# define the methods
def get_img(state, direction, mode):
instrument = state.mode[mode][0]
return [('activate', instrument, state.on_board[instrument], direction),
('take_img', state.on_board[instrument], direction, instrument,
mode)], [[0, 1]]
def activate(state, instrument, satellite, direction):
return [('switch_off', satellite), ('switch_on', instrument, satellite),
('auto_calibrate', instrument)], [[0, 1], [1, 2]]
def auto_calibrate(state, instrument):
return [('calibrate', instrument, state.on_board[instrument],
state.calib_target[instrument])], []
new_tihtn_planner.declare_methods('get_img', get_img)
new_tihtn_planner.declare_methods('activate', activate)
new_tihtn_planner.declare_methods('auto_calibrate', auto_calibrate)
new_tihtn_planner.declare_priority({
'get_img': 3,
'activate': 2,
'auto_calibrate': 1
})
new_tihtn_planner.print_methods()
return [('city_ship', pkg, (copy.deepcopy(state.loc[pkg][0]), 'loc1')),
('air_ship', pkg, (copy.deepcopy(goal[0]), 'loc1')),
('city_ship', pkg, (copy.deepcopy(goal[0]), 'loc2'))], [[0, 1],
[1, 2]]
if state.loc[pkg][0] == goal[0] and state.loc[pkg][1] != goal[1]:
return [('city_ship', pkg, goal)], []
if state.loc[pkg][0] != goal[0] and goal[
1] == 'loc1' and state.loc[pkg][1] != 'loc1':
return [('city_ship', pkg, (copy.deepcopy(state.loc[pkg][0]), 'loc1')),
('air_ship', pkg, (copy.deepcopy(goal[0]), 'loc1'))], [[0, 1]]
if state.loc[pkg][1] == 'loc1' and goal[1] == 'loc2':
return [('air_ship', pkg, (copy.deepcopy(goal[0]), 'loc1')),
('city_ship', pkg, (copy.deepcopy(goal[0]),
copy.deepcopy(goal[1])))], [[0, 1]]
if goal[1] == 'loc1':
return [('air_ship', pkg, (copy.deepcopy(goal[0]), 'loc1'))], []
new_tihtn_planner.declare_methods('air_ship', air_ship)
new_tihtn_planner.declare_methods('city_ship', city_ship)
new_tihtn_planner.declare_methods('delievery', delievery)
new_tihtn_planner.declare_priority({
2: ['delievery'],
1: ['city_ship', 'air_ship']
})
new_tihtn_planner.print_methods()
###################################################################################
#可见，pshop中的state的表示是通过，字典来表示的
1] == 'loc2':
return [('air_ship', pkg, (copy.deepcopy(goal[0]), 'loc1')),
('city_ship', pkg, (copy.deepcopy(goal[0]),
copy.deepcopy(goal[1])))], [[0, 1]]
else:
return False, []
def delievery__5(state, pkg, goal):
if state.loc[pkg][0] != goal[0] and state.loc[pkg][1] == 'loc1' and goal[
1] == 'loc1':
return [('air_ship', pkg, (copy.deepcopy(goal[0]), 'loc1'))], []
else:
return False, []
new_tihtn_planner.declare_methods('air_ship', air_ship)
new_tihtn_planner.declare_methods('city_ship', city_ship)
new_tihtn_planner.declare_methods('delievery', delievery__1, delievery__2,
delievery__3, delievery__4, delievery__5)
new_tihtn_planner.declare_priority({
'delievery': 2,
'air_ship': 1,
'city_ship': 1
})
new_tihtn_planner.print_methods()
###################################################################################
#可见，pshop中的state的表示是通过，字典来表示的
return [('make_clear', block_on), ('pick_up', block_on),
('put_down', block_on)], [[0, 1], [1, 2]]
else:
return False, []
def make_clear__2(state, block):
if (state.clear[block] == True):
return [], []
else:
return False, []
new_tihtn_planner.declare_methods('tower5', tower5)
new_tihtn_planner.declare_methods('tower4', tower4)
new_tihtn_planner.declare_methods('tower3', tower3)
new_tihtn_planner.declare_methods('tower2', tower2)
new_tihtn_planner.declare_methods('tower1', tower1)
new_tihtn_planner.declare_methods('make_clear', make_clear__1, make_clear__2)
new_tihtn_planner.declare_priority({
'tower5': 2,
'tower4': 2,
'tower3': 2,
'tower2': 2,
'tower1': 2,
'make_clear': 1
})
new_tihtn_planner.print_methods()