def get_new_plan(self, state, goals, verbose = 2):
'''
Calls the pyhop planner to generate a new plan.
'''
if verbose >= 2:
print "Planning..."
try:
plan = pyhop.pyhop(state, [("achieve_goals", goals)], verbose = 0)
#note: MIDCA does not convert its state and goals to pyhop state and
#goal objects. Therefore, pyhop will not print correctly if verbose is
#set to other than 0.
except:
if verbose >= 1:
print "Error in planning:", traceback.format_exc(), "\n-Planning failed."
return None
return plan
def get_new_plan(self, state, goals, verbose = 2):
'''
Calls the pyhop planner to generate a new plan.
'''
if verbose >= 2:
print "Planning..."
try:
plan = pyhop.pyhop(state, [("achieve_goals", goals)], verbose = 0)
#note: MIDCA does not convert its state and goals to pyhop state and
#goal objects. Therefore, pyhop will not print correctly if verbose is
#set to other than 0.
except:
if verbose >= 1:
print "Error in planning:", traceback.format_exc(), "\n-Planning failed."
return None
return plan
def run(self, cycle, verbose = 2):
#world = self.mem.get(self.mem.STATES)[-1]
world = self.mem.get(self.mem.STATE)
goals = self.mem.get(self.mem.CURRENT_GOALS)
trace = self.mem.trace
if trace:
trace.add_module(cycle,self.__class__.__name__)
trace.add_data("WORLD", copy.deepcopy(world))
trace.add_data("GOALS", copy.deepcopy(goals))
trace.add_data("PLAN", None)
if not goals:
if verbose >= 2:
print "No goals received by planner. Skipping planning."
return
try:
midcaPlan = self.mem.get(self.mem.GOAL_GRAPH).getMatchingPlan(goals)
except AttributeError:
midcaPlan = None
if midcaPlan:
if verbose >= 2:
print "Old plan retrieved. Checking validity...",
valid = world.plan_correct(midcaPlan)
if not valid:
midcaPlan = None
#if plan modification is added to MIDCA, do it here.
if verbose >= 2:
print "invalid."
elif verbose >= 2:
print "valid."
if valid:
if verbose >= 2:
print "checking to see if all goals are achieved...",
achieved = world.plan_goals_achieved(midcaPlan)
if verbose >= 2:
if len(achieved) == len(midcaPlan.goals):
print "yes"
else:
print "no. Goals achieved: " + str({str(goal) for goal in achieved})
if len(achieved) != len(midcaPlan.goals):
midcaPlan = None #triggers replanning.
#ensure goals is a collection to simplify things later.
if not isinstance(goals, collections.Iterable):
goals = [goals]
if not midcaPlan:
#use pyhop to generate new plan
if verbose >= 2:
print "Planning..."
try:
pyhopState = self.pyhop_state_from_world(world)
except Exception:
print "Could not generate a valid pyhop state from current world state. Skipping planning"
try:
pyhopTasks = self.pyhop_tasks_from_goals(goals, pyhopState)
except Exception as e:
print e
print "Could not generate a valid pyhop task from current goal set. Skipping planning"
try:
pyhopPlan = pyhop.pyhop(pyhopState, pyhopTasks, verbose = 0)
except Exception:
pyhopPlan = None
if not pyhopPlan and pyhopPlan != []:
if verbose >= 1:
print "Planning failed for ",
for goal in goals:
print goal, " ",
print
if trace: trace.add_data("PLAN", pyhopPlan)
return
#change from pyhop plan to MIDCA plan
midcaPlan = plans.Plan([plans.Action(action[0], *list(action[1:])) for action in pyhopPlan], goals)
if verbose >= 1:
print "Planning complete."
if verbose >= 2:
print "Plan: ", midcaPlan
#save new plan
if midcaPlan != None:
self.mem.get(self.mem.GOAL_GRAPH).addPlan(midcaPlan)
if trace: trace.add_data("PLAN",midcaPlan)
def run(self, cycle, verbose=2):
world = self.mem.get(self.mem.STATES)[-1]
goals = self.mem.get(self.mem.CURRENT_GOALS)
trace = self.mem.trace
if trace:
trace.add_module(cycle, self.__class__.__name__)
trace.add_data("WORLD", copy.deepcopy(world))
trace.add_data("GOALS", copy.deepcopy(goals))
if not goals:
if verbose >= 2:
print "No goals received by planner. Skipping planning."
return
try:
midcaPlan = self.mem.get(
self.mem.GOAL_GRAPH).getMatchingPlan(goals)
except AttributeError:
midcaPlan = None
if midcaPlan:
if verbose >= 2:
print "Old plan retrieved. Checking validity...",
valid = world.plan_correct(midcaPlan)
if not valid:
midcaPlan = None
#if plan modification is added to MIDCA, do it here.
if verbose >= 2:
print "invalid."
elif verbose >= 2:
print "valid."
if valid:
if verbose >= 2:
print "checking to see if all goals are achieved...",
achieved = world.plan_goals_achieved(midcaPlan)
if verbose >= 2:
if len(achieved) == len(midcaPlan.goals):
print "yes"
else:
print "no. Goals achieved: " + str(
{str(goal)
for goal in achieved})
if len(achieved) != len(midcaPlan.goals):
midcaPlan = None #triggers replanning.
#ensure goals is a collection to simplify things later.
if not isinstance(goals, collections.Iterable):
goals = [goals]
if not midcaPlan:
#use pyhop to generate new plan
if verbose >= 2:
print "Planning..."
try:
pyhopState = self.pyhop_state_from_world(world)
except Exception:
print "Could not generate a valid pyhop state from current world state. Skipping planning"
try:
pyhopTasks = self.pyhop_tasks_from_goals(goals, pyhopState)
except Exception as e:
print e
print "Could not generate a valid pyhop task from current goal set. Skipping planning"
try:
pyhopPlan = pyhop.pyhop(pyhopState, pyhopTasks, verbose=0)
except Exception:
pyhopPlan = None
if not pyhopPlan and pyhopPlan != []:
if verbose >= 1:
print "Planning failed for ",
for goal in goals:
print goal, " ",
print
if trace: trace.add_data("PLAN", pyhopPlan)
return
#change from pyhop plan to MIDCA plan
midcaPlan = plans.Plan([
plans.Action(action[0], *list(action[1:]))
for action in pyhopPlan
], goals)
if verbose >= 1:
print "Planning complete."
if verbose >= 2:
print "Plan: ", midcaPlan
#save new plan
if midcaPlan != None:
self.mem.get(self.mem.GOAL_GRAPH).addPlan(midcaPlan)
if trace: trace.add_data("PLAN", midcaPlan)
