fd-planner.py 文件源码

def latent_plan(init,goal,mode):
    bits = np.concatenate((init,goal))
    ###### preprocessing ################################################################

    ## old code for caching...
    lock = problem(network("lock"))
    import fcntl
    try:
        with open(lock) as f:
            print("lockfile found!")
            fcntl.flock(f, fcntl.LOCK_SH)
    except FileNotFoundError:
        with open(lock,'wb') as f:
            fcntl.flock(f, fcntl.LOCK_EX)
            preprocess(bits)

    ###### do planning #############################################
    sasp     = problem(network("{}.sasp".format(action_type)))
    plan_raw = problem(network("{}.sasp.plan".format(action_type)))
    plan     = problem(network("{}.{}.plan".format(action_type,mode)))

    echodo(["planner-scripts/limit.sh","-v", "-o",options[mode], "--","fd-sas-clean", sasp])
    assert os.path.exists(plan_raw)
    echodo(["mv",plan_raw,plan])

    out = echo_out(["lisp/parse-plan.bin",plan, *list(init.astype('str'))])
    lines = out.splitlines()
    return np.array([ [ int(s) for s in l.split() ] for l in lines ])