def generate_outcome_fluents(fluent):
ret = []
if is_grounded(fluent):
return [fluent]
for kb_fluent in KB.get_fluents(fluent):
unify_subs = unify_args(fluent.args, kb_fluent.args)
kb_fluent.args = reify_args(kb_fluent.args, unify_subs)
fluent_args = reify_args(fluent.args, unify_subs)
if kb_fluent.args == fluent_args:
ret.append(kb_fluent)
return ret
def unify_fluent(cond, cycle_time, counter=0):
fluent = cond
temporal_var = cond.time
# debug_display(fluent, KB.exists_fluent(fluent))
substitutions = {}
grounded = is_grounded(fluent)
# Handle the grounded case
if grounded:
# Check if fluent is in KB
if not KB.exists_fluent(fluent):
return None
# Unify with temporal vars, return the substitution
substitutions.update(unify(
var(temporal_var.name.split(VAR_SEPARATOR)[0] +
VAR_SEPARATOR + str(counter)),
cycle_time))
yield substitutions
kb_fluents = KB.get_fluents(fluent)
for kb_fluent in kb_fluents:
unify_res = unify_args(fluent.args, kb_fluent.args)
if unify_res == {}:
continue
# debug_display('FLUENT_UNIFY_RES', unify_res)
unify_res.update(unify(
var(temporal_var.name.split(VAR_SEPARATOR)[0] +
VAR_SEPARATOR + str(counter)),
cycle_time
))
yield unify_res
return substitutions
def expand_fluent(constraint, cur_state, states, all_proposed):
cons_fluent, outcome = constraint.goal, constraint.outcome
cur_subs = cur_state.subs
fluents = copy.deepcopy(KB.get_fluents(cons_fluent))
grounded = True
for arg in cons_fluent.args:
try:
if not cur_subs.get(var(arg.name)):
grounded = False
except AttributeError:
continue
# debug_display('CONS_FLUENT', cons_fluent, outcome, cur_subs)
# debug_display('CUR_SUBS', cur_subs)
# debug_display('FROM KB', fluents)
# debug_display('ALL_PROP', all_proposed)
for causality_outcome in all_proposed.fluents:
if causality_outcome.outcome == A_INITIATE:
if causality_outcome.fluent in fluents:
continue
# TODO: Hotfix, force grounded
if is_grounded(causality_outcome.fluent):
# debug_display('CFLUENT', causality_outcome.fluent)
fluents.append(causality_outcome.fluent)
# TODO: Why does this work?
# elif causality_outcome.outcome == A_TERMINATE:
# if outcome:
# pass
# if causality_outcome.fluent not in fluents:
# continue
# fluents.remove(causality_outcome.fluent)
# debug_display('FROM KB AFTER ADD', fluents)
# debug_display()
# No fluents found
if not fluents:
# Expect something
if outcome:
return
new_state = cur_state # REMOVED_DEEPCOPY
states.append(new_state)
return
matched = False
for fluent in fluents:
if grounded:
res = reify_args(cons_fluent.args, cur_subs)
if res == fluent.args:
matched = True
if outcome:
new_state = copy.deepcopy(cur_state)
states.append(new_state)
continue
continue
new_state = copy.deepcopy(cur_state)
cons_fluent_res = reify_args(cons_fluent.args, cur_subs)
res = unify_args(cons_fluent_res, fluent.args)
if res == {}:
continue
new_state.update_subs(res)
states.append(new_state)
if not outcome and not matched:
new_state = cur_state # REMOVED_DEEPCOPY
states.append(new_state)