def tfd(universe, verbose):
remove_dir(TEMP_DIRECTORY) # Ensures not using old plan
ensure_dir(TEMP_DIRECTORY)
write(DOMAIN_PATH,
universe.domain_pddl(costs=True, derived=True, durative=True))
write(PROBLEM_PATH, universe.problem_pddl(costs=True))
plan_path = os.path.join(TEMP_DIRECTORY, PLAN_FILE)
#assert not actions, "There shouldn't be any actions - just temporal actions"
command = os.path.join(
get_tfd_root(), COMMAND.format(DOMAIN_PATH, PROBLEM_PATH, plan_path))
if verbose: print command
paths = [
os.path.join(os.getcwd(), p)
for p in (DOMAIN_PATH, PROBLEM_PATH, plan_path)
]
args = os.path.join('.', COMMAND.format(*paths)).split(' ')
stdout = None if verbose else open(os.devnull, 'w')
#stdout = open(os.devnull, 'w')
#stderr = open(os.devnull, 'w')
stderr = None
try:
proc = subprocess.Popen(args,
cwd=get_tfd_root(),
stdout=stdout,
stderr=stderr)
proc.wait()
#proc.terminate()
except subprocess.CalledProcessError, e:
print "Subprocess error", e.output
raw_input("Continue?")
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
def smtplan(universe, max_length, verbose):
ensure_dir(TEMP_DIRECTORY)
write(DOMAIN_PATH, universe.domain_pddl(True, False))
write(PROBLEM_PATH, universe.problem_pddl(True))
command = os.path.join(get_smtplan_root(),
COMMAND % (DOMAIN_PATH, PROBLEM_PATH, max_length))
if verbose:
print command
p = os.popen(command) # NOTE - cannot pipe input easily with subprocess
output = p.read()
if verbose:
print output
if FAILURE in output:
return None
plan = []
for line in output.split('\n')[:-2]:
#if 'sta' not in line:
# continue
entries = line[line.find('(') + 1:line.find(')')].split(' ')
plan.append(lookup_action(universe, entries[0], entries[1:]))
if not verbose:
remove_dir(TEMP_DIRECTORY)
return plan
def fast_downward(universe, planner, max_time, max_cost, verbose):
ensure_dir(TEMP_DIRECTORY)
write(DOMAIN_PATH, universe.domain_pddl(True, True))
write(PROBLEM_PATH, universe.problem_pddl(True))
solution = run_fastdownard(planner, max_time, max_cost, verbose)
if solution is None:
return None
if not verbose:
remove_dir(TEMP_DIRECTORY)
safe_remove(TRANSLATE_OUTPUT)
safe_remove(PREPROCESS_OUTPUT)
safe_remove(SEARCH_OUTPUT)
return convert_solution(solution, universe)
def fast_forward(universe, derived, verbose):
ensure_dir(TEMP_DIRECTORY)
write(DOMAIN_PATH, universe.domain_pddl(False, derived))
write(PROBLEM_PATH, universe.problem_pddl(False))
command = os.path.join(get_ff_root(), SEARCH_COMMAND %
(DOMAIN_PATH, PROBLEM_PATH))
p = os.popen(command)
output = p.read()
if verbose:
print output
print command
if not verbose:
remove_dir(TEMP_DIRECTORY)
success = 'ff: found legal plan as follows'
index = output.find(success)
if index == -1:
return None
plan = []
for line in re.findall('\d+:(?: \w+)+\n', output):
entries = re.findall(' (\w+)', line.lower())
plan.append(lookup_action(universe, entries[0], entries[1:]))
return plan