Class: Planner

Inherits:
Object
  • Object
show all
Defined in:
lib/sfpagent/sfplanner.rb

Defined Under Namespace

Classes: Operator, State, Variable

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(p = {}) ⇒ Planner

Returns a new instance of Planner.



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# File 'lib/sfpagent/sfplanner.rb', line 4

def initialize(p={})
  # TODO
  # - build from SAS string
  # - generate image dependencies and joints graph

  @vars = []
  @variables = {}
  @ops = []
  @operators = {}
  @init = @goal = nil

  lines = p[:sas].split("\n")
  i = 0
  while i < lines.length
    if lines[i] == 'begin_variable'
      i, var = Variable.read(i, lines)
      @vars << var
      @variables[var.sym] = var
    elsif lines[i] == 'begin_operator'
      i, op = Operator.read(i, lines, @vars)
      @ops << op
      @operators[op.sym] = op
    elsif lines[i] == 'begin_state'
      i, @init = State.read(i, lines, @vars)
    elsif lines[i] == 'begin_goal'
      i, @goal = State.read(i, lines, @vars)
    end
    i += 1
  end

  @ops.each { |op| op.update_variables_joints_and_dependencies(@variables) }

  puts "#{@vars.length} variables"
  puts "#{@ops.length} operators"
  puts "#{@init.length} initial state"
  puts "#{@goal.length} goal state"

  @vars.each { |v|
    puts v.to_s
    if v.dependencies.length > 0
      print "\tdep|"
      v.dependencies.each { |k,v| print "#{k}:#{v.length}|" }
      puts ''
    end
    if v.joints.length > 0
      print "\tjoint|"
      v.joints.each { |k,v| print "#{k}:#{v.length}|" }
      puts ''
    end
  }
  @ops.each { |op| puts op.inspect }
  puts @init.inspect
  puts @goal.inspect
end

Class Method Details

.dot2image(dot, image_file) ⇒ Object 



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# File 'lib/sfpagent/sfplanner.rb', line 60

def self.dot2image(dot, image_file)
  dot_file = "/tmp/#{Time.now.to_i}.dot"
  File.open(dot_file, 'w') { |f|
    f.write(dot)
    f.flush
  }
  !!system("dot -Tpng -o #{image_file} #{dot_file}")
ensure
  File.delete(dot_file) if File.exist?(dot_file)
end

Instance Method Details

#to_image(p = {}) ⇒ Object 



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# File 'lib/sfpagent/sfplanner.rb', line 59

def to_image(p={})
  def self.dot2image(dot, image_file)
    dot_file = "/tmp/#{Time.now.to_i}.dot"
    File.open(dot_file, 'w') { |f|
      f.write(dot)
      f.flush
    }
    !!system("dot -Tpng -o #{image_file} #{dot_file}")
  ensure
    File.delete(dot_file) if File.exist?(dot_file)
  end

  dot = "digraph {\n"
  @variables.each do |sym,var|
    name = var.name.gsub(/[\s\.\$]/, '_')
    dot += "#{name} [label=\"#{var.name}\", shape=rect];\n"
  end
  @variables.each do |sym,var|
    name = var.name.gsub(/[\s\.\$]/, '_')
    var.dependencies.each { |sym,operators|
      var2 = @variables[sym]
      name2 = var2.name.gsub(/[\s\.\$]/, '_')
      dot += "#{name} -> #{name2} ;\n"
    }
  end
  dot += "}"
puts dot

  dot2image(dot, p[:file])
end