def reschedule_stream_plan(evaluations,
target_facts,
domain,
stream_results,
unique_binding=False,
unsatisfiable=False,
max_effort=INF,
planner=RESCHEDULE_PLANNER,
debug=False):
# TODO: search in space of partially ordered plans
# TODO: constrain selection order to be alphabetical?
domain.actions[:], stream_result_from_name = get_stream_actions(
stream_results, unique_binding=unique_binding)
goal_expression = And(*target_facts)
if unsatisfiable: # TODO: ensure that the copy hasn't harmed anything
goal_expression = add_unsatisfiable_to_goal(domain, goal_expression)
reschedule_problem = get_problem(evaluations,
goal_expression,
domain,
unit_costs=False)
reschedule_task = task_from_domain_problem(domain, reschedule_problem)
#reschedule_task.axioms = [] # TODO: ensure that the constants are added in the event that axioms are needed?
sas_task = sas_from_pddl(reschedule_task)
stream_names, effort = solve_from_task(sas_task,
planner=planner,
max_planner_time=10,
max_cost=max_effort,
debug=debug)
if stream_names is None:
return None
stream_plan = [stream_result_from_name[name] for name, _ in stream_names]
return stream_plan
def solve_sequential(evaluations,
goal_exp,
domain,
unit_costs=False,
debug=False,
**search_args):
problem = get_problem(evaluations, goal_exp, domain, unit_costs)
task = task_from_domain_problem(domain, problem)
if has_attachments(domain):
with Verbose(debug):
instantiated = instantiate_task(task)
return solve_pyplanners(instantiated, **search_args)
sas_task = sas_from_pddl(task, debug=debug)
return abstrips_solve_from_task(sas_task, debug=debug, **search_args)
def solve_finite(evaluations, goal_exp, domain, unit_costs=False, debug=False, **search_args):
if isinstance(domain, SimplifiedDomain):
problem = get_problem_pddl(evaluations, goal_exp, domain.pddl)
pddl_plan, cost = solve_tfd(domain.pddl, problem, debug=debug)
else:
problem = get_problem(evaluations, goal_exp, domain, unit_costs)
task = task_from_domain_problem(domain, problem)
if has_attachments(domain):
with Verbose(debug):
instantiated = instantiate_task(task)
pddl_plan, cost = solve_pyplanners(instantiated, **search_args)
else:
sas_task = sas_from_pddl(task, debug=debug)
pddl_plan, cost = abstrips_solve_from_task(sas_task, debug=debug, **search_args)
plan = obj_from_pddl_plan(pddl_plan)
return plan, cost
def solve_finite(evaluations,
goal_exp,
domain,
unit_costs=False,
debug=False,
**search_args):
if isinstance(domain, SimplifiedDomain):
problem = get_problem_pddl(evaluations, goal_exp, domain.pddl)
pddl_plan, cost = solve_tfd(domain.pddl, problem, debug=debug)
else:
task = task_from_domain_problem(
domain, get_problem(evaluations, goal_exp, domain, unit_costs))
sas_task = sas_from_pddl(task, debug=debug)
pddl_plan, cost = abstrips_solve_from_task(sas_task,
debug=debug,
**search_args)
plan = obj_from_pddl_plan(pddl_plan)
return plan, cost