sfplanner 0.0.1

data/lib/sfplanner/planner.rb

@@ -0,0 +1,482 @@
+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