def produce_bindings(universe, order, plan, greedy, shared, dfs):
if dfs:
bindings = dfs_bindings(order, universe, greedy=greedy, shared=shared)
else:
bindings = single_bindings(order,
universe,
greedy=greedy,
shared=shared)
if bindings is None:
return None
bound_plan = []
for action, args in plan:
bound_args = replace_abstract_constants(args, bindings)
assert bound_args is not None
bound_plan.append((action, bound_args))
return bound_plan
def dfs_bindings(order, universe, bindings={}, greedy=True, shared=True):
if not order:
return bindings
stream = order[0]
if shared or not stream.shared:
inputs = replace_abstract_constants(stream.inputs, bindings)
#dependent_goals = get_dependent_streams(stream, order, bindings)
dependent_atoms = get_dependent_goals(stream, order, bindings)
outputs_list = list(
bind_stream_outputs(stream,
inputs,
universe,
dependent_atoms=dependent_atoms))
for outputs in outputs_list:
new_bindings = bindings.copy(
) # TODO - what if this is the same as bindings?
local_failure = False
for abs_const, real_const in outputs.iteritems():
assert stream.shared or abs_const not in new_bindings
if new_bindings.get(abs_const, real_const) == real_const:
new_bindings[abs_const] = real_const
else:
local_failure = True
result_bindings = dfs_bindings(order[1:],
universe,
bindings=new_bindings,
greedy=greedy,
shared=shared)
if not local_failure and result_bindings is not None:
return result_bindings
if not outputs_list and not greedy:
dfs_bindings(order[1:],
universe,
bindings=bindings,
greedy=greedy,
shared=shared)
elif not greedy:
dfs_bindings(order[1:],
universe,
bindings=bindings,
greedy=greedy,
shared=shared)
return None
def single_bindings(order, universe, greedy=True, shared=True):
failure = False
bindings = {}
for stream in order:
local_failure = True
if shared or not stream.shared:
inputs = replace_abstract_constants(stream.inputs, bindings)
outputs = next(bind_stream_outputs(stream, inputs, universe), None)
if outputs is not None: # NOTE - by checking stream validity before applying, we allow for previously bound things
local_failure = False
for abs_const, real_const in outputs.iteritems():
assert stream.shared or abs_const not in bindings
if bindings.get(abs_const, real_const) == real_const:
bindings[abs_const] = real_const
else:
local_failure = True
failure |= local_failure
if greedy and failure:
break
return bindings if not failure else None