Added bound option to symbolic search engines. Implemented write_plan…

…s option in plan selector to control writing plans to disk.
speckdavid · Jun 20, 2024 · b0b509a · b0b509a
1 parent ebfd2c6
commit b0b509a
Show file tree

Hide file tree

Showing 4 changed files with 27 additions and 4 deletions.
diff --git a/src/search/symbolic/plan_selection/plan_selector.cc b/src/search/symbolic/plan_selection/plan_selector.cc
@@ -9,6 +9,7 @@ using namespace std;
 namespace symbolic {
 void PlanSelector::add_options_to_feature(plugins::Feature &feature) {
     feature.add_option<bool>("dump_plans", "dump plans to console", "false");
+    feature.add_option<bool>("write_plans", "write plans to disk", "true");
     feature.add_option<int>("num_plans", "number of plans", "infinity", plugins::Bounds("1", "infinity"));
 }
 
@@ -17,6 +18,7 @@ PlanSelector::PlanSelector(const plugins::Options &opts)
       state_registry(nullptr),
       anytime_completness(false),
       dump_plans(opts.get<bool>("dump_plans")),
+      write_plans(opts.get<bool>("write_plans")),
       num_desired_plans(opts.get<int>("num_plans")),
       num_accepted_plans(0),
       num_rejected_plans(0),
@@ -131,6 +133,10 @@ void PlanSelector::save_accepted_plan(const Plan &plan) {
         first_accepted_plan = plan;
         first_accepted_plan_cost = calculate_plan_cost(
             plan, state_registry->get_task_proxy());
+
+        if (!write_plans) {
+            plan_mgr.save_plan(plan, state_registry->get_task_proxy(), false, num_desired_plans > 1);
+        }
     }
 
     size_t plan_seed = get_hash_value(plan);
@@ -143,8 +149,14 @@ void PlanSelector::save_accepted_plan(const Plan &plan) {
 
     if (dump_plans) {
         utils::g_log << endl << "New plan " << num_accepted_plans << ":" << endl;
+        if (!write_plans) {
+            plan_mgr.dump_plan(plan, state_registry->get_task_proxy());
+        }
+    }
+
+    if (write_plans) {
+        plan_mgr.save_plan(plan, state_registry->get_task_proxy(), dump_plans, num_desired_plans > 1);
     }
-    plan_mgr.save_plan(plan, state_registry->get_task_proxy(), dump_plans, num_desired_plans > 1);
 }
 
 void PlanSelector::save_rejected_plan(const Plan &plan) {

diff --git a/src/search/symbolic/plan_selection/plan_selector.h b/src/search/symbolic/plan_selection/plan_selector.h
@@ -87,6 +87,7 @@ class PlanSelector {
     bool anytime_completness;
 
     bool dump_plans;
+    bool write_plans;
 
     int num_desired_plans;
     int num_accepted_plans;

diff --git a/src/search/symbolic/plan_selection/unordered_selector.cc b/src/search/symbolic/plan_selection/unordered_selector.cc
@@ -23,6 +23,10 @@ void UnorderedSelector::save_accepted_plan(const Plan &ordered_plan, const Plan
         first_accepted_plan = ordered_plan;
         first_accepted_plan_cost = calculate_plan_cost(
             ordered_plan, state_registry->get_task_proxy());
+
+        if (!write_plans) {
+            plan_mgr.save_plan(ordered_plan, state_registry->get_task_proxy(), false, num_desired_plans > 1);
+        }
     }
 
     size_t plan_seed = get_hash_value(unordered_plan);
@@ -35,8 +39,14 @@ void UnorderedSelector::save_accepted_plan(const Plan &ordered_plan, const Plan
 
     if (dump_plans) {
         utils::g_log << endl << "New plan " << num_accepted_plans << ":" << endl;
+        if (!write_plans) {
+            plan_mgr.dump_plan(ordered_plan, state_registry->get_task_proxy());
+        }
+    }
+
+    if (write_plans) {
+        plan_mgr.save_plan(ordered_plan, state_registry->get_task_proxy(), dump_plans, num_desired_plans > 1);
     }
-    plan_mgr.save_plan(ordered_plan, state_registry->get_task_proxy(), dump_plans, num_desired_plans > 1);
 }
 
 class UnorderedSelectorFeature : public plugins::TypedFeature<PlanSelector, UnorderedSelector> {

diff --git a/src/search/symbolic/search_engines/symbolic_search.cc b/src/search/symbolic/search_engines/symbolic_search.cc
@@ -25,7 +25,7 @@ SymbolicSearch::SymbolicSearch(const plugins::Options &opts)
       step_num(-1),
       lower_bound_increased(true),
       lower_bound(0),
-      upper_bound(numeric_limits<int>::max()),
+      upper_bound(bound),
       min_g(0),
       plan_data_base(opts.get<shared_ptr<PlanSelector>>("plan_selection")),
       solution_registry(make_shared<SymSolutionRegistry>()),
@@ -64,8 +64,8 @@ void SymbolicSearch::initialize() {
             task_properties::get_max_operator_cost(task_proxy);
 
         utils::g_log << "Plan Reconstruction: Simple (without loops)" << endl;
-        utils::g_log << "Maximal plan cost: " << max_plan_cost << endl;
         upper_bound = static_cast<int>(min((double)upper_bound, max_plan_cost + 1));
+        utils::g_log << "Maximal plan cost: " << upper_bound << endl;
         cout << endl;
     }