added timing and tests

REQUIRE

@@ -3,3 +3,4 @@ POMDPs
 POMDPToolbox
 Parameters
 ParticleFilters
+CPUTime

src/BasicPOMCP.jl

@@ -14,6 +14,7 @@ using POMDPs
 using Parameters
 using POMDPToolbox
 using ParticleFilters
+using CPUTime
 
 import POMDPs: action, solve, updater
 
@@ -78,6 +79,7 @@ Partially Observable Monte Carlo Planning Solver. Options are set using the keyw
     max_depth::Int          = 20
     c::Float64              = 1.0
     tree_queries::Int       = 1000
+    max_time::Float64       = Inf
     estimate_value::Any     = RolloutEstimator(RandomSolver())
     default_action::Any     = ExceptionRethrow()
     rng::AbstractRNG        = Base.GLOBAL_RNG
@@ -112,6 +114,7 @@ function POMCPTree(pomdp::POMDP, sz::Int=1000)
     acts = collect(iterator(actions(pomdp)))
     A = action_type(pomdp)
     O = obs_type(pomdp)
+    sz = min(10_000_000, sz)
     return POMCPTree{A,O}(sizehint!(Int[0], sz),
                           sizehint!(Vector{Int}[collect(1:length(acts))], sz),
                           sizehint!(Array{O}(1), sz),

src/solver.jl

@@ -1,5 +1,5 @@
 function action(p::POMCPPlanner, b)
-    local a
+    local a::action_type(p.problem)
     try
         a = search(p, b, POMCPTree(p.problem, p.solver.tree_queries))
     catch ex
@@ -11,7 +11,11 @@ end
 
 function search(p::POMCPPlanner, b, t::POMCPTree)
     all_terminal = true
+    start_us = CPUtime_us()
     for i in 1:p.solver.tree_queries
+        if CPUtime_us() - start_us >= 1e6*p.solver.max_time
+            break
+        end
         s = rand(p.rng, b)
         if !POMDPs.isterminal(p.problem, s)
             simulate(p, s, POMCPObsNode(t, 1), p.solver.max_depth)

test/runtests.jl

@@ -19,4 +19,10 @@ r = @inferred BasicPOMCP.simulate(planner, initial_state(pomdp, MersenneTwister(
 sim = HistoryRecorder(max_steps=10)
 simulate(sim, pomdp, planner, updater(pomdp))
 
+solver = POMCPSolver(max_time=0.1, tree_queries=typemax(Int), rng = MersenneTwister(1))
+planner = solve(solver, pomdp)
+action(planner, initial_state_distribution(pomdp))
+println("time below should be about 0.1 seconds")
+@time action(planner, initial_state_distribution(pomdp))
+
 nbinclude(joinpath(dirname(@__FILE__), "..", "notebooks", "Minimal_Example.ipynb"))