're operating on a different object
var positiveConstraints = new HashSet <CbsConstraint>();
if (this.agentTurn != 0)
{
for (int i = 0; i < this.agentTurn; ++i)
{
positiveConstraints.Add(new CbsConstraint(this.allAgentsState[i].agent.agentNum, this.allAgentsState[i].lastMove));
}
}
return(subproblem, positiveConstraints);
}
public abstract CostTreeNodeSolver CreateNodeSolver(ProblemInstance instance, Run runner);
public CostTreeNodeSolverRepeatedMatching(ProblemInstance problem, Run runner, CostTreeSearchSolver solver)
: base(problem, runner, solver)
{
}
public CostTreeNodeSolverDDBF(ProblemInstance problem, Run runner, CostTreeSearchSolver solver)
: base(problem, runner, solver)
{
}
public void Init(ProblemInstance pi, List <uint> agentsToConsider)
{
this.first.Init(pi, agentsToConsider);
this.second.Init(pi, agentsToConsider);
}
public void Init(ProblemInstance pi, List <uint> agents)
{
}
public void Init(ProblemInstance pi, List <uint> agentsToConsider)
{
}
/// <summary>
/// Dragon Age experiment
/// </summary>
/// <param name="numInstances"></param>
/// <param name="mapFilePaths"></param>
public void RunDragonAgeExperimentSet(int numInstances, string[] mapFilePaths)
{
ProblemInstance instance;
string instanceName;
using (Run runner = new Run())
{
bool resultsFileExisted = File.Exists(RESULTS_FILE_NAME);
runner.OpenResultsFile(RESULTS_FILE_NAME);
if (resultsFileExisted == false)
{
runner.PrintResultsFileHeader();
}
// FIXME: Code dup with RunExperimentSet
TextWriter output;
int[] agentListSizes = { 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100 };
//int[] agentListSizes = { 60, 65, 70, 75, 80, 85, 90, 95, 100 };
//int[] agentListSizes = { 100 };
bool continueFromLastRun = false;
string[] lineParts = null;
string currentProblemFileName = Path.Combine(
Directory.GetCurrentDirectory(), $"current-problem-{Process.GetCurrentProcess().ProcessName}");
if (File.Exists(currentProblemFileName)) //if we're continuing running from last time
{
TextReader input = new StreamReader(currentProblemFileName);
lineParts = input.ReadLine().Split(','); //get the last problem
input.Close();
continueFromLastRun = true;
}
for (int ag = 0; ag < agentListSizes.Length; ag++)
{
for (int i = 0; i < numInstances; i++)
{
//string name = Process.GetCurrentProcess().ProcessName.Substring(1);
//if (i % 33 != Convert.ToInt32(name)) // DAO!
// continue;
for (int map = 0; map < mapFilePaths.Length; map++)
{
if (continueFromLastRun) // Set the latest problem
{
ag = int.Parse(lineParts[0]);
i = int.Parse(lineParts[1]);
map = int.Parse(lineParts[2]);
for (int j = 3; j < lineParts.Length && j - 3 < runner.outOfTimeCounters.Length; j++)
{
runner.outOfTimeCounters[j - 3] = int.Parse(lineParts[j]);
}
continueFromLastRun = false;
continue; // We write the details of the last problem that was solved, no need to solve it again
}
if (runner.outOfTimeCounters.Sum() == runner.outOfTimeCounters.Length * 20) // All algs should be skipped
{
break;
}
string mapFilePath = mapFilePaths[map];
instanceName = $"{Path.GetFileNameWithoutExtension(mapFilePath)}-{agentListSizes[ag]}-{i}";
try
{
instance = ProblemInstance.Import(Path.Combine(Directory.GetCurrentDirectory(), "..", "..", "Instances", instanceName));
}
catch (Exception importException)
{
if (onlyReadInstances)
{
Console.WriteLine($"File {instanceName} dosen't exist");
return;
}
instance = runner.GenerateDragonAgeProblemInstance(mapFilePath, agentListSizes[ag]);
instance.ComputeSingleAgentShortestPaths(); // Consider just importing the generated problem after exporting it to remove the duplication of this line from Import()
instance.instanceId = i;
instance.Export(instanceName);
}
runner.SolveGivenProblem(instance);
//save the latest problem
try
{
output = new StreamWriter(currentProblemFileName);
}
catch (Exception e)
{
System.Threading.Thread.Sleep(1000);
output = new StreamWriter(currentProblemFileName);
}
output.Write("{0},{1},{2}", ag, i, map);
for (int j = 0; j < runner.outOfTimeCounters.Length; j++)
{
output.Write($",{runner.outOfTimeCounters[j]}");
}
output.Close();
}
}
}
}
}
public void Clear()
{
this.instance = null;
this.solver.Clear();
}
public override CostTreeNodeSolver CreateNodeSolver(ProblemInstance instance, Run runner)
{
return(new CostTreeNodeSolverRepeatedMatching(problem, runner, this));
}
public virtual void Setup(ProblemInstance problemInstance, Run runner)
{
Setup(problemInstance, 0, runner, null);
}
public override void Setup(ProblemInstance problemInstance, Run runner)
{
Setup(problemInstance, 0, runner);
}
/// <summary>
/// Builds an MDD by first performing a BFS from start_pos to the agent's goal,
/// then deleting all nodes which don't lead to the goal at the given cost.
/// </summary>
/// <param name="mddNum"></param>
/// <param name="agentNum"></param>
/// <param name="start_pos"></param>
/// <param name="cost">The MDD must be of this cost</param>
/// <param name="numOfLevels">
/// The MDD must be of this number of levels, not counting level zero.
/// If higher than cost, the extra levels will be WAITs at the goal.
/// </param>
/// <param name="numOfAgents">Used for initializng coexistence lists</param>
/// <param name="instance"></param>
/// <param name="ignoreConstraints"></param>
/// <param name="supportPruning"></param>
public MDD(int mddNum, int agentNum, Move start_pos, int cost, int numOfLevels, int numOfAgents,
ProblemInstance instance, bool ignoreConstraints = false, bool supportPruning = true, ISet <TimedMove> reserved = null)
{ // numOfLevels >= cost
this.problem = instance;
this.mddNum = mddNum;
this.agentNum = agentNum;
this.numOfAgents = numOfAgents;
this.cost = cost;
this.levels = new LinkedList <MDDNode> [numOfLevels + 1];
this.supportPruning = supportPruning;
ISet <CbsConstraint> constraints = null;
Dictionary <int, TimedMove>[] mustConstraints = null;
if (ignoreConstraints == false && instance.parameters.ContainsKey(CBS.CONSTRAINTS) &&
((HashSet_U <CbsConstraint>)instance.parameters[CBS.CONSTRAINTS]).Count != 0)
{
this.queryConstraint = new CbsConstraint();
this.queryConstraint.queryInstance = true;
constraints = (ISet <CbsConstraint>)instance.parameters[CBS.CONSTRAINTS];
}
if (ignoreConstraints == false && instance.parameters.ContainsKey(CBS.MUST_CONSTRAINTS) &&
((HashSet_U <CbsConstraint>)instance.parameters[CBS.MUST_CONSTRAINTS]).Count != 0)
{
// TODO: Code dup with A_Star's constructor
var musts = (HashSet_U <CbsConstraint>)instance.parameters[CBS.MUST_CONSTRAINTS];
mustConstraints = new Dictionary <int, TimedMove> [musts.Max(con => con.GetTimeStep()) + 1]; // To have index MAX, array needs MAX + 1 places.
foreach (CbsConstraint con in musts)
{
int timeStep = con.GetTimeStep();
if (mustConstraints[timeStep] == null)
{
mustConstraints[timeStep] = new Dictionary <int, TimedMove>();
}
mustConstraints[timeStep][con.agentNum] = con.move;
}
}
var perLevelClosedList = new Dictionary <MDDNode, MDDNode>();
var toDelete = new List <MDDNode>();
for (int i = 0; i < levels.Length; i++)
{
levels[i] = new LinkedList <MDDNode>();
}
MDDNode root = new MDDNode(new TimedMove(start_pos, 0), numOfAgents, this, supportPruning); // Root
LinkedListNode <MDDNode> llNode = new LinkedListNode <MDDNode>(root);
root.setMyNode(llNode);
llNode.Value.startOrGoal = true;
levels[0].AddFirst(llNode);
for (int i = 0; i < numOfLevels; i++) // For each level, populate the _next_ level
{
int heuristicBound = cost - i - 1; // We want g+h <= cost, so h <= cost-g. -1 because it's the bound of the _children_.
if (heuristicBound < 0)
{
heuristicBound = 0;
}
// Go over each MDDNode in this level
foreach (MDDNode currentMddNode in levels[i]) // Since we're not deleting nodes in this method, we can use the simpler iteration method :)
{
List <MDDNode> children = this.GetAllChildren(currentMddNode, heuristicBound, numOfAgents,
constraints, mustConstraints, reserved);
if (children.Count == 0) // Heuristic wasn't perfect because of constraints, illegal moves or other reasons
{
toDelete.Add(currentMddNode);
}
foreach (MDDNode child in children)
{
MDDNode toAdd = child; // The compiler won't let me assign to the foreach variable...
if (perLevelClosedList.ContainsKey(child))
{
toAdd = perLevelClosedList[child];
}
else
{
perLevelClosedList.Add(toAdd, toAdd);
llNode = new LinkedListNode <MDDNode>(toAdd);
toAdd.setMyNode(llNode);
levels[i + 1].AddLast(llNode);
}
currentMddNode.addChild(toAdd); // forward edge
toAdd.addParent(currentMddNode); // backward edge
}
}
perLevelClosedList.Clear();
}
foreach (MDDNode goal in levels[numOfLevels]) // The goal may be reached in more than one direction
{
goal.startOrGoal = true;
}
foreach (MDDNode remove in toDelete)
{
remove.delete();
}
}
/// <summary>
/// This is the starting point of the program.
/// </summary>
static void Main(string[] args)
{
Program me = new Program();
Program.RESULTS_FILE_NAME = Process.GetCurrentProcess().ProcessName + ".csv";
if (System.Diagnostics.Debugger.IsAttached)
{
Constants.MAX_TIME = int.MaxValue;
Debug.WriteLine("Debugger attached - running without a timeout!!");
}
if (Directory.Exists(Path.Combine(Directory.GetCurrentDirectory(), "..", "..", "Instances")) == false)
{
Directory.CreateDirectory(Path.Combine(Directory.GetCurrentDirectory(), "..", "..", "Instances"));
}
Program.onlyReadInstances = false;
int instances = 100;
bool runGrids = false;
bool runDragonAge = false;
bool runMazesWidth1 = false;
bool runSpecific = false;
bool runPaperProblems = false;
bool runPaperProblemsIncrementally = false; // Turn on for CA*
if (runGrids == true)
{
//int[] gridSizes = new int[] { 8, };
//int[] agentListSizes = new int[] { 2, 3, 4 };
//int[] gridSizes = new int[] { 6, };
//int[] agentListSizes = new int[] { /*2,*/ 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32 };
// Note that success rate drops almost to zero for EPEA* and A*+OD/SIC on 40 agents.
int[] gridSizes = new int[] { 20, };
//int[] agentListSizes = new int[] { 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, /*60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150*/ };
int[] agentListSizes = new int[] { 40, 60, 80, 100 };
//int[] obstaclesPercents = new int[] { 20, };
//int[] obstaclesPercents = new int[] { /*0, 5, 10, 15, 20, 25, 30, 35, */20, 30, 40};
int[] obstaclesPercents = new int[] { /*0, 5, 10,*/ 15, /*20, 25, 30, 35, 20, 30, 40*/ };
me.RunExperimentSet(gridSizes, agentListSizes, obstaclesPercents, instances);
}
else if (runDragonAge == true)
{
me.RunDragonAgeExperimentSet(instances, Program.daoMapPaths); // Obstacle percents and grid sizes built-in to the maps.
}
else if (runMazesWidth1 == true)
{
me.RunDragonAgeExperimentSet(instances, Program.mazeMapPaths); // Obstacle percents and grid sizes built-in to the maps.
}
else if (runSpecific == true)
{
ProblemInstance instance;
try
{
if (args[0].EndsWith(".dll"))
{
instance = ProblemInstance.Import(args[2], args[1]);
}
else
{
instance = ProblemInstance.Import(args[1], args[0]);
}
}
catch (Exception e)
{
Console.WriteLine($"Bad problem instance {args[1]}. Error: {e.Message}");
return;
}
Run runner = new Run(); // instantiates stuff unnecessarily
runner.startTime = runner.ElapsedMillisecondsTotal();
IHeuristicCalculator <WorldState> lowLevelHeuristic = new SumIndividualCosts();
List <uint> agentList = Enumerable.Range(0, instance.agents.Length).Select(x => (uint)x).ToList(); // FIXME: Must the heuristics really receive a list of uints?
lowLevelHeuristic.Init(instance, agentList);
ICbsSolver lowLevel = new A_Star(lowLevelHeuristic);
ILazyHeuristic <CbsNode> highLevelHeuristic = new MvcHeuristicForCbs();
highLevelHeuristic.Init(instance, agentList);
// ISolver solver = new CBS(lowLevel, lowLevel,
// bypassStrategy: CBS.BypassStrategy.FIRST_FIT_LOOKAHEAD,
// conflictChoice: CBS.ConflictChoice.CARDINAL_MDD,
// heuristic: highLevelHeuristic,
// cacheMdds: true,
// useOldCost: true,
// replanSameCostWithMdd: true
// );
//ISolver solver = new IndependenceDetection(lowLevel, new EPEA_Star(lowLevelHeuristic));
//ISolver solver = new IndependenceDetection(lowLevel, new CostTreeSearchSolverOldMatching(3));
ISolver solver = new IndependenceDetection(lowLevel, new A_Star_WithOD(lowLevelHeuristic));
solver.Setup(instance, runner);
bool solved = solver.Solve();
if (solved == false)
{
Console.WriteLine("Failed to solve");
return;
}
Plan plan = solver.GetPlan();
plan.PrintPlan();
//me.RunInstance("Instance-5-15-3-792");
//me.RunInstance("Instance-5-15-3-792-4rows");
//me.RunInstance("Instance-5-15-3-792-3rows");
//me.RunInstance("Instance-5-15-3-792-2rows");
//me.RunInstance("corridor1");
//me.RunInstance("corridor2");
//me.RunInstance("corridor3");
//me.RunInstance("corridor4");
return;
}
else if (runPaperProblems)
{
foreach (var dirName in scenDirs)
{
foreach (var scenPath in Directory.GetFiles(dirName))
{
var problem = ProblemInstance.Import(scenPath);
foreach (var numAgents in Enumerable.Range(1, problem.agents.Length))
{
var subProblem = problem.Subproblem(problem.agents.Take(numAgents).ToArray());
// don't create a subproblem, just feed time adding one agent and report the sum of times so far
Run runner = new Run();
using (runner)
{
bool resultsFileExisted = File.Exists(RESULTS_FILE_NAME);
runner.OpenResultsFile(RESULTS_FILE_NAME);
if (resultsFileExisted == false)
{
runner.PrintResultsFileHeader();
}
bool success = runner.SolveGivenProblem(subProblem);
if (success == false)
{
break;
}
}
}
}
}
}
else if (runPaperProblemsIncrementally)
{
foreach (var dirName in scenDirs)
{
foreach (var scenPath in Directory.GetFiles(dirName))
{
var problem = ProblemInstance.Import(scenPath);
CooperativeAStar castar = new CooperativeAStar();
Run runner = new Run();
using (runner)
{
bool resultsFileExisted = File.Exists(RESULTS_FILE_NAME);
runner.OpenResultsFile(RESULTS_FILE_NAME);
if (resultsFileExisted == false)
{
runner.PrintResultsFileHeader();
}
runner.SolveGivenProblemIncrementally(problem);
}
}
}
}
// A function to be used by Eric's PDB code
//me.runForPdb();
Console.WriteLine("*********************THE END**************************");
Console.ReadLine();
}
/// <summary>
/// Runs a set of experiments.
/// This function will generate a random instance (or load it from a file if it was already generated)
/// </summary>
public void RunExperimentSet(int[] gridSizes, int[] agentListSizes, int[] obstaclesProbs, int instances)
{
ProblemInstance instance;
string instanceName;
using (Run runner = new Run())
{
bool resultsFileExisted = File.Exists(RESULTS_FILE_NAME);
runner.OpenResultsFile(RESULTS_FILE_NAME);
if (resultsFileExisted == false)
{
runner.PrintResultsFileHeader();
}
bool continueFromLastRun = false;
string[] LastProblemDetails = null;
string currentProblemFileName = Path.Combine(
Directory.GetCurrentDirectory(), $"current-problem-{Process.GetCurrentProcess().ProcessName}");
if (File.Exists(currentProblemFileName)) //if we're continuing running from last time
{
var lastProblemFile = new StreamReader(currentProblemFileName);
LastProblemDetails = lastProblemFile.ReadLine().Split(','); //get the last problem
lastProblemFile.Close();
continueFromLastRun = true;
}
string allocation = Process.GetCurrentProcess().ProcessName.Substring(1); // When executable names are of the form "g###"
for (int gridSizeIndex = 0; gridSizeIndex < gridSizes.Length; gridSizeIndex++)
{
for (int obstaclePercentageIndex = 0; obstaclePercentageIndex < obstaclesProbs.Length; obstaclePercentageIndex++)
{
runner.ResetOutOfTimeCounters();
for (int numOfAgentsIndex = 0; numOfAgentsIndex < agentListSizes.Length; numOfAgentsIndex++)
{
if (gridSizes[gridSizeIndex] * gridSizes[gridSizeIndex] * (1 - obstaclesProbs[obstaclePercentageIndex] / 100) < agentListSizes[numOfAgentsIndex]) // Probably not enough room for all agents
{
continue;
}
for (int i = 0; i < instances; i++)
{
//if (i % 33 != Convert.ToInt32(allocation)) // grids!
// continue;
//if (i % 5 != 0) // grids!
// continue;
if (continueFromLastRun) //set the latest problem
{
gridSizeIndex = int.Parse(LastProblemDetails[0]);
obstaclePercentageIndex = int.Parse(LastProblemDetails[1]);
numOfAgentsIndex = int.Parse(LastProblemDetails[2]);
i = int.Parse(LastProblemDetails[3]);
for (int j = 4; j < LastProblemDetails.Length; j++)
{
runner.outOfTimeCounters[j - 4] = int.Parse(LastProblemDetails[j]);
}
continueFromLastRun = false;
continue; // "current problem" file describes last solved problem, no need to solve it again
}
if (runner.outOfTimeCounters.Length != 0 &&
runner.outOfTimeCounters.Sum() == runner.outOfTimeCounters.Length * Constants.MAX_FAIL_COUNT) // All algs should be skipped
{
break;
}
instanceName = $"Instance-{gridSizes[gridSizeIndex]}-{obstaclesProbs[obstaclePercentageIndex]}-{agentListSizes[numOfAgentsIndex]}-{i}";
try
{
instance = ProblemInstance.Import(Path.Combine(Directory.GetCurrentDirectory(), "..", "..", "Instances", instanceName));
instance.instanceId = i;
}
catch (Exception importException)
{
if (onlyReadInstances)
{
Console.WriteLine($"File {instanceName} dosen't exist");
return;
}
instance = runner.GenerateProblemInstance(gridSizes[gridSizeIndex], agentListSizes[numOfAgentsIndex], obstaclesProbs[obstaclePercentageIndex] * gridSizes[gridSizeIndex] * gridSizes[gridSizeIndex] / 100);
instance.ComputeSingleAgentShortestPaths(); // REMOVE FOR GENERATOR
instance.instanceId = i;
instance.Export(instanceName);
}
runner.SolveGivenProblem(instance);
// Save the latest problem
StreamWriter lastProblemFile;
try
{
lastProblemFile = new StreamWriter(currentProblemFileName);
}
catch (Exception)
{
System.Threading.Thread.Sleep(1000);
lastProblemFile = new StreamWriter(currentProblemFileName);
}
lastProblemFile.Write("{0},{1},{2},{3}", gridSizeIndex, obstaclePercentageIndex, numOfAgentsIndex, i);
for (int j = 0; j < runner.outOfTimeCounters.Length; j++)
{
lastProblemFile.Write($",{runner.outOfTimeCounters[j]}");
}
lastProblemFile.Close();
lastProblemFile = null;
}
}
}
}
}
}
/// <summary>
/// Initializes the pattern database by storing references to the
/// problem instance and also the subset of agents that the pattern
/// database pertains to.
/// </summary>
/// <param name="pi">The problem instance.</param>
/// <param name="agentsToConsider">The agents that the pattern database should keep track of.</param>
public virtual void Init(ProblemInstance pi, List <uint> agentsToConsider)
{
problem = pi;
this.agentsToConsider = new List <uint>(agentsToConsider);
this.agentsToConsider.Sort();
}
/// <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);
}
}
}
/// <summary>
/// The initialization function accepts a problem instance describing
/// the original full problem, and a list of agents for which this
/// pattern database will be responsible for. This must be called prior
/// to a call to build the pattern database.
/// </summary>
/// <param name="pi">A description of the problem instance.</param>
/// <param name="agentsToConsider">The agents that we should be responsible for.
/// Each entry in the list is an index to ProblemInstance.agents
/// pointing to which agents we care about.</param>
public override void Init(ProblemInstance pi, List <uint> agentsToConsider)
{
base.Init(pi, agentsToConsider);
computePermutations();
}
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>
/// Calculates for each agent and each direction it can go, the effect of that move on F. Illegal moves get byte.MaxValue.
/// Also calcs maxDeltaF.
/// Implicitly uses the SIC heuristic.
/// </summary>
/// <param name="problem">For GetSingleAgentOptimalCost</param>
/// <param name="isValid"></param>
/// <returns></returns>
public void calcSingleAgentDeltaFs(ProblemInstance problem, ValidityChecker isValid)
{
// Init
this.singleAgentDeltaFs = new byte[allAgentsState.Length][];
for (int i = 0; i < singleAgentDeltaFs.Length; i++)
{
this.singleAgentDeltaFs[i] = new byte[Constants.NUM_ALLOWED_DIRECTIONS];
}
int hBefore, hAfter;
this.maxDeltaF = 0;
// Set values
for (int i = 0; i < allAgentsState.Length; i++)
{
hBefore = problem.GetSingleAgentOptimalCost(allAgentsState[i]);
int singleAgentMaxLegalDeltaF = -1;
foreach (TimedMove check in allAgentsState[i].lastMove.GetNextMoves())
{
if (isValid(check, noMoves, this.makespan + 1, i, this, this) == false) // Is this move by itself invalid because of constraints or obstacles
{
singleAgentDeltaFs[i][(int)check.direction] = byte.MaxValue;
}
else
{
hAfter = problem.GetSingleAgentOptimalCost(allAgentsState[i].agent.agentNum, check);
if (Constants.sumOfCostsVariant == Constants.SumOfCostsVariant.ORIG)
{
if (hBefore != 0)
{
singleAgentDeltaFs[i][(int)check.direction] = (byte)(hAfter - hBefore + 1); // h difference + g difference in this specific domain
}
else if (hAfter != 0) // If agent moved from its goal we must count and add all the steps it was stationed at the goal, since they're now part of its g difference
{
singleAgentDeltaFs[i][(int)check.direction] = (byte)(hAfter - hBefore + makespan - allAgentsState[i].arrivalTime + 1);
}
else
{
singleAgentDeltaFs[i][(int)check.direction] = 0; // This is a WAIT move at the goal.
}
}
else if (Constants.sumOfCostsVariant == Constants.SumOfCostsVariant.WAITING_AT_GOAL_ALWAYS_FREE)
{
if (hBefore == 0 && hAfter == 0)
{
singleAgentDeltaFs[i][(int)check.direction] = 0; // This is a WAIT move at the goal.
}
else
{
singleAgentDeltaFs[i][(int)check.direction] = (byte)(hAfter - hBefore + 1); // h difference + g difference in this specific domain
}
}
singleAgentMaxLegalDeltaF = Math.Max(singleAgentMaxLegalDeltaF, singleAgentDeltaFs[i][(int)check.direction]);
}
}
if (singleAgentMaxLegalDeltaF == -1) // No legal action for this agent, so no legal children exist for this node
{
this.maxDeltaF = 0; // Can't make it negative without widening the field.
break;
}
this.maxDeltaF += (byte)singleAgentMaxLegalDeltaF;
}
fLookup = new DeltaFAchievable[allAgentsState.Length][];
for (int i = 0; i < fLookup.Length; i++)
{
fLookup[i] = new DeltaFAchievable[this.maxDeltaF + 1]; // Towards the last agents most of the row will be wasted (the last one can do delta F of 0 or 1),
// but it's easier than fiddling with array sizes
}
}
/// <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);
}
}
}
public CostTreeNodeSolverOldMatching(ProblemInstance problem, CostTreeNode costNode, Run runner, CostTreeSearchSolver solver,
int syncSize, ISet <TimedMove> reserved)
: base(problem, costNode, runner, solver, reserved)
{
this.syncSize = syncSize;
}
/// <summary>
/// Initializes the pattern database by storing references to the
/// problem instance and also the subset of agents that the pattern
/// database pertains to.
/// </summary>
/// <param name="pi">The problem instance.</param>
/// <param name="vAgents">The agents that the pattern database should keep track of.</param>
public virtual void Init(ProblemInstance pi, List <uint> vAgents)
{
}
public CostTreeNodeSolverDDBF(ProblemInstance problem, CostTreeNode costNode, Run runner, CostTreeSearchSolver solver,
ISet <TimedMove> reserved)
: base(problem, costNode, runner, solver, reserved)
{
}
public MDD(MDD other)
{
this.problem = other.problem;
this.mddNum = other.mddNum;
this.agentNum = other.agentNum;
this.numOfAgents = other.numOfAgents;
this.cost = other.cost;
this.supportPruning = other.supportPruning;
if (other.levels == null)
{
this.levels = null;
return;
}
this.levels = new LinkedList <MDDNode> [other.levels.Length];
int numOfLevels = other.levels.Length - 1; // Level zero not counted
for (int i = 0; i < levels.Length; i++)
{
levels[i] = new LinkedList <MDDNode>();
}
Dictionary <MDDNode, MDDNode> originals = new Dictionary <MDDNode, MDDNode>();
Dictionary <MDDNode, MDDNode> copies = new Dictionary <MDDNode, MDDNode>();
MDDNode copiedRoot = new MDDNode(new TimedMove(other.levels[0].First.Value.move),
numOfAgents, this, supportPruning); // Root
LinkedListNode <MDDNode> llNode = new LinkedListNode <MDDNode>(copiedRoot);
copiedRoot.setMyNode(llNode);
llNode.Value.startOrGoal = true;
levels[0].AddFirst(llNode);
originals.Add(copiedRoot, other.levels[0].First.Value);
copies.Add(other.levels[0].First.Value, copiedRoot);
for (int i = 0; i < numOfLevels; i++) // For each level, populate the _next_ level
{
foreach (MDDNode copiedNode in levels[i])
{
foreach (MDDNode originalChildNode in originals[copiedNode].children)
{
MDDNode copiedChild;
if (copies.ContainsKey(originalChildNode) == false)
{
copiedChild = new MDDNode(originalChildNode.move, numOfLevels, this, supportPruning);
originals.Add(copiedChild, originalChildNode);
copies.Add(originalChildNode, copiedChild);
llNode = new LinkedListNode <MDDNode>(copiedChild);
copiedChild.setMyNode(llNode);
levels[i + 1].AddLast(llNode);
}
else
{
copiedChild = copies[originalChildNode];
}
copiedNode.addChild(copiedChild); // forward edge
copiedChild.addParent(copiedNode); // backward edge
}
}
}
originals.Clear();
copies.Clear();
foreach (MDDNode goal in levels[numOfLevels]) // The goal may be reached in more than one direction
{
goal.startOrGoal = true;
}
}
/// <summary>
/// Automatically calls Setup with the given costsNode
/// </summary>
/// <param name="problem"></param>
/// <param name="costNode">TODO: Maybe just pass the array of costs here?</param>
/// <param name="runner"></param>
/// <param name="solver"></param>
public CostTreeNodeSolver(ProblemInstance problem, CostTreeNode costNode, Run runner,
CostTreeSearchSolver solver, ISet <TimedMove> reserved) // Make sure agent numbers are in the correct order
: this(problem, runner, solver)
{
this.Setup(costNode, reserved);
}
/// <summary>
/// For replanning groups to resolve a conflict under independence Detection
/// </summary>
/// <param name="problemInstance"></param>
/// <param name="runner"></param>
/// <param name="CAT"></param>
/// <param name="targetCost">/// </param>
/// <param name="illegalMoves"></param>
public virtual void Setup(ProblemInstance problemInstance, Run runner, ConflictAvoidanceTable CAT,
int targetCost, ISet <TimedMove> reserved)
{
this.reserved = reserved;
Setup(problemInstance, 0, runner, CAT, minCost: targetCost, maxCost: targetCost);
}