def mdr(paths_file: str, adv_agent_id: int, adv_agent_ds: int, out_file_name: str = None, robust_mode: str = 'DISABLE'):
logging.getLogger('vgmapf.problems.mapf.multi_agent_pathfinding').setLevel(logging.INFO)
paths_file = pathlib.Path(paths_file)
lp = paths_serializer.load(paths_file)
adv_agent = [a for a in lp.agents if a.id == adv_agent_id][0]
adv_agent.is_adversarial = True
adv_agent.damage_steps = adv_agent_ds
robust_mode = getattr(mdr_finder.RobustPathMode, robust_mode)
if not out_file_name:
out_file_name = paths_file.parent / (
paths_file.stem + f'-mdr-a_{adv_agent_id}-ds_{adv_agent_ds}' + paths_file.suffix)
paths = {a.id: a.path for a in lp.agents}
original_makespan = mdr_finder.get_makespan(paths, lp.agents)
mdrf = mdr_finder.MaxDamageRouteFinder(lp.grid, lp.agents, astar.Searcher, lambda agnt: dict(
h_func=mapf_heuristics.get_good_manhatten_like_heuristic(agnt)), robust_mode)
goal_state, info = mdrf.find()
paths = goal_state.paths
for aid, p in paths.items():
p_cells = [x.cell for x in p]
LOG.info(f'Agent [{aid:02d}], path length: {len(p)}')
print(lp.grid.to_str(p_cells, p_cells[0], p_cells[-1], path_chr=str(aid)[0]))
mdr_makespan = mdr_finder.get_makespan(paths, lp.agents)
paths_serializer.dump(out_file_name, lp.agents, [paths[a.id] for a in lp.agents], lp.grid)
LOG.info(f'Original makespan: {original_makespan} | MDR makespan: {mdr_makespan} | MDR info: {info}')
return info, original_makespan, mdr_makespan
def create_agents_routes(self):
self.all_agents = []
lp = paths_serializer.load(self.routes_file)
for curr_route, agnt in zip(lp.paths, lp.agents):
self.max_steps = max(self.max_steps, len(curr_route))
self.all_agents.append(Agent(agnt.id, curr_route, agnt.is_adversarial))
def _stage_25_kamikaze(kamikaze_on_robust_paths_dir, rc, p):
LOG.info(f'STARTED kamikaze on {p}')
parts = p.stem.split('-')
org_path_name = parts[1]
adv_agent_id = int(parts[2].split('_')[1])
adv_agent_ds = int(parts[3].split('_')[1])
robust_radius = int(parts[4].split('_')[1])
lp = paths_serializer.load(p)
result_row = _stage_25_Result(
rc.map_file_name,
p.name,
adv_agent_id,
adv_agent_ds,
robust_radius
)
for robust_mode in [RobustPathMode.OFFLINE]:
kamikaze_route_path = kamikaze_on_robust_paths_dir / f'kamikaze-{robust_mode.name}-{org_path_name}-agent_{adv_agent_id}-ds_{adv_agent_ds}-rr_{robust_radius}{p.suffix}'
kamikaze_paths = None
try:
with benchmark_utils.time_it(f'Running kamikaze with robust_mode={robust_mode}') as ti:
kp = kamikaze_planner.KamikazePlanner(
lp.grid,
lp.agents,
astar.Searcher,
lambda agnt: dict(
h_func=mapf_heuristics.get_good_manhatten_like_heuristic(agnt)
),
robust_mode=robust_mode,
robust_radius=robust_radius
)
goal_state, plan_metadata = kp.find()
assert isinstance(goal_state, kamikaze_planner.KamikazeState)
kamikaze_paths = goal_state.paths
result_row.is_kamikaze_successful = True
result_row.kamikaze_cost = goal_state.g()
result_row.kamikaze_expanded_nodes = plan_metadata.expanded_states
result_row.kamikaze_visited_nodes = plan_metadata.visited_states
result_row.kamikaze_run_time_seconds = ti.getElapsed()
collision = goal_state.get_collision()
result_row.collision_target_agent_id = collision.target_agent_id
result_row.collision_step = collision.step
result_row.collision_cell = str(collision.cell)
except kamikaze_planner.NotFoundError:
result_row.is_kamikaze_successful = False
except Exception as e:
LOG.error(e, exc_info=True)
result_row.comment = str(e)
paths_serializer.dump(kamikaze_route_path, lp.agents, [kamikaze_paths[a.id] for a in lp.agents] if kamikaze_paths else None,
lp.grid, metadata=vars(result_row))
LOG.info(f'FINISHED kamikaze on {p}')
return result_row
def _stage_3_normal_mdr(mdr_on_normal_paths_dir, adv_agent_id, adv_agent_ds, rc, p):
LOG.info(f'STARTED MDR on {p} with agent [{adv_agent_id}] and DS={adv_agent_ds}')
lp = paths_serializer.load(p)
adv_agent = [a for a in lp.agents if a.id == adv_agent_id][0]
adv_agent.is_adversarial = True
adv_agent.damage_steps = adv_agent_ds
for a in lp.agents:
if a is not adv_agent:
a.is_adversarial = False
a.damage_steps = 0
paths = {a.id: a.path for a in lp.agents}
original_makespan = mdr_finder.get_makespan(paths, lp.agents)
mdr_route_path = mdr_on_normal_paths_dir / f'mdr-{p.stem}-agent_{adv_agent.id}-ds_{adv_agent_ds}{p.suffix}'
mdr_paths = None
try:
with benchmark_utils.time_it(f'Running MDR for adv agent:{adv_agent.id}, ds: {adv_agent_ds}') as ti:
mdrf = mdr_finder.MaxDamageRouteFinder(lp.grid, lp.agents, astar.Searcher, lambda agnt: dict(
h_func=mapf_heuristics.get_good_manhatten_like_heuristic(agnt)))
goal_state, mdr_run_info = mdrf.find()
mdr_paths = goal_state.paths
mdr_run_time = ti.getElapsed()
mdr_makespan = mdr_finder.get_makespan(mdr_paths, lp.agents)
result = _stage_3_Result(
rc.map_file_name,
p.name,
adv_agent.id,
adv_agent_ds,
original_makespan,
mdr_makespan,
mdr_run_info.expanded_states,
mdr_run_info.visited_states,
mdr_run_time,
)
except Exception as e:
LOG.error(e)
result = _stage_3_Result(
rc.map_file_name,
p.name,
adv_agent.id,
adv_agent_ds,
original_makespan,
comment=str(e)
)
paths_serializer.dump(mdr_route_path, lp.agents, [mdr_paths[a.id] for a in lp.agents] if mdr_paths else None, lp.grid,
metadata=vars(result))
return result
def e2e_parallel(run_config_file_name: str, out_dir: str = None, random_seed=None, permutations=None,
map_file_name: str = None, max_adv_agent_ds: int=None):# int = 2):
logging.getLogger('vgmapf.problems.mapf.multi_agent_pathfinding').setLevel(logging.INFO)
cores_count = multiprocessing.cpu_count()
LOG.info(f'Detected {cores_count} cores!')
print(run_config_file_name)
#rc1 = config.load('config-simple.yml')
rc1 = config.load(run_config_file_name)
if permutations is not None:
rc1.permutations = permutations
if map_file_name:
rc1.map_file_name = map_file_name
random.seed(random_seed)
max_adv_agent_ds = rc1.robust_route
if out_dir is None:
out_dir = pathlib.Path(__file__).parent / 'outputs' / time_utils.get_current_time_stamp()
else:
out_dir = pathlib.Path(out_dir)
out_dir.mkdir(parents=True, exist_ok=True)
out_dir1 = out_dir
grid = grid2d.Grid2D.from_file(pathlib.Path(rc1.map_file_name))
_update_start_and_goal_cells(rc1, grid)
print(grid.to_str(start=rc1.start, end=rc1.end))
start_time = timeit.default_timer()
max_agents = len(rc1.agents)
for swarm_ammount in range(2, max_agents+1): #(max_agents, max_agents+1):
rc = rc1
# Make folders for number of agents
swarm_out_dir = out_dir1 / str(len(rc.agents))
swarm_out_dir.mkdir(parents=True, exist_ok=True)
out_dir = swarm_out_dir
# Stage 1 - build normal paths
LOG.info('START 01 - building normal paths')
normal_paths_dir = out_dir / STAGE_01_NORMAL_PATHS
normal_paths_dir.mkdir(parents=True, exist_ok=True)
tasks = [(normal_paths_dir, grid, rc, permutation_idx) for permutation_idx in range(rc.permutations)]
with multiprocessing.Pool(processes=cores_count) as pool:
pool.starmap(_stage_1_normal_paths, tasks)
LOG.info('FINISH 01 - building normal paths')
LOG.info('STARTED 02 - run Robust Routes on normal paths')
# Stage 2 - robust routes
robust_paths_dir = out_dir / STAGE_02_ROBUST_PATHS
robust_paths_dir.mkdir(parents=True, exist_ok=True)
tasks = [(robust_paths_dir, grid, max_adv_agent_ds, p) for p in normal_paths_dir.iterdir()]
with multiprocessing.Pool(processes=cores_count) as pool:
pool.starmap(_stage_2_normal_robust, tasks)
LOG.info('FINISHED 02 - run Robust Routes on normal paths')
# #Stage 25 - run kamikaze on robust routes
# LOG.info('STARTED 025 - run kamikaze on robust routes')
#
# kamikaze_on_robust_paths_dir = out_dir / STAGE_025_KAMIKAZE
# kamikaze_on_robust_paths_dir.mkdir(parents=True, exist_ok=True)
#
# kamikaze_on_robust_results_summary = kamikaze_on_robust_paths_dir / '025-kamikaze_on_robust_paths.csv'
#
# # noinspection DuplicatedCode
# tasks = [(kamikaze_on_robust_paths_dir, rc, p) for p in robust_paths_dir.iterdir()]
# with multiprocessing.Pool(processes=cores_count) as pool:
# results = pool.starmap(_stage_25_kamikaze, tasks)
#
# if results:
# with kamikaze_on_robust_results_summary.open('w', newline='') as fresults:
# out_csv = csv.DictWriter(fresults, vars(results[0]).keys())
# out_csv.writeheader()
#
# for row in results:
# try:
# out_csv.writerow(vars(row))
# except Exception:
# LOG.warning(f'Failed writing row: {row}', exc_info=True)
#
# fresults.flush()
#
# LOG.info('FINISHED 025 - run kamikaze on robust routes')
# Stage 3 - run MDR on normal paths
LOG.info('STARTED 03 - run MDR on normal paths')
mdr_on_normal_paths_dir = out_dir / STAGE_03_MDR_NORMAL_PATHS
mdr_on_normal_paths_dir.mkdir(parents=True, exist_ok=True)
mdr_on_normal_results_summary = mdr_on_normal_paths_dir / '03-mdr_on_normal_paths-results.csv'
#tasks = [
# (mdr_on_normal_paths_dir, adv_agent.id, adv_agent_ds, rc, p) for p in normal_paths_dir.iterdir() for adv_agent
# in
# paths_serializer.load(p).agents for adv_agent_ds in range(1, max_adv_agent_ds + 1)
#]
tasks = [
(mdr_on_normal_paths_dir, adv_agent.id, adv_agent_ds, rc, p) for p in normal_paths_dir.iterdir() for
adv_agent
in
paths_serializer.load(p).agents for adv_agent_ds in range(1, max_adv_agent_ds + 1)
]
LOG.debug(f'stage_3 tasks:\n\t' + '\n\t'.join(str(x) for x in tasks))
with multiprocessing.Pool(processes=cores_count) as pool:
results = pool.starmap(_stage_3_normal_mdr, tasks)
if results:
with mdr_on_normal_results_summary.open('w', newline='') as fresults:
out_csv = csv.DictWriter(fresults, vars(results[0]).keys())
out_csv.writeheader()
for row in results:
try:
out_csv.writerow(vars(row))
except Exception:
LOG.warning( f'Failed writing row: {row}', exc_info=True)
LOG.info('FINISHED 03 - run MDR on normal paths')
LOG.info('STARTED 04 - run MDR on robust paths')
# Stage 4 - MDR on robust paths
mdr_on_robust_paths_dir = out_dir / STAGE_04_MDR_ROBUST_PATHS
mdr_on_robust_paths_dir.mkdir(parents=True, exist_ok=True)
mdr_on_robust_results_summary = mdr_on_robust_paths_dir / '04-mdr_on_robust_paths-results.csv'
tasks = [(mdr_on_robust_paths_dir, rc, p) for p in robust_paths_dir.iterdir()]
with multiprocessing.Pool(processes=cores_count) as pool:
results = pool.starmap(_stage_4_robust_mdr, tasks)
if results:
with mdr_on_robust_results_summary.open('w', newline='') as fresults:
out_csv = csv.DictWriter(fresults, vars(results[0]).keys())
out_csv.writeheader()
for row in results:
try:
out_csv.writerow(vars(row))
except Exception:
LOG.warning(f'Failed writing row: {row}', exc_info=True)
fresults.flush()
end_time = timeit.default_timer()
LOG.info(
f'FINISHED 04 - run MDR on robust paths, elapsed:{end_time - start_time:2f} = {datetime.timedelta(seconds=end_time - start_time)}')
del rc1.agents[-1]
def _stage_4_robust_mdr(mdr_on_robust_paths_dir, rc, p):
# TODO: only calculate robust MDR paths for paths where MDR had a big impact on the original path
# robust_path-{p.stem}-agent_{adv_agent.id}-ds_{adv_agent_ds}{p.suffix}
LOG.info(f'STARTED robust MDR on {p}')
parts = p.stem.split('-')
org_path_name = parts[1]
adv_agent_id = int(parts[2].split('_')[1])
adv_agent_ds = int(parts[3].split('_')[1])
robust_radius = int(parts[4].split('_')[1])
org_path_file_path = p.parent.parent / STAGE_01_NORMAL_PATHS / (org_path_name + p.suffix)
org_lp = paths_serializer.load(org_path_file_path)
org_makespan = org_lp.get_makespan()
lp = paths_serializer.load(p)
mdr_info = {}
paths = {a.id: a.path for a in lp.agents}
original_robust_makespan = mdr_finder.get_makespan(paths, lp.agents)
result_row = _stage_4_Result(
rc.map_file_name,
p.name,
adv_agent_id,
adv_agent_ds,
org_makespan,
original_robust_makespan,
robust_radius
)
for robust_mode in [RobustPathMode.ONLINE_CONST]:
mdr_route_path = mdr_on_robust_paths_dir / f'mdr-{robust_mode.name}-{org_path_name}-agent_{adv_agent_id}-ds_{adv_agent_ds}-rr_{robust_radius}{p.suffix}'
mdr_paths = None
try:
with benchmark_utils.time_it(f'Running MDR with robust_mode={robust_mode}') as ti:
mdrf = mdr_finder.MaxDamageRouteFinder(
lp.grid,
lp.agents,
astar.Searcher,
lambda agnt: dict(
h_func=mapf_heuristics.get_good_manhatten_like_heuristic(agnt)
),
robust_mode=robust_mode,
robust_radius=robust_radius
)
goal_state, mdr_run_info = mdrf.find()
mdr_paths = goal_state.paths
# ms_mdr_online_path: int = -1
# mdr_online_expanded_nodes: int = -1
# mdr_online_visited_nodes: int = -1
# mdr_online_run_time_seconds: float = 0.0
mdr_results = {
f'ms_mdr_{robust_mode.name.lower()}_path': mdr_finder.get_makespan(mdr_paths, lp.agents),
f'mdr_{robust_mode.name.lower()}_expanded_nodes': mdr_run_info.visited_states,
f'mdr_{robust_mode.name.lower()}_visited_nodes': mdr_run_info.expanded_states,
f'mdr_{robust_mode.name.lower()}_run_time_seconds': ti.getElapsed()
}
for k, v in mdr_results.items():
setattr(result_row, k, v)
except Exception as e:
LOG.error(e, exc_info=True)
result_row.comment = str(e)
paths_serializer.dump(mdr_route_path, lp.agents, [mdr_paths[a.id] for a in lp.agents] if mdr_paths else None, lp.grid, metadata=vars(result_row))
LOG.info(f'FINISHED robust MDR on {p}')
return result_row
def _stage_2_normal_robust(robust_paths_dir, grid, max_adv_agent_ds, p):
try:
LOG.info(f'STARTED normal robust on {p}')
lp = paths_serializer.load(p)
for org_adv_agent in lp.agents:
adv_agent_id = org_adv_agent.id
agents = [a.clone(clear_path=False) for a in lp.agents]
adv_agent = [a for a in agents if a.id == adv_agent_id][0]
LOG.info(f'STARTED Robust paths with agent {adv_agent.id}')
for adv_agent_ds in range(1, max_adv_agent_ds + 1):
for robust_radius in range(1, 2*adv_agent_ds+1):
LOG.info(f'STARTED Robust paths with agent {adv_agent.id} and DS={adv_agent_ds} '
f'and Robust Radius={robust_radius}')
adv_agent.is_adversarial = True
adv_agent.damage_steps = adv_agent_ds
for a in agents:
if a is not adv_agent:
a.is_adversarial = False
a.damage_steps = 0
a.path = None
try:
with benchmark_utils.time_it() as t:
mf = multi_agent_pathfinding.MapfFinder(grid, agents,
adv_agent_radiuses={adv_agent.id: robust_radius})
mf.find_paths(astar.Searcher,
lambda agnt: dict(
h_func=mapf_heuristics.get_good_manhatten_like_heuristic(agnt)))
mf.validate_paths()
out_path = robust_paths_dir / f'robust_path-{p.stem}-agent_{adv_agent.id}-ds_{adv_agent_ds}' \
f'-rr_{robust_radius}{p.suffix}'
mf.save_paths(out_path, metadata=dict(
mapf_run_time_sec=t.getElapsed(),
makespan=mf.agents_repo.get_makespan(only_non_adversarial=False),
adv_radiuses=mf.adv_agent_radiuses,
agents=[
dict(
id=a.id,
start_cell=a.start_cell,
goal_cell=a.goal_cell,
path_cost=a.path_cost,
path_expanded_nodes=a.expanded_nodes,
motion_equation=a.motion_equation.name,
start_policy=a.start_policy.name,
goal_polciy=a.goal_policy.name,
is_adversarial=a.is_adversarial,
damage_steps=a.damage_steps,
)
for a in agents
]
))
except Exception as e:
LOG.error(
f'Failed creating robust route for {org_adv_agent}, ds={adv_agent_ds}, rr={robust_radius}:'
f' {e}, moving on...')
LOG.info(f'FINISHED normal robust on {p}')
except Exception as e:
LOG.error(e)
def _extract_result_row(path_file: pathlib.Path):
lp = paths_serializer.load(path_file)
row = lp.metadata.copy()
agents_count = len(lp.agents)
row['agents_count'] = agents_count
return row
def load(paths_file):
lp = paths_serializer.load(paths_file)
from IPython import embed;
embed()