Changes to Lazy Search and profiling

build.py

@@ -98,7 +98,7 @@ def build(config_name, configure_parameters, build_parameters):
     print(f"Building configuration {config_name}.")
 
     build_path = get_build_path(config_name)
-    generator_cmd = [CMAKE, "-S", get_src_path(), "-B", build_path]
+    generator_cmd = [CMAKE, "-S", get_src_path(), "-B", build_path, "-DCMAKE_EXPORT_COMPILE_COMMANDS=1"]
     if CMAKE_GENERATOR:
         generator_cmd += ["-G", CMAKE_GENERATOR]
     generator_cmd += configure_parameters

driver/arguments.py

@@ -440,7 +440,12 @@ def parse_args():
     driver_other.add_argument(
         "--cleanup", action="store_true",
         help="clean up temporary files (translator output and plan files) and exit")
-
+
+    driver_other.add_argument(
+        "--profile", choices=["none", "time", "memory"],
+        default="none",
+        help="profile the time or memory usage of the search component using valgrind tools")
+
     parser.add_argument(
         "planner_args", nargs=argparse.REMAINDER,
         help="file names and options passed on to planner components")

driver/run_components.py

@@ -124,6 +124,15 @@ def run_search(args):
         portfolio_bound=args.portfolio_bound,
         single_plan=args.portfolio_single_plan)
     plan_manager.delete_existing_plans()
+    # Add profiling options
+
+    profile = []
+    if "time" == args.profile:
+        # args.search_options = '--tool=callgrind --dump-instr=yes --collect-jumps=yes --callgrind-out-file=callgrind.out'.split(' ') + args.search_options
+        profile = "valgrind --tool=callgrind --dump-instr=yes --collect-jumps=yes --callgrind-out-file=callgrind.out".split(' ')
+    elif "memory" == args.profile:
+        # args.search_options = '--leak-check=full --track-origins=yes --log-file=memory-info.out'.split(' ') + args.search_options
+        profile = "valgrind --leak-check=full --track-origins=yes --log-file=memory-info.out".split(' ')
 
     if args.portfolio:
         assert not args.search_options
@@ -140,6 +149,7 @@ def run_search(args):
         try:
             call.check_call(
                 "search",
+                profile +
                 [executable] + args.search_options,
                 stdin=args.search_input,
                 time_limit=time_limit,

src/search/search_algorithm.cc

@@ -14,6 +14,8 @@
 #include "utils/timer.h"
 
 #include "pr2/pr2.h"
+#include "pr2/policy.h"
+#include "pr2/deadend.h"
 
 #include <cassert>
 #include <iostream>
@@ -151,6 +153,12 @@ void SearchAlgorithm::set_plan(const Plan &p) {
 }
 
 void SearchAlgorithm::search() {
+    if (PR2.deadend.record_online) {
+        PR2.deadend.found_online.clear();
+        delete PR2.deadend.online_policy;
+        PR2.deadend.online_policy = new Policy<PolicyItem>();
+    }
+
     initialize();
     utils::CountdownTimer timer(max_time);
     while (status == IN_PROGRESS) {
@@ -161,6 +169,12 @@ void SearchAlgorithm::search() {
             break;
         }
     }
+
+    if (PR2.deadend.record_online &&
+            !PR2.weaksearch.limit_states &&
+            PR2.deadend.found_online.size() > 0)
+                update_deadends(PR2.deadend.found_online);
+
     // TODO: Revise when and which search times are logged.
     if (PR2.logging.verbose)
         log << "Actual search time: " << timer.get_elapsed_time() << endl;

src/search/search_algorithms/lazy_search.cc

@@ -87,6 +87,12 @@ void LazySearch::initialize() {
     if (PR2.logging.verbose)
         log << "Conducting lazy best first search, (real) bound = " << bound << endl;
 
+    // Only set up the heuristics on the first go
+    if (was_initialized)
+        return;
+    else
+        was_initialized = true;
+
     assert(open_list);
     set<Evaluator *> evals;
     open_list->get_path_dependent_evaluators(evals);
@@ -214,6 +220,13 @@ SearchStatus LazySearch::step() {
         !node.is_dead_end() && (current_g < node.get_g());
 
     if (node.is_new() || reopen) {
+        if (PR2.weaksearch.limit_states) {
+            if (state_count > PR2.weaksearch.max_states)
+                return FAILED;
+            else
+                state_count++;
+        }
+
         if (current_operator_id != OperatorID::no_operator) {
             assert(current_predecessor_id != StateID::no_state);
             if (!path_dependent_evaluators.empty()) {

src/search/search_algorithms/lazy_search.h

@@ -44,6 +44,9 @@ class LazySearch : public SearchAlgorithm {
     int current_real_g;
     EvaluationContext current_eval_context;
 
+    int state_count; // Used to limit the search when replanning for a local goal
+    bool was_initialized;
+
     virtual void initialize() override;
     virtual SearchStatus step() override;
 

src/search/state_registry.cc

@@ -63,13 +63,6 @@ const State &StateRegistry::get_initial_state() {
         StateID id = insert_id_or_pop_state();
         cached_initial_state = make_unique<State>(lookup_state(id));
     }
-    int x = 1 + 1;
-    x = 1 + 1;
-    x = 1 + 1;
-    x = 1 + 1;
-    x = 1 + 1;
-    x = 1 + 1;
-    x = 1 + 1;
     // I think this return is broken
     return *cached_initial_state;
 }