def queue_init(self):
import strips2
import towers3 as towers
import subprocess
import strips2_show
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/strips2.py'],
stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
# actually solve to get the plan of actions
plan = strips2.solve(towers.INIT, towers.GOAL, towers.ACTIONS)
action_queue = [5]
state = copy(towers.INIT)
at = towers.Pole1
for (move, what, frm, to) in plan:
frm_pole = strips2_show.get_pole(state, frm)
to_pole = strips2_show.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += CARRY_MOVES[(frm_pole, to_pole)]
move(state, what, frm, to)
at = to_pole
return action_queue
def queue_init(self):
import strips2
import towers3 as towers
import subprocess
import strips2_show
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/strips2.py'], stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
# actually solve to get the plan of actions
plan = strips2.solve(towers.INIT, towers.GOAL, towers.ACTIONS)
action_queue = [5]
state = copy(towers.INIT)
at = towers.Pole1
for (move, what, frm, to) in plan:
frm_pole = strips2_show.get_pole(state, frm)
to_pole = strips2_show.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += CARRY_MOVES[(frm_pole, to_pole)]
move(state, what, frm, to)
at = to_pole
return action_queue
def queue_init(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen([
'python', 'BlocksTower/strips.py', 'BlocksTower/towers3_strips.txt'
],
stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
print plan
hl_actions = [] # high level action
for line in plan.split('\n'):
words = line.strip().split()
if len(words) == 3:
(what, frm, to) = words
hl_actions.append((what, frm, to))
# use strips2 stuff for translating the output into low level actions
import strips2
import towers3 as towers
import strips2_show
action_queue = [5]
state = copy(towers.INIT)
at = towers.Pole1
for (what, frm, to) in hl_actions:
frm_pole = strips2_show.get_pole(state, frm)
to_pole = strips2_show.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
return action_queue
def queue_init(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/strips.py', 'BlocksTower/towers3_strips.txt'], stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
print plan
hl_actions = [] # high level action
for line in plan.split('\n'):
words = line.strip().split()
if len(words) == 3:
(what, frm, to) = words
hl_actions.append((what, frm, to))
# use strips2 stuff for translating the output into low level actions
import strips2
import towers3 as towers
import strips2_show
action_queue = [5]
state = copy(towers.INIT)
at = towers.Pole1
for (what, frm, to) in hl_actions:
frm_pole = strips2_show.get_pole(state, frm)
to_pole = strips2_show.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
return action_queue
def queue_init(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/text_interface.py'],
stdout=subprocess.PIPE)
plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
plan += out
print plan
parsed_plan = self.semantic_parser(plan)
if (self.action_queue == [10]):
action_queue = [5]
else:
action_queue = []
state = self.global_state
at = self.global_at
# use strips2 stuff for translating the output into low level actions
import strips2
import towers2 as towers
import strips2_show
words = parsed_plan.strip().split()
(command) = words[0]
if command == 'Mov':
(what, frm, to) = words[1:]
frm_pole = strips2_show.get_pole(state, frm)
to_pole = strips2_show.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += CARRY_MOVES[(frm_pole, to_pole)]
towers.Move(state, what, frm, to)
at = to_pole
elif command == 'Pick':
(what, frm) = words[1:]
frm_pole = strips2_show.get_pole(state, frm)
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += [3] #Pick up
towers.Move(state, what, frm, frm)
at = frm_pole
elif command == 'Put':
(what, to) = words[1:]
to_pole = strips2_show.get_pole(state, to)
if at != to_pole:
action_queue += MOVES[(at, to_pole)]
action_queue += [2] #Put Down
towers.Move(state, what, to, to)
at = to_pole
self.global_state = state
self.global_at = at
return action_queue
def queue_init(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/text_interface.py'],
stdout=subprocess.PIPE)
parsed_plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
parsed_plan += out
parsed_plan = parsed_plan.splitlines()
print parsed_plan
if (self.action_queue == [10]):
action_queue = [5]
else:
action_queue = []
state = self.global_state
at = self.global_at
# use strips2 stuff for translating the output into low level actions
import strips2
import towers3 as towers
import strips2_show
#Get a count of how many commands to parse, of the parser didn't return anything then make sure we don't try to process and commands
if (len(parsed_plan) == 0):
return []
#the plan could be a list of strings or a string, if it's a string then put it in a single element list
if (type(parsed_plan) == str):
parsed_plan = [parsed_plan]
number_of_commands = len(parsed_plan)
log_info(
parsed_plan,
"Plan appears to contain {0} commands.".format(number_of_commands))
for command_number in range(number_of_commands):
words = parsed_plan[command_number].strip().split()
(command) = words[0]
#check and see if this command string is value i.e. 'Mov disk pole pole', 'Pick, disk pole', etc
if command == 'Mov':
if len(words) != 4:
log_error(
parsed_plan[command_number],
"Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole"
)
continue
#check the args
elif not (words[1][0:4] == 'Disk' and
(words[1][4] == '1' or words[1][4] == '2'
or words[1][4] == '3')):
log_error(
parsed_plan[command_number],
"Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole"
)
continue
elif not (words[2][0:4] == 'Pole' and
(words[2][4] == '1' or words[2][4] == '2'
or words[2][4] == '3')):
log_error(
parsed_plan[command_number],
"Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole"
)
continue
elif not (words[3][0:4] == 'Pole' and
(words[3][4] == '1' or words[3][4] == '2'
or words[3][4] == '3')):
log_error(
parsed_plan[command_number],
"Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole"
)
continue
elif (command == 'Pick') or (command == 'Put'):
if len(words) != 3:
log_error(
parsed_plan[command_number],
"Invalid command string, the \'Pick\' or \'Put\' command expects the format Mov disk from/to_pole"
)
continue
#check the args
elif not (words[1][0:4] == 'Disk' and
(words[1][4] == '1' or words[1][4] == '2'
or words[1][4] == '3')):
log_error(
parsed_plan[command_number],
"Invalid command string, the \'Pick\' or \'Put\' command expects the format Mov disk from/to_pole"
)
continue
elif not (words[2][0:4] == 'Pole' and
(words[2][4] == '1' or words[2][4] == '2'
or words[2][4] == '3')):
log_error(
parsed_plan[command_number],
"Invalid command string, the \'Pick\' or \'Put\' command expects the format Mov disk from/to_pole"
)
continue
#if we got this far the action must be good, but make sure it is legal in the current state before trying to do it
if command == 'Mov':
#check if we are holding something
if (self.source_of_disk_in_hand != None):
log_error(
"Can't pick up another disk, because we are alreadying holding one."
)
break
(what, frm, to) = words[1:]
frm_pole = strips2_show.get_pole(state, frm)
to_pole = strips2_show.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
#do a sanity check before doing anything
#! make sure that what we are picking up is where it is supposed to be and that it is on top
if not (towers.Clear(what) in state):
log_error(
words,
"Can't pick up {0}, because there is something on it".
format(what))
break
elif not (self.check_on_pole(what, frm_pole, state)):
log_error(
words,
"Can't pick up {0} because it's not at the specified location {1}"
.format(what, frm_pole))
break
#now check if the destination pole is clear, or if it is not, whether the disk(s) on it are largers
elif not (self.check_can_put(what, to_pole, state)):
log_error(
words,
"Can't put {0} on {1}, because a smaller disk is already there."
.format(what, to_pole))
break
#now that everything looks okay, perform the nessecary actions
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += CARRY_MOVES[(frm_pole, to_pole)]
if towers.Move(state, what, self.get_object_below(what, state),
self.get_top_object(to_pole, state)):
print "move successful"
at = to_pole
elif command == 'Pick':
#check if we are holding something
if (self.source_of_disk_in_hand != None):
log_error(
"Can't pick up another disk, because we are alreadying holding one."
)
break
(what, frm) = words[1:]
frm_pole = strips2_show.get_pole(state, frm)
#do a sanity check before doing anything
#! make sure that what we are picking up is where it is supposed to be and that it is on top
if not (towers.Clear(what) in state):
log_error(
words,
"Can't pick up {0}, because there is something on it".
format(what))
break
if not (self.check_on_pole(what, frm_pole, state)):
log_error(
words,
"Can't pick up {0} because it's not at the specified location {1}"
.format(what, frm_pole))
break
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += [3] #Pick up
self.source_of_disk_in_hand = self.get_object_below(
what, state
) #store where the disk we are picking up came from so we can clean up the state when we put it down
towers.Move(state, what, self.get_object_below(what, state),
self.source_of_disk_in_hand)
at = frm_pole
elif command == 'Put':
(what, to) = words[1:]
to_pole = strips2_show.get_pole(state, to)
#now check if the destination pole is clear, or if it is not, whether the disk(s) on it are largers
if not (self.check_can_put(what, to_pole, state)):
log_error(
words,
"Can't put {0} on {1}, because a smaller disk is already there."
.format(what, to_pole))
break
#everything looks okay, take the action
if at != to_pole:
action_queue += MOVES[(at, to_pole)]
action_queue += [2] #Put Down
towers.Move(state, what, self.source_of_disk_in_hand,
self.get_top_object(to_pole, state))
self.source_of_disk_in_hand = None #clear the source of the disk we are holding, since we put it down
at = to_pole
self.global_state = state
self.global_at = at
return action_queue
def queue_init(self):
import subprocess
# solve for show (user can click through)
subproc = subprocess.Popen(['python', 'BlocksTower/text_interface.py'], stdout=subprocess.PIPE)
parsed_plan = ''
while True:
try:
out = subproc.stdout.read(1)
except:
break
if out == '':
break
else:
parsed_plan += out
parsed_plan = parsed_plan.splitlines()
print parsed_plan
if (self.action_queue == [10]):
action_queue = [5]
else:
action_queue = []
state = self.global_state
at = self.global_at
# use strips2 stuff for translating the output into low level actions
import strips2
import towers3 as towers
import strips2_show
#Get a count of how many commands to parse, of the parser didn't return anything then make sure we don't try to process and commands
if (len(parsed_plan) == 0):
return []
#the plan could be a list of strings or a string, if it's a string then put it in a single element list
if (type(parsed_plan) == str):
parsed_plan = [parsed_plan]
number_of_commands = len(parsed_plan)
log_info(parsed_plan, "Plan appears to contain {0} commands.".format(number_of_commands))
for command_number in range(number_of_commands):
words = parsed_plan[command_number].strip().split()
(command) = words[0]
#check and see if this command string is value i.e. 'Mov disk pole pole', 'Pick, disk pole', etc
if command == 'Mov':
if len(words) != 4:
log_error(parsed_plan[command_number], "Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole")
continue
#check the args
elif not(words[1][0:4] == 'Disk' and (words[1][4] == '1' or words[1][4] == '2' or words[1][4] == '3')):
log_error(parsed_plan[command_number], "Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole")
continue
elif not(words[2][0:4] == 'Pole' and (words[2][4] == '1' or words[2][4] == '2' or words[2][4] == '3')):
log_error(parsed_plan[command_number], "Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole")
continue
elif not(words[3][0:4] == 'Pole' and (words[3][4] == '1' or words[3][4] == '2' or words[3][4] == '3')):
log_error(parsed_plan[command_number], "Invalid command string, the \'Mov\' command expects the format Mov disk from_pole to_pole")
continue
elif (command == 'Pick') or (command == 'Put'):
if len(words) != 3:
log_error(parsed_plan[command_number], "Invalid command string, the \'Pick\' or \'Put\' command expects the format Mov disk from/to_pole")
continue
#check the args
elif not(words[1][0:4] == 'Disk' and (words[1][4] == '1' or words[1][4] == '2' or words[1][4] == '3')):
log_error(parsed_plan[command_number], "Invalid command string, the \'Pick\' or \'Put\' command expects the format Mov disk from/to_pole")
continue
elif not(words[2][0:4] == 'Pole' and (words[2][4] == '1' or words[2][4] == '2' or words[2][4] == '3')):
log_error(parsed_plan[command_number], "Invalid command string, the \'Pick\' or \'Put\' command expects the format Mov disk from/to_pole")
continue
#if we got this far the action must be good, but make sure it is legal in the current state before trying to do it
if command == 'Mov':
#check if we are holding something
if (self.source_of_disk_in_hand != None):
log_error("Can't pick up another disk, because we are alreadying holding one.")
break
(what, frm, to) = words[1:]
frm_pole = strips2_show.get_pole(state, frm)
to_pole = strips2_show.get_pole(state, to)
print what, frm, to, at, frm_pole, to_pole
#do a sanity check before doing anything
#! make sure that what we are picking up is where it is supposed to be and that it is on top
if not(towers.Clear(what) in state):
log_error(words, "Can't pick up {0}, because there is something on it".format(what))
break
elif not(self.check_on_pole(what, frm_pole, state)):
log_error(words, "Can't pick up {0} because it's not at the specified location {1}".format(what, frm_pole))
break
#now check if the destination pole is clear, or if it is not, whether the disk(s) on it are largers
elif not(self.check_can_put(what, to_pole, state)):
log_error(words, "Can't put {0} on {1}, because a smaller disk is already there.".format(what, to_pole))
break
#now that everything looks okay, perform the nessecary actions
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += CARRY_MOVES[(frm_pole, to_pole)]
if towers.Move(state, what, self.get_object_below(what, state), self.get_top_object(to_pole, state)):
print "move successful"
at = to_pole
elif command == 'Pick':
#check if we are holding something
if (self.source_of_disk_in_hand != None):
log_error("Can't pick up another disk, because we are alreadying holding one.")
break
(what, frm) = words[1:]
frm_pole = strips2_show.get_pole(state, frm)
#do a sanity check before doing anything
#! make sure that what we are picking up is where it is supposed to be and that it is on top
if not(towers.Clear(what) in state):
log_error(words, "Can't pick up {0}, because there is something on it".format(what))
break
if not(self.check_on_pole(what, frm_pole, state)):
log_error(words, "Can't pick up {0} because it's not at the specified location {1}".format(what, frm_pole))
break
if at != frm_pole:
action_queue += MOVES[(at, frm_pole)]
action_queue += [3] #Pick up
self.source_of_disk_in_hand = self.get_object_below(what, state)#store where the disk we are picking up came from so we can clean up the state when we put it down
towers.Move(state, what, self.get_object_below(what, state), self.source_of_disk_in_hand)
at = frm_pole
elif command == 'Put':
(what, to) = words[1:]
to_pole = strips2_show.get_pole(state, to)
#now check if the destination pole is clear, or if it is not, whether the disk(s) on it are largers
if not(self.check_can_put(what, to_pole, state)):
log_error(words, "Can't put {0} on {1}, because a smaller disk is already there.".format(what, to_pole))
break
#everything looks okay, take the action
if at != to_pole:
action_queue += MOVES[(at, to_pole)]
action_queue += [2] #Put Down
towers.Move(state, what, self.source_of_disk_in_hand, self.get_top_object(to_pole, state))
self.source_of_disk_in_hand = None#clear the source of the disk we are holding, since we put it down
at = to_pole
self.global_state = state
self.global_at = at
return action_queue
