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driver.cpp
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driver.cpp
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#include "map_loader.h"
#include "agents_loader.h"
#include "ICBSSearch.h"
#include <boost/program_options.hpp>
#include <boost/property_tree/ptree.hpp> // For boost::property_tree
#include <boost/process.hpp>
#include <execinfo.h>
#include <spdlog/spdlog.h>
#include <spdlog/sinks/stdout_color_sinks.h>
#include <spdlog/sinks/rotating_file_sink.h>
#include "spdlog/cfg/env.h" // for loading levels from the environment variable
#include <spdlog/cfg/helpers.h>
#include <spdlog/details/registry.h>
#include <fstream>
#include <string>
#ifdef USE_GUROBI
#include <gurobi_c++.h>
#endif
namespace pt = boost::property_tree;
using namespace std;
int main(int argc, char** argv)
{
namespace po = boost::program_options;
// Declare the supported options.
po::options_description desc("Allowed options");
desc.add_options()
("help", "produce help message")
("map,m", po::value<std::string>()->required(), "path to the input .map file")
("agents,a", po::value<std::string>()->required(), "path to the input .agents or .scen file")
("output,o", po::value<std::string>()->required(), "path to the .csv output file")
("agentNum,k", po::value<int>()->required(), "number of agents to read from the .scen file, or to generate")
("warehouseWidth,b", po::value<int>()->default_value(0), "width of working stations on both sides, for generating instances")
("heuristic,h", po::value<std::string>()->default_value("NONE"), "heuristic for the high-level search (NONE, CG, DG, EWDG, VWCG, EWVWDG)")
("split,p", po::value<std::string>()->default_value("NON_DISJOINT"), "Split Strategy (NON_DISJOINT, RANDOM, SINGLETONS, WIDTH, DISJOINT3,MVC_BASED)")
("propagation", po::value<bool>()->default_value(true), "propagate positive constraints to narrow levels down the MDD")
("prefer_f_cardinal", po::value<bool>()->default_value(true), "prefer f-cardinal conflicts")
("prefer_goal_conflicts", po::value<bool>()->default_value(true), "prefer goal conflicts")
("cutoffTime", po::value<int>()->default_value(60), "cutoff time (seconds)")
("seed", po::value<int>(), "random seed")
("childPrefBudget", po::value<int>()->default_value(5), "Child preference budget")
("maxChildPrefOptions", po::value<int>()->default_value(20), "Max child preference options")
("focalW", po::value<float>()->default_value(1), "ECBS focal W")
("log_level", po::value<std::string>()->default_value("warning"), "Set log level. "
"For example, debug, or logger1=trace, or off,logger1=debug,logger2=info")
;
po::variables_map vm;
po::store(po::parse_command_line(argc, argv, desc), vm);
if (vm.count("help")) {
std::cout << desc << std::endl;
return 1;
}
po::notify(vm);
// Configure logging
try {
auto rotating_sink = make_shared<spdlog::sinks::rotating_file_sink_mt>(
"spdlog.txt", 1000000, 5, false);
rotating_sink->set_level(spdlog::level::err);
auto console_sink = make_shared<spdlog::sinks::stderr_color_sink_mt>();
console_sink->set_level(spdlog::level::trace);
spdlog::sinks_init_list sink_list = {rotating_sink, console_sink};
auto logger = make_shared<spdlog::logger>("", sink_list.begin(), sink_list.end());
logger->set_level(spdlog::level::warn);
logger->flush_on(spdlog::level::err);
spdlog::set_default_logger(logger);
auto lpastar_logger = make_shared<spdlog::logger>("LPA*", sink_list.begin(), sink_list.end());
lpastar_logger->flush_on(spdlog::level::err);
spdlog::register_logger(lpastar_logger);
spdlog::get("LPA*")->set_level(spdlog::level::warn);
auto dcm_logger = make_shared<spdlog::logger>("DCM", sink_list.begin(), sink_list.end());
dcm_logger->flush_on(spdlog::level::err);
spdlog::register_logger(dcm_logger);
spdlog::get("DCM")->set_level(spdlog::level::warn);
auto iterative_deepening_logger = make_shared<spdlog::logger>("ID", sink_list.begin(), sink_list.end());
iterative_deepening_logger->flush_on(spdlog::level::err);
spdlog::register_logger(iterative_deepening_logger);
spdlog::get("ID")->set_level(spdlog::level::warn);
// TODO: Add an abort handler that calls spdlog::shutdown() so Ctrl+C won't kill the logs
// Load levels from env/cmdline, if provided
spdlog::cfg::load_env_levels();
auto levels = spdlog::cfg::helpers::extract_levels(vm["log_level"].as<string>());
spdlog::details::registry::instance().update_levels(std::move(levels));
}
catch (const spdlog::spdlog_ex& ex) {
std::cerr << "Log initialization failed:" << ex.what() << std::endl;
}
// read the map file and construct its two-dimensional array
MapLoader ml(vm["map"].as<string>());
// read agents' start and goal locations
AgentsLoader al(vm["agents"].as<string>(), ml, vm["agentNum"].as<int>(), vm["warehouseWidth"].as<int>());
if (vm["seed"].empty()) {
int seed = (int) time(nullptr);
cout << "Using seed " << seed << endl;
srand(seed);
}
else
srand(vm["seed"].as<int>());
split_strategy p;
if (vm["split"].as<string>() == "NON_DISJOINT")
p = split_strategy::NON_DISJOINT;
else if (vm["split"].as<string>() == "RANDOM")
p = split_strategy::RANDOM;
else if (vm["split"].as<string>() == "SINGLETONS")
p = split_strategy::SINGLETONS;
else if (vm["split"].as<string>() == "WIDTH")
p = split_strategy::WIDTH;
else if (vm["split"].as<string>() == "DISJOINT3")
p = split_strategy::DISJOINT3;
else if (vm["split"].as<string>() == "MVC_BASED")
p = split_strategy::MVC_BASED;
else
{
cout << "ERROR SPLIT STRATEGY!";
return 0;
}
if (vm["split"].as<string>() != "NON_DISJOINT")
cout << vm["split"].as<string>() << "+";
highlevel_heuristic h;
std::string heuristic_s = vm["heuristic"].as<string>();
if (heuristic_s == "NONE")
h = highlevel_heuristic::NONE;
else if (heuristic_s == "CG")
h = highlevel_heuristic::CG;
else if (heuristic_s == "DG")
h = highlevel_heuristic::DG;
else if (heuristic_s == "EWDG")
h = highlevel_heuristic::EWDG;
else if (heuristic_s == "VWCG")
h = highlevel_heuristic::VWCG;
else if (heuristic_s == "EWVWDG")
h = highlevel_heuristic::EWVWDG;
else
{
std::cout <<"WRONG HEURISTIC NAME!" << std::endl;
return -1;
}
try {
ICBSSearch icbs(ml, al, vm["focalW"].as<float>(), p, h, vm["cutoffTime"].as<int>(),
vm["childPrefBudget"].as<int>(), vm["maxChildPrefOptions"].as<int>(),
vm["propagation"].as<bool>(),
vm["prefer_f_cardinal"].as<bool>(), vm["prefer_goal_conflicts"].as<bool>());
// run
bool success = icbs.runICBSSearch();
// bool success = icbs.runIterativeDeepeningICBSSearch();
// validate the solution
if (success)
icbs.isSolutionFeasible();
// save data:
// 1. Get max memory
pid_t pid = getpid();
char my_proc_status_filename[100];
sprintf(my_proc_status_filename, "/proc/%d/status", pid);
ifstream my_proc_status_file(my_proc_status_filename);
string line;
do {
std::getline(my_proc_status_file, line);
} while ((strncmp(line.data(), "VmPeak:", 7) != 0) && (line.size() != 0));
if (line.size() != 0) {
my_proc_status_file.close();
char max_mem_chars[100];
sscanf(line.data(), "VmPeak:\t%s kB", max_mem_chars); // max_mem_chars will catch some leading spaces
icbs.max_mem = max_mem_chars;
} else
icbs.max_mem = "VmPeak line not found :(";
// 2. print results
icbs.printResults();
// 3. save results to file
#ifndef LPA
icbs.saveResults(vm["output"].as<string>(), vm["agents"].as<string>(), vm["split"].as<string>());
#else
icbs.saveResults(vm["output"].as<string>(), vm["agents"].as<string>(), vm["split"].as<string>()+"/LPA*");
#endif
if (success)
return 0;
else
return 1;
}
catch (const GRBException& exception) {
cerr << exception.getMessage() << endl;
throw;
}
}