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prp_wrapper.py
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prp_wrapper.py
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import os
import re
import argparse
import signal
import sys
from pathlib import Path
from subprocess import Popen, PIPE, TimeoutExpired
from planners.prp.translator import translate_policy as translator
from planners.prp import validator
PACKAGE_DIR = os.path.dirname(os.path.abspath(__file__))
PLANNERS_DIR = str(Path(PACKAGE_DIR, "planners").resolve()) # type: ignore
PRP_DIR = str(Path(PLANNERS_DIR, "prp").resolve()) # type: ignore
OUTPUT_DIR = str(Path(PACKAGE_DIR, "static/output/plan").resolve()) # type: ignore
def launch(cmd):
"""Launch a command."""
process = Popen(
args=cmd,
stdout=PIPE,
stderr=PIPE,
preexec_fn=os.setsid,
encoding="utf-8",
)
try:
output, error = process.communicate(timeout=30)
return str(output).strip(), str(error).strip()
except TimeoutExpired:
os.killpg(os.getpgid(process.pid), signal.SIGTERM)
return None, None
def plan(domain_path, problem_path):
"""Planning for temporally extended goals (LTLf or PLTLf)."""
rm_cmd = ["rm", f"{OUTPUT_DIR}/*.dot", f"{OUTPUT_DIR}/*.out"]
launch(rm_cmd)
planner_command = [f"{PRP_DIR}/prp", f"{domain_path}", f"{problem_path}", "--dump-policy", "2"]
out, err = launch(planner_command)
result = re.search(
r"No solution .*",
out,
)
if result:
print(out)
elif err:
print(err)
else:
# Translate the policy from SAS+ to instantiated standard facts
mapping, _, policy = translator.translate('output', 'policy.out', f'{OUTPUT_DIR}/policy.txt')
# Validate the policy (from the initial state to the goal state) and generate the data structure
g = validator.validate_and_generate_graph(domain_path,
problem_path,
mapping, policy, 'prp')
validator.generate_dot_graph(g, OUTPUT_DIR)
rm_cmd = ["rm", "graph.dot", "policy.out", "policy.fsap", "plan_numbers_and_cost", "sas_plan", "elapsed.time", "output",
"output.sas"]
launch(rm_cmd)
if __name__ == '__main__':
"""
Usage: python prp_wrapper.py -d <DOMAIN-PATH> -p <PROBLEM-PATH>
"""
parser = argparse.ArgumentParser(description="Wrapper for prp.")
parser.add_argument('-d', dest='domain_path', type=Path, required=True)
parser.add_argument('-p', dest='problem_path', type=Path, required=True)
args = parser.parse_args()
domain_path = args.domain_path
problem_path = args.problem_path
plan(domain_path, problem_path)