def write(filename, string):
    with open(filename, 'w') as f:
        f.write(string) def read(filename):
    with open(filename, 'r') as f:
        return f.read() INF = float('inf') SEPARATOR = '\n' + 85 * '-' + '\n' def ensure_dir(f):
    d = os.path.dirname(f)
    if not os.path.exists(d):
        os.makedirs(d) def safe_remove(p):
    if os.path.exists(p):
        os.remove(p) def remove_dir(d):
    if os.path.exists(d):
        shutil.rmtree(d) TEMP_DIRECTORY = 'temp/' DOMAIN_PATH = os.path.join(TEMP_DIRECTORY, 'domain.pddl') PROBLEM_PATH = os.path.join(TEMP_DIRECTORY, 'problem.pddl')
from time import time
from stripstream.utils import write, read, INF, SEPARATOR, ensure_dir, safe_remove, remove_dir
from stripstream.algorithms.search.utils import TEMP_DIRECTORY, DOMAIN_PATH, PROBLEM_PATH
import sys
import os
    import translate



ENV_VAR = 'FD_PATH'
FD_BIN = 'bin'

TRANSLATE_DIR = 'translate/'
SEARCH_COMMAND = 'downward %s < '

TRANSLATE_OUTPUT = 'output.sas'
PREPROCESS_OUTPUT = 'output'
SEARCH_OUTPUT = 'sas_plan'


search_options = {
    'dijkstra': '--heuristic "h=blind(transform=adapt_costs(cost_type=PLUSONE))" --search "astar(h,max_time=%s,bound=%s)"',
    'astar': '--heuristic "h=hmax(transform=adapt_costs(cost_type=PLUSONE))" --search "astar(h,max_time=%s,bound=%s)"',
    'wastar1': '--heuristic "hlm,hff=lm_ff_syn(lm_rhw(reasonable_orders=true,lm_cost_type=plusone),transform=adapt_costs(cost_type=PLUSONE))" '
    '--search "lazy_wastar([hff,hlm],preferred=[hff,hlm],w=1,max_time=%s,bound=%s)"',
    'wastar2': '--heuristic "hlm,hff=lm_ff_syn(lm_rhw(reasonable_orders=true,lm_cost_type=plusone),transform=adapt_costs(cost_type=PLUSONE))" '
    '--search "lazy_wastar([hff,hlm],preferred=[hff,hlm],w=2,max_time=%s,bound=%s)"',
    'wastar3': '--heuristic "hlm,hff=lm_ff_syn(lm_rhw(reasonable_orders=true,lm_cost_type=plusone),transform=adapt_costs(cost_type=PLUSONE))" '
    '--search "lazy_wastar([hff,hlm],preferred=[hff,hlm],w=3,max_time=%s,bound=%s)"',


    'eager': '--heuristic "hff=ff(transform=adapt_costs(cost_type=PLUSONE))" '
    '--search "eager_greedy([hff],preferred=[hff],max_time=%s,bound=%s)"',
    'lazy': '--heuristic "hlm,hff=lm_ff_syn(lm_rhw(reasonable_orders=true,lm_cost_type=plusone),transform=adapt_costs(cost_type=PLUSONE))" '
    '--search "lazy_greedy([hff,hlm],preferred=[hff,hlm],max_time=%s,bound=%s)"',
}


def has_fd():
    return ENV_VAR in os.environ


def get_fd_root():
    if not has_fd():
        raise RuntimeError('Environment variable %s is not defined.' % ENV_VAR)
    return os.environ[ENV_VAR]


def run_translate(verbose, translate_flags=tuple()):
    t0 = time()

    fd_root = get_fd_root()
    translate_path = os.path.join(fd_root, FD_BIN, TRANSLATE_DIR)
    if translate_path not in sys.path:
        sys.path.append(translate_path)

    temp_argv = sys.argv[:]
    sys.argv = sys.argv[:1] + \
        list(translate_flags) + [DOMAIN_PATH, PROBLEM_PATH]
    sys.argv = temp_argv

    if verbose:
        print SEPARATOR
        translate.main()
        print
        print 'from translate import main', time() - t0
    else:
        with open(os.devnull, 'w') as devnull:
            old_stdout = sys.stdout
            sys.stdout = devnull
            try:
                translate.main()
            finally:
                sys.stdout = old_stdout


def run_search(planner, max_time, max_cost, verbose):
    fd_root = get_fd_root()
    search = os.path.join(fd_root, FD_BIN, SEARCH_COMMAND) + TRANSLATE_OUTPUT
    planner_config = search_options[planner] % (max_time, max_cost)
    command = search % planner_config

    t0 = time()
    p = os.popen(command)
    output = p.read()
    if verbose:
        print
        print output
        print command, time() - t0
    if not os.path.exists(SEARCH_OUTPUT):
        return None
    return read(SEARCH_OUTPUT)


def run_fastdownard(planner, max_time, max_cost, verbose):
    if isinstance(max_time, float):
        max_time = int(max_time)
    if max_cost == INF:
        max_cost = 'infinity'
    elif isinstance(max_cost, float):
        max_cost = int(max_cost)
    safe_remove(SEARCH_OUTPUT)
    run_translate(verbose)
    return run_search(planner, max_time, max_cost, verbose)


def lookup_action(universe, action, parameters):
    return universe.get_action(action), tuple(universe.get_object(param) for param in parameters)


def convert_solution(solution, universe):
    lines = solution.split('\n')[:-2]
    plan = []
    for line in lines:
        entries = line.strip('( )').split(' ')
        plan.append(lookup_action(universe, entries[0], entries[1:]))
    return plan


def fast_downward(universe, planner, max_time, max_cost, verbose):
    ensure_dir(TEMP_DIRECTORY)

    write(DOMAIN_PATH, universe.domain_pddl(True, True))