def run_fastdownard(planner, max_time, max_cost, verbose):
if isinstance(max_time, float):
max_time = int(max_time)
if max_cost == INF:
max_cost = 'infinity'
elif isinstance(max_cost, float):
max_cost = int(max_cost)
safe_remove(SEARCH_OUTPUT)
run_translate(verbose)
return run_search(planner, max_time, max_cost, verbose)
def fast_downward(universe, planner, max_time, max_cost, remove, verbose):
ensure_dir(TEMP_DIRECTORY)
#print universe.domain_pddl(True, True)
#print universe.problem_pddl(True)
write(DOMAIN_PATH, universe.domain_pddl(True, True))
write(PROBLEM_PATH, universe.problem_pddl(True))
#solution = solve_pddl(DOMAIN_PATH, PROBLEM_PATH, planner, max_time, max_cost)
solution = run_fastdownard(planner, max_time, max_cost, verbose)
if solution is None:
return None
if remove:
remove_dir(TEMP_DIRECTORY)
safe_remove(TRANSLATE_OUTPUT)
safe_remove(SEARCH_OUTPUT)
return convert_solution(solution, universe)
def run_search(planner, max_time, max_cost, verbose):
fd_root = get_fd_root()
search = os.path.join(fd_root, FD_BIN, SEARCH_COMMAND) + TRANSLATE_OUTPUT #+ ' --search-time-limit %s'%10 # TODO - limit
planner_config = search_options[planner]%(max_time, max_cost)
command = search%planner_config
safe_remove(SEARCH_OUTPUT)
t0 = time()
p = os.popen(command) # NOTE - cannot pipe input easily with subprocess
output = p.read()
if verbose:
print
print output
print command, time() - t0
if not os.path.exists(SEARCH_OUTPUT):
return None
return read(SEARCH_OUTPUT)
def lapkt(universe, search, verbose):
ensure_dir(TEMP_DIRECTORY)
write(DOMAIN_PATH, universe.domain_pddl(True, False))
write(PROBLEM_PATH, universe.problem_pddl(True))
safe_remove(PLANNER_OUTPUT)
planner_path = os.path.join(get_lapkt_root(), LAPKT_PLANNERS[search])
command = planner_path + \
COMMAND % (DOMAIN_PATH, PROBLEM_PATH, PLANNER_OUTPUT)
if verbose:
print command
p = os.popen(command)
output = p.read()
if verbose:
print output
SUCCESS = 'Plan found'
if output.find(SUCCESS) == -1:
return None
plan = []
for line in read(PLANNER_OUTPUT).split('\n')[:-1]:
entries = line.strip('()').lower().split(' ')
plan.append(lookup_action(universe, entries[0], entries[1:]))
if not verbose:
remove_dir(TEMP_DIRECTORY)
safe_remove(PLANNER_OUTPUT)
safe_remove(PLANNER_DETAILS)
return plan