def instantiate_condition(action, is_static, args_from_predicate):
parameters = {p.name for p in action.parameters}
#if not parameters:
# yield {}
# return
static_conditions = list(
filter(is_static, get_literals(get_precondition(action))))
static_parameters = set(
filter(is_parameter, flatten(atom.args for atom in static_conditions)))
if not (parameters <= static_parameters):
raise NotImplementedError(
'Could not instantiate action {} due to parameters: {}'.format(
action.name, str_from_object(parameters - static_parameters)))
atoms_from_cond = {
condition: args_from_predicate[condition.predicate,
get_constants(condition)]
for condition in static_conditions
}
conditions, atoms = zip(*atoms_from_cond.items())
relations = [
Relation(conditions[index].args, atoms[index])
for index in compute_order(conditions, atoms)
]
solution = solve_satisfaction(relations)
for element in solution.body:
yield solution.get_mapping(element)
def _add_combinations_relation(self, stream, atoms):
if not all(atoms):
return
# TODO: might be a bug here?
domain = list(map(head_from_fact, stream.domain))
# TODO: compute this first?
relations = [
Relation(filter(is_parameter, domain[index].args), [
tuple(a for a, b in safe_zip(atom.args, domain[index].args)
if is_parameter(b)) for atom in atoms[index]
]) for index in compute_order(domain, atoms)
]
solution = solve_satisfaction(relations)
for element in solution.body:
mapping = solution.get_mapping(element)
input_objects = safe_apply_mapping(stream.inputs, mapping)
self.push_instance(stream.get_instance(input_objects))