Added outputs for the verbose kwarg (#16)

* Add output when verbose=true

* Added tests for earliest support version of julia listed in compat

* Formatting updates (BlueStyle)

* Update to calculation of number of beleifs

.github/workflows/CI.yml

@@ -7,6 +7,7 @@ jobs:
     strategy:
       matrix:
         version:
+          - '1.7' # Earliest support listed in compat
           - '1'
         os:
           - ubuntu-latest

Project.toml

@@ -7,9 +7,12 @@ version = "0.1.3"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 POMDPTools = "7588e00f-9cae-40de-98dc-e0c70c48cdd7"
 POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d"
+Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 
 [compat]
+LinearAlgebra = "1"
 POMDPTools = "0.1, 1"
 POMDPs = "0.9, 1"
+Printf = "1"
 julia = "1.7"

src/NativeSARSOP.jl

@@ -4,6 +4,7 @@ using POMDPs
 using POMDPTools
 using SparseArrays
 using LinearAlgebra
+using Printf
 
 export SARSOPSolver, SARSOPTree
 

src/solver.jl

@@ -13,16 +13,29 @@ end
 
 function POMDPTools.solve_info(solver::SARSOPSolver, pomdp::POMDP)
     tree = SARSOPTree(solver, pomdp)
-
+
+    if solver.verbose
+        initialize_verbose_output()
+    end
+
     t0 = time()
     iter = 0
     while time()-t0 < solver.max_time && root_diff(tree) > solver.precision
         sample!(solver, tree)
         backup!(tree)
         prune!(solver, tree)
+        if solver.verbose && iter % 10 == 0
+            log_verbose_info(t0, iter, tree)
+        end
         iter += 1
     end
 
+    if solver.verbose 
+        dashed_line()
+        log_verbose_info(t0, iter, tree)
+        dashed_line()
+    end
+
     pol = AlphaVectorPolicy(
         pomdp,
         getproperty.(tree.Γ, :alpha),
@@ -36,3 +49,20 @@ function POMDPTools.solve_info(solver::SARSOPSolver, pomdp::POMDP)
 end
 
 POMDPs.solve(solver::SARSOPSolver, pomdp::POMDP) = first(solve_info(solver, pomdp))
+
+function initialize_verbose_output()
+    dashed_line()
+    @printf(" %-10s %-10s %-12s %-12s %-15s %-10s %-10s\n", 
+        "Time", "Iter", "LB", "UB", "Precision", "# Alphas", "# Beliefs")
+    dashed_line()
+end
+
+function log_verbose_info(t0::Float64, iter::Int, tree::SARSOPTree)
+    @printf(" %-10.2f %-10d %-12.7f %-12.7f %-15.10f %-10d %-10d\n", 
+        time()-t0, iter, tree.V_lower[1], tree.V_upper[1], root_diff(tree), 
+        length(tree.Γ), length(tree.b_pruned) - sum(tree.b_pruned))
+end
+
+function dashed_line(n=86)
+    @printf("%s\n", "-"^n)
+end

test/Project.toml

@@ -6,4 +6,5 @@ POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d"
 RockSample = "de008ff0-c357-11e8-3329-7fe746fe836e"
 SARSOP = "cef570c6-3a94-5604-96b7-1a5e143043f2"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
+Suppressor = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"

test/runtests.jl

@@ -8,6 +8,7 @@ import SARSOP
 using SparseArrays
 using RockSample
 using Combinatorics
+using Suppressor
 
 # lil bit of testing type piracy
 JSOP.SARSOPTree(pomdp::POMDP) = JSOP.SARSOPTree(SARSOPSolver(), pomdp)
@@ -29,9 +30,9 @@ include("updater.jl")
 include("tree.jl")
 
 @testset "Tiger POMDP" begin
-    pomdp = TigerPOMDP();
-    solver = SARSOPSolver(epsilon = 0.5, precision = 1e-3);
-    tree = SARSOPTree(pomdp);
+    pomdp = TigerPOMDP()
+    solver = SARSOPSolver(epsilon=0.5, precision=1e-3, verbose=false)
+    tree = SARSOPTree(pomdp)
     Γ = solve(solver, pomdp)
     iterations = 0
     while JSOP.root_diff(tree) > solver.precision
@@ -43,16 +44,16 @@ include("tree.jl")
     @test isapprox(tree.V_lower[1], 19.37; atol=1e-1)
     @test JSOP.root_diff(tree) < solver.precision
 
-    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor = 0.5, precision = 1e-3, verbose = false);
-    policyCPP = solve(solverCPP, pomdp);
+    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor=0.5, precision=1e-3, verbose=false)
+    policyCPP = solve(solverCPP, pomdp)
     @test abs(value(policyCPP, initialstate(pomdp)) - tree.V_lower[1]) < 0.01
     @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.01
 end
 
 @testset "Baby POMDP" begin
-    pomdp = BabyPOMDP();
-    solver = SARSOPSolver(epsilon = 0.1, delta = 0.1, precision = 1e-3);
-    tree = SARSOPTree(pomdp);
+    pomdp = BabyPOMDP()
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-3, verbose=false)
+    tree = SARSOPTree(pomdp)
     Γ = solve(solver, pomdp)
     iterations = 0
     while JSOP.root_diff(tree) > solver.precision
@@ -64,16 +65,16 @@ end
     @test isapprox(tree.V_lower[1], -16.3; atol=1e-2)
     @test JSOP.root_diff(tree) < solver.precision
 
-    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor = 0.5, precision = 1e-3, verbose = false);
-    policyCPP = solve(solverCPP, pomdp);
+    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor=0.5, precision=1e-3, verbose=false)
+    policyCPP = solve(solverCPP, pomdp)
     @test abs(value(policyCPP, initialstate(pomdp)) - tree.V_lower[1]) < 0.01
     @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.01
 end
 
 @testset "RockSample POMDP" begin
-    pomdp = RockSamplePOMDP();
-    solver = SARSOPSolver(epsilon = 0.1, delta = 0.1, precision = 1e-2);
-    tree = SARSOPTree(pomdp);
+    pomdp = RockSamplePOMDP()
+    solver = SARSOPSolver(epsilon=0.1, delta=0.1, precision=1e-2, verbose=false)
+    tree = SARSOPTree(pomdp)
     Γ = solve(solver, pomdp)
     iterations = 0
     while JSOP.root_diff(tree) > solver.precision
@@ -85,8 +86,22 @@ end
     # @test isapprox(tree.V_lower[1], -16.3; atol=1e-2)
     @test JSOP.root_diff(tree) < solver.precision
 
-    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor = 0.5, precision = 1e-2, verbose = false);
-    policyCPP = solve(solverCPP, pomdp);
+    solverCPP = SARSOP.SARSOPSolver(trial_improvement_factor=0.5, precision=1e-2, verbose=false)
+    policyCPP = solve(solverCPP, pomdp)
     @test abs(value(policyCPP, initialstate(pomdp)) - tree.V_lower[1]) < 0.1
     @test abs(value(policyCPP, initialstate(pomdp)) - value(Γ, initialstate(pomdp))) < 0.1
 end
+
+@testset "Verbose Tests" begin
+    pomdp = TigerPOMDP()
+    solver = SARSOPSolver(; max_time=10.0, verbose=true)
+    output = @capture_out solve(solver, pomdp)
+    @test occursin("Time", output)
+    @test occursin("Iter", output)
+    @test occursin("LB", output)
+    @test occursin("UB", output)
+    @test occursin("Precision", output)
+    @test occursin("# Alphas", output)
+    @test occursin("# Beliefs", output)
+    println(output)
+end