def next_optimistic(self):
# TODO: compute this just once and store
if self.enumerated or self.disabled:
return []
# TODO: (potentially infinite) sequence of optimistic objects
# TODO: how do I distinguish between real and not real verifications of things?
# TODO: reuse these?
self.opt_results = []
output_set = set()
for output_list in self.opt_gen_fn(*self.get_input_values()):
self._check_output_values(output_list)
for i, output_values in enumerate(output_list):
output_objects = []
for output_index, value in enumerate(output_values):
# TODO: maybe record history of values here?
unique = UniqueOptValue(self, len(self.opt_results),
output_index) # object()
param = unique if self.use_unique() else value
output_objects.append(
OptimisticObject.from_opt(value, param))
output_objects = tuple(output_objects)
if output_objects not in output_set:
output_set.add(
output_objects
) # No point returning the exact thing here...
self.opt_results.append(
self._Result(self,
output_objects,
opt_index=self.opt_index,
call_index=len(self.opt_results),
list_index=0))
return self.opt_results
def convert_fluent_streams(stream_plan, real_states, action_plan,
step_from_fact, node_from_atom):
#return stream_plan
import pddl
assert len(real_states) == len(action_plan) + 1
steps_from_stream = get_steps_from_stream(stream_plan, step_from_fact,
node_from_atom)
# TODO: ensure that derived facts aren't in fluents?
# TODO: handle case where costs depend on the outputs
_, outgoing_edges = neighbors_from_orders(
get_partial_orders(stream_plan,
init_facts=map(
fact_from_fd,
filter(lambda f: isinstance(f, pddl.Atom),
real_states[0]))))
static_plan = []
fluent_plan = []
for result in stream_plan:
external = result.external
if isinstance(result, FunctionResult) or (result.opt_index != 0) or (
not external.is_fluent):
static_plan.append(result)
continue
if outgoing_edges[result]:
# No way of taking into account the binding of fluent inputs when preventing cycles
raise NotImplementedError(
'Fluent stream is required for another stream: {}'.format(
result))
#if (len(steps_from_stream[result]) != 1) and result.output_objects:
# raise NotImplementedError('Fluent stream required in multiple states: {}'.format(result))
for state_index in steps_from_stream[result]:
new_output_objects = [
#OptimisticObject.from_opt(out.value, object())
OptimisticObject.from_opt(
out.value, UniqueOptValue(result.instance, object(), name))
for name, out in safe_zip(result.external.outputs,
result.output_objects)
]
if new_output_objects and (state_index <= len(action_plan) - 1):
# TODO: check that the objects aren't used in any effects
instance = copy.copy(action_plan[state_index])
action_plan[state_index] = instance
output_mapping = get_mapping(
list(map(pddl_from_object, result.output_objects)),
list(map(pddl_from_object, new_output_objects)))
instance.var_mapping = {
p: output_mapping.get(v, v)
for p, v in instance.var_mapping.items()
}
new_instance = get_fluent_instance(external,
result.instance.input_objects,
real_states[state_index])
# TODO: handle optimistic here
new_result = new_instance.get_result(new_output_objects,
opt_index=result.opt_index)
fluent_plan.append(new_result)
return static_plan + fluent_plan
def wrap_optimistic(self, output_values, call_index):
output_objects = []
for name, value in safe_zip(self.external.outputs, output_values):
unique = UniqueOptValue(instance=self,
sequence_index=call_index,
output=name) # object()
param = unique if (
self.opt_index
== 0) else value # TODO: make a proper abstraction generator
output_objects.append(OptimisticObject.from_opt(value, param))
return tuple(output_objects)
def convert_fluent_streams(stream_plan, real_states, action_plan,
step_from_fact, node_from_atom):
import pddl
assert len(real_states) == len(action_plan) + 1
steps_from_stream = {}
for result in reversed(stream_plan):
steps_from_stream[result] = set()
for fact in result.get_certified():
if (fact in step_from_fact) and (node_from_atom[fact].result
== result):
steps_from_stream[result].update(step_from_fact[fact])
for fact in result.instance.get_domain():
step_from_fact[fact] = step_from_fact.get(
fact, set()) | steps_from_stream[result]
# TODO: apply this recursively
# TODO: ensure that derived facts aren't in fluents?
# TODO: handle case where costs depend on the outputs
_, outgoing_edges = neighbors_from_orders(
get_partial_orders(stream_plan,
init_facts=map(
fact_from_fd,
filter(lambda f: isinstance(f, pddl.Atom),
real_states[0]))))
static_plan = []
fluent_plan = []
for result in stream_plan:
external = result.external
if (result.opt_index != 0) or (not external.is_fluent()):
static_plan.append(result)
continue
if outgoing_edges[result]:
# No way of taking into account the binding of fluent inputs when preventing cycles
raise NotImplementedError(
'Fluent stream is required for another stream: {}'.format(
result))
#if (len(steps_from_stream[result]) != 1) and result.output_objects:
# raise NotImplementedError('Fluent stream required in multiple states: {}'.format(result))
for state_index in steps_from_stream[result]:
new_output_objects = [ # OptimisticObject.from_opt(out.value, object())
OptimisticObject.from_opt(
out.value, UniqueOptValue(result.instance, object(), i))
for i, out in enumerate(result.output_objects)
]
if new_output_objects and (state_index < len(action_plan)):
# TODO: check that the objects aren't used in any effects
instance = copy.copy(action_plan[state_index])
action_plan[state_index] = instance
output_mapping = get_mapping(
map(pddl_from_object, result.output_objects),
map(pddl_from_object, new_output_objects))
instance.var_mapping = {
p: output_mapping.get(v, v)
for p, v in instance.var_mapping.items()
}
fluent_facts = list(
map(
fact_from_fd,
filter(
lambda f: isinstance(f, pddl.Atom) and
(f.predicate in external.fluents),
real_states[state_index])))
new_instance = external.get_instance(result.instance.input_objects,
fluent_facts=fluent_facts)
new_result = new_instance.get_result(new_output_objects,
opt_index=result.opt_index)
fluent_plan.append(new_result)
return static_plan + fluent_plan