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Code Issues Projects Releases Packages Wiki Activity

Speeding up things

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This commit is contained in:
Naveen Sundar Govindarajulu 2017-01-21 09:13:58 -06:00
parent b2da460d5c
commit bfaaf6d882
5 changed files with 319 additions and 105 deletions
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30
src/main/java/edu/rpi/rair/DepthFirstPlanner.java
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@ -5,6 +5,7 @@ import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Pair;
import com.naveensundarg.shadow.prover.utils.Sets;
import javax.swing.text.html.Option;
import java.util.*;
import java.util.stream.Collectors;
@ -15,22 +16,40 @@ public class DepthFirstPlanner implements Planner {
private static final int MAX_DEPTH = 4;
private static final boolean EXHAUSTIVE_TILL_MAX_DEPTH = true;
@Override
public Optional<Set<Plan>> plan(Set<Formula> background, Set<Action> actions, State start, State goal) {
return planInternal(Sets.newSet(), 0, background, actions, start, goal);
if (!EXHAUSTIVE_TILL_MAX_DEPTH) {
return planInternal(Sets.newSet(), 0, MAX_DEPTH, background, actions, start, goal);
} else {
for (int i = 1; i <= MAX_DEPTH; i++) {
Optional<Set<Plan>> plans = planInternal(Sets.newSet(), 0, i, background, actions, start, goal);
if (plans.isPresent()) {
return plans;
}
}
//
return Optional.empty();
}
}
private Optional<Set<Plan>> planInternal(Set<Pair<State, Action>> history, int currentDepth, int maxDepth, Set<Formula> background, Set<Action> actions, State start, State goal) {
private Optional<Set<Plan>> planInternal(Set<Pair<State, Action>> history, int currentDepth, Set<Formula> background, Set<Action> actions, State start, State goal) {
if(currentDepth>=MAX_DEPTH){
if (currentDepth >= maxDepth) {
return Optional.empty();
}
@ -52,8 +71,7 @@ public class DepthFirstPlanner implements Planner {
for (Pair<State, Action> stateActionPair : nextStateActionPairs.get()) {
Optional<Set<Plan>> planOpt = planInternal(history, currentDepth+1, background, actions, stateActionPair.first(), goal);
Optional<Set<Plan>> planOpt = planInternal(history, currentDepth + 1, maxDepth, background, actions, stateActionPair.first(), goal);
if (planOpt.isPresent()) {

143
src/main/java/edu/rpi/rair/utils/RunDemo.java
View file

@ -2,6 +2,11 @@ package edu.rpi.rair.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.naveensundarg.shadow.prover.Sandbox;
import com.naveensundarg.shadow.prover.core.Problem;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.shadow.prover.utils.ProblemReader;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.Goal;
import edu.rpi.rair.GoalTracker;
@ -19,37 +24,124 @@ public class RunDemo {
static ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
static {
Prover prover = new SnarkWrapper();
try {
List<Problem> problems = ProblemReader.readFrom(Sandbox.class.getResourceAsStream("firstorder-completness-tests.clj"));
problems.forEach(problem -> {
for (int i = 0; i < 5; i++) {
prover.prove(problem.getAssumptions(), problem.getGoal());
}
});
planningProblemWarmUp();
System.out.println("WARM UP DONE");
} catch (Reader.ParsingException e) {
e.printStackTrace();
}
}
public static void main(String[] args) throws Reader.ParsingException {
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_2.clj")));
System.out.println();
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_3.clj")));
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
GoalTracker goalTracker = new GoalTracker(goalTrackingProblem.getPlanningProblem().getBackground(),
goalTrackingProblem.getPlanningProblem().getStart(),
goalTrackingProblem.getPlanningProblem().getActions());
GoalTracker goalTracker = new GoalTracker(goalTrackingProblem.getPlanningProblem().getBackground(),
goalTrackingProblem.getPlanningProblem().getStart(),
goalTrackingProblem.getPlanningProblem().getActions());
long start = System.currentTimeMillis();
long start = System.currentTimeMillis();
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
Goal g3 = goalTrackingProblem.getGoalNamed("G3");
Goal g4 = goalTrackingProblem.getGoalNamed("G4");
tryAndAddGoal(g1, goalTracker);
tryAndAddGoal(g2, goalTracker);
long end = System.currentTimeMillis();
tryAndAddGoal(g1, goalTracker);
cp.println("--------------------------");
cp.setForegroundColor(Ansi.FColor.CYAN);
tryAndAddGoal(g2, goalTracker);
cp.print("Time Taken:");
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print((end-start)/1000 + "s");
tryAndAddGoal(g3, goalTracker);
tryAndAddGoal(g4, goalTracker);
long end = System.currentTimeMillis();
cp.println("--------------------------");
cp.setForegroundColor(Ansi.FColor.CYAN);
cp.print("Time Taken:");
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print((end - start) / 1000 + "s");
}
public static void planningProblemWarmUp() throws Reader.ParsingException {
for (int i = 0; i < 5; i++) {
System.out.println();
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_1.clj")));
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
GoalTracker goalTracker = new GoalTracker(goalTrackingProblem.getPlanningProblem().getBackground(),
goalTrackingProblem.getPlanningProblem().getStart(),
goalTrackingProblem.getPlanningProblem().getActions());
long start = System.currentTimeMillis();
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
Goal g3 = goalTrackingProblem.getGoalNamed("G3");
Goal g4 = goalTrackingProblem.getGoalNamed("G4");
Goal g5 = goalTrackingProblem.getGoalNamed("G5");
goalTracker.adoptGoal(g1);
System.out.print(".");
goalTracker.adoptGoal(g2);
System.out.print(".");
goalTracker.adoptGoal(g3);
System.out.print(".");
goalTracker.adoptGoal(g4);
System.out.print(".");
goalTracker.adoptGoal(g5);
System.out.print(".");
}
}
@ -57,20 +149,20 @@ public class RunDemo {
static void tryAndAddGoal(Goal g, GoalTracker goalTracker) {
System.out.println("========================");
printInfo("Trying to Add Goal:", g.getName());
printInfo("Trying to Add Goal:", g.getName());
Optional<Plan> possibleGoalPlan = goalTracker.adoptGoal(g);
if (possibleGoalPlan.isPresent()) {
printSuccess("Successfully added:" , g.getName());
printDebug1("Current Goals:" , goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
printSuccess("Successfully added:", g.getName());
printDebug1("Current Goals:", goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
Plan plan = possibleGoalPlan.get();
printDebug2("Plan:" , plan.getActions().isEmpty()? "No plan needed. Already satisfied." : plan.getActions().toString() );
printDebug2("Plan:", plan.getActions().isEmpty() ? "No plan needed. Already satisfied." : plan.getActions().toString());
} else {
printFailure("Could not add " + g.getName());
printDebug1("Current Goals: " , goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
printDebug1("Current Goals: ", goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
}
@ -103,8 +195,6 @@ public class RunDemo {
}
static void printDebug1(String header, String message) {
cp.setForegroundColor(Ansi.FColor.BLACK);
@ -118,7 +208,7 @@ public class RunDemo {
cp.clear();
}
static void printDebug2(String header, String message) {
static void printDebug2(String header, String message) {
cp.setForegroundColor(Ansi.FColor.BLACK);
cp.setBackgroundColor(Ansi.BColor.MAGENTA); //setting format
@ -130,6 +220,7 @@ public class RunDemo {
cp.println("");
cp.clear();
}
static void printFailure(String message) {
cp.setForegroundColor(Ansi.FColor.WHITE);