PolicyGraph.cpp

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#include "MOMDP.h"
#include "ParserSelector.h"
#include "AlphaVectorPolicy.h"
#include "BeliefForest.h"
#include "Sample.h"
#include "BeliefCache.h"
#include "EvaluatorSampleEngine.h"
#include "EvaluatorBeliefTreeNodeTuple.h"

#include "GlobalResource.h"
#include "PolicyGraphGenerator.h"

#include <string>
#include <stdlib.h>
#include <sstream>
#include <fstream>
#include <ctime>

#include "CPTimer.h"

using namespace std;
using namespace momdp;

void print_usage(const char* cmdName) 
{
    cout << "Usage: " << cmdName << " POMDPModelFileName --policy-file policyFileName --policy-graph policyGraphFileName \n"
<<"      [--fast] [--graph-max-depth maximumDepth] [--graph-max-branch maximumNoOfBranches]\n"
<<"         [--graph-min-prob minimumProbability]" << endl;
    cout << "    or " << cmdName << " --help (or -h)              Print this help."<< endl;
    cout << "    or " << cmdName << " --version                   Print version information." << endl;
    cout << endl;
    cout << "Policy graph generator options:" << endl; 
    cout << "  --policy-file policyFileName               Use policyFileName as the policy file name (compulsory)." << endl;
    cout << "  -f or --fast                               Use fast (but very picky) alternate parser for .pomdp files.\n";
    cout << "  --graph-max-depth maximumDepth     Use maximumDepth as the maximum horizon of the generated policy\n"
         << "                                     graph. There is no limit by default." << endl;
    cout << "  --graph-max-branch maximumNoOfBranches  Use maximumNoOfBranches as the maximum number of branches to show\n"
         << "                                     in the policy graph. The branches shown are the top\n"
         << "                                     maximumNofOfBranches branches in probability. There is no limit\n"
        <<  "                                     by default." << endl;
    cout << "  --graph-min-prob minimumProbability        Use minimumProbability as the minimum probability threshold for a\n"
         << "                                     branch to be shown in the policy graph. Branches with\n"
         << "                                     probability less than the threshold are suppressed. The threshold\n"
         << "                                     is zero by default." << endl;
    cout << "" << endl;
    cout << "Output options" << endl;
    cout << "  --policy-graph policyGraphFileName         Use policyGraphFileName as the name for the DOT file to be \n"
         << "                                     generated (compulsory)." << endl;
    cout << "" << endl;
/*    cout << "Miscellaneous options:" << endl;
    cout << "   -h or --help                         Print help." << endl;
    cout << "   --version                            Print version information" << endl;*/
    cout <<"Example:" <<endl;
    cout << "  " << cmdName << " --policy-file hallway.policy --policy-graph Hallway.dot --graph-max-depth 5 Hallway.pomdp" << endl;
}


int main(int argc, char **argv) 
{
    try
    {
        SolverParams* p =&GlobalResource::getInstance()->solverParams;
        bool parseCorrect = SolverParams::parseCommandLineOption(argc, argv, *p);
        if(!parseCorrect)
        {
            print_usage(p->cmdName);
            exit(EXIT_FAILURE);
        }

        //check validity of options
        if (p->policyFile == "" || p->policyGraphFile.length() == 0) 
        {
            print_usage(p->cmdName);
            return 0;
        }

        SharedPointer<MOMDP> problem = ParserSelector::loadProblem(p->problemName, *p);
        SharedPointer<AlphaVectorPolicy> policy = new AlphaVectorPolicy(problem);
        bool policyRead = policy->readFromFile(p->policyFile);
        if(!policyRead)
        {
            return 0;
        }

    if (policy->getValueAction() == -1 && !p->useLookahead) {
        cerr<<"Use the lookahead controller (--lookahead yes) for MDP policies."<<endl;
        exit(EXIT_FAILURE);
    }

        if(p->useLookahead)
        {
            cout << "Use one-step look ahead" << endl;
        }

        PolicyGraphParam graphParam;
        graphParam.useLookahead = p->useLookahead;
        graphParam.depth = p->graphDepth;
        graphParam.probThreshold = p->graphProbThreshold;
        graphParam.maxEdge = p->graphMaxBranch;
        ofstream dotFile(p->policyGraphFile.c_str());
        dotFile.precision(3);

        PolicyGraphGenerator generator(problem, policy, graphParam);
        generator.generateGraph(dotFile);

        dotFile.flush();
        dotFile.close();
    }
    catch(bad_alloc &e)
    {
        if(GlobalResource::getInstance()->solverParams.memoryLimit == 0)
        {
            cout << "Memory allocation failed. Exit." << endl;
        }
        else
        {
            cout << "Memory limit reached. Please try increase memory limit" << endl;
        }

    }
    catch(exception &e)
    {
        cout << "Exception: " << e.what() << endl ;
    }

    return 0;
}