def save_plan(self, start, finish, actions, plan_name):
# Creating plan action for further use
if not plan_name:
plan_name = 'plan_' + self.name
if not start.sign.meanings:
scm = start.copy('image', 'meaning')
start.sign.add_meaning(scm)
for con in start.sign.out_meanings.copy():
if con.in_sign.name == plan_name:
start.sign.out_meanings.remove(con)
if not finish.sign.meanings:
fcm = finish.copy('image', 'meaning')
finish.sign.add_meaning(fcm)
for con in finish.sign.out_meanings.copy():
if con.in_sign.name == plan_name:
finish.sign.out_meanings.remove(con)
plan_sign = Sign(plan_name + self.name)
plan_mean = plan_sign.add_meaning()
connector = plan_mean.add_feature(start.sign.meanings[1])
start.sign.add_out_meaning(connector)
conn = plan_mean.add_feature(finish.sign.meanings[1], effect=True)
finish.sign.add_out_meaning(conn)
self.signs[plan_sign.name] = plan_sign
# Adding Sequence of actions to plan image
plan_image = plan_sign.add_image()
for act in actions:
im = act.sign.add_image()
connector = plan_image.add_feature(im)
act.sign.add_out_image(connector)
# Adding scenario vs partly concrete actions to the plan sign
scenario = self.scenario_builder(start, finish, actions)
plan_signif = plan_sign.add_significance()
for act in scenario:
connector = plan_signif.add_feature(act)
act.sign.add_out_significance(connector)
return [plan_sign, start.sign, finish.sign]
def save_plan(self, start, finish, actions, plan_name, subplans=None):
# Creating plan action for further use
if not plan_name:
plan_name = 'plan_' + self.name
if not start.sign.meanings:
scm = start.copy('image', 'meaning')
start.sign.add_meaning(scm)
if not finish.sign.meanings:
fcm = finish.copy('image', 'meaning')
finish.sign.add_meaning(fcm)
plan_sign = Sign(plan_name)
plan_mean = plan_sign.add_meaning()
connector = plan_mean.add_feature(start.sign.meanings[1])
start.sign.add_out_meaning(connector)
conn = plan_mean.add_feature(finish.sign.meanings[1], effect=True)
finish.sign.add_out_meaning(conn)
self.signs[plan_sign.name] = plan_sign
# Adding Sequence of actions to plan image
plan_image = plan_sign.add_image()
iter = -1
if not subplans:
for act in actions:
im = act[2].sign.add_image()
connector = plan_image.add_feature(im)
act[2].sign.add_out_image(
connector
) # add connector to plan_sign threw images to out_image
else:
# ots = {subplans.index(it): range(it[1], it[2]+1) for it in subplans}
# for act in actions:
# iter += 1
# flag = False
# for index, value in ots.items():
# if iter == value[0]:
# if subplans[index][0].images:
# im = subplans[index][0].images[1]
# else:
# im = subplans[index][0].add_image()
# connector = plan_image.add_feature(im)
# subplans[index][0].add_out_image(connector)
# flag = True
# break
# elif iter in value:
# flag = True
# break
# if flag:
# continue
# else:
# im = act[2].sign.add_image()
# connector = plan_image.add_feature(im)
# act[2].sign.add_out_image(connector)
for sub in subplans:
if sub[2].sign.images:
connector = plan_image.add_feature(sub[2].sign.images[1])
else:
they_im = sub[2].sign.add_image()
connector = plan_image.add_feature(they_im)
sub[2].sign.add_out_image(
connector
) # add connector to plan_sign threw images to out_image
# Adding scenario vs partly concrete actions to the plan sign
scenario = self.scenario_builder(start, finish, actions)
plan_signif = plan_sign.add_significance()
for act in scenario:
connector = plan_signif.add_feature(act)
act.sign.add_out_significance(connector)
return [plan_sign, start.sign, finish.sign]
def create_subplan(subplan,
agent,
signs,
plan_sit,
plan_map,
start=False):
elem_acts_im = []
if agent == 'I':
ag_sign = I_obj[0]
whose = agent
else:
ag_sign = signs[agent]
whose = 'They'
act_st = subplan[0]
if isinstance(act_st[-1], dict):
descr1 = act_st[-1]
else:
descr1 = act_st[-1][0]
# Remake situations coze they could be synthesized by other agent
act_sit_start, act_map_start, size = create_situation(
descr1, ag_sign, whose)
if agent == 'I':
I_sign = signs['I']
I_im = I_sign.add_image()
act_sit_start.replace('image', ag_sign, I_im)
plan_map.append(act_map_start.sign)
act_fn = subplan[-1]
if isinstance(act_fn[-1], dict):
logging.debug('cant find goal sit for subplan')
descr2 = act_fn[-1]
else:
descr2 = act_fn[-1][1]
# Change goal sit size
ag_x = descr1['objects'][ag_sign.name]['x']
ag_y = descr1['objects'][ag_sign.name]['y']
for el in subplan:
if el[1] == 'Clarify':
new_size = (size[2] - size[0]) // 6
size = [
ag_x - new_size, ag_y - new_size, ag_x + new_size,
ag_y + new_size
]
elif el[1] == 'Abstract':
new_size = size[2] - size[0]
size = [
size[0] - new_size, size[1] - new_size,
size[2] + new_size, size[3] + new_size
]
act_sit_finish, act_map_finish, _ = create_situation(
descr2, ag_sign, whose, size)
plan_map.append(act_map_finish.sign)
if agent == 'I':
I_sign = signs['I']
I_im = I_sign.add_image()
act_sit_finish.replace('image', ag_sign, I_im)
active_sit_start_mean = act_sit_start.copy('image', 'meaning')
plan_sit.append(act_sit_start.sign)
active_sit_finish_mean = act_sit_finish.copy('image', 'meaning')
plan_sit.append(act_sit_finish.sign)
global SUBPLAN_COUNTER
SUBPLAN_COUNTER += 1
if agent != 'I':
plan_sign = Sign(SUBPLAN_PREFIX + 'they_' + agent + '_' +
str(SUBPLAN_COUNTER))
plan_mean = plan_sign.add_meaning()
connector = plan_mean.add_feature(active_sit_start_mean)
active_sit_start_mean.sign.add_out_meaning(connector)
conn = plan_mean.add_feature(active_sit_finish_mean,
effect=True)
active_sit_finish_mean.sign.add_out_meaning(conn)
signs[plan_sign.name] = plan_sign
else:
plan_sign = Sign(SUBPLAN_PREFIX + 'I_' + str(SUBPLAN_COUNTER))
plan_mean = plan_sign.add_meaning()
connector = plan_mean.add_feature(active_sit_start_mean)
active_sit_start_mean.sign.add_out_meaning(connector)
conn = plan_mean.add_feature(active_sit_finish_mean,
effect=True)
active_sit_finish_mean.sign.add_out_meaning(conn)
plan_image = plan_sign.add_image()
for act in subplan:
act_sign = self.signs[act[1]]
im = act_sign.add_image()
connector = plan_image.add_feature(im)
act_sign.add_out_image(connector)
elem_acts_im.append(im)
signs[plan_sign.name] = plan_sign
## changing start and finish
if start == True:
self.start_situation = act_sit_start
self.start_map = act_map_start
self.goal_situation = act_sit_finish
self.goal_map = act_map_finish
return [
act_sit_start, plan_sign.name, plan_mean, act_st[3],
(None, None), (act_map_start, None), (descr1, descr2)
], signs, plan_sit, plan_map, elem_acts_im
def ground(problem, plagent, exp_signs=None):
domain = problem.domain
# ground I and They
I_sign = Sign("I")
obj_means[I_sign] = I_sign.add_meaning()
obj_signifs[I_sign] = I_sign.add_significance()
signs[I_sign.name] = I_sign
They_sign = Sign("They")
obj_means[They_sign] = They_sign.add_meaning()
obj_signifs[They_sign] = They_sign.add_significance()
signs[They_sign.name] = They_sign
situation = Sign('situation')
signs['situation'] = situation
for type, stype in domain['types']:
stype_sign = __add_sign(stype)
stype_signif = stype_sign.add_significance()
type_sign = __add_sign(type)
connector = stype_signif.add_feature(obj_signifs[type_sign],
zero_out=True)
type_sign.add_out_significance(connector)
for obj, type in problem.objects:
obj_sign = __add_sign(obj)
obj_means[obj_sign] = obj_sign.add_meaning()
type_sign = signs[type]
tp_signif = type_sign.add_significance()
connector = tp_signif.add_feature(obj_signifs[obj_sign], zero_out=True)
obj_sign.add_out_significance(connector)
if obj_sign.name == plagent:
connector = obj_signifs[obj_sign].add_feature(obj_signifs[I_sign],
zero_out=True)
I_sign.add_out_significance(connector)
obj_means[obj_sign] = obj_sign.add_meaning()
for predicate in domain['predicates']:
_ground_predicate(predicate.name, predicate.signature)
for action in domain['actions']:
_ground_action(action.name,
action.parameters,
action.preconditions,
action.effect,
plagent=plagent)
for task in domain['tasks']:
__add_sign(task.name, False)
methods = sorted(domain['methods'],
key=lambda method: len(method.subtasks))
for method in methods:
__ground_method(method.parameters, method.subtasks, method.ordering,
method.task, domain, 2)
#Ground Init
start = __add_sign('*start %s*' % str(problem.name), False)
sit_im = start.add_image()
for predicate in problem.init:
pred_im = _ground_htn_predicate(predicate.name, predicate.signature,
plagent)
connector = sit_im.add_feature(pred_im)
pred_im.sign.add_out_image(connector)
sit_im.copy('image', 'meaning')
global_cm = situation.add_image()
connector = global_cm.add_feature(sit_im)
getattr(start, 'add_out_image')(connector)
#Ground htns to meanings
goal = None
subtasks = []
for htn in problem.htns:
htn_name = 'htn_' + str(problem.htns.index(htn))
htn_sign = __add_sign(htn_name, False)
htn_mean = htn_sign.add_meaning()
for task in htn.ordering:
subtask = htn.subtasks[task]
cm = __ground_htn_subtask(subtask[0], subtask[1], problem)
connector = htn_mean.add_feature(cm)
cm.sign.add_out_meaning(connector)
subtasks.append(htn_sign)
return Task(problem.name, signs, start, goal, subtasks)