pr2

#! /bin/bash

set -e

# Settings
BASEDIR="$(dirname "$0")"
DEBUG_BUILD="debug64"
RELEASE_BUILD="release64"

MAXWIDTH=5
INV_TIME_LIMIT="300"


# Object sampling
OBJ_SAMPLE_CHECK_LIMIT=10
OBJ_SAMPLE_RATES=(1 2 4 8)
OBJ_SAMPLE_TIMES=(60 240 30 30)

# compute sum of OBJ_SAMPLE_TIMES
OTIME=0
for i in "${OBJ_SAMPLE_TIMES[@]}"
do
    OTIME=$((OTIME + i))
done

function die {
    echo "$@" 1>&2
    exit 1
}

function usage {
    echo
    echo "usage: $(basename "$0") [--disable-object-sampling] [--citation] [--strong] [--validate] [--full-validation] [--debug] [--profile time|memory] DOMAIN_FILE PROBLEM_FILE SEARCH_OPTION ..."
    echo
    echo "  --disable-object-sampling: disable object sub-sampling (removes symmetric objects before solving)"
    echo "  --citation: print citation information"
    echo "  --strong: encode to find strong solutions"
    echo "  --validate: validate the solution"
    echo "  --full-validation: validate the solution of a set of sample benchmarks"
    echo "  --debug: run the debug version"
    echo "  --profile time|memory: run the profiler data collection for either time or memory consumption"
    die
}

function cite {
    echo "
@inproceedings{muise12icapsfond,
  author = {Christian Muise and Sheila A McIlraith and J Christopher Beck},
  title = {Improved Non-deterministic Planning by Exploiting State Relevance},
  booktitle = {The 22nd International Conference on Automated Planning and Scheduling (ICAPS)},
  year = {2012},
  subdiscipline = {Artificial Intelligence},
  type = {Conference Proceedings}
}

@inproceedings{muise-aaai-14,
  title={Computing Contingent Plans via Fully Observable Non-Deterministic Planning},
  author={Muise, Christian and Belle, Vaishak and McIlraith, Sheila A.},
  booktitle={The 28th AAAI Conference on Artificial Intelligence},
  year={2014},
  url={http://www.haz.ca/papers/muise-aaai-14.pdf}
}

@inproceedings{muise-icaps-14,
  title={Non-Deterministic Planning With Conditional Effects},
  author={Muise, Christian and McIlraith, Sheila A. and Belle, Vaishak},
  booktitle={The 24th International Conference on Automated Planning and Scheduling},
  year={2014},
  url={http://www.haz.ca/papers/muise-icaps-14.pdf}
}
    "
    exit 0
}

function check_valid {
    if grep -q "Strong Cyclic: True" validate.out; then
        printf "\xE2\x9C\x94\n"
    else
        printf "\033[1mx\033[0m\n"
    fi
}

function run {

    FD="$BASEDIR/fast-downward.py"
    OPT=""
    if [[ "$1" == "--debug" ]]; then
        FD="$FD --build=$DEBUG_BUILD"
        shift
    elif [[ "$1" == "--profile" ]]; then
        FD="$FD --build=$DEBUG_BUILD"
        OPT=" --profile=$2"
        shift 2
    elif [[ "$#" -lt 2 ]]; then
        usage
    else
        FD="$FD --build=$RELEASE_BUILD"
    fi

    if [ "--disable-object-sampling" = "$1" ]; then
        shift
    else
        # checks if there are any symmetries to play with
        timeout "$OBJ_SAMPLE_CHECK_LIMIT" bash -c "python $BASEDIR/pr2-scripts/sample_objects.py --domain $1 --problem $2 --output object-sampled-problem.pddl --sample -1 > object-sampled-output.txt" || true

        if grep -q "True" object-sampled-output.txt; then

            echo
            echo "Object sampling enabled. Running for a maximum of $OTIME seconds."
            echo

            # Iterate over the object sampling indices
            for i in ${!OBJ_SAMPLE_RATES[@]}; do
                echo "Testing with ${OBJ_SAMPLE_RATES[$i]} symmetric objects for a max of ${OBJ_SAMPLE_TIMES[$i]} seconds..."
                python $BASEDIR/pr2-scripts/sample_objects.py --domain "$1" --problem "$2" --output object-sampled-problem.pddl --sample "${OBJ_SAMPLE_RATES[$i]}"

                timeout "${OBJ_SAMPLE_TIMES[$i]}" bash -c "$BASEDIR/pr2 --disable-object-sampling $1 object-sampled-problem.pddl --final-fsap-free-round 0 ${@:3} > object-sampled-subsolve.txt 2>&1" || true

                if grep -Fxq "Strong cyclic solution found." object-sampled-subsolve.txt
                then
                    echo
                    echo
                    echo "Plan found with ${OBJ_SAMPLE_RATES[$i]} sub-sampled objects!"
                    echo
                    cat object-sampled-subsolve.txt
                    rm -f object-sampled-*
                    return
                fi
            done
            echo
            echo "Failed to find a plan with object sub-sampling. Conducting regular search."
            echo
        fi

        rm -f object-sampled-*
    fi

    $FD --translate $1 $2 --translate-options --keep-unimportant-variables --invariant-generation-max-time $INV_TIME_LIMIT
    shift 2

    set -e
    $FD$OPT output.sas --search "pr2search()" "$@" || true
    echo

}

if [ "--citation" = "$1" ]; then
    cite
elif [ "--strong" = "$1" ]; then

    # Uncomment for running experiments.
    #tail -f STRONG_OUTPUT &

    TAIL_PID=$!

    STRONG_OUTPUT="STRONG_OUTPUT"

    echo
    echo "-----------------------------"
    echo " -- Doing strong planning --"
    echo "-----------------------------"

    for (( i=1; i<=$MAXWIDTH; i++ ))
    do
        echo -n "."

        echo "Compiling domain..." > $STRONG_OUTPUT
        echo "" >> $STRONG_OUTPUT

        python $BASEDIR/pr2-scripts/strong-acyclic-conversion.py "$2" strong-domain.pddl "$i" >> $STRONG_OUTPUT 2>&1
        echo "" >> $STRONG_OUTPUT

        echo "Solving compiled problem..." >> $STRONG_OUTPUT
        "$BASEDIR/pr2" strong-domain.pddl "${@:3}" >> $STRONG_OUTPUT 2>&1

        if grep -Fxq "Strong cyclic solution found." $STRONG_OUTPUT
        then
            echo
            echo
            echo "Strong Plan Found!"
            echo "Width: $i"
            echo
            rm -f strong-domain.pddl
            kill "$TAIL_PID"
            exit 0
        fi
    done

    echo
    echo
    echo "No strong plan found."
    echo "Max width: $MAXWIDTH"
    echo
    rm -f strong-domain.pddl
    kill "$TAIL_PID"
    exit 0
elif [ "--validate" = "$1" ]; then
    shift
    run "$@" --output-format 2
    python pr2-scripts/translate_policy.py > human_policy.out
    python pr2-scripts/validator.py $1 $2 human_policy.out pr2
    dot -Tpng graph.dot > graph.png
elif [ "--full-validation" = "$1" ]; then
    echo

    for dir in pr2-scripts/validators/benchmarks/*/; do
        printf "%26s " $(basename $dir)
        "$BASEDIR/pr2" --validate $dir/d.pddl $dir/p.pddl > validate.out 2>&1 || true
        check_valid
    done

    echo
else
    run "$@"
fi

exit 0