def resolve_with_primitive(self, new_step, mutable_s_need, mutable_p):
# operate on cloned plan
mutable_s_need.fulfill(mutable_p)
# add orderings
self.OrderingGraph.addEdge(new_step, mutable_s_need)
# add causal link
c_link = self.CausalLinkGraph.addEdge(new_step, mutable_s_need, mutable_p)
if mutable_p.ID in mutable_s_need.cntg_mental.keys() and new_step.stepnum in mutable_s_need.cntg_mental[mutable_p.ID]:
self.OrderingGraph.addCntg(new_step, mutable_s_need)
mutable_s_need.update_choices(self)
# check if this link is threatened
ignore_these = {mutable_s_need.ID, new_step.ID}
# ignore_these = {mutable_s_need.stepnum, new_step.stepnum}
for step in self.steps:
if step.ID in ignore_these:
continue
if step.stepnum not in mutable_s_need.threat_map[mutable_p.ID]:
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
# only for reuse case, otherwise this check is superfluous
if self.OrderingGraph.isPath(step, new_step):
continue
self.flaws.insert(self, TCLF(step, c_link))
def insert_primitive(self, new_step): self.steps.append(new_step) # global orderings self.OrderingGraph.addEdge(self.dummy.init, new_step) self.OrderingGraph.addEdge(new_step, self.dummy.final) # add open conditions for new step for pre in new_step.open_preconds: self.flaws.insert(self, OPF(new_step, pre)) # check for causal link threats for edge in self.CausalLinkGraph.edges: # source, sink, condition = edge if edge.source.ID == new_step.ID: continue if edge.sink.ID == new_step.ID: continue if self.OrderingGraph.isPath(new_step, edge.source): continue if self.OrderingGraph.isPath(edge.sink, new_step): continue if new_step.stepnum in edge.sink.threat_map[edge.label.ID]: self.flaws.insert(self, TCLF(new_step, edge)) return None
def resolve_with_decomp(self, new_step, mutable_s_need, mutable_p):
d_i, d_f = new_step.dummy
# operate on cloned plan
# mutable_s_need = self[s_index]
# mutable_p = mutable_s_need.preconds[p_index]
mutable_s_need.fulfill(mutable_p)
# add ordering
self.OrderingGraph.addEdge(d_f, mutable_s_need)
# add causal link
c_link = self.CausalLinkGraph.addEdge(d_f, mutable_s_need, mutable_p)
mutable_s_need.update_choices(self)
# check if df -> s_need is threatened
ignore_these = {mutable_s_need.ID, d_f.ID, d_i.ID}
for step in self.steps:
# reminder: existing steps are primitive
if step.ID in ignore_these:
continue
### NOT SUFFICIENT: needs to not be a threat to any sub-step added... ###
if step.stepnum not in mutable_s_need.threat_map[mutable_p.ID]:
continue
# check only for d_f, in case this step occurs between d_i and d_f
if self.OrderingGraph.isPath(step, d_f):
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
self.flaws.insert(self, TCLF(step, c_link))
def insert_primitive_0ld(self, new_step, s_index, p_index):
# append primitive step
self.steps.append(new_step)
# operate on cloned plan
mutable_s_need = self[s_index]
mutable_p = mutable_s_need.preconds[p_index]
mutable_s_need.fulfill(mutable_p)
mutable_s_need.update_choices(self)
# add orderings
self.OrderingGraph.addEdge(new_step, mutable_s_need)
self.OrderingGraph.addEdge(self.dummy.init, new_step)
self.OrderingGraph.addEdge(new_step, self.dummy.final)
# add causal link
c_link = self.CausalLinkGraph.addEdge(new_step, mutable_s_need,
mutable_p)
# add open conditions for new step
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(new_step, pre))
# check if this link is threatened
ignore_these = {mutable_s_need.ID, new_step.ID}
for step in self.steps:
if step.ID in ignore_these:
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
if step.stepnum in mutable_s_need.threats:
self.flaws.insert(self, TCLF(step, c_link))
# check if adding this step threatens other causal links
for cl in self.CausalLinkGraph.edges:
if cl == c_link:
continue
if new_step.stepnum not in cl.sink.threat_map[cl.label]:
continue
if self.OrderingGraph.isPath(new_step, cl.source):
continue
if self.OrderingGraph.isPath(cl.sink, new_step):
continue
self.flaws.insert(self, TCLF(new_step, cl))
def testThreat(self, GL, nonThreats, causal_link, step, dTCLFs):
if step in nonThreats[causal_link]:
return
if step == causal_link.source or step == causal_link.sink:
nonThreats[causal_link].add(step)
return
if self.OrderingGraph.isPath(causal_link.sink, step):
nonThreats[causal_link].add(step)
return
if self.OrderingGraph.isPath(step, causal_link.source):
nonThreats[causal_link].add(step)
return
if step.stepnumber not in GL.threat_dict[causal_link.sink.stepnumber]:
nonThreats[causal_link].add(step)
return
if test(Action.subgraph(self, step), causal_link):
dTCLFs.add(TCLF((step, causal_link), 'tclf'))
nonThreats[causal_link].add(step)
def testThreat(self, GL, nonThreats, causal_link, step, dTCLFs):
if step.index in nonThreats[causal_link]:
return
if step.root == causal_link.source or step.root == causal_link.sink:
return
if self.OrderingGraph.isPath(causal_link.sink, step.root):
nonThreats[causal_link].add(step.index)
return
if self.OrderingGraph.isPath(step, causal_link.source):
nonThreats[causal_link].add(step.index)
return
if step.stepnumber not in GL.threat_dict[causal_link.label.litnumber]:
#if step.stepnumber not in GL.threat_dict[causal_link.sink.stepnumber]:
nonThreats[causal_link].add(step.index)
return
# if test(self[step.index], causal_link):
dTCLFs.add(TCLF((step.root, causal_link), 'tclf'))
nonThreats[causal_link].add(step.index)
def resolve_with_decomp(self, new_step, s_index, p_index):
d_i, d_f = new_step.dummy
# operate on cloned plan
mutable_s_need = self[s_index]
mutable_p = mutable_s_need.preconds[p_index]
mutable_s_need.fulfill(mutable_p)
mutable_s_need.update_choices(self)
# add orderings to rest of plan
self.OrderingGraph.addEdge(d_f, mutable_s_need)
# add causal link
c_link = self.CausalLinkGraph.addEdge(d_f, mutable_s_need, mutable_p)
# check if df -> s_need is threatened
ignore_these = {mutable_s_need.ID, d_f.ID, d_i.ID}
for step in self.steps:
# existing steps must be primitive
if step.ID in ignore_these:
continue
if self.OrderingGraph.isPath(step, d_f):
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
if step.stepnum in mutable_s_need.threats:
self.flaws.insert(self, TCLF(step, c_link))
# check if adding this step threatens other causal links
for cl in self.CausalLinkGraph.edges:
# all causal links are between primitive steps
if cl == c_link:
continue
if new_step.stepnum not in cl.sink.threat_map[cl.label]:
continue
if self.OrderingGraph.isPath(d_f, cl.source):
continue
if self.OrderingGraph.isPath(cl.sink, d_i):
continue
self.flaws.insert(self, DTCLF(d_i, d_f, cl))
def insert_decomp(self, new_step, dni=None):
# magic happens here
swap_dict = dict()
# sub dummy init
d_i = new_step.dummy.init.instantiate()
d_i.depth = new_step.depth
swap_dict[new_step.dummy.init.ID] = d_i
self.steps.append(d_i)
# add flaws for each new_step precondition, but make s_need d_i and update cndt_map/ threat_map
d_i.swap_setup(new_step.cndts, new_step.cndt_map, new_step.threats, new_step.threat_map, new_step.cntg_mental)
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(d_i, pre, new_step.height))
preconds = list(new_step.open_preconds)
d_i.preconds = preconds
d_i.open_preconds = preconds
self.OrderingGraph.addEdge(self.dummy.init, d_i)
self.OrderingGraph.addEdge(d_i, self.dummy.final)
# sub dummy final
d_f = new_step.dummy.final.instantiate(default_None_is_to_refresh_open_preconds=False)
d_f.depth = new_step.depth
swap_dict[new_step.dummy.final.ID] = d_f
# d_f will be primitive, to allow any heighted applicable steps
self.insert(d_f)
# added this 2017-08-09
self.OrderingGraph.addEdge(d_i, d_f)
self.OrderingGraph.addEdge(d_f, self.dummy.final)
self.OrderingGraph.addEdge(self.dummy.init, d_f)
# decomposition links
# self.HierarchyGraph.addOrdering(new_step, d_i)
# self.HierarchyGraph.addOrdering(new_step, d_f)
# for sb_step in new_step.sub_steps:
# self.HierarchyGraph.addOrdering(new_step, sb_step)
# log who your family is
new_step.dummy = dummyTuple(d_i, d_f)
d_i.sibling = d_f
d_f.sibling = d_i
# sub steps
for substep in new_step.sub_steps:
new_substep = substep.instantiate(default_None_is_to_refresh_open_preconds=False)
swap_dict[substep.ID] = new_substep
# INCREMENT DEPTH
new_substep.depth = new_step.depth + 1
if new_substep.depth > self.depth:
self.depth = new_substep.depth
if dni is not None:
if substep in dni:
continue
poss_swaps = self.insert(new_substep)
if poss_swaps is not None:
swap_dict.update(poss_swaps)
# if your substeps have children, make those children fit between your init and
if new_substep.height > 0:
self.OrderingGraph.addEdge(new_substep.dummy.final, d_f)
self.OrderingGraph.addEdge(d_i, new_substep.dummy.init)
else:
self.OrderingGraph.addEdge(new_substep, d_f)
self.OrderingGraph.addEdge(d_i, new_substep)
# sub orderings
for edge in new_step.sub_orderings.edges:
if dni is not None:
if edge.source in dni:
continue
elif edge.sink in dni:
continue
# try:
source, sink = swap_dict[edge.source.ID], swap_dict[edge.sink.ID]
# except:
# pass
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
self.OrderingGraph.addLabeledEdge(source, sink, edge.label)
# sub links
for edge in new_step.sub_links.edges:
# instantiating a GLiteral does not give it new ID (just returns deep copy)
source, sink, label = swap_dict[edge.source.ID], swap_dict[edge.sink.ID], edge.label.instantiate()
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
clink = self.CausalLinkGraph.addEdge(source, sink, label)
# check if this link is threatened
for substep in new_step.sub_steps:
if dni is not None and substep in dni:
continue
new_substep = swap_dict[substep.ID]
if new_substep.ID in {clink.source.ID, clink.sink.ID}:
continue
if new_substep.stepnum not in clink.sink.threat_map[clink.label.ID]:
continue
if new_substep.height > 0:
# decomp step compared to its dummy init and dummy final steps
if self.OrderingGraph.isPath(new_substep.dummy.final, clink.source):
continue
if self.OrderingGraph.isPath(clink.sink, new_substep.dummy.init):
continue
self.flaws.insert(self, TCLF(new_substep.dummy.final, clink))
else:
# primitive step gets the primitive treatment
if self.OrderingGraph.isPath(new_substep, clink.source):
continue
if self.OrderingGraph.isPath(clink.sink, new_substep):
continue
self.flaws.insert(self, TCLF(new_substep, clink))
return swap_dict
def insert_decomp(self, new_step):
# magic happens here
swap_dict = dict()
# sub dummy init
d_i = new_step.sub_dummy.sub_init.instantiate()
swap_dict[new_step.sub_dummy.sub_init.ID] = d_i
self.steps.append(d_i)
# add flaws for each new_step precondition, but make s_need d_i and update cndt_map/ threat_map
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(d_i, pre))
d_i.swap_setup(new_step.cndts, new_step.cndt_map, new_step.threats,
new_step.threat_map)
# sub dummy final
d_f = new_step.sub_dummy.sub_final.instantiate(
default_None_is_to_refresh_open_preconds=False)
swap_dict[new_step.sub_dummy.sub_final.ID] = d_f
self.steps.append(d_f)
# add flaws for each d_f pre
for pre in d_f.open_preconds:
self.flaws.insert(self, OPF(d_f, pre))
self.OrderingGraph.addEdge(self.dummy.init, d_i)
self.OrderingGraph.addEdge(self.dummy.init, d_f)
self.OrderingGraph.addEdge(d_i, self.dummy.final)
self.OrderingGraph.addEdge(d_f, self.dummy.final)
# sub steps
for substep in new_step.sub_steps:
new_substep = substep.instantiate(
default_None_is_to_refresh_open_preconds=False)
swap_dict[substep.ID] = new_substep
if new_substep.height > 0:
# check what links this new_substep is a source of.
self.insert(new_substep)
for open_condition in new_substep.open_preconds:
self.flaws.insert(self, OPF(new_substep, open_condition))
# sub orderings
for edge in new_step.sub_orderings.edges:
source, sink = swap_dict[edge.source.ID], swap_dict[edge.sink.ID]
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
self.OrderingGraph.addEdge(source, sink)
# sub links
for edge in new_step.sub_links.edges:
source, sink, label = swap_dict[edge.source.ID], swap_dict[
edge.sink.ID], edge.label.instantiate()
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
clink = self.CausalLinkGraph.addEdge(source, sink, label)
# check if this link is threatened
for substep in new_step.sub_steps:
new_substep = swap_dict[substep.ID]
if new_substep.ID in {clink.source.ID, clink.sink.ID}:
continue
if new_substep.stepnum not in clink.sink.threat_map[
clink.label.ID]:
continue
if new_substep.height > 0:
# decomp step compared to its dummy init and dummy final steps
if self.OrderingGraph.isPath(new_substep.dummy.final,
clink.source):
continue
if self.OrderingGraph.isPath(clink.sink,
new_substep.dummy.init):
continue
self.flaws.insert(
self,
DTCLF(new_substep.dummy.init, new_substep.dummy.final,
clink))
else:
# primitive step gets the primitive treatment
if self.OrderingGraph.isPath(new_substep, clink.source):
continue
if self.OrderingGraph.isPath(clink.sink, new_substep):
continue
self.flaws.insert(self, TCLF(new_substep, clink))
