private void FlashStates()
{
foreach (Agent agent in agents)
{
AdvancedLandmarkProjectionPlaner.writeStatesToFile(agent, traces[agent]);
traces[agent].ClearStates();
}
}
public override void FinishPlanning(List <string> highLevelPlan)
{
List <string> edittedPlan = EditPlan(highLevelPlan);
foreach (Agent agent in agents)
{
//traces[agent].plan = highLevelPlan;
traces[agent].plan = edittedPlan;
AdvancedLandmarkProjectionPlaner.writeStatesToFile(agent, traces[agent]); //write the leftovers
AdvancedLandmarkProjectionPlaner.writeSecondHalfOfJsonToFile(agent, traces[agent]);
}
}
public static List <string> SolveFactored(List <Domain> lDomains, List <Problem> lProblems, ref List <Agent> m_agents, Domain joinDomain)
{
if (Program.highLevelPlanerType != Program.HighLevelPlanerType.ProjectionMafs)
{
Program.projectionVersion = Program.ProjectionVersion.NULL;
}
Program.Start = DateTime.Now;
pdbCreationTime = 0;
var lGroundedProblems = GroundProblems(lDomains, lProblems);
Program.internalPlaner = Program.PlanerType.ff_toActions;
BuildAgents_II buildAgents = new BuildAgents_II(lDomains, lGroundedProblems, lProblems);
List <Agent> agents = buildAgents.ReturnAgents();
GetPublicPredicates(agents);
List <string> lPlan = null;
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Projection)
{
Console.WriteLine("Planning");
ShareGoals(agents);
AdvancedLandmarkProjectionPlaner planner = new AdvancedLandmarkProjectionPlaner();
lPlan = planner.Plan(agents, lDomains, lProblems, joinDomain);
}
else
{
try
{
Program.StartHighLevelPlanning = DateTime.Now;
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Landmark)
{
Console.WriteLine("Identifying landmarks");
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
Planer_I Planner = new Planer_I(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.PDB)
{
DateTime startPdbCreation = DateTime.Now;
PdbPlaner.pdb = new PatternDatabase(lDomains, lProblems, agents, pdbPath);
pdbCreationTime = DateTime.Now.Subtract(startPdbCreation).TotalSeconds;
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
List <Landmark> PublicAndArtificialGoals = FindPublicAndArtificialGoals(agents);
PdbPlaner Planner = new PdbPlaner(agents, PublicAndArtificialGoals, PdbPlaner.pdb);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.ForwardHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
PlanerHsp Planner = new PlanerHsp(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.BackwardHsp)
{
bool stop = false;
List <GroundedPredicate> publishPublic = new List <GroundedPredicate>();
List <GroundedPredicate> nextPublishPublic = new List <GroundedPredicate>();
foreach (Agent a in agents)
{
publishPublic.AddRange(a.InitBackwardHspGraph());
}
bool outFlag = false;
while (!stop)
{
stop = true;
outFlag = false;
foreach (Agent agent in agents)
{
nextPublishPublic.AddRange(agent.UpdateBackwardHspGraph(publishPublic, out outFlag));
if (outFlag)
{
stop = false;
}
}
publishPublic = nextPublishPublic;
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Distributed_Landmarks_Detection.Reset(agents);
// agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents);
PlanerHspII Planner = new PlanerHspII(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.LandmarkAndHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerHspAndLandmarks Planner = new PlanerHspAndLandmarks(agents);
Console.WriteLine("Planning..");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.WeightedLandmarkAndHsp)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerWeightedLandmarkAndHsp Planner = new PlanerWeightedLandmarkAndHsp(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.SophisticatedProjection)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
// agents = AdvancedLandmarkProjectionAgents.CreateProjAgents(agents, lDomains, lProblems);
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, false);
PlanerHspAndLandmarks Planner = new PlanerHspAndLandmarks(agents);
Console.WriteLine("Planning");
lPlan = Planner.Plan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.PDBMafs)
{
MapsVertex.pdb = new PatternDatabase(lDomains, lProblems, agents, pdbPath);
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.Plan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.MafsLandmark)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.Plan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.Mafsff)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.PreferableFFPlan();
}
else
{
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.ProjectionMafs)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.PreferablePlan();
}
else
if (Program.highLevelPlanerType == Program.HighLevelPlanerType.DistrebutedProjectionMafs)
{
bool stop = false;
while (!stop)
{
stop = true;
string name = "";
GroundedPredicate currentGoal = null;
foreach (Agent agent in agents)
{
currentGoal = agent.GetGoal();
if (currentGoal != null)
{
stop = false;
name = agent.name;
break;
}
}
if (!stop)
{
foreach (Agent agent in agents)
{
if (!agent.name.Equals(name))
{
agent.ReceiveGoal(currentGoal);
}
}
}
}
foreach (Agent agent in agents)
{
agent.InitMutex();
}
agents = Distributed_Landmarks_Detection.Landmarks_Detection(agents, true);
Console.WriteLine("Planning");
MapsPlanner Planner = new MapsPlanner(agents, lDomains, lProblems);
Program.StartGrounding = DateTime.Now;
lPlan = Planner.DistrebutedPreferablePlan();
}
else
{
Console.WriteLine("highLevelPlanerType did not selected");
}
}
}
}
}
}
}
}
}
}
catch (Exception ex)
{
RunUtils.KillPlanners();
return(null);
}
}
Program.End = DateTime.Now;
RunUtils.KillPlanners();
m_agents = agents;
return(lPlan);
}
public List <string> PreferablePlan_NotdirectMessage()
{
highLevelPlan = new List <string>();
//List<Thread> threads = new List<Thread>();
//begin = DateTime.Now;
//return null;
Program.countMacro = 0.0;
Program.countAvgPerMacro = 0.0;
Program.sendedStateCounter = 0;
Program.ffMessageCounter = 0;
Program.StateExpendCounter = 0;
Program.notSendedStates = 0;
MapsPlanner.generateCounter = 0;
Program.makeSpanPlanTime = 0.0;
List <string> lplan = null;
MapsAgent.InitMutex(MapsAgents);
List <double> iterationTimes = null;
MapsAgent.thereIsPrivate = false;
foreach (MapsAgent agent in MapsAgents)
{
if (agent.privateActions.Count > 0)
{
MapsAgent.thereIsPrivate = true;
}
}
int x = 0;
while (lplan == null)
{
nextGlobalOpenList = new Dictionary <string, HashSet <MapsVertex> >();
foreach (MapsAgent agent in MapsAgents)
{
nextGlobalOpenList.Add(agent.name, new HashSet <MapsVertex>());
}
iterationTimes = new List <double>();
foreach (MapsAgent agent in MapsAgents)
{
DateTime startTime = DateTime.Now;
lplan = agent.BeginPreferablePlanning();
iterationTimes.Add(DateTime.Now.Subtract(startTime).TotalSeconds);
Program.cancellationTokenSource.Token.ThrowIfCancellationRequested();
if (lplan != null)
{
break;
}
}
/* bool chacking = false;
* foreach (MapsAgent agent in MapsAgents)
* {
* if (agent.GetCountOfPreferableList() > 0)
* chacking = true;
*
* }
* foreach(HashSet<MapsVertex> l in nextGlobalOpenList.Values)
* {
* foreach(MapsVertex mv in l)
* {
* if (mv.isPreferable)
* chacking = true;
* }
* }
* Console.WriteLine(x);
* if (!chacking && x != 0)
* Console.WriteLine("ddd");
* x++;*/
double maxTime = iterationTimes.Max();
Program.makeSpanPlanTime += maxTime;
if (lplan != null)
{
MapsPlanner.stop = true;
break;
}
else
{
foreach (MapsAgent agent in MapsAgents)
{
agent.SetPublicOpenLists(nextGlobalOpenList);
}
}
//Check if all the agents haven't found any plan, and don't have any node in their open list.
//If so, end the program - we couldn't find any valid plan.
bool allDone = true;
foreach (MapsAgent agent in MapsAgents)
{
if (!agent.openIsEmpty())
{
allDone = false;
}
}
if (allDone)
{
MapsPlanner.stop = true;
break;
}
}
int maxAmountOfUsedDependencies = 0;
foreach (MapsAgent agent in MapsAgents)
{
int amountOfUsedDependencies = agent.GetAmountOfUsedDependencies();
if (maxAmountOfUsedDependencies < amountOfUsedDependencies)
{
maxAmountOfUsedDependencies = amountOfUsedDependencies;
}
}
Program.amountOfDependenciesUsedInPlanningProcess = maxAmountOfUsedDependencies;
if (lplan != null)
{
//calculate amount of dependencies used:
Program.amountOfDependenciesUsed = AdvancedLandmarkProjectionPlaner.CalculateAmountOfDependenciesUsedAndSaveGoldenStandardTrace(highLevelPlan, allProjectionActions, agents, null, false);
}
tracesHandler.FinishPlanning(highLevelPlan);
return(lplan);
}
