def get_action_queue(self):
import state_space_search
from towers import Towers3 as towers
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/state_space_search.py'], stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
# actually solve to get the plan of actions
plan = state_space_search.solve(towers.INIT, towers.GOAL, towers.get_actions())
action_queue = ACTIONS_BEGIN
state = copy(towers.INIT)
at = towers.Pole1
for (move, what, frm, to) in plan:
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += towers.MOVES[(at, frm_pole)]
action_queue += towers.CARRY_MOVES[(frm_pole, to_pole)]
move(state, what, frm, to)
at = to_pole
action_queue.extend(ACTIONS_CELEBERATE)
return action_queue
def generate_action_list(self):
import state_space_search
from towers import Towers3 as towers
# solve for show (user can click through)
subproc = subprocess.Popen(["python", "TowerofHanoi/state_space_search.py"], stdout=subprocess.PIPE)
plan = ""
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == "":
break
else:
plan += out
# actually solve to get the plan of actions
plan = state_space_search.solve(towers.INIT, towers.GOAL, towers.get_actions())
action_list = []
action_list.extend(ACTIONS_TURN_LEFT_TO_BEGIN)
state = copy(towers.INIT)
at = towers.Pole1
for (move, what, frm, to) in plan:
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += towers.CARRY_MOVES[(frm_pole, to_pole)]
move(state, what, frm, to)
at = to_pole
action_list.extend(ACTIONS_CELEBERATE)
return action_list
def generate_action_list(self):
# solve for show (user can click through)
subproc = subprocess.Popen([
'python', 'TowerofHanoi/strips.py',
'TowerofHanoi/towers2_strips.txt'
],
stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
print plan
hl_actions = [] # high level action
for line in plan.split('\n'):
words = line.strip().split()
if len(words) == 3:
(what, frm, to) = words
hl_actions.append((what, frm, to))
from towers import Towers2 as towers
action_list = []
action_list.extend(ACTIONS_TURN_LEFT_TO_BEGIN)
state = copy(towers.INIT)
at = towers.Pole1
for (what, frm, to) in hl_actions:
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += towers.CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
action_list.extend(ACTIONS_CELEBERATE)
return action_list
def generate_action_list(self):
# solve for show (user can click through)
subproc = subprocess.Popen(
["python", "TowerofHanoi/strips.py", "TowerofHanoi/towers2_strips.txt"], stdout=subprocess.PIPE
)
plan = ""
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == "":
break
else:
plan += out
print plan
hl_actions = [] # high level action
for line in plan.split("\n"):
words = line.strip().split()
if len(words) == 3:
(what, frm, to) = words
hl_actions.append((what, frm, to))
from towers import Towers2 as towers
action_list = []
action_list.extend(ACTIONS_TURN_LEFT_TO_BEGIN)
state = copy(towers.INIT)
at = towers.Pole1
for (what, frm, to) in hl_actions:
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += towers.CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
action_list.extend(ACTIONS_CELEBERATE)
return action_list
def get_action_queue(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/strips.py', 'BlocksTower/towers2_strips.txt'], stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
print plan
hl_actions = [] # high level action
for line in plan.split('\n'):
words = line.strip().split()
if len(words) == 3:
(what, frm, to) = words
hl_actions.append((what, frm, to))
from towers import Towers2 as towers
action_queue = ACTIONS_BEGIN
state = copy(towers.INIT)
at = towers.Pole1
for (what, frm, to) in hl_actions:
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += towers.MOVES[(at, frm_pole)]
action_queue += towers.CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
action_queue.extend(ACTIONS_CELEBERATE)
return action_queue
def generate_action_list(self):
import state_space_search
from towers import Towers3 as towers
# solve for show (user can click through)
subproc = subprocess.Popen(
['python', 'TowerofHanoi/state_space_search.py'],
stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
# actually solve to get the plan of actions
plan = state_space_search.solve(towers.INIT, towers.GOAL,
towers.get_actions())
action_list = []
action_list.extend(ACTIONS_TURN_LEFT_TO_BEGIN)
state = copy(towers.INIT)
at = towers.Pole1
for (move, what, frm, to) in plan:
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += towers.CARRY_MOVES[(frm_pole, to_pole)]
move(state, what, frm, to)
at = to_pole
action_list.extend(ACTIONS_CELEBERATE)
return action_list
def show_state(self, state, depth=0, plan=[]):
""" show the state evaluated at the depth and the specified plan"""
if self.lock:
self.lock.acquire()
while depth > len(self.canvases) - 1:
self.push_canvas()
for i in range(depth, len(self.canvases)):
self.clear_canvas(self.canvases[i])
canvas = self.canvases[depth]
for disk in Towers3.DISKS:
if self.handles[(canvas, disk)]:
canvas.delete(self.handles[(canvas, disk)])
self.handles[(canvas, disk)] = None
h = get_height(state, disk) * DH
pole = Towers3.get_pole(state, disk)
if pole is not None:
x = X[pole]
color = C[disk]
width = W[disk]
self.handles[(canvas,disk)] = \
canvas.create_rectangle(x-width/2, 150/2-h, x+width/2, 130/2 - h, fill = color)
def show_state(self, state, depth = 0, plan = []):
""" show the state evaluated at the depth and the specified plan"""
if self.lock:
self.lock.acquire()
while depth > len(self.canvases) - 1:
self.push_canvas()
for i in range(depth, len(self.canvases)):
self.clear_canvas(self.canvases[i])
canvas = self.canvases[depth]
for disk in Towers3.DISKS:
if self.handles[(canvas,disk)]:
canvas.delete(self.handles[(canvas,disk)])
self.handles[(canvas,disk)] = None
h = get_height(state, disk) * DH
pole = Towers3.get_pole(state, disk)
if pole is not None:
x = X[pole]
color = C[disk]
width = W[disk]
self.handles[(canvas,disk)] = \
canvas.create_rectangle(x-width/2, 150/2-h, x+width/2, 130/2 - h, fill = color)
def generate_action_list(self):
if self.stop_flag:
return [0]
subproc = subprocess.Popen(
['python', 'TowerofHanoi/text_interface.py'],
stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
plan = plan.strip()
plan = plan.replace("Disk ", "Disk").replace("Pole ", "Pole")
plan = plan.replace("disk ", "disk").replace("pole ", "pole")
print "Plan is:"
print plan
if plan == "close":
self.stop_flag = True
return [0]
action_list = []
if self.rotate_first:
self.rotate_first = False
action_list.extend(ACTIONS_TURN_LEFT_TO_BEGIN)
if plan.isspace(
) or not plan: #if it's an empty string or contains only whitespace
action_list.extend(ACTIONS_BAD_COMMAND)
return action_list
parsed_plan = self.semantic_parser(plan)
state = self.global_state
at = self.global_at
from towers import Towers2 as towers
words = parsed_plan.strip().split()
(command) = words[0]
if command == 'Mov':
(what, frm, to) = words[1:]
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += towers.CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
elif command == 'Pick':
(what, frm) = words[1:]
frm_pole = towers.get_pole(state, frm)
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += [3] #Pick up
towers.Move(state, what, frm, frm)
at = frm_pole
elif command == 'Put':
(what, to) = words[1:]
to_pole = towers.get_pole(state, to)
if at != to_pole:
action_list += towers.MOVES[(at, to_pole)]
action_list += [2] #Put Down
towers.Move(state, what, to, to)
at = to_pole
else:
action_list.extend(ACTIONS_BAD_COMMAND)
self.global_state = state
self.global_at = at
return action_list
def get_action_queue(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/text_interface.py'],
stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
print plan
parsed_plan = self.semantic_parser(plan)
if (self.action_queue == [10]):
action_queue = [5]
else:
action_queue = []
state = self.global_state
at = self.global_at
from towers import Towers2 as towers
words = parsed_plan.strip().split()
(command) = words[0]
if command == 'Mov':
(what, frm, to) = words[1:]
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += towers.MOVES[(at, frm_pole)]
action_queue += towers.CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
elif command == 'Pick':
(what, frm) = words[1:]
frm_pole = towers.get_pole(state, frm)
if at != frm_pole:
action_queue += towers.MOVES[(at, frm_pole)]
action_queue += [3] #Pick up
towers.Move(state, what, frm, frm)
at = frm_pole
elif command == 'Put':
(what, to) = words[1:]
to_pole = towers.get_pole(state, to)
if at != to_pole:
action_queue += towers.MOVES[(at, to_pole)]
action_queue += [2] #Put Down
towers.Move(state, what, to, to)
at = to_pole
self.global_state = state
self.global_at = at
action_queue.extend(ACTIONS_CELEBERATE)
return action_queue
def get_action_queue(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/text_interface.py'], stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
print plan
parsed_plan = self.semantic_parser(plan)
if (self.action_queue == [10]):
action_queue = [5]
else:
action_queue = []
state = self.global_state
at = self.global_at
from towers import Towers2 as towers
words = parsed_plan.strip().split()
(command) = words[0]
if command == 'Mov':
(what, frm, to) = words[1:]
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += towers.MOVES[(at, frm_pole)]
action_queue += towers.CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
elif command == 'Pick':
(what, frm) = words[1:]
frm_pole = towers.get_pole(state, frm)
if at != frm_pole:
action_queue += towers.MOVES[(at, frm_pole)]
action_queue += [3] #Pick up
towers.Move(state, what, frm, frm)
at = frm_pole
elif command == 'Put':
(what, to) = words[1:]
to_pole = towers.get_pole(state, to)
if at != to_pole:
action_queue += towers.MOVES[(at, to_pole)]
action_queue += [2] #Put Down
towers.Move(state, what, to, to)
at = to_pole
self.global_state = state
self.global_at = at
action_queue.extend(ACTIONS_CELEBERATE)
return action_queue
def generate_action_list(self):
if self.stop_flag:
return [0]
subproc = subprocess.Popen(["python", "TowerofHanoi/text_interface.py"], stdout=subprocess.PIPE)
plan = ""
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == "":
break
else:
plan += out
plan = plan.strip()
plan = plan.replace("Disk ", "Disk").replace("Pole ", "Pole")
plan = plan.replace("disk ", "disk").replace("pole ", "pole")
print "Plan is:"
print plan
if plan == "close":
self.stop_flag = True
return [0]
action_list = []
if self.rotate_first:
self.rotate_first = False
action_list.extend(ACTIONS_TURN_LEFT_TO_BEGIN)
if plan.isspace() or not plan: # if it's an empty string or contains only whitespace
action_list.extend(ACTIONS_BAD_COMMAND)
return action_list
parsed_plan = self.semantic_parser(plan)
state = self.global_state
at = self.global_at
from towers import Towers2 as towers
words = parsed_plan.strip().split()
(command) = words[0]
if command == "Mov":
(what, frm, to) = words[1:]
frm_pole = towers.get_pole(state, frm)
to_pole = towers.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += towers.CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
elif command == "Pick":
(what, frm) = words[1:]
frm_pole = towers.get_pole(state, frm)
if at != frm_pole:
action_list += towers.MOVES[(at, frm_pole)]
action_list += [3] # Pick up
towers.Move(state, what, frm, frm)
at = frm_pole
elif command == "Put":
(what, to) = words[1:]
to_pole = towers.get_pole(state, to)
if at != to_pole:
action_list += towers.MOVES[(at, to_pole)]
action_list += [2] # Put Down
towers.Move(state, what, to, to)
at = to_pole
else:
action_list.extend(ACTIONS_BAD_COMMAND)
self.global_state = state
self.global_at = at
return action_list
def planner(viewer):
solve(Towers3.INIT, Towers3.GOAL, Towers3.get_actions(), viewer=viewer)
