def write_sas_task(sas_task, temp_dir):
translate_path = os.path.join(temp_dir, TRANSLATE_OUTPUT)
#clear_dir(temp_dir)
safe_remove(translate_path)
ensure_dir(translate_path)
with open(os.path.join(temp_dir, TRANSLATE_OUTPUT), "w") as output_file:
sas_task.output(output_file)
return translate_path
def run_search(temp_dir, planner=DEFAULT_PLANNER, max_planner_time=DEFAULT_MAX_TIME,
max_cost=INF, debug=False):
max_time = convert_cost(max_planner_time)
max_cost = convert_cost(scale_cost(max_cost))
start_time = time()
search = os.path.join(FD_BIN, SEARCH_COMMAND)
if planner == 'cerberus':
planner_config = SEARCH_OPTIONS[planner] # Check if max_time, max_cost exist
else:
planner_config = SEARCH_OPTIONS[planner] % (max_time, max_cost)
command = search.format(temp_dir + SEARCH_OUTPUT, planner_config, temp_dir + TRANSLATE_OUTPUT)
temp_path = os.path.join(os.getcwd(), TEMP_DIR)
domain_path = os.path.abspath(os.path.join(temp_dir, DOMAIN_INPUT))
problem_path = os.path.abspath(os.path.join(temp_dir, PROBLEM_INPUT))
if USE_FORBID:
command = FORBID_COMMAND.format(num=2, domain=domain_path, problem=problem_path)
if debug:
print('Search command:', command)
# os.popen is deprecated
# run, call, check_call, check_output
#with subprocess.Popen(command.split(), stdout=subprocess.PIPE, shell=True, cwd=None) as proc:
# output = proc.stdout.read()
# CalledProcessError
#try:
# output = subprocess.check_output(command, shell=True, cwd=None) #, timeout=None)
#except subprocess.CalledProcessError as e:
# print(e)
for filename in os.listdir(temp_path):
if filename.startswith(SEARCH_OUTPUT):
safe_remove(os.path.join(temp_path, filename))
proc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True, cwd=None, close_fds=True)
output, error = proc.communicate()
if USE_FORBID:
for filename in os.listdir(FORBID_PATH):
if filename.startswith(SEARCH_OUTPUT):
os.rename(os.path.join(FORBID_PATH, filename), os.path.join(temp_path, filename))
if debug:
print(output.decode(encoding='UTF-8')[:-1])
print('Search runtime:', time() - start_time)
plan_files = sorted(f for f in os.listdir(temp_path) if f.startswith(SEARCH_OUTPUT))
print('Plans:', plan_files)
return parse_solutions(temp_path, plan_files)
def run_search(temp_dir,
planner=DEFAULT_PLANNER,
max_planner_time=DEFAULT_MAX_TIME,
max_cost=INF,
debug=False):
"""
Runs FastDownward's search phase on translated SAS+ problem TRANSLATE_OUTPUT
:param temp_dir: the directory for temporary FastDownward input and output files
:param planner: a keyword for the FastDownward search configuration in SEARCH_OPTIONS
:param max_planner_time: the maximum runtime of FastDownward
:param max_cost: the maximum FastDownward plan cost
:param debug: If True, print the FastDownward search output
:return: a tuple (plan, cost) where plan is a sequence of PDDL actions
(or None) and cost is the cost of the plan (INF if no plan)
"""
max_time = convert_value(max_planner_time)
max_cost = convert_value(scale_cost(max_cost))
start_time = time()
search = os.path.join(FD_BIN, SEARCH_COMMAND)
if planner == 'cerberus':
planner_config = SEARCH_OPTIONS[
planner] # Check if max_time, max_cost exist
else:
planner_config = SEARCH_OPTIONS[planner] % (max_time, max_cost)
command = search.format(temp_dir + SEARCH_OUTPUT, planner_config,
temp_dir + TRANSLATE_OUTPUT)
temp_path = os.path.join(os.getcwd(), TEMP_DIR)
domain_path = os.path.abspath(os.path.join(temp_dir, DOMAIN_INPUT))
problem_path = os.path.abspath(os.path.join(temp_dir, PROBLEM_INPUT))
if USE_FORBID:
command = FORBID_COMMAND.format(num=2,
domain=domain_path,
problem=problem_path)
if debug:
print('Search command:', command)
# os.popen is deprecated
# run, call, check_call, check_output
#with subprocess.Popen(command.split(), stdout=subprocess.PIPE, shell=True, cwd=None) as proc:
# output = proc.stdout.read()
# CalledProcessError
#try:
# output = subprocess.check_output(command, shell=True, cwd=None) #, timeout=None)
#except subprocess.CalledProcessError as e:
# print(e)
for filename in os.listdir(temp_path):
if filename.startswith(SEARCH_OUTPUT):
safe_remove(os.path.join(temp_path, filename))
proc = subprocess.Popen(command,
stdout=subprocess.PIPE,
shell=True,
cwd=None,
close_fds=True)
output, error = proc.communicate()
if USE_FORBID:
for filename in os.listdir(FORBID_PATH):
if filename.startswith(SEARCH_OUTPUT):
os.rename(os.path.join(FORBID_PATH, filename),
os.path.join(temp_path, filename))
if debug:
print(output.decode(encoding='UTF-8')[:-1])
print('Search runtime: {:.3f}'.format(elapsed_time(start_time)))
plan_files = sorted(f for f in os.listdir(temp_path)
if f.startswith(SEARCH_OUTPUT))
print('Plans:', plan_files)
return parse_solutions(temp_path, plan_files)