def __init__(self,
ID=None,
type_graph=None,
name=None,
Elements=None,
plan_elm=None,
Edges=None,
Restrictions=None):
if ID is None:
ID = uuid4()
if type_graph is None:
type_graph = 'PlanElementGraph'
if Elements is None:
Elements = set()
if Edges is None:
Edges = set()
if Restrictions is None:
Restrictions = set()
self.OrderingGraph = OrderingGraph()
self.CausalLinkGraph = CausalLinkGraph()
self.flaws = FlawLib()
self.solved = False
self.initial_dummy_step = None
self.final_dummy_step = None
if plan_elm is None:
plan_elm = Element(ID=ID, typ=type_graph, name=name)
super(PlanElementGraph, self).__init__(ID, type_graph, name, Elements,
plan_elm, Edges, Restrictions)
def __init__(self, dummy_init_constructor, dummy_goal_constructor):
self.ID = uuid4()
self.OrderingGraph = OrderingGraph()
self.CausalLinkGraph = CausalLinkGraph()
# self.HierarchyGraph = HierarchyGraph()
self.flaws = FlawLib()
self.solved = False
self.dummy = dummyTuple(dummy_init_constructor.instantiate(), dummy_goal_constructor.instantiate())
self.init = self.dummy.init.preconds
self.goal = self.dummy.final.preconds
self.steps = [self.dummy.init, self.dummy.final]
# check if any existing steps are choices (instances of cndts of open conditions)
self.dummy.final.update_choices(self)
self.cndt_map = None
self.threat_map = None
# self.gstep_lib = ground_step_list
# self.h_step_dict = dict()
self.heuristic = float('inf')
self.name = ''
self.cost = 0
self.depth = 0
def __init__(self, operator, args, preconditions, effects, stepnum, height): # READ-ONLY ATTRIBUTES # # schema refers to the name of the operator self.schema = operator # Args are Argument or Actor "Element" types self.Args = args # ID used as "instance ID" self.ID = uuid4() # preconds is a list of GCond self.preconds = preconditions self.effects = effects # stepnum is the ground step constructor type self.stepnum = stepnum self.stepnumber = stepnum # height is 0 when primitive self.height = height if height > 0: self.sub_steps = [] self.sub_orderings = OrderingGraph() self.sub_links = CausalLinkGraph() self.dummy = dummyTuple(None, None) # depth starts at 0 and takes on value during planning self.depth = 0 self.cndts = None self.cndt_map = None self.threat_map = None self.threats = None self.cntg_mental = None self.instantiable = True # INSTANCE ATTRIBUTES # # risks are number of threat instances self.risks = list() self.choices = list() # choices are instances of cndt antecedents self.choice_map = dict() # self.num_choices = 0 # open preconditions which need causal link self.open_preconds = list(self.preconds)
def swap_substeps(self, gsteps, GL, decomp_step):
# base case - sub-steps are all height = 0
primitive_substeps = [arg for arg in decomp_step.ground_subplan.elements
if type(arg) == Operator and arg.height == 0]
composite_substeps = [arg for arg in decomp_step.ground_subplan.elements
if type(arg) == Operator and arg.height > 0]
if len(composite_substeps) == 0:
prim_dict = {step: gsteps[step.stepnumber].instantiate() for step in primitive_substeps}
self.create_composite_gstep(gsteps, decomp_step, prim_dict)
return prim_dict
else:
# links and orderings in intermediate stage
# change_dict = {step.root: gsteps[step.stepnumber].instantiate() for step in decomp_step.ground_subplan.Root_Graphs}
change_dict = {}
# order steps by height, lowest to highest.
step_list = [step for step in decomp_step.ground_subplan.Step_Graphs]
step_list.sort(key=lambda x: x.height)
do_not_add_as_substep = []
for step in step_list:
Args = [decompile(arg, decomp_step.ground_subplan) for arg in step.Args]
preconds = [GLiteral(p.name, [decompile(arg, p) for arg in p.Args],
p.truth, p.replaced_ID, (p.name, p.truth) not in GL.non_static_preds)
for p in step.Preconditions]
effects = [GLiteral(e.name, [decompile(arg, e) for arg in e.Args],
e.truth, e.replaced_ID, (e.name, e.truth) not in GL.non_static_preds)
for e in step.Effects]
schema = str(step)
step_copy = GStep(schema, Args, preconds, effects, step.stepnumber, step.height)
step_copy.ID = step.root.ID
st_t = gsteps[step.stepnumber].instantiate()
step_copy.swap_setup(st_t.cndts, st_t.cndt_map, st_t.threats, st_t.threat_map, st_t.cntg_mental)
# give no children
if step.height > 0:
init_step = st_t.dummy[0]
init_step.schema = "begin:" + str(step)
final_step = st_t.dummy[1]
final_step.schema = "finish:" + str(step)
step_copy.dummy = dummyTuple(init_step, final_step)
# step_copy.sub_steps = []
children = decomp_step.ground_subplan.DecompGraph.getNeighbors(step.root)
step_copy.sub_steps = [change_dict[child] for child in children if child.typ != 'step-s']
do_not_add_as_substep.extend(step_copy.sub_steps)
step_copy.sub_orderings = OrderingGraph()
step_copy.sub_links = CausalLinkGraph()
change_dict[step.root] = step_copy
# self.sub_steps.append(step)
self.create_composite_gstep(gsteps, decomp_step, change_dict, do_not_add_as_substep)
return change_dict
def Actions_2_Plan(cls, Actions, h):
# Used by Plannify
if not checkHeight(Actions, h):
return None
elements = set().union(*[A.elements for A in Actions])
edges = set().union(*[A.edges for A in Actions])
Plan = cls(name='Action_2_Plan', Elements=elements, Edges=edges)
for edge in Plan.edges:
if edge.label == 'effect-of':
elm = Plan.getElementById(edge.sink.ID)
elm.replaced_ID = edge.sink.replaced_ID
Plan.OrderingGraph = OrderingGraph()
Plan.CausalLinkGraph = CausalLinkGraph()
# Plan.Steps = [A.root for A in Actions]
return Plan
class PlanElementGraph(ElementGraph):
def __init__(self,
ID=None,
type_graph=None,
name=None,
Elements=None,
plan_elm=None,
Edges=None,
Restrictions=None):
if ID is None:
ID = uuid4()
if type_graph is None:
type_graph = 'PlanElementGraph'
if Elements is None:
Elements = set()
if Edges is None:
Edges = set()
if Restrictions is None:
Restrictions = set()
self.OrderingGraph = OrderingGraph()
self.CausalLinkGraph = CausalLinkGraph()
self.flaws = FlawLib()
self.solved = False
self.initial_dummy_step = None
self.final_dummy_step = None
if plan_elm is None:
plan_elm = Element(ID=ID, typ=type_graph, name=name)
super(PlanElementGraph, self).__init__(ID, type_graph, name, Elements,
plan_elm, Edges, Restrictions)
def __hash__(self):
return hash(self.name) ^ hash(self.typ) ^ hash(self.ID)
@classmethod
def Actions_2_Plan(cls, Actions, h):
# Used by Plannify
if not checkHeight(Actions, h):
return None
elements = set().union(*[A.elements for A in Actions])
edges = set().union(*[A.edges for A in Actions])
Plan = cls(name='Action_2_Plan', Elements=elements, Edges=edges)
for edge in Plan.edges:
if edge.label == 'effect-of':
elm = Plan.getElementById(edge.sink.ID)
elm.replaced_ID = edge.sink.replaced_ID
Plan.OrderingGraph = OrderingGraph()
Plan.CausalLinkGraph = CausalLinkGraph()
# Plan.Steps = [A.root for A in Actions]
return Plan
def UnifyActions(self, P, G):
# Used by Plannify
NG = G.deepcopy(replace_internals=True)
for edge in list(NG.edges):
if edge.sink.replaced_ID == -1:
sink = copy.deepcopy(edge.sink)
sink.replaced_ID = edge.sink.ID
self.elements.add(sink)
else:
sink = P.getElmByRID(edge.sink.replaced_ID)
if sink is None:
sink = copy.deepcopy(edge.sink)
self.elements.add(sink)
source = P.getElmByRID(edge.source.replaced_ID)
if source is None:
source = copy.deepcopy(edge.source)
self.elements.add(source)
self.edges.add(Edge(source, sink, edge.label))
def deepcopy(self):
new_self = copy.deepcopy(self)
new_self.ID = uuid4()
return new_self
def RemoveSubgraph(self, literal):
edges = list(self.edges)
elm = self.getElementById(literal.ID)
link = None
self.elements.remove(elm)
for edge in list(self.edges):
if edge.source == elm:
edges.remove(edge)
if link is None:
if edge.sink == elm:
link = edge
edges.remove(link)
self.edges = set(edges)
return link
def ReplaceSubgraphs(self, literal_old, literal_new):
edges = list(self.edges)
elm = self.getElementById(literal_old.ID)
link = None
self.elements.remove(elm)
for edge in list(self.edges):
if edge.source == elm:
edges.remove(edge)
if link is None:
if edge.sink == elm:
link = edge
edges.remove(link)
link.sink = literal_new
self.elements.add(literal_new)
self.edges = set(edges)
self.edges.add(link)
return link
def AddSubgraph(self, subgraph):
self.elements.update(subgraph.elements)
self.edges.update(subgraph.edges)
def isInternallyConsistent(self):
return self.OrderingGraph.isInternallyConsistent() and self.CausalLinkGraph.isInternallyConsistent() and \
super(PlanElementGraph, self).isInternallyConsistent()
@property
def Steps(self):
return [
element for element in self.elements if type(element) is Operator
]
@property
def Step_Graphs(self):
return [Action.subgraph(self, step) for step in self.Steps]
@property
def Steps_Sorted(self):
pass
def detectTCLFperCL(self, GL, causal_link):
detectedThreatenedCausalLinks = set()
for step in self.Steps:
self.testThreat(GL, self.CausalLinkGraph.nonThreats, causal_link,
step, detectedThreatenedCausalLinks)
return detectedThreatenedCausalLinks
def detectTCLFperStep(self, GL, step):
detectedThreatenedCausalLinks = set()
for causal_link in self.CausalLinkGraph.edges:
self.testThreat(GL, self.CausalLinkGraph.nonThreats, causal_link,
step, detectedThreatenedCausalLinks)
return detectedThreatenedCausalLinks
def testThreat(self, GL, nonThreats, causal_link, step, dTCLFs):
if step in nonThreats[causal_link]:
return
if step == causal_link.source or step == causal_link.sink:
nonThreats[causal_link].add(step)
return
if self.OrderingGraph.isPath(causal_link.sink, step):
nonThreats[causal_link].add(step)
return
if self.OrderingGraph.isPath(step, causal_link.source):
nonThreats[causal_link].add(step)
return
if step.stepnumber not in GL.threat_dict[causal_link.sink.stepnumber]:
nonThreats[causal_link].add(step)
return
if test(Action.subgraph(self, step), causal_link):
dTCLFs.add(TCLF((step, causal_link), 'tclf'))
nonThreats[causal_link].add(step)
#@clock
def detectThreatenedCausalLinks(self, GL):
detectedThreatenedCausalLinks = set()
for causal_link in self.CausalLinkGraph.edges:
for step in self.Steps:
self.testThreat(GL, self.CausalLinkGraph.nonThreats,
causal_link, step,
detectedThreatenedCausalLinks)
return detectedThreatenedCausalLinks
def __repr__(self):
c = '\ncost {} + heuristic {}'.format(self.cost, self.heuristic)
steps = [''.join('\t' + str(step) + '\n' for step in self.Step_Graphs)]
order = [
''.join('\t' + str(ordering.source) + ' < ' + str(ordering.sink) +
'\n' for ordering in self.OrderingGraph.edges)
]
links = [
''.join('\t' + str(cl) + '\n' for cl in self.CausalLinkGraph.edges)
]
return 'PLAN: ' + str(self.ID) + c + '\n*Steps: \n' + ''.join(['{}'.format(step) for step in steps]) + \
'*Orderings:\n' + \
''.join(['{}'.format(o) for o in order]) + '*CausalLinks:\n' + ''.join(['{}'.format(link) for link in links]) + '}'
class GPlan:
def __init__(self, dummy_init_constructor, dummy_goal_constructor):
self.ID = uuid4()
self.OrderingGraph = OrderingGraph()
self.CausalLinkGraph = CausalLinkGraph()
# self.HierarchyGraph = HierarchyGraph()
self.flaws = FlawLib()
self.solved = False
self.dummy = dummyTuple(dummy_init_constructor.instantiate(), dummy_goal_constructor.instantiate())
self.init = self.dummy.init.preconds
self.goal = self.dummy.final.preconds
self.steps = [self.dummy.init, self.dummy.final]
# check if any existing steps are choices (instances of cndts of open conditions)
self.dummy.final.update_choices(self)
self.cndt_map = None
self.threat_map = None
# self.gstep_lib = ground_step_list
# self.h_step_dict = dict()
self.heuristic = float('inf')
self.name = ''
self.cost = 0
self.depth = 0
def __len__(self):
return len(self.steps)
def __getitem__(self, pos):
return self.steps[pos]
def __setitem__(self, item, pos):
self.steps[pos] = item
def index(self, step):
for i, s in enumerate(self.steps):
if s.ID == step.ID:
return i
print('{} {} {}'.format(self.name, step, step.ID))
for i, s in enumerate(self.steps):
print('{} {} {}'.format(i, s, s.ID))
raise ValueError('{} with ID={} not found in plan {}'.format(step, step.ID, self.name))
def instantiate(self, add_to_name):
new_self = copy.deepcopy(self)
new_self.ID = uuid4()
new_self.name += add_to_name
# refresh attributes
return new_self
# @property
# def cost(self):
# return len(self.steps) - 2
def isInternallyConsistent(self):
return self.OrderingGraph.isInternallyConsistent() and self.CausalLinkGraph.isInternallyConsistent()
# Insert Methods #
def insert(self, step, dni=None):
# baseline condition:
self.cost += 1
# self.cost += (2 * 2 + 1) - (step.height * step.height)
if step.height > 0:
return self.insert_decomp(step, dni)
else:
return self.insert_primitive(step)
def insert_primitive(self, new_step):
self.steps.append(new_step)
# global orderings
self.OrderingGraph.addEdge(self.dummy.init, new_step)
self.OrderingGraph.addEdge(new_step, self.dummy.final)
# add open conditions for new step
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(new_step, pre))
# check for causal link threats
for edge in self.CausalLinkGraph.edges:
# source, sink, condition = edge
if edge.source.ID == new_step.ID:
continue
if edge.sink.ID == new_step.ID:
continue
if self.OrderingGraph.isPath(new_step, edge.source):
continue
if self.OrderingGraph.isPath(edge.sink, new_step):
continue
if new_step.stepnum in edge.sink.threat_map[edge.label.ID]:
self.flaws.insert(self, TCLF(new_step, edge))
return None
def insert_decomp(self, new_step, dni=None):
# magic happens here
swap_dict = dict()
# sub dummy init
d_i = new_step.dummy.init.instantiate()
d_i.depth = new_step.depth
swap_dict[new_step.dummy.init.ID] = d_i
self.steps.append(d_i)
# add flaws for each new_step precondition, but make s_need d_i and update cndt_map/ threat_map
d_i.swap_setup(new_step.cndts, new_step.cndt_map, new_step.threats, new_step.threat_map, new_step.cntg_mental)
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(d_i, pre, new_step.height))
preconds = list(new_step.open_preconds)
d_i.preconds = preconds
d_i.open_preconds = preconds
self.OrderingGraph.addEdge(self.dummy.init, d_i)
self.OrderingGraph.addEdge(d_i, self.dummy.final)
# sub dummy final
d_f = new_step.dummy.final.instantiate(default_None_is_to_refresh_open_preconds=False)
d_f.depth = new_step.depth
swap_dict[new_step.dummy.final.ID] = d_f
# d_f will be primitive, to allow any heighted applicable steps
self.insert(d_f)
# added this 2017-08-09
self.OrderingGraph.addEdge(d_i, d_f)
self.OrderingGraph.addEdge(d_f, self.dummy.final)
self.OrderingGraph.addEdge(self.dummy.init, d_f)
# decomposition links
# self.HierarchyGraph.addOrdering(new_step, d_i)
# self.HierarchyGraph.addOrdering(new_step, d_f)
# for sb_step in new_step.sub_steps:
# self.HierarchyGraph.addOrdering(new_step, sb_step)
# log who your family is
new_step.dummy = dummyTuple(d_i, d_f)
d_i.sibling = d_f
d_f.sibling = d_i
# sub steps
for substep in new_step.sub_steps:
new_substep = substep.instantiate(default_None_is_to_refresh_open_preconds=False)
swap_dict[substep.ID] = new_substep
# INCREMENT DEPTH
new_substep.depth = new_step.depth + 1
if new_substep.depth > self.depth:
self.depth = new_substep.depth
if dni is not None:
if substep in dni:
continue
poss_swaps = self.insert(new_substep)
if poss_swaps is not None:
swap_dict.update(poss_swaps)
# if your substeps have children, make those children fit between your init and
if new_substep.height > 0:
self.OrderingGraph.addEdge(new_substep.dummy.final, d_f)
self.OrderingGraph.addEdge(d_i, new_substep.dummy.init)
else:
self.OrderingGraph.addEdge(new_substep, d_f)
self.OrderingGraph.addEdge(d_i, new_substep)
# sub orderings
for edge in new_step.sub_orderings.edges:
if dni is not None:
if edge.source in dni:
continue
elif edge.sink in dni:
continue
# try:
source, sink = swap_dict[edge.source.ID], swap_dict[edge.sink.ID]
# except:
# pass
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
self.OrderingGraph.addLabeledEdge(source, sink, edge.label)
# sub links
for edge in new_step.sub_links.edges:
# instantiating a GLiteral does not give it new ID (just returns deep copy)
source, sink, label = swap_dict[edge.source.ID], swap_dict[edge.sink.ID], edge.label.instantiate()
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
clink = self.CausalLinkGraph.addEdge(source, sink, label)
# check if this link is threatened
for substep in new_step.sub_steps:
if dni is not None and substep in dni:
continue
new_substep = swap_dict[substep.ID]
if new_substep.ID in {clink.source.ID, clink.sink.ID}:
continue
if new_substep.stepnum not in clink.sink.threat_map[clink.label.ID]:
continue
if new_substep.height > 0:
# decomp step compared to its dummy init and dummy final steps
if self.OrderingGraph.isPath(new_substep.dummy.final, clink.source):
continue
if self.OrderingGraph.isPath(clink.sink, new_substep.dummy.init):
continue
self.flaws.insert(self, TCLF(new_substep.dummy.final, clink))
else:
# primitive step gets the primitive treatment
if self.OrderingGraph.isPath(new_substep, clink.source):
continue
if self.OrderingGraph.isPath(clink.sink, new_substep):
continue
self.flaws.insert(self, TCLF(new_substep, clink))
return swap_dict
# print('check')
# Resolve Methods #
def resolve(self, new_step, s_need, p):
if new_step.height > 0:
self.resolve_with_decomp(new_step, s_need, p)
else:
self.resolve_with_primitive(new_step, s_need, p)
def resolve_with_primitive(self, new_step, mutable_s_need, mutable_p):
# operate on cloned plan
mutable_s_need.fulfill(mutable_p)
# add orderings
self.OrderingGraph.addEdge(new_step, mutable_s_need)
# add causal link
c_link = self.CausalLinkGraph.addEdge(new_step, mutable_s_need, mutable_p)
if mutable_p.ID in mutable_s_need.cntg_mental.keys() and new_step.stepnum in mutable_s_need.cntg_mental[mutable_p.ID]:
self.OrderingGraph.addCntg(new_step, mutable_s_need)
mutable_s_need.update_choices(self)
# check if this link is threatened
ignore_these = {mutable_s_need.ID, new_step.ID}
# ignore_these = {mutable_s_need.stepnum, new_step.stepnum}
for step in self.steps:
if step.ID in ignore_these:
continue
if step.stepnum not in mutable_s_need.threat_map[mutable_p.ID]:
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
# only for reuse case, otherwise this check is superfluous
if self.OrderingGraph.isPath(step, new_step):
continue
self.flaws.insert(self, TCLF(step, c_link))
# # check if adding this step threatens other causal links
# for cl in self.CausalLinkGraph.edges:
# if cl == c_link:
# continue
# if new_step.stepnum not in cl.sink.threat_map[cl.label.ID]:
# continue
# if self.OrderingGraph.isPath(new_step, cl.source):
# continue
# if self.OrderingGraph.isPath(cl.sink, new_step):
# continue
# self.flaws.insert(self, TCLF(new_step, cl))
def resolve_with_decomp(self, new_step, mutable_s_need, mutable_p):
d_i, d_f = new_step.dummy
# operate on cloned plan
# mutable_s_need = self[s_index]
# mutable_p = mutable_s_need.preconds[p_index]
mutable_s_need.fulfill(mutable_p)
# add ordering
self.OrderingGraph.addEdge(d_f, mutable_s_need)
# add causal link
c_link = self.CausalLinkGraph.addEdge(d_f, mutable_s_need, mutable_p)
if mutable_p.ID in mutable_s_need.cntg_mental.keys() and d_f.stepnum in mutable_s_need.cntg_mental[mutable_p.ID]:
self.OrderingGraph.addCntg(new_step, mutable_s_need)
mutable_s_need.update_choices(self)
# check if df -> s_need is threatened
ignore_these = {mutable_s_need.ID, d_f.ID, d_i.ID}
for step in self.steps:
# reminder: existing steps are primitive
if step.ID in ignore_these:
continue
### NOT SUFFICIENT: needs to not be a threat to any sub-step added... ###
if step.stepnum not in mutable_s_need.threat_map[mutable_p.ID]:
continue
# check only for d_f, in case this step occurs between d_i and d_f
if self.OrderingGraph.isPath(step, d_f):
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
self.flaws.insert(self, TCLF(step, c_link))
# # check if adding this step threatens other causal links
# for cl in self.CausalLinkGraph.edges:
# # all causal links are between primitive steps
# if cl == c_link:
# continue
# if new_step.stepnum not in cl.sink.threat_map[cl.label.ID]:
# continue
# if self.OrderingGraph.isPath(d_f, cl.source):
# continue
# if self.OrderingGraph.isPath(cl.sink, d_f): # LOOK HERE TODO: DECIDE
# continue
# self.flaws.insert(self, TCLF(d_f, cl))
def __lt__(self, other):
if self.cost / (1 + math.log2(self.depth+1)) + self.heuristic != other.cost / (1 + math.log2(other.depth+1)) + other.heuristic:
return self.cost / (1 + math.log2(self.depth+1)) + self.heuristic < other.cost / (1 + math.log2(other.depth+1)) + other.heuristic
# if self.cost - math.log2(self.depth+1) + self.heuristic != other.cost - math.log2(other.depth+1) + other.heuristic:
# return self.cost - math.log2(self.depth+1) + self.heuristic < other.cost - math.log2(other.depth+1) + other.heuristic
# if self.cost - self.depth + self.heuristic != other.cost - other.depth + other.heuristic:
# return self.cost - self.depth + self.heuristic < other.cost - other.depth + other.heuristic
if self.cost + self.heuristic != other.cost + other.heuristic:
return (self.cost + self.heuristic) < (other.cost + other.heuristic)
elif self.cost != other.cost:
return self.cost < other.cost
elif self.heuristic != other.heuristic:
return self.heuristic < other.heuristic
elif len(self.flaws) != len(other.flaws):
return len(self.flaws) < len(other.flaws)
elif len(self.CausalLinkGraph.edges) != len(other.CausalLinkGraph.edges):
return len(self.CausalLinkGraph.edges) > len(other.CausalLinkGraph.edges)
elif len(self.OrderingGraph.edges) != len(other.OrderingGraph.edges):
return len(self.OrderingGraph.edges) > len(other.OrderingGraph.edges)
elif sum([step.stepnum for step in self]) != sum([step.stepnum for step in other]):
return sum([step.stepnum for step in self]) < sum([step.stepnum for step in other])
else:
return self.OrderingGraph < other.OrderingGraph
def __str__(self):
return self.name
# return 'GPlan{} c={} h={}\t'.format(self.ID[-4:], self.cost, self.heuristic) + \
# str(self.steps) + '\n' + str(self.OrderingGraph) + '\n' + str(self.CausalLinkGraph)
def __repr__(self):
return self.__str__()
class GPlan:
def __init__(self, dummy_init_constructor, dummy_goal_constructor):
self.ID = uuid4()
self.OrderingGraph = OrderingGraph()
self.CausalLinkGraph = CausalLinkGraph()
self.flaws = FlawLib()
self.solved = False
self.dummy = dummyTuple(dummy_init_constructor.instantiate(),
dummy_goal_constructor.instantiate())
self.init = self.dummy.init.preconds
self.goal = self.dummy.final.preconds
self.steps = [self.dummy.init, self.dummy.final]
# check if any existing steps are choices (instances of cndts of open conditions)
self.dummy.final.update_choices(self)
self.cndt_map = None
self.threat_map = None
# self.gstep_lib = ground_step_list
# self.h_step_dict = dict()
self.heuristic = float('inf')
def __len__(self):
return len(self.steps)
def __getitem__(self, pos):
return self.steps[pos]
def __setitem__(self, item, pos):
self.steps[pos] = item
def index(self, step):
return self.steps.index(step)
def instantiate(self):
new_self = copy.deepcopy(self)
new_self.ID = uuid4()
# refresh attributes
return new_self
@property
def cost(self):
return len(self.steps) - 2
def isInternallyConsistent(self):
return self.OrderingGraph.isInternallyConsistent(
) and self.CausalLinkGraph.isInternallyConsistent()
# Insert Methods #
def insert(self, step, dummy_dict=None):
if step.height > 0:
dummy_dict, sub_steps = self.insert_decomp(step, dummy_dict)
return dummy_dict, sub_steps
else:
self.insert_primitive(step)
return None, None
# self.steps.append(step)
# def insert_decomp(self, new_step, dummy_dict=None):
# # magic happens here
# swap_dict = dict()
#
# # sub dummy init
# d_i = new_step.sub_dummy.sub_init.instantiate()
# swap_dict[new_step.sub_dummy.sub_init.ID] = d_i
# self.steps.append(d_i)
#
# # sub dummy final
# d_f = new_step.sub_dummy.sub_final.instantiate(default_None_is_to_refresh_open_preconds=False)
# swap_dict[new_step.sub_dummy.sub_final.ID] = d_f
# self.steps.append(d_f)
#
# if dummy_dict is None:
# dummy_dict = dict()
#
# # sub steps (recursively insert... then reuse later for existing links
# for substep in new_step.sub_steps:
# new_substep = substep.instantiate(default_None_is_to_refresh_open_preconds=False)
# swap_dict[substep.ID] = new_substep
#
# # substep points to dummies of same subplan
# dummy_dict[new_substep] = dummyTuple(d_i, d_f)
# sub_dummy_dict = self.insert(new_substep)
# if sub_dummy_dict is not None:
# dummy_dict.update(sub_dummy_dict)
#
# # sub orderings
# for edge in new_step.sub_orderings.edges:
# self.OrderingGraph.addEdge(swap_dict[edge.source.ID], swap_dict[edge.sink.ID])
#
# # sub links
# for edge in new_step.sub_links.edges:
# clink = self.CausalLinkGraph.addEdge(swap_dict[edge.source.ID], swap_dict[edge.sink.ID],
# edge.label.instantiate())
# # check if this link is threatened
# for substep in new_step.sub_steps:
# new_substep = swap_dict[substep.ID]
# if new_substep.ID in {clink.source.ID, clink.sink.ID}:
# continue
# if new_substep.stepnum not in clink.sink.threat_map[clink.label.ID]:
# continue
# if self.OrderingGraph.isPath(new_substep, clink.source):
# continue
# if self.OrderingGraph.isPath(clink.sink, new_substep):
# continue
# self.flaws.insert(self, TCLF(new_substep, clink))
#
# # global orderings
# self.OrderingGraph.addEdge(self.dummy.init, d_i)
# self.OrderingGraph.addEdge(self.dummy.init, d_f)
# self.OrderingGraph.addEdge(d_i, self.dummy.final)
# self.OrderingGraph.addEdge(d_f, self.dummy.final)
#
# return dummy_dict
def insert_primitive(self, new_step):
self.steps.append(new_step)
self.OrderingGraph.addEdge(self.dummy.init, new_step)
self.OrderingGraph.addEdge(new_step, self.dummy.final)
return None, None, None, new_step
def resolve(self, new_step, s_index, p_index):
if new_step.height > 0:
self.resolve_with_decomp(new_step, s_index, p_index)
else:
self.resolve_with_primitive(new_step, s_index, p_index)
def resolve_with_primitive(self, new_step, s_index, p_index):
# operate on cloned plan
mutable_s_need = self[s_index]
mutable_p = mutable_s_need.preconds[p_index]
mutable_s_need.fulfill(mutable_p)
mutable_s_need.update_choices(self)
# add orderings
self.OrderingGraph.addEdge(new_step, mutable_s_need)
# add causal link
c_link = self.CausalLinkGraph.addEdge(new_step, mutable_s_need,
mutable_p)
# add open conditions for new step
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(new_step, pre))
# check if this link is threatened
ignore_these = {mutable_s_need.ID, new_step.ID}
for step in self.steps:
if step.ID in ignore_these:
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
if step.stepnum in mutable_s_need.threats:
self.flaws.insert(self, TCLF(step, c_link))
# check if adding this step threatens other causal links
for cl in self.CausalLinkGraph.edges:
if cl == c_link:
continue
if new_step.stepnum not in cl.sink.threat_map[cl.label]:
continue
if self.OrderingGraph.isPath(new_step, cl.source):
continue
if self.OrderingGraph.isPath(cl.sink, new_step):
continue
self.flaws.insert(self, TCLF(new_step, cl))
def resolve_with_decomp(self, new_step, s_index, p_index):
d_i, d_f = new_step.dummy
# operate on cloned plan
mutable_s_need = self[s_index]
mutable_p = mutable_s_need.preconds[p_index]
mutable_s_need.fulfill(mutable_p)
mutable_s_need.update_choices(self)
# add orderings to rest of plan
self.OrderingGraph.addEdge(d_f, mutable_s_need)
# add causal link
c_link = self.CausalLinkGraph.addEdge(d_f, mutable_s_need, mutable_p)
# check if df -> s_need is threatened
ignore_these = {mutable_s_need.ID, d_f.ID, d_i.ID}
for step in self.steps:
# existing steps must be primitive
if step.ID in ignore_these:
continue
if self.OrderingGraph.isPath(step, d_f):
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
if step.stepnum in mutable_s_need.threats:
self.flaws.insert(self, TCLF(step, c_link))
# check if adding this step threatens other causal links
for cl in self.CausalLinkGraph.edges:
# all causal links are between primitive steps
if cl == c_link:
continue
if new_step.stepnum not in cl.sink.threat_map[cl.label]:
continue
if self.OrderingGraph.isPath(d_f, cl.source):
continue
if self.OrderingGraph.isPath(cl.sink, d_i):
continue
self.flaws.insert(self, DTCLF(d_i, d_f, cl))
def insert_primitive_0ld(self, new_step, s_index, p_index):
# append primitive step
self.steps.append(new_step)
# operate on cloned plan
mutable_s_need = self[s_index]
mutable_p = mutable_s_need.preconds[p_index]
mutable_s_need.fulfill(mutable_p)
mutable_s_need.update_choices(self)
# add orderings
self.OrderingGraph.addEdge(new_step, mutable_s_need)
self.OrderingGraph.addEdge(self.dummy.init, new_step)
self.OrderingGraph.addEdge(new_step, self.dummy.final)
# add causal link
c_link = self.CausalLinkGraph.addEdge(new_step, mutable_s_need,
mutable_p)
# add open conditions for new step
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(new_step, pre))
# check if this link is threatened
ignore_these = {mutable_s_need.ID, new_step.ID}
for step in self.steps:
if step.ID in ignore_these:
continue
if self.OrderingGraph.isPath(mutable_s_need, step):
continue
if step.stepnum in mutable_s_need.threats:
self.flaws.insert(self, TCLF(step, c_link))
# check if adding this step threatens other causal links
for cl in self.CausalLinkGraph.edges:
if cl == c_link:
continue
if new_step.stepnum not in cl.sink.threat_map[cl.label]:
continue
if self.OrderingGraph.isPath(new_step, cl.source):
continue
if self.OrderingGraph.isPath(cl.sink, new_step):
continue
self.flaws.insert(self, TCLF(new_step, cl))
def insert_decomp(self, new_step):
# magic happens here
swap_dict = dict()
# sub dummy init
d_i = new_step.sub_dummy.sub_init.instantiate()
swap_dict[new_step.sub_dummy.sub_init.ID] = d_i
self.steps.append(d_i)
# add flaws for each new_step precondition, but make s_need d_i and update cndt_map/ threat_map
for pre in new_step.open_preconds:
self.flaws.insert(self, OPF(d_i, pre))
d_i.swap_setup(new_step.cndts, new_step.cndt_map, new_step.threats,
new_step.threat_map)
# sub dummy final
d_f = new_step.sub_dummy.sub_final.instantiate(
default_None_is_to_refresh_open_preconds=False)
swap_dict[new_step.sub_dummy.sub_final.ID] = d_f
self.steps.append(d_f)
# add flaws for each d_f pre
for pre in d_f.open_preconds:
self.flaws.insert(self, OPF(d_f, pre))
self.OrderingGraph.addEdge(self.dummy.init, d_i)
self.OrderingGraph.addEdge(self.dummy.init, d_f)
self.OrderingGraph.addEdge(d_i, self.dummy.final)
self.OrderingGraph.addEdge(d_f, self.dummy.final)
# sub steps
for substep in new_step.sub_steps:
new_substep = substep.instantiate(
default_None_is_to_refresh_open_preconds=False)
swap_dict[substep.ID] = new_substep
if new_substep.height > 0:
# check what links this new_substep is a source of.
self.insert(new_substep)
for open_condition in new_substep.open_preconds:
self.flaws.insert(self, OPF(new_substep, open_condition))
# sub orderings
for edge in new_step.sub_orderings.edges:
source, sink = swap_dict[edge.source.ID], swap_dict[edge.sink.ID]
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
self.OrderingGraph.addEdge(source, sink)
# sub links
for edge in new_step.sub_links.edges:
source, sink, label = swap_dict[edge.source.ID], swap_dict[
edge.sink.ID], edge.label.instantiate()
if source.height > 0:
source = source.dummy.final
if sink.height > 0:
sink = sink.dummy.init
clink = self.CausalLinkGraph.addEdge(source, sink, label)
# check if this link is threatened
for substep in new_step.sub_steps:
new_substep = swap_dict[substep.ID]
if new_substep.ID in {clink.source.ID, clink.sink.ID}:
continue
if new_substep.stepnum not in clink.sink.threat_map[
clink.label.ID]:
continue
if new_substep.height > 0:
# decomp step compared to its dummy init and dummy final steps
if self.OrderingGraph.isPath(new_substep.dummy.final,
clink.source):
continue
if self.OrderingGraph.isPath(clink.sink,
new_substep.dummy.init):
continue
self.flaws.insert(
self,
DTCLF(new_substep.dummy.init, new_substep.dummy.final,
clink))
else:
# primitive step gets the primitive treatment
if self.OrderingGraph.isPath(new_substep, clink.source):
continue
if self.OrderingGraph.isPath(clink.sink, new_substep):
continue
self.flaws.insert(self, TCLF(new_substep, clink))
# # operate on cloned plan
# mutable_s_need = self[s_index]
# mutable_p = mutable_s_need.preconds[p_index]
# mutable_s_need.fulfill(mutable_p)
# mutable_s_need.update_choices(self)
#
# # add orderings to rest of plan
# self.OrderingGraph.addEdge(d_f, mutable_s_need)
#
# # add causal link
# c_link = self.CausalLinkGraph.addEdge(d_f, mutable_s_need, mutable_p)
#
# # check if df -> s_need is threatened
# ignore_these = {mutable_s_need.ID, d_f.ID, d_i.ID}
# for step in self.steps:
# # existing steps must be primitive
# if step.ID in ignore_these:
# continue
# if self.OrderingGraph.isPath(step, d_f):
# continue
# if self.OrderingGraph.isPath(mutable_s_need, step):
# continue
# if step.stepnum in mutable_s_need.threats:
# self.flaws.insert(self, TCLF(step, c_link))
#
# # check if adding this step threatens other causal links
# for cl in self.CausalLinkGraph.edges:
# # all causal links are between primitive steps
# if cl == c_link:
# continue
# if new_step.stepnum not in cl.sink.threat_map[cl.label]:
# continue
# if self.OrderingGraph.isPath(d_f, cl.source):
# continue
# if self.OrderingGraph.isPath(cl.sink, d_i):
# continue
# self.flaws.insert(self, DTCLF(d_i, d_f, cl))
def __lt__(self, other):
if self.cost + self.heuristic != other.cost + other.heuristic:
return (self.cost + self.heuristic) < (other.cost +
other.heuristic)
elif self.heuristic != other.heuristic:
return self.heuristic < other.heuristic
elif self.cost != other.cost:
return self.cost < other.cost
elif len(self.flaws) != len(other.flaws):
return len(self.flaws) < len(other.flaws)
elif sum([step.stepnum
for step in self]) != sum([step.stepnum for step in other]):
return sum([step.stepnum for step in self]) < sum(
[step.stepnum for step in other])
else:
return self.OrderingGraph < other.OrderingGraph
def __str__(self):
return 'GPlan{} c={} h={}\t'.format(self.ID[-4:], self.cost, self.heuristic) + \
str(self.steps) + '\n' + str(self.OrderingGraph) + '\n' + str(self.CausalLinkGraph)
def __repr__(self):
return self.__str__()
class PlanElementGraph(ElementGraph):
def __init__(self,
ID=None,
type_graph=None,
name=None,
Elements=None,
plan_elm=None,
Edges=None,
Restrictions=None):
if ID is None:
ID = uuid4()
if type_graph is None:
type_graph = 'PlanElementGraph'
if Elements is None:
Elements = set()
if Edges is None:
Edges = set()
if Restrictions is None:
Restrictions = set()
self.OrderingGraph = OrderingGraph()
self.CausalLinkGraph = CausalLinkGraph()
self.DecompGraph = OrderingGraph()
self.nonequals = set()
self.flaws = FlawLib()
self.solved = False
self.initial_dummy_step = None
self.final_dummy_step = None
if plan_elm is None:
plan_elm = Element(ID=ID, typ=type_graph, name=name)
super(PlanElementGraph, self).__init__(ID, type_graph, name, Elements,
plan_elm, Edges, Restrictions)
def __hash__(self):
return hash(self.name) ^ hash(self.typ) ^ hash(self.ID)
def __getattr__(self, name):
if name == 'Args':
self.updateArgs()
return self.Args
else:
raise AttributeError('no attribute {}'.format(name))
@classmethod
def Actions_2_Plan(cls, Actions, h):
# Used by Plannify
if not checkHeight(Actions, h):
return None
elements = set().union(*[A.elements for A in Actions])
edges = set().union(*[A.edges for A in Actions])
new_ords = []
new_links = []
new_decomps = []
for A in Actions:
if hasattr(A, "ground_subplan"):
for elm in A.ground_subplan.elements:
if elm not in elements and type(elm) == Operator:
elm.arg_name = str(uuid4())[19:23] + elm.arg_name
process_subplan(A.ground_subplan, elements, edges, new_ords,
new_links, new_decomps)
arg_dict = {op: op.arg_name for op in elements if type(op) == Operator}
inv_map = {v: k for k, v in arg_dict.items()}
new_edges = []
for edge in edges:
must_replace = False
source = edge.source
sink = edge.sink
if type(source) == Operator:
source = inv_map[source.arg_name]
must_replace = True
if type(sink) == Operator:
sink = inv_map[sink.arg_name]
must_replace = True
if must_replace:
new_edges.append(Edge(source, sink, edge.label))
else:
new_edges.append(edge)
new_elements = []
for elm in elements:
if type(elm) == Operator:
new_elements.append(inv_map[elm.arg_name])
else:
new_elements.append(elm)
update_ords = []
update_links = []
update_decomps = []
for ord in new_ords:
update_ords.append(
Edge(inv_map[ord.source.arg_name], inv_map[ord.sink.arg_name],
ord.label))
for link in new_links:
update_links.append(
Edge(inv_map[link.source.arg_name],
inv_map[link.sink.arg_name], link.label))
for decomp in new_decomps:
update_decomps.append(
Edge(inv_map[decomp.source.arg_name],
inv_map[decomp.sink.arg_name], decomp.label))
Plan = cls(name='Action_2_Plan',
Elements=set(new_elements),
Edges=set(new_edges))
Plan.OrderingGraph.edges = set(update_ords)
Plan.CausalLinkGraph.edges = set(update_links)
Plan.DecompGraph.edges = set(update_decomps)
return Plan
def deepcopy(self):
new_self = copy.deepcopy(self)
new_self.ID = uuid4()
return new_self
def AddSubgraph(self, subgraph):
self.elements.update(subgraph.elements)
self.edges.update(subgraph.edges)
def isInternallyConsistent(self):
return self.OrderingGraph.isInternallyConsistent() and self.CausalLinkGraph.isInternallyConsistent() and \
super(PlanElementGraph, self).isInternallyConsistent()
@property
def Steps(self):
return [
element for element in self.elements if type(element) is Operator
]
@property
def Step_Graphs(self):
return [Action.subgraph(self, step) for step in self.Steps]
# @property
# def Root_Graphs(self):
# root_steps = []
# for s in self.Steps:
# nobodys_descendant = True
# for t in self.Steps:
# if s == t:
# continue
# if s in self.rGetDescendants(t):
# nobodys_descendant = False
# break
# if nobodys_descendant:
# root_steps.append(s)
# return [Action.subgraph(self, step) for step in root_steps]
def __repr__(self):
c = '\ncost {} + heuristic {}'.format(self.cost, self.heuristic)
steps = [''.join('\t' + str(step) + '\n' for step in self.Step_Graphs)]
order = [
''.join('\t' + str(ordering.source) + ' < ' + str(ordering.sink) +
'\n' for ordering in self.OrderingGraph.edges)
]
links = [
''.join('\t' + str(cl) + '\n' for cl in self.CausalLinkGraph.edges)
]
return 'PLAN: ' + str(self.ID) + c + '\n*Steps: \n' + ''.join(['{}'.format(step) for step in steps]) + \
'*Orderings:\n' + \
''.join(['{}'.format(o) for o in order]) + '*CausalLinks:\n' + ''.join(['{}'.format(link) for link in links]) + '}'
class GStep:
"""
Read-Only Ground Step
"""
def __init__(self, operator, args, preconditions, stepnum, height):
# READ-ONLY ATTRIBUTES #
# schema refers to the name of the operator
self.schema = operator
# Args are Argument or Actor "Element" types
self.Args = args
# ID used as "instance ID"
self.ID = uuid4()
# preconds is a list of GCond
self.preconds = preconditions
# stepnum is the ground step constructor type
self.stepnum = stepnum
self.stepnumber = stepnum
# height is 0 when primitive
self.height = height
if height > 0:
self.sub_steps = []
self.sub_orderings = OrderingGraph()
self.sub_links = CausalLinkGraph()
self.dummy = dummyTuple(None, None)
# depth starts at 0 and takes on value during planning
self.depth = 0
self.cndts = None
self.cndt_map = None
self.threat_map = None
self.threats = None
self.instantiable = True
# INSTANCE ATTRIBUTES #
# risks are number of threat instances
self.risks = list()
self.choices = list()
# choices are instances of cndt antecedents
self.choice_map = dict()
# self.num_choices = 0
# open preconditions which need causal link
self.open_preconds = list(self.preconds)
# def to_json(self):
# return '{}:{}, {}'
# return json.dumps(self, default=lambda o: o.__dict__, sort_keys=True, indent=4)
# public methods #
# def default(self):
# def default(self, obj):
# if hasattr(obj, 'to_json'):
# return obj.to_json()
# return json.JSONEncoder.default(self, obj)
def setup(self, step_to_cndt, precond_to_cndt, step_to_threat,
precond_to_threat):
"""
:param step_to_cndt: dict of form GStep -> GStep^k such as D[stepnum] -> [cndt antecedent step nums]
:param precond_to_cndt: dict of form GLiteral -> GStep^k such as D[pre.ID] -> [cndt antecedent step nums]
:param step_to_threat: dict of form GLiteral -> Gstep^k such as D[stepnum] -> [cndt threat step nums]
"""
self.cndts = list(step_to_cndt[self.stepnum])
self.cndt_map = {
pre.ID: list(precond_to_cndt[pre.ID])
for pre in self.preconds
}
self.threats = list(step_to_threat[self.stepnum])
self.threat_map = {
pre.ID: list(precond_to_threat[pre.ID])
for pre in self.preconds
}
def swap_setup(self, cndts, cndtmap, threats, threatmap):
self.cndts = cndts
self.cndt_map = cndtmap
self.threats = threats
self.threat_map = threatmap
def swap_substeps(self, gsteps, decomp_step, num_GL_steps):
change_dict = {
step: gsteps[step.stepnumber].instantiate()
for step in decomp_step.ground_subplan.Steps
}
self.sub_steps = list(change_dict.values())
for edge in decomp_step.ground_subplan.OrderingGraph.edges:
self.sub_orderings.addEdge(change_dict[edge.source],
change_dict[edge.sink])
for edge in decomp_step.ground_subplan.CausalLinkGraph.edges:
new_sink = change_dict[edge.sink]
# Condition.subgraph(subplan, edge.label)
g_label = GLiteral(edge.label.name, edge.label.Args,
edge.label.truth, -1, None)
for p in new_sink.preconds:
if p != g_label:
continue
self.sub_links.addEdge(change_dict[edge.source], new_sink, p)
self.sub_orderings.addEdge(change_dict[edge.source], new_sink)
new_sink.fulfill(p)
break
# set these babes to not be instantiable "fo' life"
gsteps[decomp_step.sub_dummy_init.stepnumber].instantiable = False
gsteps[decomp_step.sub_dummy_goal.stepnumber].instantiable = False
init_step = gsteps[decomp_step.sub_dummy_init.stepnumber].instantiate()
final_step = gsteps[
decomp_step.sub_dummy_goal.stepnumber].instantiate()
for step in self.sub_steps:
self.sub_orderings.addEdge(init_step, step)
self.sub_orderings.addEdge(step, final_step)
self.sub_orderings.addEdge(init_step, final_step)
# reconfigure init step to be top cndt for all steps and goal
for step in self.sub_steps:
for other_step in self.sub_steps:
if other_step == step:
continue
prioritize_cndt(other_step, step)
prioritize_cndt(init_step, step)
prioritize_cndt(step, final_step)
prioritize_cndt(init_step, final_step)
# add init_step as top cndt for all
self.dummy = dummyTuple(init_step, final_step)
def instantiate(self,
default_refresh=None,
default_None_is_to_refresh_open_preconds=None):
new_self = copy.deepcopy(self)
new_self.ID = uuid4()
self.choice_map = dict()
if default_refresh is None:
self.risks = list()
self.choices = list()
if default_None_is_to_refresh_open_preconds is None:
self.open_preconds = list(self.preconds)
return new_self
def fulfill(self, pre):
if self.cndt_map is None:
raise AttributeError('Cndt Map not found; run setup(xyz) first')
if pre.ID not in self.cndt_map:
raise ValueError('{} not found in cndt_map, id={}'.format(
pre, pre.ID))
if pre not in self.preconds:
raise ValueError(
'{} found in cndt_map w/ id={}, but {} not found in preconds'.
format(pre, pre.ID, pre))
# remove precondition from open precond
if pre in self.open_preconds:
self.open_preconds.remove(pre)
else:
print('pre: {} not found in {} to remove, allowed in some cases'.
format(pre, self))
def update_choices(self, plan):
choices = set()
for pre in self.open_preconds:
choice_nums = self.cndt_map[pre.ID]
for step in plan.steps:
if self.ID == step.ID:
continue
if plan.OrderingGraph.isPath(self, step):
continue
if step.stepnum in choice_nums:
choices.add(step)
self.choices = list(choices)
def is_cndt(self, other):
return other.stepnum in self.cndts
def is_threat(self, other):
return other.stepnum in self.threats
# private hooks #
def __hash__(self):
return hash(self.ID)
def __eq__(self, other):
return self.ID == other.ID
def __str__(self):
args = str([
arg.name if not isinstance(arg, ElementGraph) else arg
for arg in self.Args
])
return str(self.schema) + args + '_{}'.format(str(self.ID)[-4:])
def __repr__(self):
return self.__str__()
class GStep:
"""
Read-Only Ground Step
"""
def __init__(self, operator, args, preconditions, effects, stepnum, height):
# READ-ONLY ATTRIBUTES #
# schema refers to the name of the operator
self.schema = operator
# Args are Argument or Actor "Element" types
self.Args = args
# ID used as "instance ID"
self.ID = uuid4()
# preconds is a list of GCond
self.preconds = preconditions
self.effects = effects
# stepnum is the ground step constructor type
self.stepnum = stepnum
self.stepnumber = stepnum
# height is 0 when primitive
self.height = height
if height > 0:
self.sub_steps = []
self.sub_orderings = OrderingGraph()
self.sub_links = CausalLinkGraph()
self.dummy = dummyTuple(None, None)
# depth starts at 0 and takes on value during planning
self.depth = 0
self.cndts = None
self.cndt_map = None
self.threat_map = None
self.threats = None
self.cntg_mental = None
self.instantiable = True
# INSTANCE ATTRIBUTES #
# risks are number of threat instances
self.risks = list()
self.choices = list()
# choices are instances of cndt antecedents
self.choice_map = dict()
# self.num_choices = 0
# open preconditions which need causal link
self.open_preconds = list(self.preconds)
# def to_json(self):
# return '{}:{}, {}'
# return json.dumps(self, default=lambda o: o.__dict__, sort_keys=True, indent=4)
# public methods #
# def default(self):
# def default(self, obj):
# if hasattr(obj, 'to_json'):
# return obj.to_json()
# return json.JSONEncoder.default(self, obj)
def setup(self, step_to_cndt, precond_to_cndt, step_to_threat, precond_to_threat, cntg_mental):
"""
:param step_to_cndt: dict of form GStep -> GStep^k such as D[stepnum] -> [cndt antecedent step nums]
:param precond_to_cndt: dict of form GLiteral -> GStep^k such as D[pre.ID] -> [cndt antecedent step nums]
:param step_to_threat: dict of form GLiteral -> Gstep^k such as D[stepnum] -> [cndt threat step nums]
"""
self.cndts = list(step_to_cndt[self.stepnum])
self.cndt_map = {pre.ID: list(precond_to_cndt[pre.ID]) for pre in self.preconds}
self.threats = list(step_to_threat[self.stepnum])
self.threat_map = {pre.ID: list(precond_to_threat[pre.ID]) for pre in self.preconds}
self.cntg_mental = {pre.ID: list(cntg_mental[pre.ID]) for pre in self.preconds}
def swap_setup(self, cndts, cndtmap, threats, threatmap, cntgmap):
self.cndts = cndts
self.cndt_map = cndtmap
self.threats = threats
self.threat_map = threatmap
self.cntg_mental = cntgmap
# for each sub-step in sub-plan, create gstep
@clock
def swap_substeps(self, gsteps, GL, decomp_step):
# base case - sub-steps are all height = 0
primitive_substeps = [arg for arg in decomp_step.ground_subplan.elements
if type(arg) == Operator and arg.height == 0]
composite_substeps = [arg for arg in decomp_step.ground_subplan.elements
if type(arg) == Operator and arg.height > 0]
if len(composite_substeps) == 0:
prim_dict = {step: gsteps[step.stepnumber].instantiate() for step in primitive_substeps}
self.create_composite_gstep(gsteps, decomp_step, prim_dict)
return prim_dict
else:
# links and orderings in intermediate stage
# change_dict = {step.root: gsteps[step.stepnumber].instantiate() for step in decomp_step.ground_subplan.Root_Graphs}
change_dict = {}
# order steps by height, lowest to highest.
step_list = [step for step in decomp_step.ground_subplan.Step_Graphs]
step_list.sort(key=lambda x: x.height)
do_not_add_as_substep = []
for step in step_list:
Args = [decompile(arg, decomp_step.ground_subplan) for arg in step.Args]
preconds = [GLiteral(p.name, [decompile(arg, p) for arg in p.Args],
p.truth, p.replaced_ID, (p.name, p.truth) not in GL.non_static_preds)
for p in step.Preconditions]
effects = [GLiteral(e.name, [decompile(arg, e) for arg in e.Args],
e.truth, e.replaced_ID, (e.name, e.truth) not in GL.non_static_preds)
for e in step.Effects]
schema = str(step)
step_copy = GStep(schema, Args, preconds, effects, step.stepnumber, step.height)
step_copy.ID = step.root.ID
st_t = gsteps[step.stepnumber].instantiate()
step_copy.swap_setup(st_t.cndts, st_t.cndt_map, st_t.threats, st_t.threat_map, st_t.cntg_mental)
# give no children
if step.height > 0:
init_step = st_t.dummy[0]
init_step.schema = "begin:" + str(step)
final_step = st_t.dummy[1]
final_step.schema = "finish:" + str(step)
step_copy.dummy = dummyTuple(init_step, final_step)
# step_copy.sub_steps = []
children = decomp_step.ground_subplan.DecompGraph.getNeighbors(step.root)
step_copy.sub_steps = [change_dict[child] for child in children if child.typ != 'step-s']
do_not_add_as_substep.extend(step_copy.sub_steps)
step_copy.sub_orderings = OrderingGraph()
step_copy.sub_links = CausalLinkGraph()
change_dict[step.root] = step_copy
# self.sub_steps.append(step)
self.create_composite_gstep(gsteps, decomp_step, change_dict, do_not_add_as_substep)
return change_dict
@clock
def create_composite_gstep(self, gsteps, decomp_step, change_dict, do_not_add_as_substep=None):
if do_not_add_as_substep is None:
self.sub_steps = list(change_dict.values())
else:
self.sub_steps = [item for item in change_dict.values() if item not in do_not_add_as_substep]
for edge in decomp_step.ground_subplan.OrderingGraph.edges:
source = change_dict[edge.source]
# if source.height > 0:
# source = change_dict[edge.source].dummy[1]
sink = change_dict[edge.sink]
# if sink.height > 0:
# sink = change_dict[edge.sink].dummy[0]
self.sub_orderings.addLabeledEdge(source, sink, edge.label)
for edge in decomp_step.ground_subplan.CausalLinkGraph.edges:
new_sink = change_dict[edge.sink]
# Condition.subgraph(subplan, edge.label)
g_label = GLiteral(edge.label.name, [decompile(arg, decomp_step.ground_subplan) for arg in edge.label.Args],
edge.label.truth, -1, None)
for p in new_sink.preconds:
if p != g_label:
continue
self.sub_links.addEdge(change_dict[edge.source], new_sink, p)
self.sub_orderings.addEdge(change_dict[edge.source], new_sink)
new_sink.fulfill(p)
break
# set these babes to not be instantiable "fo' life"
gsteps[decomp_step.sub_dummy_init.stepnumber].instantiable = False
gsteps[decomp_step.sub_dummy_goal.stepnumber].instantiable = False
init_step = gsteps[decomp_step.sub_dummy_init.stepnumber].instantiate()
final_step = gsteps[decomp_step.sub_dummy_goal.stepnumber].instantiate()
for step in self.sub_steps:
self.sub_orderings.addEdge(init_step, step)
self.sub_orderings.addEdge(step, final_step)
self.sub_orderings.addEdge(init_step, final_step)
# reconfigure init step to be top cndt for all steps and goal
for step in self.sub_steps:
for other_step in self.sub_steps:
if other_step == step:
continue
prioritize_cndt(other_step, step)
prioritize_cndt(init_step, step)
prioritize_cndt(step, final_step)
prioritize_cndt(init_step, final_step)
# add init_step as top cndt for all
self.dummy = dummyTuple(init_step, final_step)
def compile_do_not_insert_list(self, eff_dict, step_swap_map):
"""
Compile a mapping from precondition IDs to sub_steps.
1. precondition matches THIS step as establisher
2. THIS step has height > 0
3. THIS step has a mapping from preconditino IDs to its sub_steps
4. mark these sub_steps as DO NOT INSERT during planning
"""
eff_ids = {eff.ID: eff for eff in self.effects}
relevant_effects = defaultdict(list)
for k, v in eff_dict.items():
for v_i in v:
if v_i not in eff_ids.keys():
continue
relevant_effects[eff_ids[v_i]].append(k)
# relevant_effects = {eff_ids[v_i]: k for k, v in eff_dict.items() for v_i in v if v_i in eff_ids.keys()}
# relevant_effects = {eff: eff_dict[eff.ID] for eff in self.effects}
self.do_not_insert_map = {}
for eff, pre_IDs in relevant_effects.items():
gstep_list = [step_swap_map[arg.root] for arg in eff.Args if type(arg) == Action]
for pid in pre_IDs:
self.do_not_insert_map[pid] = gstep_list
def instantiate(self, default_refresh=None, default_None_is_to_refresh_open_preconds=None):
new_self = copy.deepcopy(self)
new_self.ID = uuid4()
self.choice_map = dict()
if default_refresh is None:
self.risks = list()
self.choices = list()
if default_None_is_to_refresh_open_preconds is None:
self.open_preconds = list(self.preconds)
return new_self
def fulfill(self, pre):
if self.cndt_map is None:
raise AttributeError('Cndt Map not found; run setup(xyz) first')
if pre.ID not in self.cndt_map:
raise ValueError('{} not found in cndt_map, id={}'.format(pre, pre.ID))
if pre not in self.preconds:
raise ValueError('{} found in cndt_map w/ id={}, but {} not found in preconds'.format(pre, pre.ID, pre))
# remove precondition from open precond
if pre in self.open_preconds:
self.open_preconds.remove(pre)
else:
print('pre: {} not found in {} to remove, allowed in some cases'.format(pre, self))
def update_choices(self, plan):
choices = set()
for pre in self.open_preconds:
choice_nums = self.cndt_map[pre.ID]
for step in plan.steps:
if self.ID == step.ID:
continue
if plan.OrderingGraph.isPath(self, step):
continue
if step.stepnum in choice_nums:
choices.add(step)
self.choices = list(choices)
def is_cndt(self, other):
return other.stepnum in self.cndts
def is_threat(self, other):
return other.stepnum in self.threats
# private hooks #
def __hash__(self):
return hash(self.ID)
def __eq__(self, other):
return self.ID == other.ID
def __str__(self):
# if len(self.Args) > 0 and type(self.Args[0]) == str:
# args = ""
# else:
# args = str([arg.name if not isinstance(arg, ElementGraph) else arg for arg in self.Args])
# return str(self.schema) + args + '_{}'.format(str(self.ID)[-4:])
return str(self.schema) + '_{}'.format(str(self.ID)[-4:])
def __repr__(self):
return self.__str__()
