def test_solve_dinner(self):
planner = Planner()
self.assertEqual(
planner.solve('dinner/dinner.pddl', 'dinner/pb1.pddl'), [
Action('cook', [], [['clean']], [], [['dinner']], []),
Action('wrap', [], [['quiet']], [], [['present']], []),
Action('carry', [], [['garbage']], [], [],
[['garbage'], ['clean']])
])
def get_best_plan_with_keys_recursive(self,graph, keys): if keys == 0: planner = Planner() planner.graph = graph path = planner.solve(self.actual_position, [self.target]) return path, self.keys_available - keys best_plan = None best_plan_dist = 999999 best_keys_num = 9999999 removed_walls = [] for node, walls in self.walls.items(): aux = None for i,w in enumerate(walls): if walls[Orientation.up] == 1 and i == Orientation.up: aux = (node[0]+1,node[1], Orientation.up) elif walls[Orientation.left] == 1 and i == Orientation.left: aux = (node[0],node[1]-1, Orientation.left) elif walls[Orientation.down] == 1 and i == Orientation.down: aux = (node[0]-1,node[1], Orientation.down) elif walls[Orientation.right] == 1 and i == Orientation.right: aux = (node[0],node[1]+1, Orientation.right) if aux in graph.nodes: graph.add_edge( (node[0],node[1],i),aux) path, keys_used = self.get_best_plan_with_keys_recursive(graph,keys - 1) graph.disconect( (node[0],node[1],i),aux) if(len(path) < best_plan_dist ): best_plan_dist = len(path) best_keys_num = keys_used best_plan = path if( len(path) == best_plan_dist and keys_used < best_keys_num ): best_plan_dist = len(path) best_keys_num = keys_used best_plan = path return best_plan, best_keys_num
def plan_action(self): planner = Planner() if self.current_state == RobotState.searching: planner.graph = self.graph path = planner.solve(self.actual_position, [self.target]) elif self.current_state == RobotState.returning: planner.graph = self.original_graph path,keys_used = self.best_plan(self.original_graph, self.keys_available) self.current_plan = path if len(path) <= 1: return Action.nothing else: next_state = path[1] turn = next_state[2] - self.actual_position[2] if( not (next_state in self.graph.edges[self.actual_position]) and ( abs(next_state[0] - self.actual_position[0]) + abs(next_state[1] - self.actual_position[1]) == 1 ) and turn == 0): if self.waiting_for_door == False: print "Waiting For Door!" self.waiting_for_door = True return Action.open_door else: self.keys_available -= 1 print 'USING KEY ! left: ',self.keys_available self.waiting_for_door = False if turn == 0: return Action.move elif turn==-1: return Action.turn_right elif turn==1: return Action.turn_left elif turn == 3: return Action.turn_right elif turn == -3: return Action.turn_left
def plan_action(self): planner = Planner() planner.graph = self.graph path = planner.solve(self.location, self.goal) self.current_plan = path if len(path) <= 1: return False else: next_state = path[1] turn = next_state[2] - self.location[2] if turn == 0: return Action.move elif turn==-1: return Action.turn_right elif turn==1: return Action.turn_left elif turn == 3: return Action.turn_right elif turn == -3: return Action.turn_left
def mainCallBack(block_n, domain_c):
global plan_act
start_time = time.time()
outputtext.delete(1.0, tk.END) # clear the output text text widget
print(block_n, domain_c)
if domain_c == 'Blocks-world':
domain = 'plan_files/domain_bw.pddl'
if block_n == '2':
problem = 'plan_files/p2_bw.pddl'
elif block_n == '3':
problem = 'plan_files/p3_bw.pddl'
elif block_n == '4':
problem = 'plan_files/p4_1_bw.pddl'
elif block_n == '5':
problem = 'plan_files/p5_2_bw.pddl'
elif block_n == '6':
problem = 'plan_files/p6_bw.pddl' # 2 minutes
outputtext.insert(tk.END,
'This one might take some time...' + '\n')
else:
entNumRo.configure(state='normal')
cbDomain.configure(state='readonly')
outputtext.delete(1.0, tk.END) # clear the output text text widget
outputtext.insert(tk.END,
'Please insert a number of blocks!' + '\n')
raise Exception
elif domain_c == 'BoxBall-world':
domain = 'plan_files/domain_gripper.pddl'
if block_n == '2':
problem = 'plan_files/p2_gripper.pddl'
elif block_n == '3':
problem = 'plan_files/p3_gripper.pddl'
elif block_n == '4':
problem = 'plan_files/p4_gripper.pddl'
elif block_n == '5':
problem = 'plan_files/p5_gripper.pddl' # 459 sec - 8min
outputtext.insert(tk.END,
'This one might take some time...' + '\n')
else:
entNumRo.configure(state='normal')
cbDomain.configure(state='readonly')
outputtext.delete(1.0, tk.END) # clear the output text text widget
outputtext.insert(tk.END,
'Please insert a number of blocks!' + '\n')
raise Exception
elif domain_c == 'Tower-world':
domain = 'plan_files/domain_hanoi.pddl'
if block_n == '2':
problem = 'plan_files/p2_hanoi.pddl'
elif block_n == '3':
problem = 'plan_files/p3_hanoi.pddl'
elif block_n == '4':
problem = 'plan_files/p4_hanoi.pddl'
elif block_n == '5':
problem = 'plan_files/p5_hanoi.pddl' # 3 seconds
elif block_n == '6':
problem = 'plan_files/p6_hanoi.pddl' # 1 minute
outputtext.insert(tk.END,
'This one might take some time...' + '\n')
else:
entNumRo.configure(state='normal')
cbDomain.configure(state='readonly')
outputtext.delete(1.0, tk.END) # clear the output text text widget
outputtext.insert(tk.END,
'Please insert a number of blocks!' + '\n')
raise Exception
else:
entNumRo.configure(state='normal')
cbDomain.configure(state='readonly')
outputtext.delete(1.0, tk.END) # clear the output text text widget
outputtext.insert(tk.END, 'Please insert the domain!' + '\n')
raise Exception
plan_act = []
planner = Planner()
outputtext.insert(tk.END, 'Getting the solution!' + '\n')
plan = planner.solve(domain, problem)
print('Time taken: ' + str(time.time() - start_time) + 's')
if plan:
df = []
start_act = [datetime.datetime(2020, 1, 28, 12, 45, 00)]
a = []
for act in plan:
a.append(((str(act).split('\n'))[0]).split()[1])
a.append(((str(act).split('\n'))[1]).split(':')[1])
print('Length of plan:', len(a))
aa = []
for k in range(int(len(a) / 2)):
ai = a[k * 2] + a[(k * 2) + 1]
aa.append(ai)
if aa[0][0] == 'p':
time_act = (np.random.normal(1.044, 0.317))
elif aa[0][0] == 'd':
time_act = (np.random.normal(1.042, 0.502))
elif aa[0][0] == 'm':
time_act = (np.random.normal(2.036, 0.548))
elif aa[0][0] == 'u':
time_act = (np.random.normal(0.504, 0.048))
elif aa[0][0] == 's':
time_act = 0.802
else:
time_act = 2
end_act = [start_act[0] + datetime.timedelta(seconds=(time_act * 60))]
test = random.randrange(len(aa))
for i in range(len(aa)):
name_act = (aa[i])
if name_act[0] == 'p':
time_act2 = (np.random.normal(1.044, 0.317))
elif name_act[0] == 'd':
time_act2 = (np.random.normal(1.042, 0.502))
elif name_act[0] == 'm':
time_act2 = (np.random.normal(2.036, 0.548))
elif name_act[0] == 'u':
time_act2 = (np.random.normal(0.504, 0.048))
elif name_act[0] == 's':
time_act2 = 0.802
else:
time_act2 = 2
start_act.append(end_act[i])
end_act.append(start_act[i + 1] +
datetime.timedelta(seconds=(time_act2 * 60)))
count = 0
if i == test or i == int(test / 2) or i == int(test * 2):
count = count + 1
end_act[i] = end_act[i] + datetime.timedelta(seconds=0.336)
df.append(
dict(Task=name_act,
Start=str(start_act[i]),
Finish=str(end_act[i]),
Resource=resources[1]))
else:
if count == 1:
start_act[i] = start_act[i] + datetime.timedelta(
seconds=0.336)
df.append(
dict(Task=name_act,
Start=str(start_act[i]),
Finish=str(end_act[i]),
Resource=resources[0]))
else:
df.append(
dict(Task=name_act,
Start=str(start_act[i]),
Finish=str(end_act[i]),
Resource=resources[0]))
plan_act.append(name_act)
r = lambda: random.randint(0, 255)
colors = ['#%02X%02X%02X' % (r(), r(), r())]
for i in range(1, len(aa) + 1):
colors.append('#%02X%02X%02X' % (r(), r(), r()))
fig = ff.create_gantt(df,
index_col='Resource',
colors=colors,
title='Daily Schedule',
show_colorbar=True,
bar_width=0.8,
showgrid_x=True,
showgrid_y=True)
plot(fig,
filename='other/%s%s.html' % (domain_c, block_n),
auto_open=False)
outputtext.delete(1.0, tk.END) # clear the output text text widget
for x in plan_act:
outputtext.insert(tk.END, x + '\n')
outputtext.insert(
tk.END,
'Total Task Time: ' + str(end_act[len(aa)] - start_act[0]) + '\n')
entNumRo.configure(state='normal')
cbDomain.configure(state='readonly')
else:
print('No plan was found')
entNumRo.configure(state='normal')
cbDomain.configure(state='readonly')
'WED2': {'v': 2, 'u': 2},
'PrFm': {'v': 2, 'u': 2}
}
source = AdUnisHSR()
username, password = utils.parse_user_credentials('auth.cfg')
response = source.signin(username, password)
filters = [
restrictions.InTimeRange(time(7, 0), time(18, 00)),
restrictions.MinChance(30),
restrictions.FreeTime(3, range(5), time(12), time(23)),
# restrictions.FreeTime(1, range(5), time(6), time(23))
]
planner = Planner(module_spec.keys(), source)
solutions = planner.solve(filters)
for solution in solutions:
planner.verify(module_spec, solution)
# Print max. 10 timetables
nr_timetables_to_print = len(solutions) if len(solutions) < 10 else 10
for i in range(0, nr_timetables_to_print):
lectures = []
for val in solutions[i].values():
lectures += val
# printer.verify(lectures)
printTimeTable(lectures)
print('\n')
'u': 2
}
}
source = AdUnisHSR()
username, password = utils.parse_user_credentials('auth.cfg')
response = source.signin(username, password)
filters = [
restrictions.InTimeRange(time(7, 0), time(18, 00)),
restrictions.MinChance(30),
restrictions.FreeTime(3, range(5), time(12), time(23)),
# restrictions.FreeTime(1, range(5), time(6), time(23))
]
planner = Planner(module_spec.keys(), source)
solutions = planner.solve(filters)
for solution in solutions:
planner.verify(module_spec, solution)
# Print max. 10 timetables
nr_timetables_to_print = len(solutions) if len(solutions) < 10 else 10
for i in range(0, nr_timetables_to_print):
lectures = []
for val in solutions[i].values():
lectures += val
# printer.verify(lectures)
printTimeTable(lectures)
print('\n')
