def solve_from_pddl(domain_pddl, problem_pddl, temp_dir=TEMP_DIR, clean=False, debug=False, **kwargs):
# TODO: combine with solve_from_task
start_time = time()
with Verbose(debug):
write_pddl(domain_pddl, problem_pddl, temp_dir)
#run_translate(temp_dir, verbose)
translate_and_write_pddl(domain_pddl, problem_pddl, temp_dir, debug)
solution = run_search(temp_dir, debug=debug, **kwargs)
if clean:
safe_rm_dir(temp_dir)
print('Total runtime:', time() - start_time)
return parse_solution(solution)
def solve_from_pddl(domain_pddl,
problem_pddl,
temp_dir=TEMP_DIR,
clean=False,
debug=False,
**search_kwargs):
# TODO: combine with solve_from_task
#return solve_tfd(domain_pddl, problem_pddl)
start_time = time()
with Verbose(debug):
write_pddl(domain_pddl, problem_pddl, temp_dir)
#run_translate(temp_dir, verbose)
translate_and_write_pddl(domain_pddl, problem_pddl, temp_dir, debug)
solution = run_search(temp_dir, debug=debug, **search_kwargs)
if clean:
safe_rm_dir(temp_dir)
print('Total runtime: {:.3f}'.format(elapsed_time(start_time)))
return solution
def solve_tfd(domain_pddl, problem_pddl, max_time=INF, debug=False):
if PLANNER == 'tfd':
root, template = TFD_PATH, TFD_COMMAND
elif PLANNER == 'cerberus':
root, template = CERB_PATH, CERB_COMMAND
elif PLANNER == 'tflap':
root, template = TFLAP_PATH, TFLAP_COMMAND
elif PLANNER == 'optic':
root, template = OPTIC_PATH, OPTIC_COMMAND
elif PLANNER == 'tpshe':
root, template = TPSHE_PATH, TPSHE_COMMAND
else:
raise ValueError(PLANNER)
start_time = time.time()
domain_path, problem_path = write_pddl(domain_pddl, problem_pddl)
plan_path = os.path.join(TEMP_DIR, PLAN_FILE)
#assert not actions, "There shouldn't be any actions - just temporal actions"
paths = [
os.path.join(os.getcwd(), p)
for p in (domain_path, problem_path, plan_path)
]
command = os.path.join(root, template.format(*paths))
print(command)
if debug:
stdout, stderr = None, None
else:
stdout, stderr = open(os.devnull, 'w'), open(os.devnull, 'w')
proc = subprocess.call(command,
shell=True,
cwd=root,
stdout=stdout,
stderr=stderr) # timeout=None (python3)
error = proc != 0
print('Error:', error)
# TODO: close any opened resources
temp_path = os.path.join(os.getcwd(), TEMP_DIR)
plan_files = sorted(f for f in os.listdir(temp_path)
if f.startswith(PLAN_FILE))
print('Plans:', plan_files)
best_plan, best_makespan = parse_plans(temp_path, plan_files)
#if not debug:
# safe_rm_dir(TEMP_DIR)
print('Makespan: ', best_makespan)
print('Time:', elapsed_time(start_time))
sequential_plan = sequential_from_temporal_plan(best_plan)
return sequential_plan, best_makespan
