def test_gripper01_extracted_opgraph(self):
file_dir = os.path.dirname(__file__) #<-- absolute dir the script is in
original_sas = SAS3Extended.from_file(os.path.join(file_dir, 'test_cases/gripper01.sas'))
encoded_sas = SAS3Extended.from_file(os.path.join(file_dir, 'test_cases/gripper01_extracted.sas'))
candidates = extract_tau_operators_opgraph(original_sas)
if len(candidates) > 0:
original_sas = encode(original_sas,candidates)
self.assertEqual(str(original_sas),str(encoded_sas))
def test_miconic_extracted_top_down(self):
file_dir = os.path.dirname(__file__) #<-- absolute dir the script is in
original_sas = SAS3Extended.from_file(os.path.join(file_dir, 'test_cases/miconic.sas'))
expected_sas = SAS3Extended.from_file(os.path.join(file_dir, 'test_cases/miconic_extracted.sas'))
candidates = extract_tau_operators_top(original_sas)
if len(candidates) > 0:
encoded_sas = encode(original_sas,candidates)
self.assertEqual(str(encoded_sas),str(expected_sas))
def test_sokoban01_extracted_top_down(self):
file_dir = os.path.dirname(__file__) #<-- absolute dir the script is in
original_sas = SAS3Extended.from_file(os.path.join(file_dir, 'test_cases/sokoban01_essential.sas'))
expected_sas = SAS3Extended.from_file(os.path.join(file_dir, 'test_cases/sokoban01_extracted.sas'))
candidates = extract_tau_operators_top(original_sas)
if len(candidates) > 0:
encoded_sas = encode(original_sas,candidates)
normalize(encoded_sas)
self.assertMultiLineEqual(str(encoded_sas),str(expected_sas))
def test_sokoban01_unormalized(self):
file_dir = os.path.dirname(
__file__) #<-- absolute dir the script is in
tested_sas = SAS3Extended.from_file(
os.path.join(file_dir, 'test_cases/sokoban01_unnormalized.sas'))
expected_sas = SAS3Extended.from_file(
os.path.join(file_dir, 'test_cases/sokoban01_extracted.sas'))
normalize(tested_sas)
self.assertEqual(str(tested_sas), str(expected_sas))
def test_sas3_extended(self):
file_dir = os.path.dirname(__file__) #<-- absolute dir the script is in
rel_path = 'test_cases/miconic.sas'
abs_file_path = os.path.join(file_dir, rel_path)
sas = SAS3Extended.from_file(abs_file_path)
with open(abs_file_path,'r') as f:
self.assertEqual(str(sas),f.read())
def encode(sas, tau_operators):
eff_var = {var for op in tau_operators for var,
to in op.achievement.items() if sas.is_essential(var)}
inner_goal = {(var, value)
for var, value in sas.goal.items() if var in eff_var}
outer_goal = {var: value for var,
value in sas.goal.items() if var not in eff_var}
primary_var = copy.deepcopy(sas.primary_var)
secondary_var = copy.deepcopy(sas.secondary_var)
prop2under = defaultdict(dict)
primary2secondary = {}
initial_assignment = sas.initial_assignment.copy()
goal = outer_goal
removed_goal = sas.goal.copy()
axiom_layer = sas.axiom_layer.copy()
metric = sas.metric
mutex_group = sas.mutex_group.copy()
axioms = set()
operators = []
removed_operators = set(tau_operators)
remained_operators = set()
removed_axioms = sas.axioms.copy()
pre_existing_secondary_vars = sas.secondary_var.keys()
max_layer = max([layer for layer in sas.axiom_layer.values()]) + 1
observable_operators = [
op for op in sas.operators if op not in tau_operators]
introduce_base_axioms(primary_var, secondary_var, primary2secondary,
initial_assignment, axiom_layer, axioms, eff_var, inner_goal, max_layer, goal)
copy_secondary_vars(primary_var, secondary_var, initial_assignment, prop2under,
axiom_layer, axioms, goal, eff_var, pre_existing_secondary_vars, max_layer)
introduce_reachability_axioms(primary_var, axiom_layer, primary2secondary,
eff_var, tau_operators, axioms, pre_existing_secondary_vars, prop2under)
introduce_encoded_observable_operators(observable_operators, primary2secondary,
prop2under, pre_existing_secondary_vars, eff_var, operators, remained_operators)
copy_axioms(primary_var, removed_operators, prop2under, axioms,
removed_axioms, eff_var, pre_existing_secondary_vars)
return SAS3Extended(primary_var=primary_var, secondary_var=secondary_var, initial_assignment=initial_assignment, axiom_layer=axiom_layer, removed_goal=removed_goal, goal=goal, metric=metric, mutex_group=mutex_group, axioms=axioms, operators=operators, removed_operators=removed_operators, remained_operators=remained_operators, removed_axioms=removed_axioms)
plan, propeties = fd.solve(subsas, sas)
if not plan:
raise Exception
for k, v in propeties.items():
statistics[k].append(v)
complete_plan += plan
for item in plan:
state.apply(item)
return complete_plan, statistics
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument("sas_file")
parser.add_argument("sas_plan")
args = parser.parse_args()
sas = SAS3Extended.from_file(args.sas_file)
complete_plan, statistics = decode(sas, plan_from_file(sas, args.sas_plan))
print("Decoded!")
with open(args.sas_plan, "w") as f:
for op in complete_plan:
print("(" + op.name + ")")
print("(" + op.name + ")", file=f)
print(";cost={}".format(len(complete_plan)), file=f)
print("Decode Peak Memory: {} KB".format(
max(statistics["peak_memory"] + [0])))
print("Decode Search Time: {} s".format(
sum(statistics["search_time"] + [0])))