Merge pull request #24 from APLA-Toolbox/add-dfs

Fix Issue #11 - Add DFS

Author: guilyx

README.md

@@ -32,7 +32,7 @@ $ julia --color=yes -e 'using Pkg; Pkg.add(Pkg.PackageSpec(path="https://github.
 $ julia --color=yes -e 'using Pkg; Pkg.add(Pkg.PackageSpec(path="https://github.com/JuliaPy/PyCall.jl"))'
 ```
 
-- Install Python dependencies 
+- Install Python dependencies
 
 ```bash
 $ python3 -m pip install --upgrade pip
@@ -41,6 +41,10 @@ $ cd pddl-plarser
 $ python3 -m pip install -r requirements.txt
 ```
 
+# Usage
+
+Navigate to the root directory and you can run the tool by using : `python3 main.py "data/domain.pddl" "data/problem.pddl"`
+
 # REFL Mode
 
 - Clone the repository: `git clone https://github.com/APLA-Toolbox/pddl-plarser`

main.py

@@ -1,4 +1,4 @@
-import src.automated_planner as plarser
+import src.automated_planner as parser
 import argparse
 
 
@@ -11,8 +11,8 @@ def main():
     args_parser.add_argument("problem", type=str, help="PDDL problem file")
     args_parser.add_argument("-v", "--verbose", help="Increases the output's verbosity")
     args = args_parser.parse_args()
-    apla_tbx = plarser.AutomatedPlanner(args.domain, args.problem)
-    path, time = apla_tbx.dijktra_best_first_search(time_it=True)
+    apla_tbx = parser.AutomatedPlanner(args.domain, args.problem)
+    path, time = apla_tbx.depth_first_search(time_it=True)
     print(apla_tbx.get_actions_from_path(path))
     print("Computation time: %.2f" % time)
 

src/automated_planner.py

@@ -1,11 +1,19 @@
 from .modules import loading_bar_handler
 from .bfs import BreadthFirstSearch
+from .dfs import DepthFirstSearch
 from .dijkstra import DijkstraBestFirstSearch
 
-loading_bar_handler(False)
+UI = False
+
+if UI:
+    loading_bar_handler(False)
 import julia
+
 _ = julia.Julia(compiled_modules=False)
-loading_bar_handler(True)
+
+if UI:
+    loading_bar_handler(True)
+
 from julia import PDDL
 from time import time as now
 
@@ -75,6 +83,19 @@ def breadth_first_search(self, time_it=False):
         else:
             return path, None
 
+    def depth_first_search(self, time_it=False):
+        if time_it:
+            start_time = now()
+        dfs = DepthFirstSearch(self)
+        last_node = dfs.search()
+        if time_it:
+            total_time = now() - start_time
+        path = self.__retrace_path(last_node)
+        if time_it:
+            return path, total_time
+        else:
+            return path, None
+
     def dijktra_best_first_search(self, time_it=False):
         if time_it:
             start_time = now()

src/dfs.py

@@ -1,7 +1,35 @@
+from .node import Node
+
 class DepthFirstSearch:
     def __init__(self, automated_planner):
+        self.visited = []
         self.automated_planner = automated_planner
+        self.init = Node(self.automated_planner.initial_state, automated_planner)
+        self.stack = [self.init]
 
     def search(self):
-        print("-/!\- No path found -/!\-")
-        return []
+        while self.stack:
+            current_node = self.stack.pop(0)
+            if current_node not in self.visited:
+                self.visited.append(current_node)
+
+                if self.automated_planner.satisfies(
+                    self.automated_planner.problem.goal, current_node.state
+                ):
+                    return current_node
+
+                actions = self.automated_planner.available_actions(current_node.state)
+                for act in actions:
+                    child = Node(
+                        state=self.automated_planner.transition(
+                            current_node.state, act
+                        ),
+                        automated_planner=self.automated_planner,
+                        parent_action=act,
+                        parent=current_node,
+                    )
+                    if child in self.visited:
+                        continue
+                    self.stack.append(child)
+        print("!!! No path found !!!")
+        return None