default planner namespace rename to DefaultPlanner

re organise python interface code layout and adjust set_track

Author: grid-worlds

.gitignore

@@ -5,3 +5,4 @@ local
 test.json
 test.txt
 .DS_Store
+python/tmp

CMakeLists.txt

@@ -40,17 +40,22 @@ include_directories( ${Boost_INCLUDE_DIRS} )
 
 
 IF(PYTHON)
-    include_directories("python")
     message(STATUS "Python support is enabled")
 
     find_package(pybind11 REQUIRED)
     set(CMAKE_CXX_STANDARD 17 CACHE STRING "C++ version selection")
 
+     # check if python/tmp exists, raise an error if it does not
+    if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/python/tmp")
+        message(FATAL_ERROR "Track is not configured for python bindings. Please run python/set_track.bash <combined|planner|scheduler> to configure the track before compiling.")
+    endif()
+
+    include_directories("python/tmp")
 
-    pybind11_add_module(MAPF "./src/Grid.cpp"   "./src/States.cpp" "./python/MAPFbinding.cpp")
+    pybind11_add_module(MAPF "./src/Grid.cpp"   "./src/States.cpp" "./python/tmp/MAPFbinding.cpp")
     target_link_libraries(MAPF PRIVATE ) 
 
-    file(GLOB PY_SOURCES "python/*.cpp")
+    file(GLOB PY_SOURCES "python/tmp/*.cpp")
     list(FILTER PY_SOURCES EXCLUDE REGEX ".*python/MAPFbinding\.cpp")
 
     add_executable(lifelong  ${PY_SOURCES} ${SOURCES})

RunInDocker.sh

@@ -45,7 +45,15 @@ echo "Remove container and images if exist... ..."
 out=$(docker container stop mapf_test 2>&1 ; docker container rm mapf_test 2>&1 ; docker rmi mapf_image 2>&1)
 
 echo "Build image and run the container... ..."
+
 docker build --no-cache -t mapf_image ./
 
-docker container run -it --gpus all  --name mapf_test mapf_image
+# check if gpu is available
+if nvidia-smi &> /dev/null; then
+    echo "GPU is available."
+    docker container run -it --gpus all  --name mapf_test mapf_image
+else
+    echo "GPU is not available."
+    docker container run -it --name mapf_test mapf_image
+fi
 

apt.txt

@@ -1,3 +1,4 @@
+cmake
 build-essential
 libboost-all-dev
 python3-dev

compile.sh

@@ -4,7 +4,7 @@ mkdir build
 
 # build exec for cpp
 
-cmake -B build ./ -DCMAKE_BUILD_TYPE=Release
+cmake -B build ./ -DPYTHON=false -DCMAKE_BUILD_TYPE=Release
 make -C build -j
 
 

default_planner/Memory.h

@@ -6,7 +6,7 @@
 
 #include "search_node.h"
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 class MemoryPool
 {

default_planner/TrajLNS.h

@@ -10,7 +10,7 @@
 
 #include <set>
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 // enum ADAPTIVE {RANDOM, CONGESTION, COUNT};
 enum ADAPTIVE {RANDOM, CONGESTION, DEVIATION, COUNT};
 

default_planner/Types.h

@@ -16,7 +16,7 @@
 #include "SharedEnv.h"
 #include "ActionModel.h"
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 
 	enum DONE{

default_planner/flow.cpp

@@ -6,7 +6,7 @@
 #include <random>
 #include <unordered_set>
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 std::mt19937 g(0);
 

default_planner/flow.h

@@ -9,7 +9,7 @@
 #include <random>
 #include <unordered_set>
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 //remove flow for each location's outgoing edge according to the traj
 void remove_traj(TrajLNS& lns, int agent);

default_planner/heap.h

@@ -18,7 +18,7 @@
 #include <cassert>
 #include <iostream>
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 
 struct min_q 

default_planner/heuristics.cpp

@@ -2,7 +2,7 @@
 #include "heuristics.h"
 #include <queue>
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 std::vector<HeuristicTable> global_heuristictable;
 Neighbors global_neighbors;

default_planner/heuristics.h

@@ -8,7 +8,7 @@
 #include "TrajLNS.h"
 #include "search_node.h"
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 void init_heuristics(SharedEnvironment* env);
 

default_planner/pibt.cpp

@@ -7,7 +7,7 @@
 
 
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 bool causalPIBT(int curr_id, int higher_id,std::vector<State>& prev_states,
 	 std::vector<State>& next_states,

default_planner/pibt.h

@@ -16,7 +16,7 @@
 
 
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 
 bool causalPIBT(int curr_id, int higher_id,std::vector<State>& prev_states,

default_planner/planner.cpp

@@ -5,7 +5,7 @@
 #include "flow.h"
 
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
     //default planner data
     std::vector<int> decision; 

default_planner/planner.h

@@ -6,7 +6,7 @@
 #include <random>
 
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 
     void initialize(int preprocess_time_limit, SharedEnvironment* env);

default_planner/scheduler.cpp

@@ -1,13 +1,13 @@
 #include "scheduler.h"
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 std::mt19937 mt;
 
 void schedule_initialize(int preprocess_time_limit, SharedEnvironment* env)
 {
     // cout<<"schedule initialise limit" << preprocess_time_limit<<endl;
-    TrafficMAPF::init_heuristics(env);
+    DefaultPlanner::init_heuristics(env);
     mt.seed(0);
 }
 
@@ -41,7 +41,7 @@ void schedule_plan(int time_limit, std::vector<int> & proposed_schedule,  Shared
                 dist = 0;
                 c_loc = env->curr_states.at(i).location;
                 for (int loc : env->task_pool[i_task].locations){
-                    dist += TrafficMAPF::get_h(env, c_loc, loc);
+                    dist += DefaultPlanner::get_h(env, c_loc, loc);
                     c_loc = loc;
                 }
                 if (dist < min_task_makespan){

default_planner/scheduler.h

@@ -6,7 +6,7 @@
 #include "heuristics.h"
 #include <random>
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 
 void schedule_initialize(int preprocess_time_limit, SharedEnvironment* env);
 

default_planner/search.cpp

@@ -4,7 +4,7 @@
 #include "search.h"
 
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 std::chrono::nanoseconds t;
 //a astar minimized the opposide traffic flow with existing traffic flow
 

default_planner/search.h

@@ -9,7 +9,7 @@
 #include "search_node.h"
 #include "heuristics.h"
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 //a astar minimized the opposide traffic flow with existing traffic flow
 
 s_node astar(SharedEnvironment* env, std::vector<Int4>& flow,

default_planner/search_node.h

@@ -4,7 +4,7 @@
 #include <vector>
 #include <iostream>
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 struct s_node
 {
     int label = 0;

default_planner/utils.cpp

@@ -3,7 +3,7 @@
 
 #include "utils.h"
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 int get_d(int diff, const SharedEnvironment* env)  {
 
     return (diff == 1)? 0: (diff == -1)? 2: (diff == env->cols)? 1: 3;

default_planner/utils.h

@@ -4,7 +4,7 @@
 
 #include "Types.h"
 
-namespace TrafficMAPF{
+namespace DefaultPlanner{
 int get_d(int diff, const SharedEnvironment* env)  ;