def reschedule_stream_plan(evaluations,
target_facts,
domain,
stream_results,
unique_binding=False,
unsatisfiable=False,
max_effort=INF,
planner=RESCHEDULE_PLANNER,
debug=False):
# TODO: search in space of partially ordered plans
# TODO: constrain selection order to be alphabetical?
domain.actions[:], stream_result_from_name = get_stream_actions(
stream_results, unique_binding=unique_binding)
goal_expression = And(*target_facts)
if unsatisfiable: # TODO: ensure that the copy hasn't harmed anything
goal_expression = add_unsatisfiable_to_goal(domain, goal_expression)
reschedule_problem = get_problem(evaluations,
goal_expression,
domain,
unit_costs=False)
reschedule_task = task_from_domain_problem(domain, reschedule_problem)
#reschedule_task.axioms = [] # TODO: ensure that the constants are added in the event that axioms are needed?
sas_task = sas_from_pddl(reschedule_task)
stream_names, effort = solve_from_task(sas_task,
planner=planner,
max_planner_time=10,
max_cost=max_effort,
debug=debug)
if stream_names is None:
return None
stream_plan = [stream_result_from_name[name] for name, _ in stream_names]
return stream_plan
def plan_streams(evaluations, goal_expression, domain, all_results, negative, effort_weight, max_effort,
simultaneous=False, reachieve=True, replan_actions=set(), **kwargs):
# TODO: alternatively could translate with stream actions on real opt_state and just discard them
# TODO: only consider axioms that have stream conditions?
#reachieve = reachieve and not using_optimizers(all_results)
#for i, result in enumerate(all_results):
# print(i, result, result.get_effort())
applied_results, deferred_results = partition_results(
evaluations, all_results, apply_now=lambda r: not (simultaneous or r.external.info.simultaneous))
stream_domain, deferred_from_name = add_stream_actions(domain, deferred_results)
if reachieve and not using_optimizers(all_results):
achieved_results = {n.result for n in evaluations.values() if isinstance(n.result, Result)}
init_evaluations = {e for e, n in evaluations.items() if n.result not in achieved_results}
applied_results = achieved_results | set(applied_results)
evaluations = init_evaluations # For clarity
# TODO: could iteratively increase max_effort
node_from_atom = get_achieving_streams(evaluations, applied_results, # TODO: apply to all_results?
max_effort=max_effort)
opt_evaluations = {evaluation_from_fact(f): n.result for f, n in node_from_atom.items()}
if UNIVERSAL_TO_CONDITIONAL or using_optimizers(all_results):
goal_expression = add_unsatisfiable_to_goal(stream_domain, goal_expression)
temporal = isinstance(stream_domain, SimplifiedDomain)
optimistic_fn = solve_optimistic_temporal if temporal else solve_optimistic_sequential
instantiated, action_instances, temporal_plan, cost = optimistic_fn(
domain, stream_domain, applied_results, all_results, opt_evaluations,
node_from_atom, goal_expression, effort_weight, **kwargs)
if action_instances is None:
return FAILED, FAILED, cost
action_instances, axiom_plans = recover_axioms_plans(instantiated, action_instances)
# TODO: extract out the minimum set of conditional effects that are actually required
#simplify_conditional_effects(instantiated.task, action_instances)
stream_plan, action_instances = recover_simultaneous(
applied_results, negative, deferred_from_name, action_instances)
action_plan = transform_plan_args(map(pddl_from_instance, action_instances), obj_from_pddl)
replan_step = min([step+1 for step, action in enumerate(action_plan)
if action.name in replan_actions] or [len(action_plan)+1]) # step after action application
stream_plan, opt_plan = recover_stream_plan(evaluations, stream_plan, opt_evaluations, goal_expression, stream_domain,
node_from_atom, action_instances, axiom_plans, negative, replan_step)
if temporal_plan is not None:
# TODO: handle deferred streams
assert all(isinstance(action, Action) for action in opt_plan.action_plan)
opt_plan.action_plan[:] = temporal_plan
return stream_plan, opt_plan, cost
def plan_streams(evaluations, goal_expression, domain, all_results, negative, effort_weight, max_effort,
simultaneous=False, reachieve=True, **kwargs):
# TODO: alternatively could translate with stream actions on real opt_state and just discard them
# TODO: only consider axioms that have stream conditions?
#reachieve = reachieve and not using_optimizers(all_results)
applied_results, deferred_results = partition_results(
evaluations, all_results, apply_now=lambda r: not (simultaneous or r.external.info.simultaneous))
stream_domain, deferred_from_name = add_stream_actions(domain, deferred_results)
if reachieve and not using_optimizers(all_results):
achieved_results = {n.result for n in evaluations.values() if isinstance(n.result, Result)}
init_evaluations = {e for e, n in evaluations.items() if n.result not in achieved_results}
applied_results = achieved_results | set(applied_results)
evaluations = init_evaluations # For clarity
# TODO: could iteratively increase max_effort
node_from_atom = get_achieving_streams(evaluations, applied_results, # TODO: apply to all_results?
max_effort=max_effort)
opt_evaluations = {evaluation_from_fact(f): n.result for f, n in node_from_atom.items()}
if UNIVERSAL_TO_CONDITIONAL or using_optimizers(all_results):
goal_expression = add_unsatisfiable_to_goal(stream_domain, goal_expression)
instantiated, action_instances, action_plan, cost = solve_optimistic_sequential(
domain, stream_domain, applied_results, all_results, opt_evaluations, node_from_atom, goal_expression, effort_weight, **kwargs)
if action_plan is None:
return action_plan, cost
axiom_plans = recover_axioms_plans(instantiated, action_instances)
# TODO: extract out the minimum set of conditional effects that are actually required
#simplify_conditional_effects(instantiated.task, action_instances)
stream_plan, action_instances = recover_simultaneous(
applied_results, negative, deferred_from_name, action_instances)
stream_plan = recover_stream_plan(evaluations, stream_plan, opt_evaluations, goal_expression,
stream_domain, node_from_atom, action_instances, axiom_plans, negative)
combined_plan = stream_plan + action_plan
return combined_plan, cost
def plan_streams(evaluations,
goal_expression,
domain,
all_results,
negative,
effort_weight,
max_effort,
simultaneous=False,
reachieve=True,
debug=False,
**kwargs):
# TODO: alternatively could translate with stream actions on real opt_state and just discard them
# TODO: only consider axioms that have stream conditions?
#reachieve = reachieve and not using_optimizers(all_results)
applied_results, deferred_results = partition_results(
evaluations,
all_results,
apply_now=lambda r: not (simultaneous or r.external.info.simultaneous))
stream_domain, deferred_from_name = add_stream_actions(
domain, deferred_results)
if reachieve and not using_optimizers(all_results):
achieved_results = {
n.result
for n in evaluations.values() if isinstance(n.result, Result)
}
init_evaluations = {
e
for e, n in evaluations.items() if n.result not in achieved_results
}
applied_results = achieved_results | set(applied_results)
evaluations = init_evaluations # For clarity
# TODO: could iteratively increase max_effort
node_from_atom = get_achieving_streams(
evaluations,
applied_results, # TODO: apply to all_results?
max_effort=max_effort)
opt_evaluations = {
evaluation_from_fact(f): n.result
for f, n in node_from_atom.items()
}
if using_optimizers(all_results):
goal_expression = add_unsatisfiable_to_goal(stream_domain,
goal_expression)
problem = get_problem(opt_evaluations, goal_expression,
stream_domain) # begin_metric
with Verbose(debug):
instantiated = instantiate_task(
task_from_domain_problem(stream_domain, problem))
if instantiated is None:
return None, INF
if using_optimizers(all_results):
# TODO: reachieve=False when using optimizers or should add applied facts
instantiate_optimizer_axioms(instantiated, evaluations,
goal_expression, domain, all_results)
cost_from_action = {action: action.cost for action in instantiated.actions}
add_stream_efforts(node_from_atom, instantiated, effort_weight)
if using_optimizers(applied_results):
add_optimizer_effects(instantiated, node_from_atom)
action_from_name = rename_instantiated_actions(instantiated)
with Verbose(debug):
sas_task = sas_from_instantiated(instantiated)
sas_task.metric = True
# TODO: apply renaming to hierarchy as well
# solve_from_task | serialized_solve_from_task | abstrips_solve_from_task | abstrips_solve_from_task_sequential
action_plan, raw_cost = solve_from_task(sas_task, debug=debug, **kwargs)
#print(raw_cost)
if action_plan is None:
return None, INF
action_instances = [action_from_name[name] for name, _ in action_plan]
simplify_conditional_effects(instantiated.task, action_instances)
stream_plan, action_instances = recover_simultaneous(
applied_results, negative, deferred_from_name, action_instances)
cost = get_plan_cost(action_instances, cost_from_action)
axiom_plans = recover_axioms_plans(instantiated, action_instances)
stream_plan = recover_stream_plan(evaluations, stream_plan,
opt_evaluations, goal_expression,
stream_domain, node_from_atom,
action_instances, axiom_plans, negative)
#action_plan = obj_from_pddl_plan(parse_action(instance.name) for instance in action_instances)
action_plan = obj_from_pddl_plan(map(pddl_from_instance, action_instances))
combined_plan = stream_plan + action_plan
return combined_plan, cost