def is_equal_to(a1, a2):
# verificăm atomi cu același nume de predicat și același număr de argumente
if not (is_atom(a1) and is_atom(a2) and get_head(a1) == get_head(a2)
and len(get_args(a1)) == len(get_args(a2))):
return False
return all([
equal_terms(get_args(a1)[i],
get_args(a2)[i]) for i in range(len(get_args(a1)))
])
def equal_terms(t1, t2):
if is_constant(t1) and is_constant(t2):
return get_value(t1) == get_value(t2)
if is_variable(t1) and is_variable(t2):
return get_name(t1) == get_name(t2)
if is_function_call(t1) and is_function(t2):
if get_head(t1) != get_head(t2):
return all([equal_terms(get_args(t1)[i], get_args(t2)[i]) for i in range(len(get_args(t1)))])
return False
def findAllSubstitutions(action, atoms, subst):
if not atoms:
print(subst)
applyLE(action, subst)
applyLA(action, subst)
return
atom = atoms[0]
name = get_head(atom)
if name in env:
facts = env[name]
elif name in math_predicates:
return findAllSubstitutions(action, atoms[1:], subst)
else:
facts = state
for fact in facts:
newSubst = unify(atom, fact)
if newSubst != False and newSubst != None:
copySubst = deepcopy(subst)
copySubst.update(newSubst)
remaining = deepcopy(atoms[1:])
for i in range(len(remaining)):
remaining[i] = substitute(remaining[i], newSubst)
findAllSubstitutions(action, remaining, copySubst)
def applyLA(action, substitution): global newState LA = deepcopy(action[4]) subst = substitution[0] for i in range(len(LA)): LA[i] = substitute(LA[i], subst) name = get_head(LA[i]) if not substitution[1] and name not in env and name not in math_predicates: if LA[i] not in newState: newState.append(LA[i]) for subst in substitution[1]: for a in LA: a = substitute(a, subst) name = get_head(a) if name not in env and name not in math_predicates: if a not in newState: newState.append(a)
def applyLA(action, subst):
global newState
LA = action[3]
for a in LA:
a = substitute(a, subst)
name = get_head(a)
if name not in env and name not in math_predicates:
if a not in newState:
newState.append(a)
def applyLE(action, subst):
global newState
LE = action[4]
for e in LE:
e = substitute(e, subst)
name = get_head(e)
if e in newState:
#print("found atom to remove " + str(e))
newState.remove(e)
def applyLE(action, substitution):
global newState
LE = deepcopy(action[5])
subst = substitution[0]
for i in range(len(LE)):
LE[i] = substitute(LE[i], subst)
name = get_head(LE[i])
if name == 'isDirty':
env['isDirty'].remove(LE[i])
if LE[i] in newState:
#print("found atom to remove " + str(e))
newState.remove(LE[i])
for subst in substitution[1]:
for e in LE:
e = substitute(e, subst)
name = get_head(e)
if e in newState:
#print("found atom to remove " + str(e))
newState.remove(e)
def preconditionsSatisfied(atoms):
atom = atoms[0]
#print("checking " + str(atom))
name = get_head(atom)
if name in env:
#print("NAME IN ENV")
facts = env[name]
elif name in math_predicates:
res = checkMathPredicates(name, atom)
if res == True and len(atoms) == 1:
return True
elif res == True:
return preconditionsSatisfied(atoms[1:])
else:
return False
else:
facts = state
#print(facts)
hasUnified = False
for fact in facts:
s = unify(atom, fact)
#print("with " + str(fact) + " unify is " + str(s))
if s != False and s != None:
hasUnified = True
#print("unify " + str(atom) + " with " + str(fact) + " under ")
#print(s)
if len(atoms) == 1:
return True
remaining = deepcopy(atoms[1:])
for i in range(len(remaining)):
remaining[i] = substitute(remaining[i], s)
#print("remaining " + str(remaining))
res = preconditionsSatisfied(remaining)
if res == False:
return False
if hasUnified:
return True
return False
def findSubstitutions(action, atoms, subst, allSubst, state):
if not atoms:
#print("found subst " + str(subst))
if len(subst) != 0:
allSubst.append(subst)
return True
atom = atoms[0]
name = get_head(atom)
if name in env:
facts = env[name]
elif name in math_predicates:
newSubst = {}
res = checkMathPredicates(name, atom, newSubst)
if res == False:
return False
else:
if newSubst != {}:
#TODO update the remaining with the newSubst?
subst.update(newSubst)
return findSubstitutions(action, atoms[1:], subst, allSubst, state)
else:
facts = state
hasUnifiedWithAll = True
for fact in facts:
#TODO pot sa aplic newSubst in unify si sa nu mai fac remaining?
newSubst = unify(atom, fact)
if newSubst != False and newSubst != None:
copySubst = deepcopy(subst)
copySubst.update(newSubst)
remaining = deepcopy(atoms[1:])
for i in range(len(remaining)):
remaining[i] = substitute(remaining[i], newSubst)
res = findSubstitutions(action, remaining, copySubst, allSubst,
state)
if not res:
hasUnifiedWithAll = False
return hasUnifiedWithAll
def apply_rule(rule, facts):
# TODO
subst = {}
prem = {}
ans = []
values = {}
fact_values = {}
for fact in facts:
vals = []
for arg in get_args(fact):
vals.append(get_value(arg))
if get_head(fact) not in values:
values[get_head(fact)] = [tuple(vals)]
else:
values[get_head(fact)].append(tuple(vals))
if get_head(fact) not in fact_values:
fact_values[get_head(fact)] = [fact]
else:
fact_values[get_head(fact)].append(fact)
for r in get_premises(rule):
if isinstance(r, Sentence):
var = get_name(get_args(get_args(r)[0])[0])
prm = get_head(get_args(r)[0])
prem[(prm, var)] = get_args(r)[0]
continue
var = get_name(get_args(r)[0])
prem[(get_head(r), var)] = [r]
index_h = {}
max_index_h = {}
for (pred, var) in prem:
index_h[(pred, var)] = 0
max_index_h[(pred, var)] = 0
if pred in values:
max_index_h[(pred, var)] = len(values[pred])
pred = []
for x in prem:
pred.append(x)
current_p = 0
subst = {}
while 1:
p = pred[current_p]
prd = p[0]
val = p[1]
p_index = index_h[p]
if p_index == max_index_h[p]:
index_h[p] = 0
if current_p == 0:
break
current_p = current_p - 1
p = pred[current_p]
for x in get_args(prem[p]):
name = get_name(x)
if name in subst:
del subst[name]
index_h[p] = index_h[p] + 1
continue
b_subst = deepcopy(subst)
aux_subst = unify(prem[p], fact_values[prd][p_index], subst)
if aux_subst!=False:
subst = aux_subst
if current_p == len(pred) - 1:
ans.append(substitute(get_conclusion(rule),subst))
subst = {}
current_p = 0
next_index = index_h[p] + 1
index_h[p] = next_index
p = pred[current_p]
continue
else:
subst = b_subst
index_h[p] = index_h[p] + 1
if index_h[p] == max_index_h[p]:
index_h[p] = 0
current_p = current_p - 1
index_h[pred[current_p]] = index_h[pred[current_p]] + 1
p = pred[current_p]
for x in get_args(prem[p]):
name = get_name(x)
if name in subst:
del subst[name]
continue
if current_p < len(pred) - 1:
current_p = current_p + 1
continue
index_h[p] = index_h[p] + 1
return ans
def is_rule(formula):
return get_head(formula) == 'or' or get_head(formula) == 'and'
def findBestAction(availableActions, path):
# TODO
global state, time
cost = 0
if 'Clean' in availableActions.keys():
cost = get_value(availableActions['Clean'][0][0]['dim'])
return ['Clean', 0, cost, cost]
if 'Refill' in availableActions.keys():
return ['Refill', 0, 1, 0]
if 'Move' in availableActions.keys():
substIndex = 0
maxReward = -1
cost = -1
for subst in availableActions['Move']:
moveCost = get_value(subst[0]['cost'])
print('move cost ' + str(moveCost) + " time " + str(time))
if moveCost > time:
continue
index = availableActions['Move'].index(subst)
if len(path) >= 1 and getActionName(path[len(path) - 1]) == 'Move':
args = getActionArgs(path[-1])
#print("ARGS " + str(args))
if int(args[0]) == get_value(
subst[0]['r2']) and len(availableActions['Move']) > 1:
continue
#TODO apply action
# nu merge applyaction pentru ca ar modifica si env; asa schimb manual doar locatia
#newState = applyAction(actions[0], subst)
newState = deepcopy(state)
for atom in newState:
if get_head(atom) == 'location':
newState.remove(atom)
break
newState.append(
make_atom('location', make_const(get_value(subst[0]['r2']))))
#TODO see available actions for the new states
newAvailableActions = findAvailableActions(newState)
print(newAvailableActions.keys())
#TODO pick the best move
if 'Clean' in newAvailableActions:
cleanCost = get_value(
newAvailableActions['Clean'][0][0]['dim'])
print("Clean cost " + str(cleanCost) + " max reward so far " +
str(maxReward))
if 1000 + cleanCost - moveCost > maxReward and moveCost + cleanCost <= time:
maxReward = 1000 + cleanCost - moveCost
substIndex = index
cost = moveCost
if 'Refill' in newAvailableActions:
print("Refill" + " max reward so far " + str(maxReward))
if 50 - moveCost > maxReward:
maxReward = 50 - moveCost
substIndex = index
cost = moveCost
# if 'Move' in newAvailableActions and len(newAvailableActions['Move']) > 1: # daca nu e dead end
# if 0 > maxReward:
# maxReward = 0
# substIndex = index
# cost = moveCost
print("chosen cost " + str(cost))
if cost != -1:
return ['Move', substIndex, cost, 0]
else:
substIndex = 0
minCost = 9999
for subst in availableActions['Move']:
moveCost = get_value(subst[0]['cost'])
if moveCost > time:
continue
index = availableActions['Move'].index(subst)
if len(path) >= 1 and getActionName(
path[len(path) - 1]) == 'Move':
args = getActionArgs(path[-1])
#print("ARGS " + str(args))
if int(args[0]) == get_value(subst[0]['r2']) and len(
availableActions['Move']) > 1:
continue
if moveCost < minCost:
substIndex = index
minCost = moveCost
print("new chosen cost " + str(minCost))
return ['Move', substIndex, minCost, 0]
return [None, None, 0, 0]
