public void PrepareAndRun()
{
Parser.path = @"D:\documents\frostbow\";
UPC.ReadProblem();
if (DeCacheIt)
{
DeCacheIt = false;
cacheManager.DeCacheIt();
}
else if (justCacheMapsAndEffort)
{
cacheManager.DecacheSteps();
AddObservedNegativeConditions(UPC);
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, UPC.goalPredicateList);
CacheMaps.CacheAddReuseHeuristic(new State(UPC.initialPredicateList) as IState);
UnityGroundActionFactory.PrimaryEffectHack(new State(UPC.initialPredicateList) as IState);
cacheManager.justCacheMapsAndEffort = true;
cacheManager.CacheIt();
cacheManager.justCacheMapsAndEffort = false;
return;
}
else
{
UGAF.PreparePlanner(true);
GroundActionFactory.GroundActions = new HashSet <IOperator>(GroundActionFactory.GroundActions).ToList();
AddObservedNegativeConditions(UPC);
UnityGroundActionFactory.CreateSteps(UPC, UGAF.DecompositionSchemata);
cacheManager.CacheIt();
}
var initialPlan = PlannerScheduler.CreateInitialPlan(UPC.initialPredicateList, UPC.goalPredicateList);
Debug.Log("Planner and initial plan Prepared");
// MW-Loc-Conf
var solution = Run(initialPlan, new ADstar(false), new E0(new AddReuseHeuristic(), true), cutoffTime);
//var solution = Run(initialPlan, new ADstar(false), new E3(new AddReuseHeuristic()), cutoffTime);
//var solution = Run(initPlan, new BFS(), new Nada(new ZeroHeuristic()), 20000);
if (solution != null)
{
//Debug.Log(solution.ToStringOrdered());
PlanSteps = new List <string>();
foreach (var step in solution.Orderings.TopoSort(solution.InitialStep))
{
Debug.Log(step);
PlanSteps.Add(step.ToString());
}
}
else
{
Debug.Log("No good");
}
}
public void DeCacheIt()
{
Parser.path = @"D:\documents\frostbow\";
DecacheSteps();
UnityPlanningInterface.AddObservedNegativeConditions(UPC);
var CausalMapFileName = GetCausalMapFileName();
var ThreatMapFileName = GetThreatMapFileName();
var EffortMapFileName = GetEffortDictFileName();
try
{
var cmap = BinarySerializer.DeSerializeObject <TupleMap <IPredicate, List <int> > >(CausalMapFileName + ".CachedCausalMap");
CacheMaps.CausalTupleMap = cmap;
var tcmap = BinarySerializer.DeSerializeObject <TupleMap <IPredicate, List <int> > >(ThreatMapFileName + ".CachedThreatMap");
CacheMaps.ThreatTupleMap = tcmap;
try
{
var emap = BinarySerializer.DeSerializeObject <TupleMap <IPredicate, int> >(EffortMapFileName + ".CachedEffortMap");
HeuristicMethods.visitedPreds = emap;
}
catch
{
CacheMaps.CacheAddReuseHeuristic(new State(UPC.initialPredicateList) as IState);
UnityGroundActionFactory.PrimaryEffectHack(new State(UPC.initialPredicateList) as IState);
}
}
catch
{
CacheMaps.CacheLinks(GroundActionFactory.GroundActions);
CacheMaps.CacheGoalLinks(GroundActionFactory.GroundActions, UPC.goalPredicateList);
CacheMaps.CacheAddReuseHeuristic(new State(UPC.initialPredicateList) as IState);
UnityGroundActionFactory.PrimaryEffectHack(new State(UPC.initialPredicateList) as IState);
}
}