sfplanner 0.0.1 → 0.1.0

data/README.md

@@ -1,10 +1,10 @@
 SFP Planner for Ruby
 ====================
 - Author: Herry (herry13@gmail.com)
-- Version: 0.0.1
+- Version: 0.1.0
 - License: [BSD License](https://github.com/herry13/sfp-ruby/blob/master/LICENSE)
 
-A Ruby gem that provides a Ruby interface to a planner that generates a plan as the solution of a planning problem specified in [SFP language](https://github.com/herry13/nuri/wiki/SFP-language).
+A Ruby gem that provides a Ruby API to SFP planner that solves a planning task written in [SFP language](https://github.com/herry13/nuri/wiki/SFP-language).
 
 Click [here](https://github.com/herry13/nuri/wiki/SFP-language), for more details about SFP language.
 
@@ -25,64 +25,41 @@ Requirements
 	- antlr3
 	- json
 
+Tested on:
+- Ubuntu 12.04
+- Debian Squeeze
+- Scientific Linux 6.
+- MacOS X 10.8
 
-Supporting Platforms
---------------------
-- Linux (x86)
-- MacOS X
 
-Tested on: MacOS X 10.8, Ubuntu 12.04, and Scientific Linux 6.
+To use as a command line
+------------------------
+- solve a planning task, and then print the output in JSON
 
-
-To use as a command line to solve a planning task
--------------------------------------------------
-- solve a planning task, and then print a sequential plan (if found) in JSON
-
-		$ sfplanner <sfp-file>
-
-The planning task must be written in [SFP language](https://github.com/herry13/nuri/wiki/SFP-language).
-
-
-To generate a parallel (partial-order) plan
--------------------------------------------
-- use option **--parallel** to generate a partial order plan
-
-		$ sfplanner --parallel <sfp-file>
+		$ sfplanner <sfp-task-file>
 
 
 To use as Ruby library
 ----------------------
-- include file *sfplanner* library in your codes:
+- parse an SFP file, and then generate the plan (if found) in Hash:
 
+		# include sfplanner library
 		require 'sfplanner'
 
-- to parse an SFP file: create a Sfp::Parser object, and then pass the content of the file:
-
-		# Determine the home directory of your SFP file.
-		home_dir = File.expand_path(File.dirname("my_file.sfp"))
-
-		# Create Sfp::Parser object
-		parser = Sfp::Parser.new({:home_dir => "./"})
-
-		# Parse the file.
-		parser.parse(File.read("my_file.sfp"))
-
-		# Get the result in Hash data structure
-		result = parser.root
+		# solve and return the plan in Hash
+		planner.solve({:file => file_path})
 
-- to solve a planning task: create a Sfp::Planner object, and then pass the file's path:
+- parse an SFP file, and then generate the plan in JSON:
 
-		# Create Sfp::Planner object.
-		planner = Sfp::Planner.new
-
-		# Solve a planning task written in "my_file.sfp", then print
-		# the result in JSON.
-		puts planner.solve({:file => "my_file.sfp", :json => true})
+		# include sfplanner library
+		require 'sfplanner'
 
+		# solve and return the plan in JSON
+		planner.solve({:file => file_path, :json => true})
 
 
-Example of Planning Problem
----------------------------
+Example of Planning Task
+------------------------
 - Create file **types.sfp** to hold required schemas:
 
 		schema Service {
@@ -159,7 +136,7 @@ Example of Planning Problem
 - To generate the workflow, we invoke **sfp** command with argument
   the path of the task file:
 
-		$ sfp task.sfp
+		$ sfplanner task.sfp
 
   Which will generate a workflow in JSON
 
@@ -207,23 +184,3 @@ Example of Planning Problem
   This workflow is sequential that has 3 procedures. If you executes
   the workflow in given order, it will achieves the goal state as well
   as perserves the global constraints during the execution.
-
-- To generate and execute the plan using Bash framework, we invoke **sfp**
-  command with an option *--solve-execute* and with an argument the path of
-  the task file:
-
-		$ sfp --solve-execute task.sfp
-
-  It will generate and execute the plan by invoking the Bash scripts in
-  the current directory (or as specified in environment variable SFP_HOME)
-  in the following sequence:
-
-		./modules/b/start
-		./modules/pc/redirect "$.b"
-		./modules/a/stop
-
-- If you save the plan in a file e.g. **plan.json**, you could execute it
-  later using option *--execute*
-
-		$ sfp --execute plan.json
-

data/bin/sfplanner

@@ -4,7 +4,7 @@ libdir = File.expand_path(File.dirname(__FILE__))
 require "#{libdir}/../lib/sfplanner"
 
 opts = Trollop::options do
-	version "sfplanner 0.0.1 (c) 2013 Herry"
+	version "sfplanner 0.0.2 (c) 2013 Herry"
 	banner <<-EOS
 Solve a planning task specified in SFP language, and print the plan (if found) in JSON format.
 
@@ -15,6 +15,8 @@ where [options] are:
 EOS
 
 	opt :parallel, "Generate a parallel (partial-order) plan, instead of sequential."
+	opt :json_input, "Input is in JSON format"
+	opt :pretty, "Print the plan in pretty JSON format"
 end
 
 def parse(filepath)
@@ -28,7 +30,11 @@ filepath = ARGV[0].to_s
 
 if filepath != ''
 	planner = Sfp::Planner.new
-	puts planner.solve({:file => ARGV[0], :pretty_json => true, :parallel => opts[:parallel]})
+	if opts[:json_input]
+		puts 'Option "--json-input" is not supported yet.'
+	else
+		puts planner.solve({:file => ARGV[0], :pretty_json => opts[:pretty], :parallel => opts[:parallel]})
+	end
 else
 	Trollop::help
 end

data/lib/sfplanner/planner.rb

@@ -4,8 +4,8 @@ module Sfp
 		Debug = false
 
 		class Config
-			# The timeout for the solver in seconds (default 600s/5mins)
-			@@timeout = 600
+			# The timeout for the solver in seconds (default 60s/1mins)
+			@@timeout = 60
 
 			def self.timeout; @@timeout; end
 
@@ -24,8 +24,8 @@ module Sfp
 		attr_reader :parser
 
 		def initialize(params={})
-			@debug = Debug
 			@parser = Sfp::Parser.new(params)
+			@debug = Debug
 		end
 
 		# @param :string       : SFP task in string
@@ -48,6 +48,10 @@ module Sfp
 				@parser.parse(File.read(params[:file]))
 			end
 
+			@debug = true if params[:debug]
+
+			save_sfp_task if @debug
+
 			if not @parser.conformant
 				return self.solve_classical_task(params)
 			else
@@ -79,6 +83,12 @@ module Sfp
 		end
 
 		protected
+		def save_sfp_task
+			sfp_task = Sfp::Helper.deep_clone(@parser.root)
+			sfp_task.accept(Sfp::Visitor::ParentEliminator.new)
+			File.open('/tmp/planning.json', 'w') { |f| f.write(JSON.pretty_generate(sfp_task)) }
+		end
+
 		def solve_conformant_task(params={})
 			# TODO
 			# 1) generate all possible initial states
@@ -140,7 +150,7 @@ module Sfp
 		end
 
 		def solve_classical_task(params={})
-			@plan, @sas_task = self.solve_sas(@parser)
+			@plan, @sas_task = self.solve_sas(@parser, params)
 
 			return @plan if params[:sas_plan]
 
@@ -241,11 +251,25 @@ module Sfp
 			end
 		end
 
-		def solve_sas(parser)
-			return nil if parser.nil?
+		def plan_preprocessing(plan)
+			return plan if plan.nil? or plan[0,2] != '1:'
+			plan1 = ''
+			plan.each_line { |line|
+				_, line = line.split(':', 2)
+				plan1 += "#{line.strip}\n"
+			}
+			plan1.strip
+		end
 
+		def solve_sas(parser, p={})
+			return nil if parser.nil?
+			
 			tmp_dir = '/tmp/nuri_' + (rand * 100000).to_i.abs.to_s
 			begin
+				parser.compile_step_1
+				p[:sas_post_processor].sas_post_processor(parser) if p[:sas_post_processor]
+				parser.compile_step_2
+
 				while File.exist?(tmp_dir)
 					tmp_dir = '/tmp/nuri_' + (rand * 100000).to_i.abs.to_s
 				end
@@ -253,7 +277,8 @@ module Sfp
 				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.write(parser.to_sas)
+					f.write(parser.sas)
 					f.flush
 				end
 
@@ -265,6 +290,7 @@ module Sfp
 					Kernel.system(command)
 				end
 				plan = (File.exist?(plan_file) ? File.read(plan_file) : nil)
+				plan = plan_preprocessing(plan)
 
 				if plan != nil
 					plan = extract_sas_plan(plan, parser)
@@ -336,6 +362,24 @@ module Sfp
                     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)"'
+				when 'autotune' then ' \
+--heuristic "hCea=cea(cost_type=2)" \
+--heuristic "hCg=cg(cost_type=1)" \
+--heuristic "hGoalCount=goalcount(cost_type=2)" \
+--heuristic "hFF=ff(cost_type=0)" \
+--heuristic "hMad=mad()" \
+--search "lazy(alt([single(sum([weight(g(), 2),weight(hFF, 3)])),
+                    single(sum([weight(g(), 2),weight(hFF, 3)]),pref_only=true),
+                    single(sum([weight(g(), 2),weight(hCg, 3)])),
+                    single(sum([weight(g(), 2),weight(hCg, 3)]),pref_only=true),
+                    single(sum([weight(g(), 2),weight(hCea, 3)])),
+                    single(sum([weight(g(), 2),weight(hCea, 3)]),pref_only=true),
+                    single(sum([weight(g(), 2),weight(hGoalCount, 3)])),
+                    single(sum([weight(g(), 2),weight(hGoalCount, 3)]),pref_only=true),
+                    single(sum([weight(g(), 2),weight(hMad, 3)])),
+                    single(sum([weight(g(), 2),weight(hMad, 3)]),pref_only=true)],
+                   boost=200),
+              preferred=[hCea,hGoalCount],reopen_closed=false,cost_type=1)"'
 				else '--search "lazy_greedy(ff(cost_type=0))"'
 			end
 		end
@@ -344,10 +388,10 @@ module Sfp
 		# - 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)
+		def self.getcommand(dir, sas_file, plan_file, heuristic='ff', debug=false, timeout=nil)
 			planner = Sfp::Planner.path
 			params = Sfp::Planner.parameters(heuristic)
-			timeout = Sfp::Planner::Config.timeout
+			timeout = Sfp::Planner::Config.timeout if timeout.nil?
 
 			os = `uname -s`.downcase.strip
 			command = case os
@@ -357,19 +401,20 @@ module Sfp
 					     "#{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"
+					     "--plan-file #{plan_file} < output 1>>search.log 2>>search.log; 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;"
+					     "#{planner}/preprocess < #{sas_file} 1>/dev/null 2>/dev/null ; " +
+					     "if [ -f 'output' ]; then " +
+						 "nice #{planner}/downward #{params} " +
+					     "--plan-file #{plan_file} < output 1>>search.log 2>>search.log; fi"
 				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
+			#if not command.nil? and (os == 'linux' or os == 'macos' or os == 'darwin')
+			#	command = "#{command}" #1> /dev/null 2>/dev/null"
+			#end
 
 			command
 		end
@@ -386,21 +431,41 @@ module Sfp
 			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
+				use_admissible = false
+
+				# 1a) solve with autotune (see fd-autotune-2)
+				planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'autotune')
+				Kernel.system(planner)
+
+				# 1b) if not found, try mad
 				if not File.exist?(@plan_file)
-					planner2 = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'cea')
-					Kernel.system(planner2)
+					planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'mad')
+					Kernel.system(planner)
 				end
-				# 1c) if not found, try CG
+#				if not File.exist?(@plan_file)
+#					planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'ff')
+#					Kernel.system(planner)
+#				end
+				# 1c) if not found, try CEA
 				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)
+					planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'cea')
+					Kernel.system(planner)
 				end
 
+				# final try: using an admissible heuristic
+				#if not File.exist?(@plan_file)
+				#	use_admissible = true
+				#	planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'lmcut', false, '20m')
+				#	Kernel.system(planner)
+				#end
+
+				return false if not File.exist?(@plan_file)
+				optimise_plan if not use_admissible
+
+				true
+			end
+
+			def optimise_plan
 				# 2) remove unselected operators
 				new_sas = @sas_file + '.2'
 				new_plan = @plan_file + '.2'
@@ -410,11 +475,11 @@ module Sfp
 				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
+				# 4) LMCUT cannot find the sub-optimized plan
+				if File.exist?(new_plan)
+					File.delete(@plan_file)
+					File.rename(new_plan, @plan_file)
+				end
 			end
 
 			def filter_operators(sas, plan, new_sas)

data/lib/sfplanner.rb

@@ -1,10 +1,11 @@
 # external dependencies
 require 'rubygems'
 require 'json'
-require 'sfp'
+#require 'sfp'
 
 # internal dependencies
 libdir = File.expand_path(File.dirname(__FILE__))
 
+require libdir + '/../../sfp-ruby/lib/sfp.rb'
 require libdir + '/sfplanner/sas'
 require libdir + '/sfplanner/planner'

data/sfplanner.gemspec

@@ -1,7 +1,7 @@
 Gem::Specification.new do |s|
 	s.name			= 'sfplanner'
-	s.version		= '0.0.1'
-	s.date			= '2013-07-03'
+	s.version		= '0.1.0'
+	s.date			= '2013-08-05'
 	s.summary		= 'SFPlanner'
 	s.description	= 'A Ruby gem that provides a Ruby API and a script to the SFP planner. This planner can automatically generate a plan that solves a planning problem written in SFP language.'
 	s.authors		= ['Herry']
@@ -16,5 +16,5 @@ Gem::Specification.new do |s|
 	s.homepage		= 'https://github.com/herry13/sfplanner'
 	s.rubyforge_project = 'sfplanner'
 
-	s.add_dependency 'sfp', '~> 0.3.0'
+	s.add_dependency 'sfp', '~> 0.3.6'
 end	

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: sfplanner
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 0.1.0
   prerelease: 
 platform: ruby
 authors:
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-07-03 00:00:00.000000000 Z
+date: 2013-08-05 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: sfp
@@ -18,7 +18,7 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.3.0
+        version: 0.3.6
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
@@ -26,7 +26,7 @@ dependencies:
     requirements:
     - - ~>
       - !ruby/object:Gem::Version
-        version: 0.3.0
+        version: 0.3.6
 description: A Ruby gem that provides a Ruby API and a script to the SFP planner.
   This planner can automatically generate a plan that solves a planning problem written
   in SFP language.