sfplanner 0.0.1 → 0.1.0
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- data/README.md +23 -66
- data/bin/sfplanner +8 -2
- data/bin/solver/linux-x86/downward +0 -0
- data/bin/solver/macos/downward +0 -0
- data/lib/sfplanner/planner.rb +96 -31
- data/lib/sfplanner.rb +2 -1
- data/sfplanner.gemspec +3 -3
- metadata +4 -4
data/README.md
CHANGED
@@ -1,10 +1,10 @@
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SFP Planner for Ruby
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====================
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- Author: Herry (herry13@gmail.com)
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- Version: 0.0
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- Version: 0.1.0
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- License: [BSD License](https://github.com/herry13/sfp-ruby/blob/master/LICENSE)
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A Ruby gem that provides a Ruby
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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).
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Click [here](https://github.com/herry13/nuri/wiki/SFP-language), for more details about SFP language.
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@@ -25,64 +25,41 @@ Requirements
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- antlr3
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- json
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Tested on:
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- Ubuntu 12.04
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- Debian Squeeze
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- Scientific Linux 6.
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- MacOS X 10.8
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Supporting Platforms
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--------------------
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- Linux (x86)
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- MacOS X
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-
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To use as a command line
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------------------------
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- solve a planning task, and then print the output in JSON
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-
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To use as a command line to solve a planning task
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-
-------------------------------------------------
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- solve a planning task, and then print a sequential plan (if found) in JSON
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-
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$ sfplanner <sfp-file>
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-
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The planning task must be written in [SFP language](https://github.com/herry13/nuri/wiki/SFP-language).
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-
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-
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To generate a parallel (partial-order) plan
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-------------------------------------------
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- use option **--parallel** to generate a partial order plan
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-
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$ sfplanner --parallel <sfp-file>
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$ sfplanner <sfp-task-file>
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To use as Ruby library
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----------------------
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-
-
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- parse an SFP file, and then generate the plan (if found) in Hash:
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# include sfplanner library
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require 'sfplanner'
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-
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-
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# Determine the home directory of your SFP file.
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home_dir = File.expand_path(File.dirname("my_file.sfp"))
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-
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# Create Sfp::Parser object
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parser = Sfp::Parser.new({:home_dir => "./"})
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-
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# Parse the file.
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parser.parse(File.read("my_file.sfp"))
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-
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# Get the result in Hash data structure
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-
result = parser.root
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# solve and return the plan in Hash
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planner.solve({:file => file_path})
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-
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- parse an SFP file, and then generate the plan in JSON:
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#
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-
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-
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# Solve a planning task written in "my_file.sfp", then print
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# the result in JSON.
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puts planner.solve({:file => "my_file.sfp", :json => true})
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# include sfplanner library
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require 'sfplanner'
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# solve and return the plan in JSON
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planner.solve({:file => file_path, :json => true})
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-
Example of Planning
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-
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Example of Planning Task
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------------------------
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- Create file **types.sfp** to hold required schemas:
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schema Service {
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@@ -159,7 +136,7 @@ Example of Planning Problem
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- To generate the workflow, we invoke **sfp** command with argument
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the path of the task file:
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$
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$ sfplanner task.sfp
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Which will generate a workflow in JSON
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@@ -207,23 +184,3 @@ Example of Planning Problem
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This workflow is sequential that has 3 procedures. If you executes
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the workflow in given order, it will achieves the goal state as well
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as perserves the global constraints during the execution.
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-
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- To generate and execute the plan using Bash framework, we invoke **sfp**
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command with an option *--solve-execute* and with an argument the path of
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the task file:
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-
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$ sfp --solve-execute task.sfp
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-
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It will generate and execute the plan by invoking the Bash scripts in
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the current directory (or as specified in environment variable SFP_HOME)
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in the following sequence:
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-
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./modules/b/start
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./modules/pc/redirect "$.b"
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./modules/a/stop
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-
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- If you save the plan in a file e.g. **plan.json**, you could execute it
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later using option *--execute*
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-
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$ sfp --execute plan.json
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-
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data/bin/sfplanner
CHANGED
@@ -4,7 +4,7 @@ libdir = File.expand_path(File.dirname(__FILE__))
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require "#{libdir}/../lib/sfplanner"
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opts = Trollop::options do
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-
version "sfplanner 0.0.
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version "sfplanner 0.0.2 (c) 2013 Herry"
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banner <<-EOS
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Solve a planning task specified in SFP language, and print the plan (if found) in JSON format.
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@@ -15,6 +15,8 @@ where [options] are:
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EOS
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opt :parallel, "Generate a parallel (partial-order) plan, instead of sequential."
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opt :json_input, "Input is in JSON format"
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opt :pretty, "Print the plan in pretty JSON format"
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end
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def parse(filepath)
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@@ -28,7 +30,11 @@ filepath = ARGV[0].to_s
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if filepath != ''
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planner = Sfp::Planner.new
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-
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if opts[:json_input]
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puts 'Option "--json-input" is not supported yet.'
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else
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puts planner.solve({:file => ARGV[0], :pretty_json => opts[:pretty], :parallel => opts[:parallel]})
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end
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else
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Trollop::help
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end
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Binary file
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data/bin/solver/macos/downward
CHANGED
Binary file
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data/lib/sfplanner/planner.rb
CHANGED
@@ -4,8 +4,8 @@ module Sfp
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Debug = false
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class Config
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-
# The timeout for the solver in seconds (default
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@@timeout =
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# The timeout for the solver in seconds (default 60s/1mins)
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@@timeout = 60
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def self.timeout; @@timeout; end
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@@ -24,8 +24,8 @@ module Sfp
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attr_reader :parser
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def initialize(params={})
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-
@debug = Debug
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@parser = Sfp::Parser.new(params)
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@debug = Debug
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end
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# @param :string : SFP task in string
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@@ -48,6 +48,10 @@ module Sfp
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@parser.parse(File.read(params[:file]))
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end
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@debug = true if params[:debug]
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save_sfp_task if @debug
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if not @parser.conformant
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return self.solve_classical_task(params)
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else
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end
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protected
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def save_sfp_task
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sfp_task = Sfp::Helper.deep_clone(@parser.root)
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sfp_task.accept(Sfp::Visitor::ParentEliminator.new)
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File.open('/tmp/planning.json', 'w') { |f| f.write(JSON.pretty_generate(sfp_task)) }
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end
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def solve_conformant_task(params={})
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# TODO
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# 1) generate all possible initial states
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end
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def solve_classical_task(params={})
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-
@plan, @sas_task = self.solve_sas(@parser)
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@plan, @sas_task = self.solve_sas(@parser, params)
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return @plan if params[:sas_plan]
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@@ -241,11 +251,25 @@ module Sfp
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end
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end
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-
def
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return
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def plan_preprocessing(plan)
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return plan if plan.nil? or plan[0,2] != '1:'
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plan1 = ''
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plan.each_line { |line|
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_, line = line.split(':', 2)
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plan1 += "#{line.strip}\n"
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}
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plan1.strip
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end
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def solve_sas(parser, p={})
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return nil if parser.nil?
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tmp_dir = '/tmp/nuri_' + (rand * 100000).to_i.abs.to_s
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begin
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parser.compile_step_1
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p[:sas_post_processor].sas_post_processor(parser) if p[:sas_post_processor]
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parser.compile_step_2
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+
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while File.exist?(tmp_dir)
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tmp_dir = '/tmp/nuri_' + (rand * 100000).to_i.abs.to_s
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end
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sas_file = tmp_dir + '/problem.sas'
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plan_file = tmp_dir + '/out.plan'
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File.open(sas_file, 'w') do |f|
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-
f.write(parser.to_sas)
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#f.write(parser.to_sas)
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f.write(parser.sas)
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f.flush
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end
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@@ -265,6 +290,7 @@ module Sfp
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Kernel.system(command)
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end
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plan = (File.exist?(plan_file) ? File.read(plan_file) : nil)
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+
plan = plan_preprocessing(plan)
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if plan != nil
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plan = extract_sas_plan(plan, parser)
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@@ -336,6 +362,24 @@ module Sfp
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lazy_wastar([hff2,hlm2],preferred=[hff2,hlm2],w=2),
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lazy_wastar([hff2,hlm2],preferred=[hff2,hlm2],w=1)],
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repeat_last=true,continue_on_fail=true)"'
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+
when 'autotune' then ' \
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--heuristic "hCea=cea(cost_type=2)" \
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--heuristic "hCg=cg(cost_type=1)" \
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--heuristic "hGoalCount=goalcount(cost_type=2)" \
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--heuristic "hFF=ff(cost_type=0)" \
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--heuristic "hMad=mad()" \
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--search "lazy(alt([single(sum([weight(g(), 2),weight(hFF, 3)])),
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single(sum([weight(g(), 2),weight(hFF, 3)]),pref_only=true),
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single(sum([weight(g(), 2),weight(hCg, 3)])),
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single(sum([weight(g(), 2),weight(hCg, 3)]),pref_only=true),
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+
single(sum([weight(g(), 2),weight(hCea, 3)])),
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single(sum([weight(g(), 2),weight(hCea, 3)]),pref_only=true),
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single(sum([weight(g(), 2),weight(hGoalCount, 3)])),
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+
single(sum([weight(g(), 2),weight(hGoalCount, 3)]),pref_only=true),
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+
single(sum([weight(g(), 2),weight(hMad, 3)])),
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+
single(sum([weight(g(), 2),weight(hMad, 3)]),pref_only=true)],
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+
boost=200),
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preferred=[hCea,hGoalCount],reopen_closed=false,cost_type=1)"'
|
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else '--search "lazy_greedy(ff(cost_type=0))"'
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end
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end
|
@@ -344,10 +388,10 @@ module Sfp
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# - within given working directory "dir"
|
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# - problem in SAS+ format, available in"sas_file"
|
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# - solution will be saved in "plan_file"
|
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-
def self.getcommand(dir, sas_file, plan_file, heuristic='ff', debug=false)
|
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+
def self.getcommand(dir, sas_file, plan_file, heuristic='ff', debug=false, timeout=nil)
|
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planner = Sfp::Planner.path
|
349
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params = Sfp::Planner.parameters(heuristic)
|
350
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-
timeout = Sfp::Planner::Config.timeout
|
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+
timeout = Sfp::Planner::Config.timeout if timeout.nil?
|
351
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|
352
396
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os = `uname -s`.downcase.strip
|
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command = case os
|
@@ -357,19 +401,20 @@ module Sfp
|
|
357
401
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"#{planner}/preprocess < #{sas_file} 2>/dev/null 1>/dev/null; " +
|
358
402
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"if [ -f 'output' ]; then " +
|
359
403
|
"timeout #{timeout} nice #{planner}/downward #{params} " +
|
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-
"--plan-file #{plan_file} < output; fi"
|
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+
"--plan-file #{plan_file} < output 1>>search.log 2>>search.log; fi"
|
361
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|
when 'macos', 'darwin'
|
362
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|
then "cd #{dir}; " +
|
363
407
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"ulimit -Sv #{Sfp::Planner::Config.max_memory}; " +
|
364
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-
"#{planner}/preprocess < #{sas_file} 1
|
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-
"
|
366
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-
|
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|
+
"#{planner}/preprocess < #{sas_file} 1>/dev/null 2>/dev/null ; " +
|
409
|
+
"if [ -f 'output' ]; then " +
|
410
|
+
"nice #{planner}/downward #{params} " +
|
411
|
+
"--plan-file #{plan_file} < output 1>>search.log 2>>search.log; fi"
|
367
412
|
else nil
|
368
413
|
end
|
369
414
|
|
370
|
-
if not command.nil? and (os == 'linux' or os == 'macos' or os == 'darwin')
|
371
|
-
|
372
|
-
end
|
415
|
+
#if not command.nil? and (os == 'linux' or os == 'macos' or os == 'darwin')
|
416
|
+
# command = "#{command}" #1> /dev/null 2>/dev/null"
|
417
|
+
#end
|
373
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|
374
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command
|
375
420
|
end
|
@@ -386,21 +431,41 @@ module Sfp
|
|
386
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end
|
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|
388
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|
def solve
|
389
|
-
|
390
|
-
|
391
|
-
|
392
|
-
|
434
|
+
use_admissible = false
|
435
|
+
|
436
|
+
# 1a) solve with autotune (see fd-autotune-2)
|
437
|
+
planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'autotune')
|
438
|
+
Kernel.system(planner)
|
439
|
+
|
440
|
+
# 1b) if not found, try mad
|
393
441
|
if not File.exist?(@plan_file)
|
394
|
-
|
395
|
-
Kernel.system(
|
442
|
+
planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'mad')
|
443
|
+
Kernel.system(planner)
|
396
444
|
end
|
397
|
-
|
445
|
+
# if not File.exist?(@plan_file)
|
446
|
+
# planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'ff')
|
447
|
+
# Kernel.system(planner)
|
448
|
+
# end
|
449
|
+
# 1c) if not found, try CEA
|
398
450
|
if not File.exists?(@plan_file)
|
399
|
-
|
400
|
-
Kernel.system(
|
401
|
-
return false if not File.exist?(@plan_file)
|
451
|
+
planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'cea')
|
452
|
+
Kernel.system(planner)
|
402
453
|
end
|
403
454
|
|
455
|
+
# final try: using an admissible heuristic
|
456
|
+
#if not File.exist?(@plan_file)
|
457
|
+
# use_admissible = true
|
458
|
+
# planner = Sfp::Planner.getcommand(@dir, @sas_file, @plan_file, 'lmcut', false, '20m')
|
459
|
+
# Kernel.system(planner)
|
460
|
+
#end
|
461
|
+
|
462
|
+
return false if not File.exist?(@plan_file)
|
463
|
+
optimise_plan if not use_admissible
|
464
|
+
|
465
|
+
true
|
466
|
+
end
|
467
|
+
|
468
|
+
def optimise_plan
|
404
469
|
# 2) remove unselected operators
|
405
470
|
new_sas = @sas_file + '.2'
|
406
471
|
new_plan = @plan_file + '.2'
|
@@ -410,11 +475,11 @@ module Sfp
|
|
410
475
|
lmcut = Sfp::Planner.getcommand(@dir, new_sas, new_plan, 'lmcut')
|
411
476
|
Kernel.system(lmcut)
|
412
477
|
|
413
|
-
#
|
414
|
-
File.
|
415
|
-
|
416
|
-
|
417
|
-
|
478
|
+
# 4) LMCUT cannot find the sub-optimized plan
|
479
|
+
if File.exist?(new_plan)
|
480
|
+
File.delete(@plan_file)
|
481
|
+
File.rename(new_plan, @plan_file)
|
482
|
+
end
|
418
483
|
end
|
419
484
|
|
420
485
|
def filter_operators(sas, plan, new_sas)
|
data/lib/sfplanner.rb
CHANGED
@@ -1,10 +1,11 @@
|
|
1
1
|
# external dependencies
|
2
2
|
require 'rubygems'
|
3
3
|
require 'json'
|
4
|
-
require 'sfp'
|
4
|
+
#require 'sfp'
|
5
5
|
|
6
6
|
# internal dependencies
|
7
7
|
libdir = File.expand_path(File.dirname(__FILE__))
|
8
8
|
|
9
|
+
require libdir + '/../../sfp-ruby/lib/sfp.rb'
|
9
10
|
require libdir + '/sfplanner/sas'
|
10
11
|
require libdir + '/sfplanner/planner'
|
data/sfplanner.gemspec
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
Gem::Specification.new do |s|
|
2
2
|
s.name = 'sfplanner'
|
3
|
-
s.version = '0.0
|
4
|
-
s.date = '2013-
|
3
|
+
s.version = '0.1.0'
|
4
|
+
s.date = '2013-08-05'
|
5
5
|
s.summary = 'SFPlanner'
|
6
6
|
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.'
|
7
7
|
s.authors = ['Herry']
|
@@ -16,5 +16,5 @@ Gem::Specification.new do |s|
|
|
16
16
|
s.homepage = 'https://github.com/herry13/sfplanner'
|
17
17
|
s.rubyforge_project = 'sfplanner'
|
18
18
|
|
19
|
-
s.add_dependency 'sfp', '~> 0.3.
|
19
|
+
s.add_dependency 'sfp', '~> 0.3.6'
|
20
20
|
end
|
metadata
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
--- !ruby/object:Gem::Specification
|
2
2
|
name: sfplanner
|
3
3
|
version: !ruby/object:Gem::Version
|
4
|
-
version: 0.0
|
4
|
+
version: 0.1.0
|
5
5
|
prerelease:
|
6
6
|
platform: ruby
|
7
7
|
authors:
|
@@ -9,7 +9,7 @@ authors:
|
|
9
9
|
autorequire:
|
10
10
|
bindir: bin
|
11
11
|
cert_chain: []
|
12
|
-
date: 2013-
|
12
|
+
date: 2013-08-05 00:00:00.000000000 Z
|
13
13
|
dependencies:
|
14
14
|
- !ruby/object:Gem::Dependency
|
15
15
|
name: sfp
|
@@ -18,7 +18,7 @@ dependencies:
|
|
18
18
|
requirements:
|
19
19
|
- - ~>
|
20
20
|
- !ruby/object:Gem::Version
|
21
|
-
version: 0.3.
|
21
|
+
version: 0.3.6
|
22
22
|
type: :runtime
|
23
23
|
prerelease: false
|
24
24
|
version_requirements: !ruby/object:Gem::Requirement
|
@@ -26,7 +26,7 @@ dependencies:
|
|
26
26
|
requirements:
|
27
27
|
- - ~>
|
28
28
|
- !ruby/object:Gem::Version
|
29
|
-
version: 0.3.
|
29
|
+
version: 0.3.6
|
30
30
|
description: A Ruby gem that provides a Ruby API and a script to the SFP planner.
|
31
31
|
This planner can automatically generate a plan that solves a planning problem written
|
32
32
|
in SFP language.
|