def iterativePlanAuto(pddlDomainFile, pddlProblemFile, viewer, planner = "ff"):
iteration = 0
ex = planning_primitives.initOpenRave(viewer)
cacheClearCount = 0
while True:
iteration += 1
plannerOutFname = pddlProblemFile+ ".out"
planCount = 0
strPlanFileH, plannerOutStr, planCount = runPlanner(pddlDomainFile, pddlProblemFile, plannerOutFname, planner)
prevPDDLFile = pddlProblemFile
pddlProblemFile = initialProblemFile.replace(".pddl", repr(iteration) + ".pddl")
reinterpret = "y"
if strPlanFileH ==-1:
reinterpret = raw_input("Planner failed. Reinterpret (y/n)?")
if reinterpret != "y":
print "Quitting"
sys.exit(-1)
myPatcher.forgetLearnedFactsAbout("obstructs")
myPatcher.writeCurrentInitState(pddlProblemFile)
planning_primitives.clearGPCache(ex)
cacheClearCount += 1
continue
try:
planning_primitives.test(strPlanFileH, ex)
print "Success. Quitting."
print "Total planning time: {0}".format(totalExecTime)
print "Replan count: "+ repr(iteration)
print "Cache clearing count: "+ repr(cacheClearCount)
obsCount = tryIO(prevPDDLFile, "read").count("obstructs")
print "Number of obstructions handled: "+ repr(obsCount)
sys.exit(0)
except planning_primitives.ExecutingException, e:
errorStr = e.pddl_error_info
if errorStr == "":
print "Failure: Error in simulation. Try increasing number of samples."
sys.exit(-1)
print "Got facts:"
print errorStr
if viewer:
#raw_input("Press return to continue")
time.sleep(0.5)
updateInitFile(pddlProblemFile, iteration, plannerOutFname, \
plannerOutStr, errorStr, planCount, planner)
print
def forgetAndRestart(myPatcher, learnedPredicate, problemFile, executor, cacheClearCount):
cacheClearCount += 1
myPatcher.forgetLearnedFactsAbout("obstructs")
myPatcher.writeCurrentInitState(problemFile)
planning_primitives.clearGPCache(executor)
return cacheClearCount
def forgetAndRestart(myPatcher, learnedPredicate, problemFile, executor, cacheClearCount):
cacheClearCount += 1
myPatcher.forgetLearnedFactsAbout("obstructs")
myPatcher.writeCurrentInitState(problemFile)
planning_primitives.clearGPCache(executor)
return cacheClearCount
