From bb8a4c7acf393eee97a910d9551af6fc30e9480a Mon Sep 17 00:00:00 2001
From: "Robert P. Goldman" <rpgoldman@sift.net>
Date: Fri, 29 Dec 2023 12:06:06 -0600
Subject: [PATCH] Easier-to-user Panda script.

Use getopt argument parsing and add more options so that one can try
different things without needing to edit the script.

Write intermediate files into a temporary directory to avoid
cluttering up the current working directory.
---
 pandaSolver | 147 ++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 147 insertions(+)
 create mode 100755 pandaSolver

diff --git a/pandaSolver b/pandaSolver
new file mode 100755
index 0000000..43d1774
--- /dev/null
+++ b/pandaSolver
@@ -0,0 +1,147 @@
+#!/bin/bash
+
+# author: Pascal Bercher (pascal.bercher@anu.edu.au)
+#         improved by Lijia Yuan and Pascal again; both with GPT 4.0
+
+# Extended version: Robert P. Goldman (rpgoldman@sift.net)
+# TODO:
+# * Make it possible to change solvers to BDD or SAT
+# * Make it possible to try different heuristics
+
+
+# For MacOS, which has a crappy getopt
+GETOPT=getopt
+type -P ggetopt > /dev/null && GETOPT=ggetopt
+
+type -P pandaPIparser > /dev/null || ( echo "pandaPIparser must be added to your path." ; exit 1 )
+type -P pandaPIgrounder > /dev/null || ( echo "pandaPIgrounder must be added to your path." ; exit 1 )
+type -P pandaPIengine > /dev/null || ( echo "pandaPIengine must be added to your path." ; exit 1 )
+
+# Default Timeout in seconds here 2 minutes
+TIMEOUT_SECONDS=$((2 * 60))
+SAVE_TEMPDIR=false
+SUBOPTIMAL=false
+
+VALID_ARGS=$(${GETOPT} -o hut: --long help,usage,timeout:,save-tempdir,suboptimal -- "$@")
+if [[ $? -ne 0 ]]; then
+    echo "Error parsing arguments."
+    exit 1
+fi
+
+function usage () {
+    echo "$0 [--timeout t] [--save-tempdir] [--suboptimal] <domain file> <problem file>"
+    echo "Run the Panda planner (parser, grounder, engine) on <domain file> and <problem file>."
+    echo "Optionally, set the planner timeout to t seconds.  Timeout defaults to 120s/2m."
+    echo "By default, finds an optimal solution, unless the '--suboptimal' flag is supplied."
+    echo "Intermediate files from parser and grounder are written to a temporary directory,"
+    echo "as are informational and error messages. The temporary directory will be automatically"
+    echo "deleted, unless an error occurs or the '--save-tempdir' option is passed, in which"
+    echo "case the temporary directory will be retained."
+}
+
+eval set -- "$VALID_ARGS"
+while [ : ]; do
+  case "$1" in
+    -h | --help | -u | --usage)
+        usage
+        exit 0
+        ;;
+    -t | --timeout)
+        TIMEOUT_SECONDS=$2
+        shift 2
+        ;;
+    --save-tempdir)
+        SAVE_TEMPDIR=true
+        shift
+        ;;
+    --suboptimal)
+        SUBOPTIMAL=true
+        shift
+        ;;
+    --) shift; 
+        break 
+        ;;
+  esac
+done
+
+if $SUBOPTIMAL; then
+    SUBOPTIMAL_ARG="--suboptimal"
+else
+    SUBOPTIMAL_ARG=""
+fi
+
+echo "Domain argument is $1; problem argument is $2; timeout is ${TIMEOUT_SECONDS}; SAVE_TEMPDIR is ${SAVE_TEMPDIR}"
+echo "SUBOPTIMAL_ARG is ${SUBOPTIMAL_ARG}"
+
+if (( $# != 2 )); then
+    >&2 echo "$0 requires 2 positional parameters"
+    usage
+    exit 1
+fi
+
+SCRATCHDIR=`mktemp -d -t PandaFiles`
+if $SAVE_TEMPDIR ; then
+    echo "Saving temporary output files to $SCRATCHDIR"
+fi
+
+handle_timeout() {
+    echo "Timeout reached!"
+    kill 0  # Kills the current process group
+}
+
+trap handle_timeout ALRM
+
+function process_problem() {
+    # input 1: domain file name
+    # input 2: problem file name
+    local domain="$1"
+    local problem="$2"
+
+    # Parsing
+    PARSED_FILE="${SCRATCHDIR}/problem.parsed"
+    pandaPIparser "$domain" "$problem" "$PARSED_FILE" &> "${SCRATCHDIR}/panda-parser.log" 
+    if [[ ! -f "$PARSED_FILE" ]]; then
+        echo "$PARSED_FILE was not generated by pandaPIparser. Exiting."
+        return 1
+    else
+        echo "Domain and problem parsed successfully."
+    fi
+
+    # Grounding
+    SAS_FILE="${SCRATCHDIR}/problem.sas"
+    pandaPIgrounder "$PARSED_FILE" "$SAS_FILE" 2> "${SCRATCHDIR}/panda-grounder.stderr" > "${SCRATCHDIR}/panda-grounder.stdout"
+    if [[ ! -f "$SAS_FILE" ]]; then
+        echo "$SAS_FILE was not generated. Exiting."
+        return 2
+    else
+        echo "File grounded successfully."
+    fi
+
+    # Planner (adapt parameters as required or put them into an additional argument)
+    SOLUTION_FILE="${SCRATCHDIR}/${problem}.solution"
+    pandaPIengine "$SAS_FILE" "${SUBOPTIMAL_ARG}" -H "rc2(h=add)" -g none > $SOLUTION_FILE 2> "${SCRATCHDIR}/panda-engine.stderr"
+    if [[ ! $? ]]; then
+       echo "Failed to successfully generate a plan.  Output in ${SCRATCHDIR}."
+       return 3
+    fi
+
+    HDDL_PLAN=${problem}-plan.hddl
+    pandaPIparser -c "${SOLUTION_FILE}" "${HDDL_PLAN}"
+    cp "${HDDL_PLAN}" "${SCRATCHDIR}/"
+    echo "Successfully found a plan, written to ${HDDL_PLAN}"
+
+    if ! $SAVE_TEMPDIR ; then
+        rm -r "$SCRATCHDIR"
+    fi
+
+    return 0
+}
+
+
+(
+    # Run the function in the background
+    process_problem "$1" "$2"
+) &
+
+# Wait for the function or the timeout
+sleep "${TIMEOUT_SECONDS}" && kill -ALRM $$