def main(strategy_str: 'str', df: 'object'):
# Read the level data from server.
com = Communicator()
com.ReadServerMessage()
# Create a plan to solve the level.
TimeTracker.startTimer("Planning")
planner = Plan(com.starting_state, com.goal_state, strategy_str)
# Solve the level (resolve the plan and get a path from initial state to goal state).
commands = planner.resolve()
TimeTracker.stopTimer("Planning")
TimeTracker.printTimes()
for command in commands:
print(str(command.jointaction), file=sys.stderr, flush=True)
# Write results in CSV file if needed
if df is not None:
df = df.append(
{
'level':
com.level_name,
'strategy':
strategy_str,
'num_agents':
len(planner.start_state.agents),
'num_boxes':
len(planner.start_state.boxes),
'num_colors':
len(set(planner.start_state.colors.values())),
'solved':
1,
'num_steps':
len(commands),
'runtime':
planner.strategy.time_spent(),
'explored':
planner.strategy.explored_count(),
'frontier':
planner.strategy.frontier_count(),
'generated':
planner.strategy.explored_count() +
planner.strategy.frontier_count(),
'mem':
configuration.get_memory_usage()
},
ignore_index=True)
# Send actions to server.
com.send_commands_to_server(commands)
# Level completed!
return df
