Branch and boundification

python/bcp.py

@@ -0,0 +1,109 @@
+from mapf_branch_and_bound.bbsolver import solve_bb
+from mapfmclient import MapfBenchmarker, ProgressiveDescriptor, BenchmarkDescriptor, MarkedLocation, \
+    Problem as cProblem, Solution
+from python.algorithm import MapfAlgorithm
+import subprocess
+import os
+import re
+
+# with open("token", "r") as f:
+#    token = f.read()
+# token = "bx6nC0HsVMJQFHtd" #koos
+token = "ayTmSdJAUeVz2om3"  # jesse
+bcp_mapf_path = "/home/jessemulderij/bcp-mapf/build/bcp-mapf"
+
+
+# bcp_mapf_path = "/home/koos/bcp-mapf/build/bcp-mapf"
+
+def solve(problem: cProblem, bound) -> Solution:
+    print("Starts: ", problem.starts)
+    print("Goals: ", problem.goals)
+    print("Grid: ", problem.grid)
+    print("width, height: ", problem.width, problem.height)
+
+    version_info = "version 1 graph"
+    map_path = "temp.map"
+    num_of_agents = len(problem.starts)
+
+    types = {}
+    starts = []
+    goals = []
+    for i, start in enumerate(problem.starts):
+        x = start.x
+        y = start.y
+        c = start.color
+        start_node = "({},{})".format(x, y)
+        starts.append(start_node)
+        if not c in types: types[c] = []
+        types[c].append(i)
+    for i, goal in enumerate(problem.goals):
+        x = goal.x
+        y = goal.y
+        c = goal.color
+        goal_node = "({},{})".format(x, y)
+        goals.append((goal_node, c))
+
+    scenario_path = "temp.scen"
+    with open(scenario_path, "w") as f:
+        f.write(version_info + "\n")
+        f.write(map_path + "\n")
+        f.write("Num_of_Agents {}\n".format(num_of_agents))
+        f.write("types\n")
+        for key, val in types.items():
+            f.write("{} {}\n".format(key, " ".join([str(v) for v in val])))
+        f.write("agents starts\n")
+        for i, start in enumerate(starts):
+            f.write("{} {}\n".format(i, start))
+        f.write("goals\n")
+        for goal in goals:
+            f.write("{} {}\n".format(goal[1], goal[0]))
+
+    with open(map_path, "w") as f:
+        f.write("type octile\nheight {}\nwidth {}\nmap\n".format(problem.height, problem.width))
+        for line in problem.grid:
+            for cell in line:
+                f.write("@" if cell else ".")
+            f.write("\n")
+
+    args = [bcp_mapf_path, "-f", os.path.join(os.path.dirname(os.path.realpath(__file__)), "temp.scen")]
+    if bound is not None:
+        args += ["-u", str(bound + len(problem.starts))]
+    subprocess.run(args)
+
+    paths = []
+    with open("outputs/temp.sol", "r") as f:
+        sol_val = int(f.readline())
+        f.readline()
+        re_p = re.compile("(\(\d+,\d+\))")
+        while True:
+            line = f.readline()
+            if not line: break
+            path = []
+            for node in re_p.findall(line):
+                node = node.replace("(", "").replace(")", "")
+                x, y = node.split(",")
+                path.append((int(x), int(y)))
+            paths.append(path)
+        # print(paths)
+
+    print(Solution.from_paths(paths).serialize())
+    return Solution.from_paths(paths)
+
+def submit(instanceID):
+    benchmarker = MapfBenchmarker(
+        token,
+        instanceID,
+        "BCP-MAPFM",
+        "1",
+        False,
+        solver=lambda problem: solve_bb(problem,solve),
+        cores=1,
+        baseURL="https://mapf.nl",
+    )
+    benchmarker.run()
+
+
+for instanceID in range(95):
+    if instanceID not in range(94):
+        submit(instanceID)
+