sfp 0.2.1 → 0.3.4

data/lib/sfp/planner.rb

@@ -1,482 +0,0 @@
-module Sfp
-	class Planner
-		Heuristic = 'mixed' # lmcut, cg, cea, ff, mixed ([cg|cea|ff]=>lmcut)
-		Debug = false
-
-		class Config
-			# The timeout for the solver in seconds (default 600s/5mins)
-			@@timeout = 600
-
-			def self.timeout; @@timeout; end
-
-			def self.set_timeout(timeout); @@timeout = timeout; end
-
-			# The maximum memory that can be consumed by the solver
-			@@max_memory = 2048000 # (in K) -- default ~2GB
-
-			def self.max_memory; @@max_memory; end
-
-			def self.set_max_memory(memory); @@max_memory = memory; end
-		end
-
-
-		attr_accessor :debug
-		attr_reader :parser
-
-		def initialize(params={})
-			@debug = Debug
-			@parser = Sfp::Parser.new(params)
-		end
-
-		# @param :string       : SFP task in string
-		# @param :sfp          : SFP task in Hash data structure
-		# @param :file         : SFP task in file with specified path
-		# @param :sas_plan     : if true then return a raw SAS plan
-		# @param :parallel     : if true then return a parallel (partial-order) plan,
-		#                        if false or nil then return a sequential plan
-		# @param :json         : if true then return the plan in JSON
-		# @param :pretty_json  : if true then return in pretty JSON
-		#
-		def solve(params={})
-			if params[:string].is_a?(String)
-				@parser.parse(string)
-			elsif params[:sfp].is_a?(Hash)
-				@parser.root = params[:sfp]
-			elsif params[:file].is_a?(String)
-				raise Exception, "File not found: #{params[:file]}" if not File.exist?(params[:file])
-				@parser.home_dir = File.expand_path(File.dirname(params[:file]))
-				@parser.parse(File.read(params[:file]))
-			end
-
-			if not @parser.conformant
-				return self.solve_classical_task(params)
-			else
-				return self.solve_conformant_task(params)
-			end
-		end
-
-		# @param :parallel : if true then return a parallel (partial-order) plan,
-		#                    if false or nil then return a sequential plan
-		# @param :json     : if true then return the plan in JSON
-		# @param :pretty_json : if true then return in pretty JSON
-		#
-		def to_bsig(params={})
-			raise Exception, "Conformant task is not supported yet" if @parser.conformant
-
-			bsig = (params[:parallel] ? self.to_parallel_bsig : self.to_sequential_bsig)
-			return (params[:json] ? JSON.generate(bsig) :
-			        (params[:pretty_json] ? JSON.pretty_generate(bsig) : bsig))
-		end
-
-		# @param :json         : if true then return in JSON
-		# @param :pretty_json  : if true then return in pretty JSON
-		#
-		def final_state(params={})
-			return nil if @plan.nil?
-			state = @sas_task.final_state
-			return (params[:json] ? JSON.generate(state) :
-			        (params[:pretty_json] ? JSON.pretty_generate(state) : state))
-		end
-
-		protected
-		def solve_conformant_task(params={})
-			# TODO
-			# 1) generate all possible initial states
-			#    remove states that do not satisfy the global constraint
-			def get_possible_partial_initial_states(init)
-				def combinators(variables, var_values, index=0, result={}, bucket=[])
-					if index >= variables.length
-						# collect
-						bucket << result.clone
-					else
-						var = variables[index]
-						var_values[var].each do |value|
-							result[var] = value
-							combinators(variables, var_values, index+1, result, bucket)
-						end
-					end
-					bucket
-				end
-				# collect variables with non-deterministic value
-				collector = Sfp::Visitor::ConformantVariables.new
-				init.accept(collector)
-				vars = collector.var_values.keys
-				combinators(vars, collector.var_values)
-			end
-
-			# 2) for each initial states, generate a plan (if possible)
-			#    for given goal state
-			def get_possible_plans(partial_inits)
-				# TODO
-				solutions = []
-				partial_inits.each do |partial_init|
-					parser = Sfp::Parser.new
-					parser.root = Sfp::Helper.deep_clone(@parser.root)
-					init = parser.root['initial']
-					partial_init.each do |path,value|
-						parent, var = path.extract
-						parent = init.at?(parent)
-						parent[var] = value
-					end
-					plan, sas_task = self.solve_sas(parser)
-					solution = {:partial_init => partial_init,
-					            :plan => plan,
-					            :sas_task => sas_task}
-					solutions << solution
-				end
-				solutions
-			end
-
-			# 3) merge the plans into one
-			def merge_plans(solutions)
-				# TODO
-				solutions.each { |sol| puts sol[:partial_init].inspect + " => " + sol[:plan].inspect }
-				nil
-			end
-
-			partial_inits = get_possible_partial_initial_states(@parser.root['initial'])
-			solutions = get_possible_plans(partial_inits)
-			merged_plan = merge_plans(solutions)
-		end
-
-		def solve_classical_task(params={})
-			@plan, @sas_task = self.solve_sas(@parser)
-
-			return @plan if params[:sas_plan]
-
-			plan = (params[:parallel] ? self.get_parallel_plan : self.get_sequential_plan)
-			return (params[:json] ? JSON.generate(plan) :
-			        (params[:pretty_json] ? JSON.pretty_generate(plan) : plan))
-		end
-
-		def bsig_template
-			return {'version' => 1, 'operators' => [], 'id' => Time.now.getutc.to_i, 'goal' => []}
-		end
-
-		def to_sequential_bsig
-			bsig = self.bsig_template
-			return bsig if @plan.length <= 0
-			plan = self.get_sequential_plan
-			bsig['operators'] = workflow = plan['workflow']
-			(workflow.length-1).downto(1) do |i|
-				op = workflow[i]
-				prev_op = workflow[i-1]
-				prev_op['effect'].each { |k,v| op['condition'][k] = v }
-			end
-			bsig['goal'], _ = self.bsig_goal_operator(workflow)
-			return bsig
-		end
-
-		def to_parallel_bsig
-			return nil if @plan.nil?
-			bsig = self.bsig_template
-			return bsig if @plan.length <= 0
-			plan = self.get_parallel_plan
-			# foreach operator's predecessors, add its effects to operator's conditions
-			bsig['operators'] = workflow = plan['workflow']
-			workflow.each do |op|
-				op['predecessors'].each do |pred|
-					pred_op = workflow[pred]
-					pred_op['effect'].each { |k,v| op['condition'][k] = v }
-				end
-			end
-			# remove unnecessary information
-			workflow.each do |op|
-				op.delete('id')
-				op.delete('predecessors')
-				op.delete('successors')
-			end
-			bsig['goal'], bsig['goal_operator'] = self.bsig_goal_operator(workflow)
-			return bsig
-		end
-
-		def bsig_goal_operator(workflow)
-			goal_op = {}
-			goal = {}
-			@sas_task.final_state.each do |g|
-				variable, value = @parser.variable_name_and_value(g[:id], g[:value])
-				# search a supporting operator
-				(workflow.length-1).downto(0) do |i|
-					if workflow[i]['effect'].has_key?(variable)
-						if workflow[i]['effect'][variable] == value
-							goal_op[variable] = workflow[i]['name']
-							goal[variable] = value
-							break
-						else
-							#Nuri::Util.debug "#{variable}=#{value} is not changing"
-							#Nuri::Util.debug value.inspect + ' == ' + workflow[i]['effect'][variable].inspect
-						end
-					end
-				end
-			end
-			return goal, goal_op
-		end
-
-		def get_sequential_plan
-			json = { 'type'=>'sequential', 'workflow'=>nil, 'version'=>'1', 'total'=>0 }
-			return json if @plan == nil
-			json['workflow'] = []
-			@plan.each do |line|
-				op_name = line[1, line.length-2].split(' ')[0]
-				operator = @parser.operators[op_name]
-				raise Exception, 'Cannot find operator: ' + op_name if operator == nil
-				json['workflow'] << operator.to_sfw
-			end
-			json['total'] = json['workflow'].length
-			return json
-		end
-
-		def get_parallel_plan
-			json = {'type'=>'parallel', 'workflow'=>nil, 'init'=>nil, 'version'=>'1', 'total'=>0}
-			return json if @plan == nil
-			json['workflow'], json['init'], json['total'] = @sas_task.get_partial_order_workflow(@parser)
-			return json
-		end
-
-		def extract_sas_plan(sas_plan, parser)
-			actions = Array.new
-			sas_plan.split("\n").each do |sas_operator|
-				op_name = sas_operator[1,sas_operator.length-2].split(' ')[0]
-				actions << Action.new(parser.operators[op_name])
-			end
-		end
-
-		def solve_sas(parser)
-			return nil if parser.nil?
-
-			tmp_dir = '/tmp/nuri_' + (rand * 100000).to_i.abs.to_s
-			begin
-				while File.exist?(tmp_dir)
-					tmp_dir = '/tmp/nuri_' + (rand * 100000).to_i.abs.to_s
-				end
-				Dir.mkdir(tmp_dir)
-				sas_file = tmp_dir + '/problem.sas'
-				plan_file = tmp_dir + '/out.plan'
-				File.open(sas_file, 'w') do |f|
-					f.write(parser.to_sas)
-					f.flush
-				end
-
-				if Heuristic == 'mixed'
-					mixed = MixedHeuristic.new(tmp_dir, sas_file, plan_file)
-					mixed.solve
-				else
-					command = Sfp::Planner.getcommand(tmp_dir, sas_file, plan_file, Heuristic)
-					Kernel.system(command)
-				end
-				plan = (File.exist?(plan_file) ? File.read(plan_file) : nil)
-
-				if plan != nil
-					plan = extract_sas_plan(plan, parser)
-					sas_task = Nuri::Sas::Task.new(sas_file)
-					sas_task.sas_plan = plan
-
-					tmp = []
-					goal_op = nil
-					plan.each do |op|
-						_, name, _ = op.split('-', 3)
-						goal_op = op if name == 'goal'
-						next if name == 'goal' or name == 'globalop' or name == 'sometime'
-						tmp.push(op)
-					end
-					sas_task.goal_operator_name = goal_op
-					plan = tmp
-				end
-
-				return plan, sas_task
-			rescue Exception => exp
-				raise exp
-			ensure
-				File.delete('plan_numbers_and_cost') if File.exist?('plan_numbers_and_cost')
-				Kernel.system('rm -rf ' + tmp_dir) if not @debug
-			end
-
-			return nil, nil
-		end
-
-		def self.path
-			os = `uname -s`.downcase.strip
-			machine = `uname -m`.downcase.strip
-			planner = nil
-
-			if os == 'linux' and machine[0,3] == 'x86'
-				planner = File.expand_path(File.dirname(__FILE__) + '/../../bin/solver/linux-x86')
-			elsif os == 'linux' and machine[0,3] == 'arm'
-				planner = File.expand_path(File.dirname(__FILE__) + '/../../bin/solver/linux-arm')
-				#Sfp::Planner::Config.set_max_memory(512)
-			elsif os == 'macos' or os == 'darwin'
-				planner = File.expand_path(File.dirname(__FILE__) + '/../../bin/solver/macos')
-			end
-
-			raise UnsupportedPlatformException, "#{os} is not supported" if planner.nil?
-			planner
-		end
-
-		# Return the solver parameters based on given heuristic mode.
-		# Default value: FF
-		def self.parameters(heuristic='ff')
-			return case heuristic
-				when 'lmcut' then '--search "astar(lmcut())"'
-				when 'blind' then '--search "astar(blind())"'
-				when 'cg' then '--search "lazy_greedy(cg(cost_type=2))"'
-				when 'cea' then '--search "lazy_greedy(cea(cost_type=2))"'
-				when 'mad' then '--search "lazy_greedy(mad())"'
-				when 'lama2011' then ' \
-                --heuristic "hlm1,hff1=lm_ff_syn(lm_rhw(
-                    reasonable_orders=true,lm_cost_type=1,cost_type=1))" \
-                --heuristic "hlm2,hff2=lm_ff_syn(lm_rhw(
-                    reasonable_orders=true,lm_cost_type=2,cost_type=2))" \
-                --search "iterated([
-                    lazy_greedy([hff1,hlm1],preferred=[hff1,hlm1],
-                                cost_type=1,reopen_closed=false),
-                    lazy_greedy([hff2,hlm2],preferred=[hff2,hlm2],
-                                reopen_closed=false),
-                    lazy_wastar([hff2,hlm2],preferred=[hff2,hlm2],w=5),
-                    lazy_wastar([hff2,hlm2],preferred=[hff2,hlm2],w=3),
-                    lazy_wastar([hff2,hlm2],preferred=[hff2,hlm2],w=2),
-                    lazy_wastar([hff2,hlm2],preferred=[hff2,hlm2],w=1)],
-                    repeat_last=true,continue_on_fail=true)"'
-				else '--search "lazy_greedy(ff(cost_type=0))"'
-			end
-		end
-
-		# Return a command to run the planner:
-		# - within given working directory "dir"
-		# - problem in SAS+ format, available in"sas_file"
-		# - solution will be saved in "plan_file"
-		def self.getcommand(dir, sas_file, plan_file, heuristic='ff', debug=false)
-			planner = Sfp::Planner.path
-			params = Sfp::Planner.parameters(heuristic)
-			timeout = Sfp::Planner::Config.timeout
-
-			os = `uname -s`.downcase.strip
-			command = case os
-				when 'linux'
-					then "cd #{dir}; " +
-					     "ulimit -Sv #{Sfp::Planner::Config.max_memory}; " +
-					     "#{planner}/preprocess < #{sas_file} 2>/dev/null 1>/dev/null; " +
-					     "if [ -f 'output' ]; then " +
-					     "timeout #{timeout} nice #{planner}/downward #{params} " +
-					     "--plan-file #{plan_file} < output; fi"
-				when 'macos', 'darwin'
-					then "cd #{dir}; " +
-					     "ulimit -Sv #{Sfp::Planner::Config.max_memory}; " +
-					     "#{planner}/preprocess < #{sas_file} 1> /dev/null; " +
-					     "#{planner}/downward #{params} " +
-					     "--plan-file #{plan_file} < output 1> /dev/null;"
-				else nil
-			end
-
-			if not command.nil? and (os == 'linux' or os == 'macos' or os == 'darwin')
-				command = "#{command} 1> /dev/null 2>/dev/null"
-			end
-
-			command
-		end
-
-		# Combination between two heuristic to obtain a suboptimal plan.
-		# 1) solve the problem with CG/CEA/FF, that will produce (usually) a non-optimal plan
-		# 2) remove actions which are not selected by previous step
-		# 3) solve the problem with LMCUT using A*-search to obtain a sub-optimal plan
-		class MixedHeuristic
-			def initialize(dir, sas_file, plan_file)
-				@dir = dir
-				@sas_file = sas_file
-				@plan_file = plan_file
-			end
-
-			def solve
-				# 1) solve with FF
-				planner1 = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'ff')
-				Kernel.system(planner1)
-				# 1b) if not found, try CEA
-				if not File.exist?(@plan_file)
-					planner2 = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'cea')
-					Kernel.system(planner2)
-				end
-				# 1c) if not found, try CG
-				if not File.exists?(@plan_file)
-					planner3 = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'cg')
-					Kernel.system(planner3)
-					return false if not File.exist?(@plan_file)
-				end
-
-				# 2) remove unselected operators
-				new_sas = @sas_file + '.2'
-				new_plan = @plan_file + '.2'
-				self.filter_operators(@sas_file, @plan_file, new_sas)
-
-				# 3) generate the final plan with LMCUT
-				lmcut = Sfp::Planner.getcommand(@dir, new_sas, new_plan, 'lmcut')
-				Kernel.system(lmcut)
-
-				# LMCUT cannot find the sub-optimized plan
-				File.delete(@plan_file)
-				File.rename(new_plan, @plan_file) if File.exist?(new_plan)
-
-				true
-			end
-
-			def filter_operators(sas, plan, new_sas)
-				# generate the selected actions
-				selected = []
-				File.read(plan).each_line do |line|
-					line.strip!
-					line = line[1, line.length-2]
-					selected << line.split(' ', 2)[0]
-				end
-
-				# remove unselected operators
-				output = ""
-				operator = nil
-				id = nil
-				total_op = false
-				counter = 0
-				File.read(sas).each_line do |line|
-					if line =~ /^end_goal/
-						total_op = true
-					elsif total_op
-						output += "__TOTAL_OPERATOR__\n"
-						total_op = false
-						next
-					end
-
-					if line =~ /^begin_operator/
-						operator = ""
-						id = nil
-					elsif line =~ /^end_operator/
-						if not selected.index(id).nil?
-							output += "begin_operator\n#{operator}end_operator\n"
-							counter += 1
-						end
-						operator = nil
-						id = nil
-					elsif operator.nil?
-						output += line
-					else
-						id = line.split(' ', 2)[0] if id.nil?
-						operator += line
-					end
-				end
-
-				# replace total operator
-				output.sub!(/__TOTAL_OPERATOR__/, counter.to_s)
-
-				# save filtered problem
-				File.open(new_sas, 'w') { |f| f.write(output) }
-			end
-		end
-
-		class Action
-			attr_accessor :operator, :predecessor
-
-			def initialize(operator)
-				@operator = operator
-				@predecessor = Array.new
-			end
-		end
-	
-		class UnsupportedPlatformException < Exception
-		end
-	end
-end