def get_plan(domain_file, problem_file):
"""
This method calls the planner.
The planner can be either FF Planner (ff) or Madagascar (mg).
It needs to be set in config.py in the root directory.
:param domain_file: domain file (operator file) for the planner
:type domain_file: str
:param problem_file: problem file (fact file) for the planner
:type problem_file: str
:param result_file: result file to store output of the planner
:type result_file: str
:rtype: list
"""
plan = ""
if PLANNER == "FF":
result_file = temp_output_file
param = FF_PATH + "ff"
param += " -o " + domain_file
param += " -f " + problem_file
param += " > " + result_file
p = subprocess.Popen([param], shell=True)
p.wait()
plan = FileUtils.get_plan_from_file(result_file)
elif PLANNER == "FD":
cmd = FD_PATH + 'fast-downward.py ' + domain_file + ' ' + problem_file + ' --search "astar(lmcut())"'
plan = os.popen(cmd).read()
proc_plan = plan.split('\n')
cost = [i for i, s in enumerate(proc_plan) if 'Plan cost:' in s]
if 'Solution found!' not in proc_plan:
print("No Solution")
return [], 0
plan = proc_plan[proc_plan.index('Solution found!') + 2:cost[0] - 1]
return plan
def get_plan_from_query(self, init_state, domain_name, objects,
pred_type_mapping, action_parameters):
f = open(Q_DOMAIN_FILE, "w")
self.write_query_to_file(f, domain_name, objects, pred_type_mapping,
action_parameters)
f.close()
f = open(Q_PROBLEM_FILE, "w")
FileUtils.writeProblemToFile(self, f, domain_name, domain_name + "-1",
True, objects, pred_type_mapping)
f.close()
self.call_planner(Q_DOMAIN_FILE, Q_PROBLEM_FILE, Q_RESULT_FILE)
self.plan = FileUtils.get_plan_from_file(Q_RESULT_FILE)
planRaw = self.plan
if len(planRaw) != 0:
f = open(Q_PLAN_FILE, "w")
FileUtils.writePlanToFile(self, f, init_state, domain_name,
domain_name + "-1", objects)
f.close()
return planRaw
