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 6

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 62

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 #{Shellwords.escape(image_file)} #{Shellwords.escape(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 61

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 #{Shellwords.escape(image_file)} #{Shellwords.escape(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