organize app.py

Kei18 · Dec 2, 2023 · fed1683 · fed1683
1 parent 5b26bec
commit fed1683
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Showing 2 changed files with 5 additions and 7 deletions.
diff --git a/app.py b/app.py
@@ -5,11 +5,9 @@
     LaCAM,
     get_grid,
     get_scenario,
-    get_sum_of_loss,
-    is_valid_mapf_solution,
     save_configs_for_visualizer,
+    validate_mapf_solution,
 )
-from pycam.mapf_utils import Deadline
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
@@ -51,24 +49,22 @@
 
     args = parser.parse_args()
 
-    print(args.flg_star)
-
     # define problem instance
     grid = get_grid(args.map_file)
     starts, goals = get_scenario(args.scen_file, args.num_agents)
 
     # solve MAPF
     planner = LaCAM()
-    deadline = Deadline(args.time_limit_ms)
     solution = planner.solve(
         grid=grid,
         starts=starts,
         goals=goals,
-        deadline=deadline,
         seed=args.seed,
+        time_limit_ms=args.time_limit_ms,
         flg_star=args.flg_star,
         verbose=args.verbose,
     )
+    validate_mapf_solution(grid, starts, goals, solution)
 
     # save result
     save_configs_for_visualizer(solution, args.output_file)
diff --git a/pycam/__init__.py b/pycam/__init__.py
@@ -9,6 +9,7 @@
     get_sum_of_loss,
     is_valid_mapf_solution,
     save_configs_for_visualizer,
+    validate_mapf_solution,
 )
 
 # set logger
@@ -24,6 +25,7 @@
     "get_scenario",
     "is_valid_mapf_solution",
     "save_configs_for_visualizer",
+    "validate_mapf_solution",
     "get_sum_of_loss",
     "LaCAM",
 ]