logicmoo_hyhtn_code

% Provides a prolog database env % % % % Logicmoo Project PrologMUD: A MUD server written in Prolog % Maintainer: Douglas Miles % Denton, TX 2005, 2010, 2014 % Dec 13, 2035 % */

12:-module(logicmoo_hyhtn_code,[]). 13 14:-multifile(user:push_env_ctx/0). 15:-dynamic(user:push_env_ctx/0). 16 17/* ***********************************/ 18/* Douglas Miles 2005, 2010, 2014 */ 19/* Denton, TX */ 20/* ***********************************/ 21 22% [Required] Load the Logicmoo Library Utils 23:- ensure_loaded(library(logicmoo_common)). 24:- ensure_loaded(library(planner_api)). 25:- use_module(library(logicmoo_planner)). 26 27:- kb_shared(baseKB:mpred_prop/3). 28 29:- ensure_loaded(library(logicmoo/util_structs)). 30:- ensure_loaded(library(logicmoo/util_bb_env)). 31:- prolog_load_context(file,File),ain(user:env_source_file(File)). 32 33:-op(500,fx,env_call). 34/* htncode.pl */ 35 36/* Donghong Liu */ 37/* University of Huddersfield */ 38/* September 2002 */ 39/* **********************************/ 40/* gipohyhtn.pl */ 41/* HyHTN planning: do preprocess first */ 42/* make all method and operators primitive */ 43 44 45planner_failure(Why,Info):-dmsg(error,Why-Info),banner_party(error,'FAILURE_PLANNER'),print_message(error,'FAILURE_PLANNER'(Why,Info)),!. %sleep(2). 46 47:-thread_local t_l:doing/1. 48 49statistics_runtime(CP):-statistics(runtime,[_,CP0]), (CP0==0 -> CP= 0.0000000000001 ; CP is (CP0/1000)) . % runtime WAS process_cputime 50statistics_walltime(CP):-statistics(walltime,[_,CP0]), (CP0==0 -> CP= 0.0000000000001 ; CP is (CP0/1000)) . % runtime WAS process_cputime 51 52 53 54/* 55 * GIPO COPYRIGHT NOTICE, LICENSE AND DISCLAIMER. 56 * 57 * Copyright 2001 - 2003 by R.M.Simpson W.Zhao T.L.McCLuskey D Liu D. Kitchin 58 * 59 * Permission to use, copy, modify, and distribute this software and its 60 * documentation for any purpose and without fee is hereby granted, 61 * provided that the above copyright notice appear in all copies and that 62 * both the copyright notice and this permission notice and warranty 63 * disclaimer appear in supporting documentation, and that the names of 64 * the authors or their employers not be used in advertising or publicity 65 * pertaining to distribution of the software without specific, written 66 * prior permission. 67 * 68 * The authors and their employers disclaim all warranties with regard to 69 * this software, including all implied warranties of merchantability and 70 * fitness. In no event shall the authors or their employers be liable 71 * for any special, indirect or consequential damages or any damages 72 * whatsoever resulting from loss of use, data or profits, whether in an 73 * action of contract, negligence or other tortious action, arising out of 74 * or in connection with the use or performance of this software. 75 */ 76 /* gipohyhtn.pl */ 77/* HyHTN planning: do preprocess first */ 78/* make all method and operators primitive */ 79%:-use_module(library(system)). 80/*********************** initialisation**************/ 81:-dynamic my_stats/1. 82 83 84:-multifile(on_call_decl_hyhtn/0). 85:-export(on_call_decl_hyhtn/0). 86% Tasks 87on_call_decl_hyhtn :- decl_env_mpred_dom([kb(dom,tasks),stubType(dyn)], ( htn_task/3, planner_task/3, planner_task_slow/3 )). 88 89on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(temp_assertIndivConds/1)). % Used for grounding operators 90on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(is_of_primitive_sort/2, is_of_sort/2)). 91on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(methodC/7, opParent/6,operatorC/5,gOperator/3)). 92on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(objectsC/2,objectsD/2,atomic_invariantsC/1)).% Used only dynamic objects 93on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(objectsOfSort/2)). % Used to store all objects of a sort 94on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache) /*stubType(with_pred(bb_op(_)))*/],(related_op/2, gsubstate_classes/3, gsstates/3)). 95 96on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(initial_state/1)). 97on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache) /*stubType(with_pred(bb_op(_)))*/],(op_score/2)). 98on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)/*stubType(rec_db)*/],(node/5,final_node/1)). 99on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_goal/3,closed_node/6,solved_node/2, goal_related_search/1)). 100%on_call_decl_hyhtn :- decl_env_mpred_task([stubType(rec_db),kb(node,cache)],(goal_related/3)). 101on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(goal_related/3)). 102on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(current_num/2)). 103on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tn/6)). % Used to store full expanded steps 104on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_node/6)). 105% on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_node_cached/6)). 106% on_call_decl_hyhtn :- decl_env_mpred_task([stubType(with_pred(gvar_list(tnodeSORTED))),kb(node,cache)],tp_node/6). 107 108% Tasks 109on_call_decl_hyhtn :- decl_env_mpred_dom([kb(dom,tasks),stubType(dyn)], ( htn_task/3, planner_task/3, planner_task_slow/3 )). 110 111% Contents of a OCLh Domain 112on_call_decl_hyhtn :- 113 decl_env_mpred_dom([kb(dom,file),stubType(dyn)],[domain_name/1,sorts/2,substate_classes/3,objects/2,predicates/1,inconsistent_constraint/1,atomic_invariants/1, 114 implied_invariant/2,operator/4, 115 % oper/4, 116 method/6]). 117 118:-export(call_decl_hyhtn/0). 119 120% :- rtrace. 121 122call_decl_hyhtn:-must(doall(on_call_decl_hyhtn)). 123 124% :- % 125 % call_decl_hyhtn. 126 127 128 129%%% ON :- initialization( profiler(_,walltime) ). 130%%% ON :- initialization(user:use_module(library(swi/pce_profile))). 131% :- qcompile_libraries. 132 133 134% :- rtrace. 135tryff(Call):- predicate_property(Call,_),!,once(tryf((Call,assert(passed_test_try(Call))))),fail. 136tryf(Call):- predicate_property(Call,_),!,catch(Call,E,dmsg(E = Call)). 137trye(Call):- catch(Call,E,((dmsg(error(E , Call)),throw(trace),Call))). 138 139:-dynamic(passed_test_try/1). 140:-dynamic(testing_already/0). 141 142check_passed_any:-not(not(passed_test_try(_))),nl,listing(passed_test_try/1). 143 144ttm:-retractall(passed_test_try(_)),fail. 145ttm:-testing_already,!. 146ttm:-asserta(testing_already), make, retractall(testing_already),fail. 147 148 149:-export(banner_party/2). 150banner_party(E,BANNER):- 151 ansicall(yellow,( 152 format("% xxxxxxxxxxxxxxx ~w xxxxxxxxxxxxxxxxxxx~n",[E]), 153 forall(t_l:doing(X),dmsg(E,doing(X))), 154 dmsg5(E,BANNER), 155 format("% xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx~n",[]))). 156 157 158subst_eq_h(A,B,C,D):- nd_subst(A,B,C,D),!. 159subst_eq_h(A,B,C,D):- throw(trace), nd_subst(A,B,C,D),!. 160 161 162:-export(term_expansion_alias/2). 163term_expansion_alias(In,Out):-term_expansion_alias([],In,Out). 164term_expansion_alias(Not,In,Out):-term_alias(I,O),not(member(I,Not)),subst_eq_h(In,I,O,M), In\=@=M,!, term_expansion_alias([I|Not],M,Out). 165term_expansion_alias(_Not,InOut,InOut). 166term_alias(cond,se). 167term_alias(se,se). 168term_alias(state,ss). 169term_alias(trans,sc). 170term_alias(ne,dif). 171term_alias(neq,dif). 172% term_alias(htn_task,planner_task). 173term_alias(startOcl,start). 174term_alias(startOCL,start). 175 176 177%get_tasks(B, C, D) :-%show_call(get_env_ctx(A)),!, 178% if_defined(get_tasks(_A, B, C, D)). 179 180 181tasks:- 182 Call = get_tasks(N,Goal,State), 183 setof(Call,Call,List),list_to_set(List,Set),!, 184 env_info(kb(dom,file)),!, 185 once((ignore(forall(member(Call,Set), 186 locally(t_l:doing(tasks(N,Goal)), 187 (( 188 must(nonvar(Goal)),must(nonvar(State)), 189 ignore(N=Goal), 190 must((term_expansion_alias((Goal:-State),(GGoal:-GState)))), 191 must(nonvar(GGoal)),must(nonvar(GState)), 192 banner_party(informational,('GOAL'(N):-GGoal)), 193 must(((once( once(startOCL(GGoal,GState))*->banner_party(informational,'SUCCESSS');banner_party(error,'FAILUR!!!!!!!!!!!!!!!!!!!!!!!!!!!E')))))))))))). 194 195t:- once(run_header_tests). 196 197tt:-catch(ttm,E,dmsg(E)),!. 198 199tt:-tryff((tasks)). 200tt:-tryff((task1)). 201tt:-tryff((task2)). 202tt:-tryff((task3)). 203tt:-tryff((task4)). 204tt:-tryff((task5)). 205tt:-tryff((task6)). 206tt:-tryff((task7)). 207tt:-tryff((task8)). 208tt:-tryff((task9)). 209tt:-tryff((task10)). 210tt:-tryff((task11)). 211tt:-tryff((task22)). 212tt:-tryff((task33)). 213tt:-tryff((task44)). 214tt:-check_passed_any,!. 215 216 217tdom:-tdom([htn1,ty,ocl1,r3]). 218tdom2:-tdom([ocl2,htn2,htn3,htn4]). 219 220tdomfile(F):-tdomcall(load_data_file(F)). 221tdomcall(Call):- trye(once((env_clear_doms_and_tasks,trye(Call),tt))). 222 223tdom([]):-!. 224tdom([H|T]):- !, tdom(H),tdom(T). 225tdom(H):- predicate_property(H,_),!, throw(trace),call(H). 226tdom(F):- tdom1(F),!. 227tdom(F):- expand_file_name(F,List),List\=[],!,tdom1(List). 228tdom(F):- throw(tdom(F)). 229 230tdom1([]):-!. 231tdom1([H|T]):- !, tdom(H),tdom(T). 232tdom1(F):- tdom2(F),!. 233tdom1(FIn):- atom(FIn),tdom2(FIn). 234 235tdom2(FIn):- tdom3(FIn),!. 236tdom2(FIn):- atom_concat('domains_ocl/',FIn,F), tdom3(F),!. 237 238tdom3(FIn):- tdom4(FIn). 239tdom3(FIn):- atom_concat(FIn,'htn',F),tdom4(F). 240tdom3(FIn):- atom_concat(FIn,'ocl',F),tdom4(F). 241 242tdom4(F):- exists_file(F),!,tdomfile(F). 243 244 245:- discontiguous(post_header_hook/0). 246post_header_hook:-retractall(canDoTermExp). 247% user:term_expansion(In,Out):- canDoTermExp,term_expansion_hyhtn(In,M),In\=@=M,expand_term(M,Out). 248% user:goal_expansion(In,Out):- canDoTermExp,term_expansion_hyhtn(In,M),In\=@=M,expand_goal(M,Out). 249post_header_hook:-asserta(canDoTermExp). 250 251:-export(env_clear_doms_and_tasks/0). 252env_clear_doms_and_tasks:- env_clear(kb(dom,file)),env_clear(kb(dom,tasks)),env_clear(kb(dom,cache)),!. 253 254:- op(100,xfy,( /*ocluser*/ocl:('=>'))). 255 256% :-set_prolog_flag(verbose_file_search,true). 257post_header_hook:-set_prolog_flag(verbose_load,full). 258post_header_hook:-use_module(library(lists)). 259 260% :- must((current_op(P,FXY,(-)),arg(_,v(fy,fx),FXY),P =< 300)). 261:- style_check(-singleton). 262:- style_check(+discontiguous). 263 264 265%post_header_hook:-use_module(library(system)). 266:-if(exists_source(library(gui_tracer))). 267post_header_hook:- user:use_module(library(gui_tracer)),catch(guitracer,_,true). 268:-endif. 269post_header:- !. 270post_header:- dmsg(post_header),fail, forall(clause(post_header_hook,G),G). 271 272 273:- discontiguous(header_tests/0). 274 275run_tests(Call) :- 276 statistics_runtime(InTime), 277 locally(doing(run_tests(Call)), 278 call_cleanup(Call, 279 (( 280 statistics_runtime(OutTime), 281 Time is OutTime - InTime, 282 banner_party(informational,runtests(Call) = time(Time)))))). 283 284run_header_tests :- run_tests(forall(clause(header_tests,G),run_tests(G))). 285 286 287:-export(test_ocl/1). 288test_ocl(File):- forall(filematch(File,FM),test_ocl0(FM)). 289test_ocl0(File):- time(locally(t_l:doing(test_ocl(File)), 290 once((env_clear_doms_and_tasks,clean_problem,l_file(File),tasks)))). 291 292header_tests :-test_ocl('domains_ocl/*.ocl'). 293 294 295:- style_check(-singleton). 296:- style_check(-discontiguous). 297%:-use_module(library(system)). 298 299%:- asserta(t_l:disable_px). 300 301% The following elements are expected in the sort engineered domain model 302% 303% sorts 304% objects 305% predictates 306% ss class expressions 307% invariants: 308% atomic invariants 309% -ve invariants 310% +ve invariants 311% operators 312 313 314% for boot.. 315:-dynamic kill_file/1,solution_file/1. 316% 317% :-expects_dialect(sicstus). 318:- style_check(-singleton). 319%:- prolog_flag(single_var_warnings, _, off). 320%:-set_prolog_flag(unknown,fail). 321% :- unknown(error,fail). 322:- op(100,xfy,'=>'). 323%---------------------structure-------------------- 324% for whole search: 325% node(Nodeid, Precond, Decomps, Temp, Statics) 326% tn(Tnid, Name, Precond, Postcond,Temp, Decomps) 327% tn is a full expanded node, it has fixed decomps and postcondtion 328% step(HPid,ActName,Precond,Postcond,Expansion) 329% for fwsearch achieve(Goal) only: 330% tp_goal(Pre,Goal,Statics) 331% goal_related(se(Sort,Obj,SEpre),Opls,LengthToGoal) 332% tp_node(TPid,Pre,Statics,from(Parentid),Score,Steps) 333% closed_node(TPid,Pre,from(Parentid),Score,Steps) 334%---------------------structure end-------------------- 335 336incr_op_num:- flag(op_num,X,X+1). 337set_op_num(X):-flag(op_num,_,X). 338current_op_num(X):- flag(op_num,X,X). 339 340 341 342startOCL(Goal,Init):- 343 clean_problem, 344 dmsg('OCL-PLANNER-TASK'(Goal)), 345 must(planner_interface(Goal,Init,Sol,_,TNLst)), 346 show_result_and_clean(F,Id,Sol,TNLst). 347 348 349get_tasks(N,Goal,State):- htn_task(N,Goal,State). 350% get_tasks(N,Goal,State):- ocl:htn_task(N,Goal,State). 351get_tasks(N,Goal,State):- env_call planner_task(N,Goal,State). 352 353:- set_op_num(0). 354:-asserta(my_stats(0)). 355 356l_file(File):- \+ exists_file(File),!,forall(filematch(File,FM),l_file(FM)). 357l_file(F):- env_consult(ocl:F). 358l_file(F):- 359 if_defined(/*ocluser*/ocl:force_reload_mpred_file(F), 360 if_defined(/*ocluser*/ocl:with_mpred_consult(/*ocluser*/ocl:consult(F)),/*ocluser*/ocl:consult(F))). 361 362solve_file(F):-with_filematch(l_file(wfm(F))), doall(solve(_)). 363solve:- solve_file(test_hyhtn). 364 365 366 367solve(Id) :- 368 no_repeats(get_tasks(Id,Goal,Init)), 369 planner_interface(Goal,Init,Sol,_,TNLst), 370 show_result_and_clean(user,Id,Sol,TNLst). 371 372show_result_and_clean(F,Id,Sol,TNLst):- 373 must(solution_file(F)), 374 tell(F), 375 format('~NSOLUTION for TASK ~w~n',[Id]), 376 display_sol(Sol), 377 write_out_test_data('.preClean',Id), 378 write('END FILE'),nl,nl, 379 nop((reverse(TNLst,TNForward), 380 display_details(TNForward), 381 write('END PLANNER RESULT'))), 382 told, 383 clean_problem. 384 385write_out_test_data(_MoreID,_Id):-!. 386write_out_test_data(MoreID,Id):- 387 must(( 388 389 (var(Id)->statistics(walltime,[Id,_]);true), 390 (push_env_ctx-> A= pushed_ ; A=nonpushed_ ), 391 atom_concat(A,Id,TN),atom_concat(TN,MoreID,TTN), 392 lws(TTN))),!. 393 394display_sol([]). 395display_sol([H|T]) :- 396 write(H), 397 nl, 398 display_sol(T). 399 400display_details([]):-!. 401display_details([H|T]):-!,display_details(H),display_details(T),!. 402display_details(tn(TN,Name,Pre,Post,Temp,Dec)):- 403% write('method::Description:'),write(';'), 404 nl,write('BEGIN METHOD'),nl,write(TN),write(';'), 405 nl,write('Name:'),write(Name),write(';'), 406 nl,write('Pre-condition:'),write(Pre),write(';'), 407% write('Index Transitions:'),write(Pre),write('=>'),write(Post1),write(';'), 408 nl,write('Index Transitions:'),write('=>'),write(Post),write(';'), 409% write('Static:'),write(';'), 410 nl,write('Temporal Constraints:'),write(Temp),write(';'), 411 nl,write('Decomposition:'),write(Dec),write(';'), 412 nl. 413 414display_details(H):-dmsg((display_details:-H)). 415 416clean_problem:- 417 env_retractall(temp_assertIndivConds(_)), 418 env_retractall(opParent(_,_,_,_,_,_)), 419 env_retractall(operatorC(_,_,_,_,_)), 420 env_retractall(initial_state(_)), 421 env_retractall(objectsOfSort(_,_)), 422 env_retractall(objectsD(_,_)), 423 env_retractall(objectsC(_,_)), 424 env_retractall(methodC(_,_,_,_,_,_,_)), 425 env_retractall(is_of_sort(_,_)), 426 env_retractall(is_of_primitive_sort(_,_)), 427 env_retractall(gsubstate_classes(_,_,_)), 428 env_retractall(gOperator(_,_,_)), 429 env_retractall(current_num(_,_)), 430 env_retractall(atomic_invariantsC(_)), 431 432 % nodes 433 env_retractall(final_node(_)), 434 % temp nodes 435 nb_setval(tnodeSORTED,[]), 436 env_retractall(tp_node(_,_,_,_,_,_)), 437 env_retractall(current_num(tp,_)), 438 env_retractall(node(_,_,_,_,_)), 439 env_retractall(solved_node(_,_)), 440 env_retractall(tn(_,_,_,_,_,_)), 441 env_retractall(closed_node(_,_,_,_,_,_)), 442 % env_retractall(score_list(_)), 443 % env_retractall(related_op(_,_)), 444 env_retractall(op_score(_,_)), 445 env_retractall(goal_related(_,_,_)), 446 env_retractall(goal_related_search(_)), 447 448 449 % retractall(my_stats(_)),assert(my_stats(0)), 450 set_op_num(0). 451 452 453 454get_instance(A1,Obj1):- \+compound(A1),!,Obj1=A1. 455get_instance(A1,Obj1):-functor(A1,_,N),N<3,!,arg(1,A1,Obj1). 456get_instance(A1,Obj1):-arg(2,A1,Obj1). 457 458compare_on_instance(Comp,A1,A2):- get_instance(A1,Obj1),get_instance(A2,Obj2),compare(Comp1,Obj1,Obj2), 459 (Comp1== (=) -> compare(Comp,A1,A2) ; Comp=Comp1). 460 461to_ssify(_,_,goal(S,X,L),goal(S,X,L)):-!. 462to_ssify(Hints,SS,G,GGG):-must_det_l((is_list(G),must(to_ssify0(Hints,SS,G,GG)),predsort(compare_on_instance,GG,GGS),must(merge_ss2s(GGS,GGG)))). 463 464to_ssify0(Hints,SS,G,GG):-must(to_ssify1(Hints,SS,G,GG)). 465to_ssify1(Hints,SS,[],[]):- !. 466to_ssify1(Hints,SS,G,[GG]):- atom(G),!,G1=..[G,self],GG=..[SS,top,self,[G1]]. 467to_ssify1(Hints,SS,G,[GG]):- ( \+ compound(G)),!,GG=..[SS,top,self,[beliefsTrue(self,G)]]. 468to_ssify1(Hints,_,goal(S,X,L),[goal(S,X,L)]):-!. 469to_ssify1(Hints,SS,[GH|GT],GG):- !,to_ssify0(Hints,SS,GH,L1),to_ssify0(Hints,SS,GT,L2),append(L1,L2,GG). 470to_ssify1(Hints,SS,ss(S,X,L),GG):- !, (length(L,1)->GG=[ss(S,X,L)];(append(Hints,L,NewHints),to_ssify0(NewHints,SS,L,GG))). 471to_ssify1(Hints,SS,se(S,X,L),GG):- !, (length(L,1)->GG=[se(S,X,L)];(append(Hints,L,NewHints),to_ssify0(NewHints,SS,L,GG))). 472to_ssify1(Hints,SS,scL(S,X,L),GG):- !, append(Hints,[is_of_sort(X,S)|L],NewHints),to_ssify0(NewHints,scL,L,GG). 473to_ssify1(Hints,SS,scR(S,X,L),GG):- !, append(Hints,[is_of_sort(X,S)|L],NewHints),to_ssify0(NewHints,scR,L,GG). 474to_ssify1(Hints,SS,sc(S,X,Neg=>Pos),GG):-!, 475 must_det_l(( to_ssify0(Hints,SS,scL(S,X,Neg),L1),to_ssify0(Hints,SS,scR(S,X,Pos),L2), 476 append(L1,L2,GG))). 477to_ssify1(Hints,SS,G,[GG]):-get_instance(G,X),must_det_l((get_one_isa(S,X,Hints),GG=..[SS,S,X,[G]])). 478 479merge_ss2s([],[]). 480merge_ss2s([G1,G2|GG],GGG):- must(\+ is_list(G1)), 481 once(must_det_l((G1=..[SS1,S1,Obj1,L1],G2=..[SS2,S2,Obj2,L2]))),Obj1==Obj2, 482 merge_ss(SS1,S1,Obj1,L1,SS2,S2,Obj2,L2,G),merge_ss2s([G|GG],GGG),!. 483merge_ss2s([G|GG],[G|GGG]):- 484 merge_ss2s(GG,GGG). 485 486 487need_ss_swap(scR,scL). 488need_ss_swap(scR,sc). 489need_ss_swap(scL,sc). 490merge_ss(SS1,S1,Obj1,L1,SS2,S2,Obj2,L2,G):- need_ss_swap(SS1,SS2),!,merge_ss(SS2,S2,Obj2,L2,SS1,S1,Obj1,L1,G). 491 492merge_ss(scL,S1,Obj1,L1,scR,S2,_Obj2,L2,sc(S1,Obj1,L1=>L2)):-!. 493merge_ss(sc,S1,Obj1,[L=>R],scL,S2,_Obj2,[L2],sc(S1,Obj1,LL=>R)):-append(L,L2,LL). 494merge_ss(sc,S1,Obj1,[L=>R],scR,S2,_Obj2,[L2],sc(S1,Obj1,L=>RR)):-append(R,L2,RR). 495merge_ss(sc,S1,Obj1,[L1=>R1],sc,S2,_Obj2,[L2=>R2],sc(S1,Obj1,LL=>RR)):-append(L1,L2,LL),append(R1,R2,RR). 496%merge_ss(SS1,S1,Obj1,L1,SS2,S2,Obj2,L2,G):- SS1\==SS2,!,fail. 497merge_ss(SS,S1,Obj1,L1,SS,S1,Obj2,L2,G):-append(L1,L2,LL),G=..[SS,S1,Obj1,LL]. 498 499 500init_locol_planner_interface(G,I,Node):- 501 locally(t_l:db_spy, 502 init_locol_planner_interface0(G,I,Node)). 503 504assert_itital_state(I0):- is_list(I0),!, must_maplist(assert_itital_state,I0),!. 505assert_itital_state(sc(S,X,List)):- !,must(assert_itital_state(List)),must(assert_itital_state(is_of_sort(X,S))),!. 506assert_itital_state(ss(S,X,List)):- !,must(assert_itital_state(List)),must(assert_itital_state(is_of_sort(X,S))),!. 507assert_itital_state(is_of_sort(X,S)):- ground(X:S),env_assert(is_of_sort(X,S)). 508assert_itital_state(I0):- env_assert(initial_state(I0)). 509 510get_inital_state_preds0(G,[]):- (\+compound(G)),!. 511get_inital_state_preds0([],[]):-!. 512get_inital_state_preds0([G1|G2],L):- !,get_inital_state_preds0(G1,L1),get_inital_state_preds0(G2,L2),append(L1,L2,L). 513get_inital_state_preds0(ss(_,_,G),L):- !,get_inital_state_preds0(G,L). 514get_inital_state_preds0(sc(_,_,G),L):- !,get_inital_state_preds0(G,L). 515get_inital_state_preds0(se(_,_,G),L):- !,get_inital_state_preds0(G,L). 516get_inital_state_preds0(G,L):- G=..[F,_,_|GL], arg(_,v(ss,sc,se),F),!,get_inital_state_preds0(GL,L). 517get_inital_state_preds0(G,L):- G=..[F,_|GL], arg(_,v(operator,method,substate_classes,se),F),!,get_inital_state_preds0(GL,L). 518get_inital_state_preds0(G,L):- G=..[F|GL], arg(_,v(goal,initial_state,implied_invariant,inconsistent_constraint,(=>),achieve,predicates),F),!,get_inital_state_preds0(GL,L). 519get_inital_state_preds0(G,[F/A]):-functor(G,F,A). 520 521get_inital_state_preds(Hints,L):- 522 findall(G1, 523 (member(F/A,[initial_state/1,operator/4,method/6,substate_classes/3, 524 predicates/1,implied_invariant/2,inconsistent_constraint/1]), 525 functor(G1,F,A), 526 env_call(G1)),LS), 527 get_inital_state_preds0([Hints|LS],UL),list_to_set(UL,L). 528 529 530env_call_if_defined(P):-catch((env_call P),_,fail). 531 532get_inital_state(G,I0):- 533 get_inital_state_preds(G,SP), 534 findall(S,(member(F/A,SP),functor(S,F,A),(if_defined(S,if_defined(ocl:S));env_call(initial_state(S)))),EL), 535 must(to_ssify(EL,ss,EL,I0)). 536 537 538:-export(init_locol_planner_interface0/3). 539 540% init_locol_planner_interface0(G0,I0,Node):-!,init_locol_planner_interface2(G0,I0,Node). 541init_locol_planner_interface0(G0,I0,Node):- 542 must_maplist(assert_itital_state,I0), 543 must(init_locol_planner_interface1(G0,Node)). 544 545init_locol_planner_interface1(G0,Node):- 546 must_det_l((get_inital_state(G0,I0),init_locol_planner_interface2(G0,I0,Node))). 547 548init_locol_planner_interface2(G0,I0,Node):- 549 must_det_l(( 550 flatten([G0,I0],Hints), 551 to_ssify(Hints,se,G0,G), 552 to_ssify(Hints,ss,I0,I), 553 wdmsg((goals:-G)), 554 wdmsg((input:-I)), 555 556 change_obj_list(I), 557 ground_op, 558 assert_is_of_sort, 559 change_op_representation, 560 prim_substate_class, 561 set_op_num(0), 562 statistics_runtime(Time), 563 statistics_walltime(_), 564 write_out_test_data('.setup',Id), 565 ignore(retract(my_stats(_))), 566 assert(my_stats(Time)), 567 make_problem_into_node(I, G, Node))),!. 568 569 570show_time(must(Call)):-!, functor(Call,F,A), time(must(Call)),format('~N% ~q~n',[previous_statistics_for(F/A)]). 571show_time(Call):- functor(Call,F,A), time(Call),format('~N% ~q~n',[previous_statistics_for(F/A)]). 572 573planner_interface0(G,I, SOLN,OPNUM,TNList):- 574 gripe_time(2.0,show_time(must(init_locol_planner_interface(G,I,Node)))), 575 env_assert(Node),!, 576 dmsg(solving_for(G)),!, 577 start_solve(SOLN,OPNUM,TNList). 578 579 580planner_interface(G,I, SOLN,OPNUM,TNList):- 581 (planner_interface0(G,I, SOLN,OPNUM,TNList) 582 *-> true ; 583 (tell(user),nl,write('failure in initial node'), 584 planner_failure('failure in initial node',planner_interface(G,I, SOLN,NODES,TNList)),!)). 585 586/******************** Nodes *******************/ 587% node(Name, Precond ,Decomps, Temp, Statics) 588% Initial Node: node(root, Init, Decomps, Temp, Statics) 589 590 591getN_name(node(Name, _, _, _,_), Name). 592getN_pre(node(_,Pre, _, _, _), Pre). 593getN_decomp(node(_, _, Decomp,_,_), Decomp). 594getH_temp(node(_, _, _,Temps, _), Temps). 595getN_statics(node(_,_,_,_,Statics), Statics). 596 597%Ron 21/9/01 - Try to give a closedown method 598start_solve(SOLN,OPNUM,_):- 599 kill_file(Kill), 600 exists_file(Kill), 601% write('Found kill file'),nl. 602 !,fail. 603 604start_solve(Sol,OPNUM,TNList):- 605 env_retract(final_node(Node)), 606 env_retractall(current_num(_,_)), 607 getN_statics(Node,Statics), 608 statics_consist(Statics), 609 extract_solution(Node,Sol,SIZE,TNList), 610 statistics_runtime(CP), 611 statistics_walltime(TIM), 612 tell(user), 613 flag(op_num,OPNUM,0), 614 nl, nl, 615 write('CPU Time = '),write(CP),nl, 616 write('WALL Time = '),write(TIM), 617 write(' SECONDS'),nl, 618 write('Solution SIZE = '),write(SIZE),nl, 619 write('Operator Used = '),write(OPNUM),nl, 620 write('***************************************'), 621 assert(time_taken(CP)), 622 assert(soln_size(SIZE)), 623 env_retractall(tn(_,_,_,_,_,_)), 624 !. 625start_solve(Sol,OPNUM,TNList):-start_solve0(Sol,OPNUM,TNList)*->true;start_solve1(Sol,OPNUM,TNList). 626 627start_solve0(Sol,OPNUM,TNList):- 628 select_node(Node), 629% nl,write('processing '),write(Node),nl, 630 % expand/prove its hps 631 process_node(Node), 632 start_solve(Sol,OPNUM,TNList). 633 634start_solve1(Sol,OPNUM,TNList):- solve_failed(Sol,OPNUM,TNList). 635 636solve_failed(Sol,OPNUM,TNList):- 637 tell(user), write('+++ task FAILED +++'), 638 planner_failure('+++ task FAILED +++',start_solve(Sol,OPNUM,TNList)), 639 % listing(in_dyn/2), 640 clean_problem. 641 642 643 644/******************************** MAIN LOOP **********/ 645 646% expand a node.. 647process_node(Node) :- 648 getN_name(Node, Name), 649 getN_pre(Node, Pre), 650 getN_decomp(Node, Dec), 651 getH_temp(Node, Temps), 652 getN_statics(Node, Statics), 653 expand_decomp(Dec,Pre,Post,Temps,Temp1,Statics,Statics1,Dec1), 654 statics_consist(Statics), 655 assert_node(Name,Pre,Dec1,Temp1,Statics1). 656 657assert_node(Name,Pre,Decomp,Temp,Statics):- 658 all_HP_expanded(Decomp), 659 env_assert(final_node(node(Name,Pre,Decomp,Temp,Statics))),!. 660assert_node(Name,Pre,Dec,Temp,Statics):- 661 gensym_special(root,SYM), 662 env_assert(node(SYM,Pre,Dec,Temp,Statics)),!. 663 664all_HP_expanded([]):-!. 665all_HP_expanded([step(HPid,Name,_,_,exp(TN))|THPS]):- 666 all_HP_expanded(THPS),!. 667 668/************ expand every step in Dec *********************/ 669% expand_decomp(Dec,Pre,Post,Temps,Temp1,Statics,Statics1,Dec1) 670% Pre and Post here is the current ground states changes 671% starts from Initial states to final ground states 672% 0. end, Post is the final ground states 673expand_decomp([],Post,Post,Temp,Temp,Statics,Statics,[]):-!. 674 675% 1. if the step has expand already, get the state change, go to next 676expand_decomp([step(HPid,Name,Pre0,Post0,exp(TN))|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre,State,exp(TN))|Decomp1]):- 677 state_achieved(Pre0,Pre), 678 state_change(Pre,Pre0,Post0,State), 679 statics_consist(Statics), 680 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 681 682% 2. if it is an achieve goal 683expand_decomp([step(HPid,ACH,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 684 ACH=..[achieve|_], 685 statics_consist(Statics), 686 expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post, 687 Temp,Temp1,Statics,Statics1,Decomp1),!. 688 689% 3. if HP's name and it's Pre meet an operator, return operator's name 690expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre,State,exp(Name))|Decomp1]):- 691 apply_op(Name,HPid,Name,Pre,undefd,State,Statics,Statics2), 692 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 693 694% apply operator by known its name and post state 695apply_op(Name,HPid,Name,Pre,Post,State,Statics,Statics1):- 696 env_call operatorC(Name,Pre0,Post0,Cond,Statics0), 697 statics_append(Statics0,Statics,Statics2), 698 state_achieved(Pre,Pre0,Statics2), 699 state_change(Pre,Pre0,Post0,State2), 700 cond_state_change(State2,Cond,State), 701 all_achieved(Post,Statics2,State), 702 remove_unneed(Statics2,[],Statics1), 703 statics_consist_instance(Statics1), 704 statics_consist_instance(Statics0), 705 incr_op_num,!. 706 707% 4. if HP's name meet an method, and it's precondition achieved 708% expand it and make it to that TNs 709expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre,State,exp(TN))|Decomp1]):- 710 apply_method(TN,HPid,Name,Pre,undefd,State,Statics,Statics2), 711 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 712 713% apply an method by its name 714apply_method(TN,HPid,Name,Pre,Post,State,Statics,Statics1):- 715 env_call methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH0),Dec0), 716 statics_append(Statics0,Statics,Statics2), 717 all_achieved(Pre0,Statics2,Pre), 718 remove_unneed(Statics2,[],Statics21), 719 make_dec1(HPid,Pre,ACH0,Statics21,Temp0,Dec0,Temp2,Dec2), 720 expand_decomp(Dec2,Pre,State,Temp2,Temp1,Statics21,Statics1,Dec1), 721 all_achieved(Post,Statics1,State), 722 incr_op_num, 723 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 724 725% 5. get another step which matchs and not after it before it to give a try 726expand_decomp([step(HP,N,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 727 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 728 HP,Temp,Temp2,Decomp,Decomp2), 729 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HP,N,Pre0,Post0,unexp)|Decomp2], 730 Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 731 732% 6. all failed, expanding failed 733/************ end of expand_decomp *********************/ 734 735% get another step which is not after it before it 736get_another_step(A,Pre,Statics,HP,Temp,Temp1,[],Dec2):-fail. 737get_another_step(step(HP2,Name2,Pre2,Post2,Exp),Pre,Statics,HP,Temp,[before(HP2,HP)|Temp],Dec,Dec2):- 738 member(step(HP2,Name2,Pre2,Post2,Exp),Dec), 739 not(necessarily_before(HP,HP2, Temp)), 740 state_achieved(Pre2,Pre,Statics), 741 list_take(Dec,[step(HP2,Name2,Pre2,Post2,Exp)],Dec2). 742 743% ***********expand the achieve goal*********** 744% 1.if the ACH is achieved already 745% remove it from decomposion and do the next 746expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 747 state_achieved(Post0,Pre), 748% nl,write('step '),write(HPid), 749% write('is already achieved'),nl, 750 remove_temp(Temp,HPid,Temp,Temp2), 751 expand_decomp(Decomp,Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1),!. 752 753% 2.do expanding achieve goal 754expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,ACH,Pre,Post0,exp(TN))|Decomp1]):- 755 expand_ach_goal(HPid,TN,ACH,Pre,Post0,State,Statics,Statics2), 756 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 757 758% 3. get another step which matchs and not after it before it to give a try 759expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,ACH,Pre,Post0,exp(TN))|Decomp1]):- 760 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 761 HP,Temp,Temp2,Decomp,Decomp2), 762 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HPid,ACH,Pre,Post0,unexp)|Decomp2], Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 763 764% 4. all failed, expanding failed 765/************ end of expand_decomp_ach *********************/ 766 767%************ expand an achive goal *********************/ 768% 1. directly achieve goal's Pre and Post by operator,method or tn 769expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 770 direct_expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1),!. 771 772% 2. else, nothing directly can achieve HP's Pre and Post 773% env_assert a temporely node for forward search 774% tp_node(TPid,Pre,Statics,from(Parentid),Score,Steps) 775expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 776 make_tpnodes(Pre,Post,Statics), 777% tell(user), 778 fwsearch(TN,State), 779% told, 780% all_achieved(Post,Statics1,State), 781 clean_temp_nodes. 782 783% 3. else, fail expand 784/************ end of expand_ach_goal *********************/ 785 786% -------direct expand an achieve goal----------------------- 787%1. if an achieve action meets an TN Pre and post 788direct_expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics):- 789 apply_tn(TN,HPid,ACH,Pre,Post,State,Statics,Statics). 790%2. if an action's action meets an operator Pre and post 791direct_expand_ach_goal(HPid,OP,ACH,Pre,Post,State,Statics,Statics1):- 792 dir_apply_op(OP,HPid,ACH,Pre,Post,State,Statics,Statics1). 793%3. if an achieve action meets a method's pre and post, 794% expand it and make it to that TNs 795direct_expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 796 dir_apply_method(TN,HPid,ACH,Pre,Post,State,Statics,Statics1),!. 797%4. else, failed for direct expand an achieve goal------ 798 799% apply an TN to an achieve goal that matches both pre and post conditions 800apply_tn(Tn0,HPid,ACH,Pre,Post,State,Statics,Statics):- 801 env_call(tn(Tn0,Name,Pre0,Post0,Temp0,Decomp0)), 802 state_achieved(Pre0,Pre), 803 state_change(Pre,Pre0,Post0,State), 804 all_achieved(Post,Statics,State), 805% nl,write('step '),write(HPid), 806 incr_op_num,!. 807% write('can be expand by tn '),write(Tn0),nl,!. 808 809% directly apply an operator when its Pre and Post matches 810dir_apply_op(Name,HPid,ACH,Pre,Goal,State,Statics,Statics1):- 811% ACH=..[achieve|Rest], 812 make_se_primitive(Goal,Post), 813 env_call operatorC(Name,Pre0,Post0,Cond,Statics0), 814 statics_append(Statics0,Statics,Statics2), 815 state_related(Post0,Cond,Post), 816% state_achieved(Pre,Pre0,Statics2),% can't say because not full instatiate 817 state_change(Pre,Pre0,Post0,State2), 818 cond_state_change(State2,Cond,State), 819 all_achieved(Post,Statics2,State), 820 remove_unneed(Statics2,[],Statics1), 821 statics_consist(Statics1), 822% nl,write('step '),write(HPid), 823% write('can be expand by operator '),write(Name),nl, 824 % retract(op_num_GONE(N_GONE)), 825 % N1_GONE is N_GONE+1, 826 incr_op_num,!. 827 828% apply mehtod when Pre and Post condition matchs 829dir_apply_method(TN,HPid,ACH,Pre,Goal,State,Statics,Statics1):- 830% ACH=..[achieve|Rest], 831 make_se_primitive(Goal,Post), 832 env_call methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH0),Dec0), 833 statics_append(Statics0,Statics,Statics2), 834 state_related(Post0,Post), 835% state_achieved(Pre0,Pre,Statics2), 836 state_change(Pre,Pre0,Post0,State2), 837% rough_state_change(Pre,Pre0,Post0,State2), 838 may_achieved(Post,Statics2,State2), 839% remove_unneed(Statics2,[],Statics21), 840 make_dec1(HPid,Pre,ACH0,Statics2,Temp0,Dec0,Temp2,Dec2), 841 expand_decomp(Dec2,Pre,State,Temp2,Temp1,Statics2,Statics1,Dec1), 842 all_achieved(Post,Statics1,State), 843% nl,write('step '),write(HPid), 844% write('can be expand by method '),write(Name),nl, 845 incr_op_num, 846 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 847 848% make decomposition steps when expand a method 849make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1):- 850 var(HPid), 851 gensym_special(hp,HPid), 852 make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1),!. 853make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1):- 854 all_achieved(ACH,Statics,Pre), 855 make_dec01(HPid,1,Dec,Dec1), 856 change_temp(HPid,Temp,[],Temp1),!. 857make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,[before(STID0,STID1)|Temp1],[step(STID0,achieve(ACH),Pre,ACH,unexp)|Dec1]):- 858 gensym_num(HPid,0,STID0), 859 gensym_num(HPid,1,STID1), 860 make_dec01(HPid,1,Dec,Dec1), 861 change_temp(HPid,Temp,[],Temp1),!. 862 863make_dec01(HPid,_,[],[]):-!. 864make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 865 env_call operatorC(HDec,_,_,_,_), 866 gensym_num(HPid,Num,STID), 867 Num1 is Num + 1, 868 make_dec01(HPid,Num1,TDec,TDec0). 869make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 870 env_call methodC(HDec,_,_,_,_,_,_), 871 gensym_num(HPid,Num,STID), 872 Num1 is Num + 1, 873 make_dec01(HPid,Num1,TDec,TDec0). 874 875change_temp(HPid,[],Temp2,Temp2):-!. 876change_temp(HPid,[before(N1,N2)|Temp],Temp2,[before(ST1,ST2)|Temp0]):- 877 gensym_num(HPid,N1,ST1), 878 gensym_num(HPid,N2,ST2), 879 change_temp(HPid,Temp,Temp2,Temp0),!. 880% --------------------end of dir_apply_method/8--------------------- 881/************ end of direct_expand_ach_goal *********************/ 882 883% ----------------forward searching-------------- 884% make tp_node(TPID, Pre,Statics,from(Parent),Score,Steps) 885make_tpnodes(Pre,Post, Statics):- 886 flag(opCounter,Num,Num), 887 Num>=1000, 888 env_retractall(tp_goal(_,_,_)), 889 env_retractall(related_op(_,_)), 890 env_assert(tp_goal(Pre,Post,Statics)), 891 env_assert(tp_node(init,Pre,Statics,from(init),0,[])),!. 892 893make_tpnodes(Pre,Post, Statics):- 894 env_retractall(tp_goal(_,_,_)), 895 env_retractall(related_op(_,_)), 896 env_assert(tp_goal(Pre,Post,Statics)), 897 assert_goal_related_init(Pre,Post,Statics), 898 env_assert(op_score(goal,0)), 899 find_all_related_goals(Pre,Statics,1,N), 900% find_all_related_op, 901 env_assert(tp_node(init,Pre,Statics,from(init),0,[])),!. 902 903%tp_node(TP,Pre,Statics,from(Parent),Score,Steps) 904 905 906 907% forward search for operators can't directly solved 908 909fwsearch(TN,State):- fwsearch0(fwsearch,1000, TN,State). 910% fwsearch(TN,State):- fwsearch0(fwsearch,600, TN,State). 911 912 913fwsearch0(Caller, D, TN,State):-fwsearch0_0(Caller, D, TN,State). 914 915fwsearch0_0(_,_, TN,State):- 916 env_retract(solved_node(_,step(HP,Name,Pre,State,exp(TN)))). 917fwsearch0_0(_Caller, D, TN,State):- 918 var(TN),var(State),!, 919 D > 4, D2 is D-4, 920 fwsearch1(var_fwsearch0, D2, TN,State). 921fwsearch0_0(_Caller, D, TN,State):- 922 D > 0, D2 is D-1, 923 fwsearch1(fwsearch0, D2, TN,State). 924 925fwsearch1(_Caller, D, TN,State):- 926 select_tnode(tp_node(TP,Pre,Statics,from(PR),Score,Steps)), 927 env_assert(closed_node(TP,Pre,Statics,from(PR),Score,Steps)), 928 expand_node(TP,OP,Statics,Statics1,Pre,Post,from(PR),Steps,Steps1), 929 assert_tnode(TP,OP,PR,Score1,Post,Statics1,Steps1), 930 env_call solved_node(_,_),%expand every possible way until find solution 931 fwsearch0(fwsearch1, D, TN,State). 932fwsearch1(_Caller, D ,TN,State):- 933 env_call(tp_node(TP,Pre,Statics,from(PR),Score,Steps)), 934 fwsearch0(tp_node, D ,TN,State). 935 936 937 938clean_temp_nodes_was_wrong:- 939 % env_retractall(related_op(_)), 940 env_retractall(related_op(_,_)), 941 % env_retractall(tp_goal(_,_)), 942 env_retractall(tp_goal(_,_,_)),!. 943 944clean_temp_nodes:- 945 clean_temp_nodes_was_wrong, 946 env_retractall(goal_related(_,_,_)), 947 env_retractall(goal_related_search(_)), 948 env_retractall(op_score(_,_)), 949 env_retractall(solved_node(_,_)), 950 env_retractall(current_num(tp,_)), 951 env_retractall(tp_node(_,_,_,_,_,_)), 952 953 954 env_retractall(closed_node(_,_,_,_,_,_)),!. 955 956% expand all way possible to achieve the Post 957% if Post is achieved by Pre, finish 958expand_node(TP,done,Statics,Statics,Pre,Pre,from(PR),List,List):- 959 env_call tp_goal(_,Goal,_), 960 state_achieved(Goal,Pre,Statics),!. 961expand_node(TP,TN,Statics,Statics1,Pre,State,from(PR),List,List1):- 962 expand_node1(TN,Statics,Statics1,Pre,State,from(PR),List,List1). 963 964% check the Post can be solved by direct expand (Operator or Method) 965expand_node1(TN,Statics,Statics1,Pre,State,from(PR),List,List1):- 966 env_call tp_goal(_,Goal,_), 967 direct_expand(HP,TN,achieve(Goal),Pre,Goal,State,Statics,Statics1), 968% gensym_special(hp,HP), 969 append_dcut(List,[step(HP,achieve(Goal),Pre,State,exp(TN))],List1),!. 970% -------direct expand ----------------------- 971% if the goal canbe achieved by a method's pre and post, 972% expand it and make it to that TNs 973direct_expand(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 974 dir_apply_method(TN,HPid,ACH,Pre,Post,State,Statics,Statics1),!. 975 976% search forwards use ground operators only 977expand_node1(ID,Statics,Statics,Pre,State,from(PR),List,List1):- 978 find_related_op(Pre,[],OPls), 979 member(ID,OPls), 980 env_call gOperator(ID,_,OP), 981 apply_ground_op(OP,Pre,State,List,List1). 982expand_node1(OP,Statics,Statics1,Pre,State,from(PR),List,List1):- 983 not(env_call goal_related(_,_,_)), 984 env_call operatorC(OP,Pre0,Post0,Cond,ST), 985 apply_unground_op(OP,Pre0,Post0,Cond,ST,Statics,Statics1,Pre,State,List,List1). 986 987apply_ground_op(operator(OP,Prev,Nec,Cond),Pre,State,List,List1):- 988 state_achieved(Prev,Pre), 989 nec_state_change(Pre,Nec,State2), 990 cond_state_change(State2,Cond,State), 991 gensym_special(hp,HP), 992 append_dcut(List,[step(HP,OP,Pre,State,exp(OP))],List1), 993 incr_op_num,!. 994 995apply_unground_op(OP,Pre0,Post0,Cond,ST,Statics,Statics1,Pre,State,List,List1):- 996 statics_append(ST,Statics,Statics2), 997 state_achieved(Pre0,Pre,Statics2), 998 state_change(Pre,Pre0,Post0,State2), 999 cond_state_change(State2,Cond,State), 1000 statics_consist_instance(ST), 1001 remove_unneed(Statics2,[],Statics1), 1002 gensym_special(hp,HP), 1003 append_dcut(List,[step(HP,OP,Pre,State,exp(OP))],List1), 1004 incr_op_num. 1005 1006find_related_op([],Ops1,Ops):- 1007 remove_dup(Ops1,[],Ops),!. 1008find_related_op([Head|Pre],List,Ops):- 1009 setof(OPls,Head^Level^env_call(goal_related(Head,OPls,Level)),OPs0), 1010 flatten(OPs0,[],OPs1), 1011 append_dcut(List,OPs1,List1), 1012 find_related_op(Pre,List1,Ops),!. 1013find_related_op([Head|Pre],List,Ops):- 1014 find_related_op(Pre,List,Ops),!. 1015 1016 1017 1018% select_tnode(LowestScoredTNode) :- gvar_list(tnodeSORTED,retract,LowestScoredTNode),!. 1019/* 1020select_tnode(IncomingScoredNode) :- 1021 IncomingScoredNode = tp_node(TPid,Pre,Statics,Parents,Score,Dec), 1022 random_tnode_FREE, 1023 ignore(( 1024 env_call(tp_node(HPid,Pre,Statics,Parents,LScore,Dec)), 1025 nb_getval(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), 1026 LScore < SScore, nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1027 fail)), 1028 nb_getval(tnodeLOWEST,LowestScoredTNode), 1029 env_retract(LowestScoredTNode),!, 1030 must(IncomingScoredNode=LowestScoredTNode), 1031*/ 1032/* 1033select_tnode(tp_node(TPid,Pre,Statics,Parents,Score,Dec)) :- 1034 random_tnode_FREE, 1035 ignore((( 1036 env_call(tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1037 nb_getval(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), 1038 Score < SScore, 1039 nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)),fail))), 1040 1041 nb_getval(tnodeLOWEST,tp_node(TPid,Pre,Statics,Parents,Score,Dec)), 1042 env_retract(tp_node(TPid,Pre,Statics,Parents,Score,Dec)),!, 1043 random_tnode_FORCED. 1044% tell(user),nl,write('new level'),nl,told,!. 1045*/ 1046 1047select_tnode(tp_node(TPid,Pre,Statics,Parents,Score,Dec)) :- 1048 lowest_tnode_FORCED, 1049 nb_getval(tnodeLOWEST,tp_node(TPid,Pre,Statics,Parents,Score,Dec)), 1050 env_retract(tp_node(TPid,Pre,Statics,Parents,Score,Dec)),!, 1051 nb_delete(tnodeLOWEST). 1052% tell(user),nl,write('new level'),nl,told,!. 1053 1054random_tnode_FREE :- nb_current(tnodeLOWEST,_)->true;random_tnode_FORCED. 1055 1056random_tnode_FORCED:- 1057 env_call(tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1058 nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)),!. 1059 1060lowest_tnode_FORCED:- 1061 random_tnode_FORCED, 1062 ignore((( 1063 nb_getval(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), 1064 env_call(tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1065 Score < SScore, 1066 nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1067 fail))). 1068 1069 1070% env_assert assert_tnode(TP,OP,PR,Score,Post,Statics1,Steps1), 1071%if goal achieved, assert solved_node 1072assert_tnode(TP,OP,PR,Score,Post,Statics,[]):-!. 1073assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1074 env_call tp_goal(Pre,Goal,Statics1), 1075 state_achieved(Goal,Post,Statics), 1076 combine_exp_steps(Post,Steps,OneStep), 1077 env_assert(solved_node(Statics,OneStep)),!. 1078assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1079 existing_node(Post,Statics),!. 1080assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1081 get_score(PR,Post,Steps,Score), 1082% op_score(OP,SS), 1083% Score is Score1-SS, 1084 gensym_special(tp,TP1), 1085% write(TP1),nl, 1086% write(Steps),nl, 1087 env_assert(tp_node(TP1,Post,Statics,from(TP),Score,Steps)),!. 1088 1089 1090 1091assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1092 get_score(PR,Post,Steps,Score), 1093% op_score(OP,SS), 1094% Score is Score1-SS, 1095 gensym_special(tp,TP1), 1096% write(TP1),nl, 1097% write(Steps),nl, 1098 TNODEFULL = tp_node(TP1,Post,Statics,from(TP),Score,Steps), 1099 ((nb_current(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), Score < SScore) 1100 -> 1101 true; 1102 (nb_setval(tnodeLOWEST,TNODEFULL), 1103 env_shadow(asserta,TNODEFULL))),!, 1104 assert_tnode_into_sorted_list(Score,Post,TNODEFULL). 1105 1106assert_tnode_into_sorted_list(Score,Post,TNODEFULL):- 1107 (nb_getval(tnodeSORTED,NODES) -> 1108 (NODES = [] -> 1109 nb_setval(tnodeSORTED,[TNODEFULL]); 1110 (( 1111 [FrontNode|RightNodes] = NODES, 1112 must(FrontNode = tp_node(_,FPost,_,_,FScore,_)), 1113 (Post == FPost -> true ; 1114 ((FScore > Score) 1115 -> nb_setval(tnodeSORTED,[TNODEFULL|NODES]) ; 1116 insert_to_list(Score,Post,TNODEFULL,RightNodes,NODES)))))); 1117 1118 nb_setval(tnodeSORTED,[TNODEFULL])). 1119 1120 1121insert_to_list(_,_,TNODEFULL,[],NODES):-nb_setarg(2,NODES,[TNODEFULL]),!. 1122insert_to_list(Score,Post,TNODEFULL,AllNodes,NODES):- 1123 AllNodes = [FrontNode|RightNodes], 1124 FrontNode = tp_node(_,FPost,_,_,FScore,_),!, 1125 (Post = FPost -> true ; 1126 ((FScore > Score) -> ( env_asserta(TNODEFULL),nb_setarg(2,NODES,[TNODEFULL|AllNodes])) ; 1127 (insert_to_list(Score,Post,TNODEFULL,RightNodes,AllNodes)))). 1128insert_to_list(Score,Post,TNODEFULL,AllNodes,NODES):- 1129 AllNodes = [_|RightNodes], 1130 insert_to_list(Score,Post,TNODEFULL,RightNodes,AllNodes). 1131 1132 1133combine_exp_steps(Post,Steps,step(HP,achieve(Goal),Pre,Post,exp(TN))):- 1134 env_call tp_goal(Pre,Goal,Statics), 1135 get_action_list(Steps,[],ACTls), 1136 make_temp(ACTls,[],Temp), 1137 gensym_special(hp,HP), 1138 make_tn(TN,achieve(Goal),Pre,Post,Temp,Steps),!. 1139 1140% get the temperal from an ordered steps 1141get_action_list([],ACTls,ACTls):-!. 1142get_action_list([step(HP,_,_,_,_)|Steps],List,ACTls):- 1143 append_dcut(List,[HP],List1), 1144 get_action_list(Steps,List1,ACTls),!. 1145 1146make_temp([HP|[]],Temp,Temp):-!. 1147make_temp([HP1|[HP2|Rest]],List,Temp):- 1148 append_dcut(List,[before(HP1,HP2)],List1), 1149 make_temp([HP2|Rest],List,Temp),!. 1150 1151existing_node(Post,_Statics):- 1152 env_call(tp_node(_,Post,_,_,_,_)). 1153existing_node(Post,_Statics):- 1154 env_call closed_node(_,Post,_,_,_,_). 1155% ------------------related goals------------------ 1156 1157assert_goal_related_init(Pre,[],Statics):-!. 1158%assert_goal_related_init(Pre,[se(Sort,Obj,SE)|Post],Statics):- 1159% state_achieved([se(Sort,Obj,SE)],Pre,Statics),!. 1160 1161 1162assert_goal_related_init(Pre,[se(Sort,Obj,SE)|Post],Statics):- 1163 ground(Obj), 1164 env_call is_of_primitive_sort(Obj,SortP), 1165 env_assert(goal_related(se(SortP,Obj,SE),[],0)), 1166 assert_goal_related_init(Pre,Post,Statics),!. 1167assert_goal_related_init(Pre,[se(Sort,Obj,SE)|Post],Statics):- 1168 assert_related_goals_varible(Sort,Obj,SE,goal,0), 1169 assert_goal_related_init(Pre,Post,Statics),!. 1170 1171% find_all_related_goals: backward search 1172% until all preconditions have found 1173find_all_related_goals(Pre,Statics,N,N):- 1174 get_all_state(States), 1175 all_found(States,Pre,Statics), 1176 env_assert(goal_related_search(succ)), 1177 find_all_related_goals_final(Statics,N),!. 1178find_all_related_goals(Pre,Statics,I,N):- 1179 I1 is I-1, 1180 env_call goal_related(_,_,I1), 1181 find_related_goal(Statics,I1,I), 1182 I2 is I+1, 1183 Key is random(10), 1184 find_all_related_goals(Pre,Statics,I2,N),!. 1185find_all_related_goals(Pre,Statics,N,N):- 1186 not(env_call goal_related(_,_,N)), 1187 env_assert(goal_related_search(fail)), 1188 write('related goal search failed'), 1189 env_retractall(goal_related(_,_,_)),!. 1190 %fail to find out, don't search any more 1191 % fwsearch use all the ground ops. 1192 1193 1194% final find the actions to recover initial states: 1195% in case the initial states was deleted by other actions 1196find_all_related_goals_final(Statics,N):- 1197 N1 is N-1, 1198 env_call goal_related(Pre,_,N1), 1199 find_related_goal(Statics,N1,N),!. 1200find_all_related_goals_final(Statics,N):-!. 1201 1202% get all the found goal related states 1203get_all_state(States):- 1204 setof(Goal, Statics^Level^OP^(env_call goal_related(Goal,OP,Level)),States11), 1205 put_one_obj_together(States11,[],States),!. 1206 1207put_one_obj_together([],States,States):-!. 1208put_one_obj_together([se(Sort,Obj,ST)|States1],List,States):- 1209 put_one_obj_together1(se(Sort,Obj,ST),List,List1), 1210 put_one_obj_together(States1,List1,States),!. 1211 1212put_one_obj_together1(se(Sort,Obj,ST),[],[se(Sort,Obj,ST)]):-!. 1213put_one_obj_together1(se(Sort,Obj,ST),[se(Sort,Obj,ST00)|List],[se(Sort,Obj,ST1)|List]):- 1214 set_append_e(ST,ST00,ST1),!. 1215put_one_obj_together1(se(Sort,Obj,ST),[se(Sort1,Obj1,ST1)|List],[se(Sort1,Obj1,ST1)|List1]):- 1216 Obj\==Obj1, 1217 put_one_obj_together1(se(Sort,Obj,ST),List,List1),!. 1218 1219% all the Precondition states in backward search can reach initial states 1220all_found([],States,Statics):-!. 1221all_found([se(Sort,Obj,ST)|States],Pre,Statics):- 1222 member(se(Sort,Obj,SPre),Pre), 1223 subtract(SPre,ST,Diff), 1224 isemptylist(Diff), 1225 all_found(States,Pre,Statics),!. 1226% find all the states that can achieve the goal state 1227% separete ground operators to related-op and unrelated op 1228find_related_goal(Statics,I1,I):- 1229 env_call gOperator(OPID,ID,operator(Name,Prev,Nec,Cond)), 1230 find_related_goal_nec(OPID,Name,Prev,Nec,Statics,I1,I), 1231 find_related_goal_cond(OPID,Name,Prev,Nec,Cond,Statics,I1,I), 1232 fail. 1233find_related_goal(Statics,I1,I). 1234 1235find_related_goal_nec(ID,Name,Prev,Nec,Statics,I1,I):- 1236 env_call goal_related(se(Sort,Obj,SE),Ops,I1), 1237 member(sc(Sort,Obj,Lhs=>Rhs),Nec), 1238 state_match(Sort,Obj,SE,Rhs), 1239 statics_consist(Statics), 1240% assert_op_score(ID,OPs), 1241 assert_goal_related(Prev,Nec,ID,I). 1242 1243find_related_goal_cond(ID,Name,Prev,Nec,[],Statics,I1,I):- 1244 !. 1245find_related_goal_cond(ID,Name,Prev,Nec,Cond,Statics,I1,I):- 1246 env_call goal_related(se(Sort,Obj,SE),Ops,I1), 1247 member(sc(Sort0,Obj,LHS=>RHS),Cond), 1248 env_call is_of_sort(Obj,Sort0), 1249 env_call is_of_sort(Obj,Sort),%Sort is a primitive sort changed at init 1250 filterInvars(LHS,LInVars,LIsOfSorts,LNEs,FLHS), 1251 filterInvars(RHS,RInVars,RIsOfSorts,RNEs,FRHS), 1252 can_achieve_g([se(Sort,Obj,FRHS)],[se(Sort,Obj,SE)],Statics), 1253 statics_consist(Statics), 1254 checkInVars(LInVars), 1255 checkInVars(RInVars), 1256 checkIsOfSorts(LIsOfSorts), 1257 checkIsOfSorts(RIsOfSorts), 1258 obeysNEs(LNEs), 1259 obeysNEs(RNEs), 1260% assert_op_score(ID,OPs), 1261 assert_goal_related(Prev,[sc(Sort,Obj,FLHS=>FRHS)|Nec],ID,I). 1262 1263 1264% filter out invars, is_of_sorts and nes from a state list 1265filterInvars([],[],[],[],[]):-!. 1266filterInvars([is_of_sort(A,B)|State],InVars,[is_of_sort(A,B)|IsOfSorts],NEs,FState):- 1267 !, 1268 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1269filterInvars([ne(A,B)|State],InVars,IsOfSorts,[ne(A,B)|NEs],FState):- dif(A,B), 1270 !, 1271 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1272filterInvars([is_of_primitive_sort(A,B)|State],InVars,[is_of_sort(A,B)|IsOfSorts],NEs,FState):- 1273 !, 1274 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1275filterInvars([Pred|State],[Pred|InVars],IsOfSorts,NEs,FState):- 1276 functor(Pred,FF,NN), 1277 functor(Pred1,FF,NN), 1278 env_call(atomic_invariantsC(Atom)), 1279 member(Pred1,Atom),!, 1280 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1281filterInvars([Pred|State],InVars,IsOfSorts,NEs,[Pred|FState]):- 1282 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1283 1284% filter out nes from a state list 1285filterNes([],[],[]):-!. 1286filterNes([ne(A,B)|State],[ne(A,B)|NEs],FState):- dif:dif(A,B), 1287 !, 1288 filterNes(State,NEs,FState). 1289filterNes([Pred|State],NEs,[Pred|FState]):- 1290 filterNes(State,NEs,FState). 1291 1292assert_related_op(OP,I):- 1293 env_call related_op(OP,_),!. 1294assert_related_op(OP,I):- 1295 env_asserta(related_op(OP,I)),!. 1296 1297% State2 can be achieved by State1 1298can_achieve_g([],State2,Statics):-!. 1299can_achieve_g(State1,State2,Statics):- 1300 can_achieve_g(State1,State2), 1301 statics_consist(Statics). 1302 1303can_achieve_g([se(Sort,Obj,ST1)|State1],[se(Sort,Obj,ST2)]):- 1304 state_match(Sort,Obj,ST2,ST1). 1305can_achieve_g([Head|State1],State2):- 1306 can_achieve_g(State1,State2). 1307 1308% assert goal_related(Pre,Post,Op,DistanseFromGoal) 1309assert_goal_related(Prev,Nec,OP,I):- 1310 assert_goal_related1(Prev,OP,I),!, 1311 assert_goal_related1(Nec,OP,I). 1312 1313assert_goal_related1([],Op,I):-!. 1314assert_goal_related1([se(Sort,Obj,SE)|Prev],Op,I):- 1315 assert_goal_related2(se(Sort,Obj,SE),Op,I), 1316 assert_goal_related1(Prev,Op,I),!. 1317assert_goal_related1([sc(Sort,Obj,LH=>RH)|Nec],Op,I):- 1318 ground(Obj),%because conditional didn't ground, so the Sort maybe nonprim 1319 env_call is_of_primitive_sort(Obj,PSort),!, 1320 assert_goal_related2(se(PSort,Obj,LH),Op,I), 1321 assert_goal_related1(Nec,Op,I). 1322assert_goal_related1([sc(Sort,Obj,LH=>RH)|Nec],Op,I):- 1323 var(Obj), 1324 assert_related_goals_varible(Sort,Obj,LH,Op,I), 1325 assert_goal_related1(Nec,Op,I). 1326 1327assert_goal_related2(se(Sort,Obj,SE),goal,I):- 1328 env_assert(goal_related(se(Sort,Obj,SE),[],I)),!. 1329assert_goal_related2(se(Sort,Obj,SE),Op,I):- 1330 env_call goal_related(se(Sort,Obj,SE1),Ops,I), 1331 not(is_diff(SE,SE1)), 1332 env_retract(goal_related(se(Sort,Obj,SE),Ops,I)), 1333 env_assert(goal_related(se(Sort,Obj,SE),[Op|Ops],I)),!. 1334assert_goal_related2(se(Sort,Obj,SE),Op,I):- 1335 env_assert(goal_related(se(Sort,Obj,SE),[Op],I)),!. 1336 1337assert_related_goals_varible(Sort,Obj,SE,Op,I):- 1338 find_prim_sort(Sort,PSorts), 1339 member(Sort1,PSorts), 1340 assert_goal_related2(se(Sort1,Obj,SE),Op,I), 1341 fail. 1342assert_related_goals_varible(Sort,Obj,SE,Op,I). 1343 1344%env_assert score for Op, the further from goal, the higher the score 1345assert_op_score(OP,OPB):- 1346 env_call op_score(OP,_),!. 1347assert_op_score(OP,OPB):- 1348 env_call op_score(OPB,I), 1349 I1 is I+1, 1350 env_assert(op_score(OP,I1)),!. 1351 1352get_score(PR,Post,Steps,Score):- 1353 env_call tp_goal(Pre,Goal,Statics), 1354 get_distance(Pre,Post,Goal,0,Dis),%length from Present to Goal 1355% length(Pre,Obj_Num), 1356 get_tnode_length(PR,1,Len), 1357% Num1 is Obj_Num*Dis,%distanse the smaller the better 1358% Num2 is Obj_Num*Len1,%length of the plan the smaller the better 1359% Score is Num1+Num2,!. 1360 Score is Dis+Len,!. 1361 1362get_distance(Pre,[],Goal,Dis,Dis):-!. 1363get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1364 member(se(Sort,Obj,SE0),Goal), 1365 state_match(Sort,Obj,SE0,SE),%if it achieved goal 1366 get_distance(Pre,Post,Goal,Dis1,Dis),!. 1367get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1368 env_call goal_related(se(Sort,Obj,SE0),_,Level), 1369 state_match(Sort,Obj,SE0,SE), 1370 Dis2 is Dis1+Level, 1371 get_distance(Pre,Post,Goal,Dis2,Dis),!. 1372get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1373 member(se(Sort,Obj,SE0),Pre), 1374 state_match(Sort,Obj,SE,SE0),%if it does't change initial state 1375 Dis2 is Dis1+1, 1376 get_distance(Pre,Post,Goal,Dis2,Dis),!. 1377get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1378 Dis2 is Dis1+100, 1379 get_distance(Pre,Post,Goal,Dis2,Dis),!. 1380 1381get_tnode_length(init,Len,Len):-!. 1382get_tnode_length(TP,Len1,Len):- 1383 env_call closed_node(TP,_,_,from(PR),_,_), 1384 Len2 is Len1+1, 1385 get_tnode_length(PR,Len2,Len),!. 1386 1387 1388% the states that can achieve a state 1389% that is: 1390% for a state in the rhs of operator 1391% all the states in the lhs 1392find_relate_state:- 1393 operatorC(A,Pre,Post,Cond,ST), 1394 assert_related_states(A,Pre,Post,Cond,ST), 1395 fail. 1396find_relate_state. 1397 1398assert_related_states(A,Pre,Post,Cond,ST):- 1399 assert_related_states1(A,Pre,Post,ST), 1400 assert_related_states2(A,Pre,Cond,ST). 1401% find relate in nec 1402% the sorts here are primitive 1403assert_related_states1(A,Pre,[],ST):-!. 1404%when prev 1405assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 1406 u_mem_cut(se(Sort,Obj,SE),Pre), 1407 assert_related_states1(A,Pre,Post,ST),!. 1408%when nec 1409assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 1410 assert(produce(se(Sort,Obj,SE),A,Pre,ST)), 1411 assert_related_states1(A,Pre,Post,ST),!. 1412 1413% find relate in conditional 1414% the sorts here are not primitive 1415assert_related_states2(A,Pre,SC,ST):- 1416 make_sc_primitive(SC,PSC), 1417 assert_related_states21(A,Pre,PSC,ST). 1418 1419assert_related_states21(A,Pre,[],ST):-!. 1420assert_related_states21(A,Pre,[sc(Sort,Obj,SE=>SS)|Trans],ST):- 1421 rem_statics([se(Sort,Obj,SE)],[se(Sort,Obj,SER)],St1), 1422 rem_statics([se(Sort,Obj,SS)],[se(Sort,Obj,SSR)],St2), 1423 append_dcut(ST,St1,ST1), 1424 append_dcut(ST1,St2,ST21), 1425 remove_unneed(ST21,[],ST2), 1426 append_dcut(Pre,[se(Sort,Obj,SER)],Pre1), 1427 env_assert(produce(se(Sort,Obj,SSR),A,Pre1,ST2)), 1428 must(produce(se(Sort,Obj,SSR),A,Pre1,ST2)), 1429 assert_related_states21(A,Pre,Trans,ST),!. 1430 1431%------------------------------------------- 1432% remove HP1 from the temp list 1433% if HP1<HP2, then all HP3<HP1 => HP3<HP2 1434% if HP2<HP1, then all HP1<HP3 => HP2<HP3 1435remove_temp([],HP1,List,List):-!. 1436remove_temp([before(HP1,HP2)|Temp],HP1,List,Temp1):- 1437 remove_temp_before(List,before(HP1,HP2),List2), 1438 remove_temp(Temp,HP1,List2,Temp1),!. 1439remove_temp([before(HP2,HP1)|Temp],HP1,List,Temp1):- 1440 remove_temp_after(List,before(HP2,HP1),List2), 1441 remove_temp(Temp,HP1,List2,Temp1),!. 1442remove_temp([before(HPX,HPY)|Temp],HP1,List,Temp1):- 1443 remove_temp(Temp,HP1,List,Temp1),!. 1444 1445% if HP1<HP2, remove HP1<HP2, and change all HP3<HP1 => HP3<HP2 1446remove_temp_before([],before(HP1,HP2),[]):-!. 1447remove_temp_before([before(HP1,HP2)|T],before(HP1,HP2),T1):- 1448 remove_temp_before(T,before(HP1,HP2),T1),!. 1449remove_temp_before([before(HP3,HP1)|T],before(HP1,HP2),[before(HP3,HP2)|T1]):- 1450 remove_temp_before(T,before(HP1,HP2),T1),!. 1451remove_temp_before([before(HPX,HPY)|T],before(HP1,HP2),[before(HPX,HPY)|T1]):- 1452 remove_temp_before(T,before(HP1,HP2),T1),!. 1453% if HP2<HP1, remove HP2<HP1, and change all HP1<HP3 => HP2<HP3 1454remove_temp_after([],before(HP1,HP2),[]):-!. 1455remove_temp_after([before(HP2,HP1)|T],before(HP2,HP1),T1):- 1456 remove_temp_after(T,before(HP2,HP1),T1),!. 1457remove_temp_after([before(HP1,HP3)|T],before(HP2,HP1),[before(HP2,HP3)|T1]):- 1458 remove_temp_after(T,before(HP2,HP1),T1),!. 1459remove_temp_after([before(HPX,HPY)|T],before(HP2,HP1),[before(HPX,HPY)|T1]):- 1460 remove_temp_after(T,before(HP2,HP1),T1),!. 1461 1462remove_dec(HPid,[],[]):-!. 1463remove_dec(HPid,[step(HPid,_,_,_,_)|Dec],Dec1):- 1464 remove_dec(HPid,Dec,Dec1),!. 1465remove_dec(HPid,[step(A,B,C,D,F)|Dec],[step(A,B,C,D,F)|Dec1]):- 1466 remove_dec(HPid,Dec,Dec1),!. 1467 1468/******************************************************/ 1469% State2 is achieved by State1 1470% the two states need to be primitive 1471state_achieved(undefd,State,Statics):-!. 1472state_achieved([],State2,Statics):-!. 1473state_achieved(State1,State2,Statics):- 1474 state_achieved(State1,State2), 1475 statics_consist(Statics). 1476 1477state_achieved(undefd,State):-!. 1478state_achieved([],State2). 1479state_achieved([se(Sort,Obj,ST1)|State1],State2):- 1480 member(se(Sort,Obj,ST2),State2), 1481 env_call is_of_sort(Obj,Sort), 1482 state_match(Sort,Obj,ST1,ST2), 1483 list_take(State2,[se(Sort,Obj,ST2)],State21), 1484 state_achieved(State1,State21). 1485state_achieved([se(Sort,Obj,ST1)|State1],State2):- 1486 not(member(se(Sort,Obj,ST2),State2)), 1487 state_achieved(State1,State2),!. 1488 1489/************ states ST matchs ST1 ********/ 1490% state_match: ST is achieved by ST1 1491% ST=ST1 1492state_match(Sort,Obj,ST,ST1):- 1493 not(is_diff(ST,ST1)),!. 1494% when ST is the subset of ST1, 1495% in some domain, one substateclass is anothers's subset 1496% they cann't consider as match each other 1497% for example [on_block(a,b)] and [on_block(a,b),clear(a)] 1498state_match(Sort,Obj,ST,ST1):- 1499 is_achieved(ST,ST1), 1500 env_call(gsubstate_classes(Sort,Obj,Substateclasses)), 1501 not(in_different_states(ST,ST1,Substateclasses)),!. 1502% when ST is not the subset of ST1, 1503% in hierarchical domain, maybe one is inhiered by the upperlevel 1504state_match(Sort,Obj,ST,ST1):- 1505 not(is_achieved(ST,ST1)), 1506 set_append(ST,ST1,ST0), 1507 env_call(gsubstate_classes(Sort,Obj,Substateclasses)), 1508 in_same_sub_states(ST0,Substateclasses),!. 1509 1510% in_same_sub_states: check if ST1+ST2 in one states 1511in_same_sub_states(ST0,[State|SCls]):- 1512 is_achieved(ST0,State),!. 1513in_same_sub_states(ST0, [State|SCls]):- 1514 in_same_sub_states(ST0,SCls),!. 1515 1516% in_different_states: check if ST,ST1 in different states 1517in_different_states(ST,ST1, [State|SCls]):- 1518 max_member(ST,Substateclasses,MSub, _), 1519 max_member(ST1,Substateclasses,MSub1, _), 1520 MSub\==MSub1,!. 1521 1522max_member(State, Stateclass, MSub, Others):- 1523 max_member1(State, Stateclass, 0, [],MSub), 1524 subtract(State,MSub,Others),!. 1525 1526% find out the biggest same items 1527max_member1(State, [], Num, MSub, MSub):-!. 1528% find it out the biggest set of common items in substateclass and State 1529max_member1(State, [State1|SCls], Num, MSub1, MSub):- 1530 same_items(State1,State,MSSt), 1531 length(MSSt,Len), 1532 Len > Num, 1533 max_member1(State, SCls, Len, MSSt, MSub),!. 1534max_member1(State, [State1|SCls], Num, MSub1,MSub):- 1535 max_member1(State, SCls, Num, MSub1,MSub),!. 1536 1537% find it out the same items in two list 1538same_items([],List2,[]):-!. 1539same_items([X|List1],List2,[X|Same]):- 1540 member(X,List2), 1541 same_items(List1,List2,Same),!. 1542same_items([X|List1],List2,Same):- 1543 same_items(List1,List2,Same),!. 1544 1545 1546% all the element in list1 are static or in list2 1547is_achieved([],_):-!. 1548is_achieved([H|T], State) :- 1549 is_statics(H), 1550 is_achieved(T,State),!. 1551is_achieved([H|T], State) :- 1552 member(H,State), 1553 is_achieved(T,State),!. 1554 1555% check if a predicate is statics or not 1556is_statics(ne(A,B)):-!. 1557is_statics(is_of_sort(A,B)):-!. 1558is_statics(is_of_primitive_sort(A,B)):-!. 1559is_statics(Pred):- 1560 functor(Pred,FF,NN), 1561 functor(Pred1,FF,NN), 1562 env_call(atomic_invariantsC(Atom)), 1563 member(Pred1,Atom),!. 1564 1565/************ state changes by actions ********/ 1566% on the condition that: 1567% an object's state meet action's precondition 1568% it change to the postcondition 1569% Pre is the current ground states(Sort is primitive) 1570% Pre0 and Post0 are from an Operator or Method 1571% (Sorts are all primitive) 1572state_change([],Pre0,Post0,[]):-!. 1573state_change(Pre,[],[],Pre):-!. 1574state_change([se(Sort,Obj,SPre)|Pre],Pre0,Post0,[se(Sort,Obj,STPost)|Post]):- 1575 state_achieved([se(Sort,Obj,SPre)],Pre0), 1576 state_change0(Sort,Obj,SPre,Pre0,Post0,Pre1,Post1,STPost), 1577 state_change(Pre,Pre1,Post1,Post). 1578state_change([se(Sort,Obj,SPre)|Pre],Pre0,Post0,[se(Sort,Obj,STPost)|Post]):- 1579 not(member(se(Sort,Obj,SPre0),Pre0)), 1580 state_change(Pre,Pre1,Post1,Post). 1581 1582% change the obj's post state with action's post 1583state_change0(Sort,Obj,SPre,[],[],[],[],SPre):-!. 1584state_change0(Sort,Obj,SPre,[se(Sort,Obj,SPre0)|Pre0],[se(Sort,Obj,SPost0)|Post0],Pre0,Post0,STPost):- 1585 state_change1(SPre,SPre0,SPost0,STPost). 1586state_change0(Sort,Obj,SPre,[se(Sort1,Obj1,SPre0)|Pre0],[se(Sort1,Obj1,SPost0)|Post0],[se(Sort1,Obj1,SPre0)|Pre1],[se(Sort1,Obj1,SPost0)|Post1],STPost):- 1587 Obj\==Obj1, 1588 state_change0(Sort,Obj,SPre,Pre0,Post0,Pre1,Post1,STPost). 1589 1590state_change1([],SPre0,SPost0,SPost0):-!. 1591state_change1(Pre,[],[],Pre):-!. 1592%if the pre state in action's pre, not in post, remove that 1593state_change1([Head|SPre],SPre0,SPost0,STPost):- 1594 member(Head,SPre0), 1595 not(member(Head,SPost0)), 1596 state_change1(SPre,SPre0,SPost0,STPost). 1597% if the pre state is not action's pre, neither in post, add that 1598state_change1([Head|SPre],SPre0,SPost0,[Head|STPost]):- 1599 not(member(Head,SPre0)), 1600 not(member(Head,SPost0)), 1601 state_change1(SPre,SPre0,SPost0,STPost),!. 1602% if the pre state is in post, don't need to add 1603% because it will be add at last 1604state_change1([Head|SPre],SPre0,SPost0,STPost):- 1605 member(Head,SPost0), 1606 state_change1(SPre,SPre0,SPost0,STPost). 1607 1608% rough change the obj's post state with action's post 1609rough_state_change(Pre,[],[],Pre):-!. 1610rough_state_change([],_,_,[]):-!. 1611rough_state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SS0)|Post]):- 1612 member(se(Sort,Obj,SE0),Pre0), 1613 member(se(Sort,Obj,SS0),Post0), 1614 env_call is_of_sort(Obj,Sort), 1615 state_achieved([se(Sort,Obj,SE0)],[se(Sort,Obj,SE)]), 1616 list_take(Pre0,[se(Sort,Obj,SE0)],Pre01), 1617 list_take(Post0,[se(Sort,Obj,SS0)],Post01), 1618 rough_state_change(Pre,Pre01,Post01,Post),!. 1619rough_state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SE)|Post]):- 1620 rough_state_change(Pre,Pre0,Post0,Post),!. 1621 1622% a simple state_change for ground operators 1623state_changeG([],Pre0,Post0,[]):-!. 1624state_changeG([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,RHS)|State]):- 1625 member(se(Sort,Obj,LHS),Pre0), 1626 member(se(Sort,Obj,RHS),Post0), 1627 state_match(Sort,Obj,SE,LHS), 1628 state_changeG(Pre,Pre0,Post0,State),!. 1629state_changeG([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SE)|State]):- 1630 not(member(se(Sort,Obj,LHS),Pre0)), 1631 state_changeG(Pre,Pre0,Post0,State),!. 1632 1633find_lower_sort(Sort,Sort,Sort):-!. 1634find_lower_sort(Sort,Sort1,Sort1):- 1635 subsorts(Sort,Sortls), 1636 member(Sort1,Sortls),!. 1637find_lower_sort(Sort,Sort1,Sort):- 1638 subsorts(Sort1,Sortls), 1639 member(Sort,Sortls),!. 1640%------------------------------------------------- 1641/************ state changes by necessery changes ********/ 1642% for all the object's state meet the precondition 1643% it change to the postcondition 1644% this is only used in apply grounded operators 1645nec_state_change([],Nec,[]):-!. 1646nec_state_change([se(Sort,Obj,SE)|Pre],Nec,[se(Sort,Obj,Post)|State]):- 1647 member(sc(Sort,Obj,Lhs=>Rhs),Nec), 1648 state_match(Sort,Obj,Lhs,SE), 1649 state_change1(SE,Lhs,Rhs,Post), 1650 nec_state_change(Pre,Nec,State),!. 1651nec_state_change([se(Sort,Obj,SE)|Pre],Nec,[se(Sort,Obj,SE)|State]):- 1652 not(member(sc(Sort,Obj,Lhs=>Rhs),Nec)), 1653 nec_state_change(Pre,Nec,State),!. 1654%------------------------------------------------- 1655/************ state changes by conditions ********/ 1656% for all the object's state meet the precondition 1657% it change to the postcondition 1658cond_state_change([],Cond,[]):-!. 1659cond_state_change(State,[],State):-!. 1660cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[NewSS|State]):- 1661 member(sc(Sort1,Obj1,SE0=>SS0),Cond), 1662% var(Obj1), 1663 subsorts(Sort1,Subsorts), 1664 member(Sort,Subsorts), 1665 copy_states(se(Sort1,Obj1,SE0),se(Sort,Obj,SE2)), 1666 copy_states(se(Sort1,Obj1,SS0),se(Sort,Obj,SS2)), 1667% state_match(Sort,Obj,SE,SE0), 1668 filterInvars(SE2,LInVars,LIsOfSorts,LNEs,FSE), 1669 filterInvars(SS2,RInVars,RIsOfSorts,RNEs,FSS), 1670 state_match(Sort,Obj,SE,FSE), 1671 state_change([se(Sort,Obj,SE)],[se(Sort,Obj,FSE)], 1672 [se(Sort,Obj,FSS)],[NewSS]), 1673 checkInVars(LInVars), 1674 checkInVars(RInVars), 1675 checkIsOfSorts(LIsOfSorts), 1676 checkIsOfSorts(RIsOfSorts), 1677 obeysNEs(LNEs), 1678 obeysNEs(RNEs), 1679 cond_state_change(Pre,Cond,State),!. 1680cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[se(Sort,Obj,SE)|State]):- 1681 cond_state_change(Pre,Cond,State),!. 1682 1683% copy the states so that the Obj won't be instiated 1684copy_states(se(Sort1,Obj1,SE0),se(Sort,Obj,SE2)):- 1685 copy_states1(Obj1,SE0,Obj,SE2),!. 1686copy_states1(Obj1,[],Obj,[]):-!. 1687copy_states1(Obj1,[Pred|SE0],Obj,[Pred2|SE2]):- 1688 functor(Pred,FF,NN), 1689 functor(Pred2,FF,NN), 1690 Pred=..[Name|Vars], 1691 Pred2=..[Name|Vars2], 1692 copy_pred(Obj1,Obj,Vars,Vars2), 1693 copy_states1(Obj1,SE0,Obj,SE2),!. 1694 1695copy_pred(Obj1,Obj,[],[]):-!. 1696copy_pred(Obj1,Obj,[Var|Vars],[Var2|Vars2]):- 1697 Obj1==Var, 1698 Var2=Obj, 1699 copy_pred(Obj1,Obj,Vars,Vars2),!. 1700copy_pred(Obj1,Obj,[Var|Vars],[Var|Vars2]):- 1701 copy_pred(Obj1,Obj,Vars,Vars2),!. 1702%------------------------------------------- 1703% every states in List1 is achieved by List2 1704all_achieved(undefd,Statics,List2):-!. 1705all_achieved([],Statics,List2):-!. 1706all_achieved(List1,Statics,List2):- 1707 all_achieved(List1,List2), 1708 statics_consist(Statics). 1709 1710all_achieved([],List2). 1711all_achieved([se(Sort,Obj,SL)|List1],List2):- 1712 member(se(Sort1,Obj,SR),List2), 1713 env_call is_of_sort(Obj,Sort1), 1714 env_call is_of_sort(Obj,Sort), 1715 env_call is_of_primitive_sort(Obj,PSort), 1716 state_match(PSort,Obj,SL,SR), 1717 all_achieved(List1,List2). 1718%------------------------------------------- 1719% may_achieved: every states in Pre is not conflict with Post 1720may_achieved(undefd,Statics,Post):-!. 1721may_achieved([],Statics,Post):-!. 1722may_achieved(Pre,Statics,Post):- 1723 may_achieved(Pre,Post), 1724 statics_consist(Statics),!. 1725may_achieved([],Post). 1726may_achieved([se(Sort,Obj,SL)|Pre],Post):- 1727 member(se(Sort1,Obj,SR),Post), 1728 env_call is_of_sort(Obj,Sort1), 1729 env_call is_of_sort(Obj,Sort), 1730 env_call is_of_primitive_sort(Obj,PSort), 1731 state_may_achieved(PSort,Obj,SL,SR), 1732 may_achieved(Pre,Post),!. 1733 1734% if the ST1 is a subset of ST2 1735state_may_achieved(Sort,Obj,[],ST2):-!. 1736state_may_achieved(Sort,Obj,ST1,ST2):- 1737 is_achieved(ST1,ST2),!. 1738%------------------------------------------- 1739% instantiate a bit 1740% use action's state change include the postcondition 1741post_instant(Post0,Cond,Statics,undefd):-!. 1742post_instant(Post0,Cond,Statics,[]):-!. 1743post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1744 member(se(Sort,Obj,SE0),Post0), 1745 statics_consist(Statics). 1746post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1747 member(sc(Sort,Obj,SE1=>SS),Cond), 1748 statics_consist(Statics). 1749post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1750 member(sc(Sort0,Obj,SE1=>SS),Cond), 1751 not(env_call(objectsC(Sort0,_))), 1752 subsorts(Sort0,Sortls), 1753 not(not(member(Sort,Sortls))), 1754 statics_consist(Statics). 1755post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1756 post_instant(Post0,Cond,Statics,Post),!. 1757 1758/********* check for statics consist without instanciate them***/ 1759% only instance the variable when there is one choice of from the ground lists 1760statics_consist([]):-!. 1761statics_consist(Statics):- 1762 get_invariants(Invs), 1763 statics_consist(Invs,Statics),!. 1764statics_consist(Invs,[]):-!. 1765statics_consist(Invs,[ne(A,B)|Statics]):- dif(A,B), 1766 not(A==B),!, 1767 statics_consist(Invs,Statics). 1768statics_consist(Invs,[is_of_sort(Obj,Sort)|Statics]):- 1769 not(not(env_call is_of_sort(Obj,Sort))),!, 1770 statics_consist(Invs,Statics). 1771statics_consist(Invs,[is_of_primitive_sort(Obj,Sort)|Statics]):- 1772 not(not( env_call is_of_primitive_sort(Obj,Sort))),!, 1773 statics_consist(Invs,Statics). 1774statics_consist(Invs,[Pred|Statics]):- 1775 pred_member(Pred,Invs),!, 1776 statics_consist(Invs,Statics). 1777 1778/*********check for statics consist and instanciate them***/ 1779statics_consist_instance([]):-!. 1780statics_consist_instance(Statics):- 1781 get_invariants(Invs), 1782 statics_consist_instance(Invs,Statics). 1783 1784statics_consist_instance(Invs,[]):-!. 1785statics_consist_instance(Invs,[is_of_sort(Obj,Sort)|Atom]):- 1786 ground(Obj), 1787 env_call is_of_sort(Obj,Sort),!, 1788 statics_consist_instance(Invs,Atom). 1789statics_consist_instance(Invs,[is_of_sort(Obj,Sort)|Atom]):- 1790 var(Obj), 1791 env_call is_of_sort(Obj,Sort), 1792 statics_consist_instance(Invs,Atom). 1793statics_consist_instance(Invs,[is_of_primitive_sort(Obj,Sort)|Atom]):- 1794 ground(Obj), 1795 env_call is_of_primitive_sort(Obj,Sort),!, 1796 statics_consist_instance(Invs,Atom). 1797statics_consist_instance(Invs,[is_of_primitive_sort(Obj,Sort)|Atom]):- 1798 var(Obj), 1799 env_call is_of_primitive_sort(Obj,Sort), 1800 statics_consist_instance(Invs,Atom). 1801statics_consist_instance(Invs,[ne_back(A,B)|Atom]):- 1802 A\==B, dif(A,B), 1803 statics_consist_instance(Invs,Atom). 1804statics_consist_instance(Invs,[ne(A,B)|Atom]):- 1805 append_dcut(Atom,[ne_back(A,B)],Atom1),!, 1806 statics_consist_instance(Invs,Atom1). 1807statics_consist_instance(Invs,[Pred|Atom]):- 1808 ground(Pred), 1809 member(Pred,Invs),!, 1810 statics_consist_instance(Invs,Atom). 1811statics_consist_instance(Invs,[Pred|Atom]):- 1812 not(ground(Pred)), 1813 member(Pred,Invs), 1814 statics_consist_instance(Invs,Atom). 1815 1816 1817 1818/*********************Initial process *********************/ 1819%node(Name, Precond, Decomps, Temp, Statics) 1820% When inputting new methods etc filter all statics into 1821% static slot 1822 1823make_problem_into_node(I,goal(L,TM,STATS), NN) :- 1824 must_det_l(( make_problem_up(L, STEPS), 1825 make_num_hp(TM,Temp), 1826 sort_steps(STEPS,Temp,STEPS1), 1827 make_ss_to_se(I,I_Pre), 1828 NN = node(root,I_Pre,STEPS1 ,Temp, STATS))),!. 1829make_problem_into_node(I,L, NN) :- 1830 must_det_l(( make_problem_up([achieve(L)], STEPS), 1831 make_num_hp(TM,Temp), 1832 sort_steps(STEPS,Temp,STEPS1), 1833 make_ss_to_se(I,I_Pre), 1834 NN = node(root,I_Pre,STEPS1 ,Temp, STATS))),!. 1835 1836% make problem to steps 1837make_problem_up([],[]):-!. 1838make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,[L1],unexp)|RS]):- 1839 %preconditon here is undefd 1840 make_ss_to_se([L],[L1]), 1841 gensym_special(hp,HP), 1842 make_problem_up(R, RS),!. 1843make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,L1,unexp)|RS]):- 1844 %preconditon here is undefd 1845 make_ss_to_se(L,L1), 1846 gensym_special(hp,HP), 1847 make_problem_up(R, RS),!. 1848make_problem_up([O|R],[step(HP,O,undefd,undefd,unexp)|RS]):- 1849 env_call methodC(O,Pre,Post,Statics1,Temp,ACH,Dec), 1850 gensym_special(hp,HP), 1851 make_problem_up(R, RS),!. 1852make_problem_up([O|R], 1853 [step(HP,O,undefd,undefd,unexp)|RS]):- 1854 env_call operatorC(O,Pre,Post,Cond,Statics1), 1855 gensym_special(hp,HP), 1856 make_problem_up(R, RS),!. 1857 1858make_num_hp([],[]):-!. 1859make_num_hp([before(N1,N2)|TM],[before(H1,H2)|Temp]):- 1860 gensym_num(hp,N1,H1), 1861 gensym_num(hp,N2,H2), 1862 make_num_hp(TM,Temp),!. 1863 1864%**************sort steps********************************* 1865% sort steps by temporal constraints. 1866sort_steps(Steps,[],Steps):-!. 1867sort_steps([Steps|[]],[],[Steps]):-!. 1868sort_steps(Steps,Temp,OrderedST):- 1869 steps_in_temp(Temp,[],ST), 1870 sort_steps1(Temp,ST,OrderedSTID), 1871 sort_steps2(Steps,OrderedSTID,[],OrderedST),!. 1872 1873% find out the steps in temporal constraints. 1874steps_in_temp([],ST,ST):-!. 1875steps_in_temp([before(H1,H2)|TT],List,ST):- 1876 set_append_e(List,[H1,H2],List1), 1877 steps_in_temp(TT,List1,ST),!. 1878 1879% sort the steps_id(hps) by temporal constraints. 1880sort_steps1(Temp,[],[]):-!. 1881sort_steps1(Temp,[HP1|TST],[HPF|OST]):- 1882 earliest_step(HP1,HPF,Temp,TST,TST1), 1883 sort_steps1(Temp,TST1,OST),!. 1884 1885earliest_step(HPF,HPF,Temp,[],[]):-!. 1886earliest_step(HP1,HPF,Temp,[HP2|TST],[HP1|TST1]):- 1887 member(before(HP2,HP1),Temp), 1888 earliest_step(HP2,HPF,Temp,TST,TST1),!. 1889earliest_step(HP1,HPF,Temp,[HP2|TST],[HP2|TST1]):- 1890 earliest_step(HP1,HPF,Temp,TST,TST1),!. 1891 1892% sort the steps, put the unordered steps in the front 1893sort_steps2(OtherST,[],OrderedST1,OrderedST):- 1894 append_dcut(OrderedST1,OtherST,OrderedST),!. 1895sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1896 member(step(HP,N,Pre,Post,F),Steps), 1897 append_dcut(List,[step(HP,N,Pre,Post,F)],List1), 1898 list_take(Steps,[step(HP,N,Pre,Post,F)],Steps1), 1899 sort_steps2(Steps1,THPS,List1,OrderedST),!. 1900sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1901 sort_steps2(Steps,THPS,List,OrderedST),!. 1902%******************************************************* 1903 1904% replace ss to se 1905make_ss_to_se([],[]):-!. 1906make_ss_to_se([ss(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1907 make_ss_to_se(TPost,TPre),!. 1908make_ss_to_se([se(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1909 make_ss_to_se(TPost,TPre),!. 1910 1911%******************************************************* 1912% extract_solution(Node,.. 1913% recurvise routine to work down tree and 1914% print out a linearisation of it ) 1915extract_solution(Node,PHPs,SIZE1,TNList) :- 1916 % its the name of a hierarchical op...... 1917 getN_decomp(Node, HPs), 1918 push_to_primitive(HPs,[],PHPs,[],TNList), 1919 pprint(PHPs,1,SIZE), 1920 SIZE1 is SIZE -1,!. 1921 1922/************ change_op_representation ***********/ 1923% make pre and post explicit 1924% filter out statics and put in a new slot 1925change_op_representation :- 1926 env_call(method(A,B,C,Stat,T,Dec)), 1927 make_ss_to_se(B,B0), 1928 make_se_primitive(B0,B1), 1929 make_sc_primitive(C,C1), 1930 get_preconditions(C1,B1,Pre,Post), 1931 rem_statics(Post, PostR,St1), 1932 rem_statics(Pre, PreR,St2), 1933 append_dcut(St1,St2,Statics), 1934 append_dcut(Stat,Statics,Statics1), 1935 remove_unneed(Statics1,[],Statics2), 1936 get_achieval(A,Dec,T,Dec1,T1,ACH), 1937 env_assert(methodC(A,PreR,PostR,Statics2,T1,achieve(ACH),Dec1)), 1938 fail. 1939change_op_representation :- 1940 env_call(operator(A,B,C,D)), 1941 make_ss_to_se(B,B0), 1942 make_se_primitive(B0,B1), 1943 make_sc_primitive(C,C1), 1944% make_sc_primitive(D,D1), 1945 %can't do that because it narrow the conditional change 1946 get_preconditions(C1,B1,Pre,Post), 1947 rem_statics(Post, PostR,St1), 1948 rem_statics(Pre, PreR,St2), 1949 append_dcut(St1,St2,Statics1), 1950 remove_unneed(Statics1,[],Statics), 1951 statics_consist(Statics), 1952 env_assert(operatorC(A,PreR,PostR,D,Statics)), 1953 fail. 1954change_op_representation:- 1955 env_retractall(current_num(sm,_)),!. 1956 1957get_preconditions([],Prev,Prev,Prev) :-!. 1958get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From1)|Pre],[se(S,X,To1)|Post]):- 1959 member_e(se(S,X,PSE),Prev), 1960 append_dcut(PSE,From,From1), 1961 append_dcut(PSE,To,To1), 1962 list_take(Prev,[se(S,X,PSE)],Prev1), 1963 get_preconditions(Rest,Prev1, Pre,Post),!. 1964get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From)|Pre],[se(S,X,To)|Post]):- 1965 get_preconditions(Rest,Prev, Pre,Post),!. 1966get_preconditions([],Prev,Prev,Prev) :-!. 1967 1968% get all achieve goals out 1969get_achieval(A,Dec,T,Dec1,T1,Achieval):- 1970 env_retractall(current_num(sm,_)), 1971 make_dec(A,Dec,Dec1,T,T1,[],Achieval),!. 1972make_dec(A,[],[],Temp,Temp,Achieval,Achieval):-!. 1973make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1974 HD=..[achieve|Goal], 1975 env_call current_num(sm,Num), 1976 replace_achieval_temp(Temp,Temp0,Num), 1977 make_ss_to_se(Goal,Goal0), 1978 append_dcut(Achieval,Goal0,Achieval0), 1979 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1),!. 1980make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1981 HD=..[achieve|Goal], 1982 not(env_call current_num(sm,_)), 1983 replace_achieval_temp(Temp,Temp0,1), 1984 make_ss_to_se(Goal,Goal0), 1985 append_dcut(Achieval,Goal0,Achieval0), 1986 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1). 1987make_dec(A,[HD|TD],[HD|TD1],Temp,Temp1,Achieval,Achieval1):- 1988 HD=..[DecName|Goal], 1989 DecName\==achieve, 1990 gensym_special(sm,SM), 1991 env_call current_num(sm,Num), 1992 make_dec(A,TD,TD1,Temp,Temp1,Achieval,Achieval1),!. 1993 1994% get rid of the achievals in temp orders 1995replace_achieval_temp(Temp,Temp1,Num):- 1996 change_all_numbers(Temp,Num,Temp00), 1997 tidy_temp(Temp00,Temp1). 1998 1999change_all_numbers([],Num,[]):-!. 2000change_all_numbers([HTemp|TTemp],Num,[HTemp00|TTemp00]):- 2001 HTemp=..[before|Nums], 2002 change_nums(Nums,Num,Nums1), 2003 HTemp00=..[before|Nums1], 2004 change_all_numbers(TTemp,Num,TTemp00). 2005 2006change_nums([],Num,[]):-!. 2007change_nums([Num1|TN],Num,[Num1|TN1]):- 2008 Num1<Num, 2009 change_nums(TN,Num,TN1),!. 2010change_nums([Num1|TN],Num,[Num2|TN1]):- 2011 Num1>Num, 2012 Num2 is Num1-1, 2013 change_nums(TN,Num,TN1),!. 2014change_nums([Num|TN],Num,[0|TN1]):- 2015 change_nums(TN,Num,TN1),!. 2016 2017% since assumed achieval only happen at first, so only change the after ones 2018tidy_temp(Temp,Temp1):- 2019 member(before(Num,0),Temp), 2020 list_take(Temp,[before(Num,0)],Temp0), 2021 change_laters(Temp0,Num,Temp01), 2022 tidy_temp(Temp01,Temp1). 2023tidy_temp([],[]):-!. 2024tidy_temp([before(0,Num)|Temp],Temp0):- 2025 tidy_temp(Temp,Temp0),!. 2026tidy_temp([before(Num1,Num2)|Temp],[before(Num1,Num2)|Temp0]):- 2027 tidy_temp(Temp,Temp0),!. 2028 2029change_laters([before(0,Num2)|Temp],Num,[before(Num,Num2)|Temp0]):- 2030 change_laters(Temp,Num,Temp0). 2031change_laters([before(Num1,0)|Temp],Num,[before(Num1,0)|Temp0]):- 2032 change_laters(Temp,Num,Temp0). 2033change_laters([before(Num1,Num2)|Temp],Num,[before(Num1,Num2)|Temp0]):- 2034 change_laters(Temp,Num,Temp0). 2035 2036% change the states to primitive states 2037make_se_primitive([],[]). 2038make_se_primitive([se(Sort,Obj,ST)|SE],[se(Sort,Obj,ST)|SE0]):- 2039 env_call objectsC(Sort,Objls),!, 2040 make_se_primitive(SE,SE0). 2041make_se_primitive([se(Sort,Obj,ST)|SE],[se(PSort,Obj,ST)|SE0]):- 2042 find_prim_sort(Sort,PSorts), 2043 member(PSort,PSorts), 2044 make_se_primitive(SE,SE0). 2045 2046% change the state changes to primitive states 2047make_sc_primitive([],[]). 2048make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(Sort,Obj,SE1=>SE2)|ST0]):- 2049 env_call objectsC(Sort,Objls),!, 2050 make_sc_primitive(ST,ST0). 2051make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(PSort,Obj,SE1=>SE2)|ST0]):- 2052 find_prim_sort(Sort,PSorts), 2053 member(PSort,PSorts), 2054 make_sc_primitive(ST,ST0). 2055 2056 2057% ------------ end of change operator ---------------------- 2058/********make_tn: save the expansion results*****/ 2059make_tn(TN,Name,Pre,Post,Temp,Dec):- 2060 find_only_changed(Pre,Post,[],Pre1,[],Post1), 2061 not(isemptylist(Post1)), 2062 not(exist_tn(Pre,Post)), 2063 gensym_special(tn,TN), 2064% tell(user),nl,write(tn(TN,Name,Pre1,Post1,Temp,Dec)),nl,told, 2065 env_assert(tn(TN,Name,Pre1,Post1,Temp,Dec)),!. 2066 2067exist_tn(Pre,Post):- 2068 env_call(tn(_,_,Pre,Post1,_,_)), 2069 state_achieved(Post,Post1),!. 2070find_only_changed([],[],Pre,Pre,Post,Post):-!. 2071% just a lazy check if they are in exactly same sequence 2072find_only_changed([se(Sort,Obj,ST)|Pre],[se(Sort,Obj,ST)|Post],Pre0,Pre1,Post0,Post1):- 2073 find_only_changed(Pre,Post,Pre0,Pre1,Post0,Post1),!. 2074find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 2075 member(se(Sort,Obj,ST1),Post), 2076 list_take(Post,[se(Sort,Obj,ST1)],Post2), 2077 append_changed(se(Sort,Obj,ST),se(Sort,Obj,ST1),Pre0,Pre3,Post0,Post3), 2078 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 2079find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 2080 member(se(SortN,Obj,ST1),Post), 2081 list_take(Post,[se(SortN,Obj,ST1)],Post2), 2082 append_changed(se(Sort,Obj,ST),se(SortN,Obj,ST1),Pre0,Pre3,Post0,Post3), 2083 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 2084% other fail. 2085 2086% append_dcut only changed states 2087% state_match here means not changed 2088append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre0,Post0,Post0):- 2089 state_match(Sort,Obj,ST,ST1),!. 2090append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre3,Post0,Post3):- 2091 append_dcut(Pre0,[se(Sort,Obj,ST)],Pre3), 2092 append_dcut(Post0,[se(Sort,Obj,ST1)],Post3),!. 2093 2094%***********print out solution************************** 2095push_to_primitive([],PHPs,PHPs,TNLst,TNLst) :-!. 2096push_to_primitive([step(HPID,_,_,_,exp(TN))|HPs],List,PHPs,TNSoFar,TNFinal) :- 2097 env_call(tn(TN,Name,Pre,Post,Temp,Dec)), 2098 push_to_primitive(Dec,List,Dec1,[tn(TN,Name,Pre,Post,Temp,Dec)|TNSoFar],TNNext), 2099 push_to_primitive(HPs,Dec1,PHPs,TNNext,TNFinal),!. 2100push_to_primitive([step(HPID,_,_,_,exp(Name))|HPs],List,PHPs,TNSoFar,TNFinal):- 2101 append_dcut(List,[Name],List1), 2102 push_to_primitive(HPs,List1,PHPs,TNSoFar,TNFinal),!. 2103 2104/*********** TEMPORAL AND DECLOBBERING ************/ 2105 2106possibly_before(I,J,Temps) :- 2107 \+ necessarily_before(J,I,Temps), !. 2108 2109necessarily_before(J,I,Temps) :- 2110 member(before(J,I),Temps),!. 2111necessarily_before(J,I,Temps) :- 2112 member(before(J,Z),Temps), 2113 necessarily_before(Z,I,Temps),!. 2114 2115select_node(node(Name,Pre,Temp,Decomp,Statics)) :- 2116 env_retract(node(Name,Pre,Temp,Decomp,Statics)), 2117% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 2118% tell(user), 2119% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 2120% tell(FF), 2121 !. 2122 2123get_obj_prim_sort([],[]):-!. 2124get_obj_prim_sort([HSort|TV],[HObj|TS]):- 2125 env_call is_of_primitive_sort(HObj,HSort), 2126 get_obj_prim_sort(TV,TS),!. 2127/* 2128is_of_primitive_sort(X,Y) :- 2129 env_call objectsC(Y,L),member(X,L). 2130is_of_sort(X,Y) :- 2131 env_call is_of_primitive_sort(X,Y). 2132is_of_sort(X,Y) :- 2133 env_call sorts(Y,SL),member(Z,SL),is_of_sort(X,Z). 2134*/ 2135find_all_upper([],[]). 2136find_all_upper([HVars|TV],[HSorts|TS]):- 2137 uppersorts(HSorts,Upsorts), 2138 member(HVars,Upsorts), 2139 find_all_upper(TV,TS). 2140 2141% find out primitive sorts of a sort. 2142find_prim_sort(Sort,PS):- 2143 subsorts(Sort,Subsorts), 2144 split_prim_noprim(Subsorts,PS,NP),!. 2145 2146% find out the objects of a sort 2147get_sort_objects(Sort,Objs):- 2148 find_prim_sort(Sort,PSorts), 2149 get_objects1(PSorts,Objls), 2150 flatten(Objls,[],Objs),!. 2151 2152get_objects1([],[]):-!. 2153get_objects1([PS1|RS],[Objls1|Objls]):- 2154 env_call objectsC(PS1,Objls1), 2155 get_objects1(RS,Objls),!. 2156 2157% find subsorts of a sort(exclude). 2158%TODO 2159subsortse(Sort,Subsorts):- 2160 subsorts(Sort,Subsorts1), 2161 subtract(Subsorts1,[Sort],Subsorts),!. 2162% find subsorts of a sort(include). 2163subsorts(Sort,Subsorts):- 2164 sort_down([Sort],[],Subsorts),!. 2165 2166sort_down([],Subsorts,Subsorts):-!. 2167sort_down([HOpen|TOpen],List,Subsorts):- 2168 env_call objectsC(HOpen,Objls), 2169 append_dcut(List,[HOpen],List1), 2170 sort_down(TOpen,List1,Subsorts),!. 2171sort_down([HOpen|TOpen],List,Sortslist):- 2172 env_call sorts(HOpen,Sorts), 2173 sort_down(Sorts,List,List2), 2174 sort_down(TOpen,[HOpen|List2],Sortslist),!. 2175sort_down([HOpen|TOpen],List,Sortslist):- 2176 sort_down(TOpen,List,Sortslist),!. 2177 2178% find uppersorts of a sort(excludes). 2179uppersortse(Sort,Uppersorts):- 2180 uppersorts(Sort,Uppersortsf), 2181 subtract(Uppersortsf,[Sort],Uppersorts),!. 2182% find uppersorts of a sort or object(include). 2183uppersorts(Sort,Uppersorts):- 2184 env_call objectsC(Sort,Objls), 2185 sort_up(Sort,[Sort],Uppersorts),!. 2186uppersorts(Sort,Uppersorts):- 2187 env_call sorts(Sort,Sortls), 2188 sort_up(Sort,[Sort],Uppersorts),!. 2189uppersorts(Obj,Sortls):- 2190 env_call objectsC(Sort,Objls), 2191 member(Obj, Objls), 2192 sort_up(Sort,[Sort],Sortls),!. 2193 2194sort_up(Sort, List,Sortslist):- 2195 env_call sorts(NPSort, NPSortls), 2196 not((special_sorts(PS), NPSort == PS )), 2197 member(Sort,NPSortls), 2198 sort_up(NPSort,[NPSort|List],Sortslist). 2199sort_up(Sort, List,List):-!. 2200 2201special_sorts(primitive_sorts). 2202special_sorts(non_primitive_sorts). 2203 2204 2205% sametree: Sort1 and Sort2 are in same sort tree. 2206sametree(Sort1,Sort2):- 2207 Sort1==Sort2,!. 2208sametree(Sort1,Sort2):- 2209 var(Sort1),!. 2210sametree(Sort1,Sort2):- 2211 var(Sort2),!. 2212sametree(Sort1,Sort2):- 2213 uppersorts(Sort2,Sortls), 2214 member(Sort1,Sortls),!. 2215sametree(Sort1,Sort2):- 2216 uppersorts(Sort1,Sortls), 2217 member(Sort2,Sortls),!. 2218 2219% split a sortlist to primitive sorts and non-primitive sorts. 2220split_prim_noprim([],[],[]):-!. 2221split_prim_noprim([HS|TS],[HS|TP],NP):- 2222 env_call objectsC(HS,Obj), 2223 split_prim_noprim(TS,TP,NP),!. 2224split_prim_noprim([HS|TS],PS,[HS|NP]):- 2225 split_prim_noprim(TS,PS,NP),!. 2226 2227/***************** local utils *****************/ 2228 2229/*********** DOMAIN MODEL FUNCTIONS *****************/ 2230get_invariants(Invs) :- 2231 env_call(atomic_invariantsC(Invs)),!. 2232 2233get_one_isa(S,X,Preds):- \+ is_list(Preds),!,get_one_isa(S,X,[Preds]). 2234get_one_isa(S,X,Preds):-member(is_of_sort(X,S),Preds). 2235get_one_isa(S,X,Preds):-member(ss(S,X,_),Preds). 2236get_one_isa(S,X,Preds):-member(se(S,X,_),Preds). 2237get_one_isa(S,X,Preds):- member(Pred,Preds),Pred=..[F|Args],functor(Pred,F,A),get_one_isa_fa(S,X,F,A,Args). 2238 2239get_one_isa_fa(S,X,S,1,[X]):- is_sort(S). 2240get_one_isa_fa(S,X,_,_,[X|_]):- nonvar(X), is_decl_of_sort(X,S),!. 2241get_one_isa_fa(S,X,F,N,[X|_]):- functor(P,F,N),(env_call predicates(SS)),member(P,SS),arg(1,P,S),S\== physical_obj, nonvar(S). 2242 2243is_decl_of_sort(X,S):- env_call is_of_sort(X,S). 2244is_decl_of_sort(X,S):- env_call objects(S,L),member(X,L). 2245% is_decl_of_sort(X,S):- ar(S),is_sort(S),downcase_atom(S,Thing),name(X,Codes),append(NameCodes,NumberCodes,Codes),catch(number_codes(Number,NumberCodes),error(syntax_error(_),_),fail). 2246is_decl_of_sort(X,S):- name(X,Codes),append(NameCodes,NumberCodes,Codes),catch(number_codes(Number,NumberCodes),error(syntax_error(_),_),fail),name(Thing,NameCodes),downcase_atom(Thing,S). 2247 2248is_sort(V):-var(V),!,fail. 2249is_sort(obj). 2250is_sort(driver). 2251is_sort(truck). 2252is_sort(ball). 2253is_sort(room). 2254is_sort(gripper). 2255is_sort(S):- (env_call sorts(_,SS)),member(S,SS). 2256is_sort(S):- (env_call sorts(S,_)). 2257 2258rem_statics([sc(S,X,Lhs=>Rhs)|ST], [sc(S,X,LhsR=>RhsR)|STR],Rt1) :- 2259 split_st_dy(Lhs,[],LR, [],LhsR), 2260 split_st_dy(Rhs,[],RR,[],RhsR), 2261 append_dcut(LR,RR,R), 2262 rem_statics(ST, STR,Rt), 2263 append_dcut(Rt,[is_of_sort(X,S)|R],Rt1),!. 2264rem_statics([ss(S,X,Preds)|Post], [ss(S,X,PredR)|PostR],Rt1) :- 2265 split_st_dy(Preds,[],R, [],PredR), 2266 rem_statics(Post, PostR,Rt), 2267 append_dcut(Rt,[is_of_sort(X,S)|R],Rt1),!. 2268rem_statics([se(S,X,Preds)|Post], [se(S,X,PredR)|PostR],Rt1) :- 2269 split_st_dy(Preds,[],R, [],PredR), 2270 rem_statics(Post, PostR,Rt), 2271 append_dcut(Rt,[is_of_sort(X,S)|R],Rt1),!. 2272rem_statics([], [],[]) :-!. 2273 2274 2275% ----------------------utilities--------------------- 2276 2277 2278isemptylist([]):-!. 2279 2280%instantiate variables 2281/* 2282not(X):- \+X. 2283member(X,[X|_]). 2284member(X,[_|L]) :- member(X,L). 2285*/ 2286 2287member_cut(X,[X|_]) :- !. 2288member_cut(X,[_|Y]) :- member_cut(X,Y),!. 2289 2290% member_e: X is the exact memeber of List 2291member_e(X,[Y|_]):- 2292 X==Y,!. 2293member_e(X,[Y|L]):- 2294 var(Y), 2295 member_e(X,L),!. 2296member_e(ss(Sort,Obj,SE),[ss(Sort,Obj1,SE)|_]):- 2297 Obj==Obj1,!. 2298member_e(se(Sort,Obj,SE),[se(Sort,Obj1,SE)|_]):- 2299 Obj==Obj1,!. 2300member_e(sc(Sort,Obj,SE1=>SE2),[sc(Sort,Obj1,SE1=>SE2)|_]):- 2301 Obj==Obj1,!. 2302member_e(X,[Y|L]):- member_e(X,L),!. 2303 2304 2305% u_mem in ob_utils is SLOW!?. 2306% this is a fast impl. 2307u_mem_cut(_,[]):-!,fail. 2308u_mem_cut(X,[Y|_]) :- X == Y,!. 2309u_mem_cut(X,[_|L]) :- u_mem_cut(X,L),!. 2310% check if object X is a member of a objects list 2311% 1. if it is not a variable, check if it is in the list 2312% 2. X is a variable, and the list only has one objects, make X as that obj 2313% 3. X is a variable, but the list has more than one objects, leave X unchange 2314obj_member(X,[X|[]]):-!. 2315obj_member(X,List):- 2316 obj_member0(X,List),!. 2317obj_member0(X,[Y|_]):- 2318 var(X),!.%if X is var, but Y not, the leave X as that variable 2319obj_member0(X,[Y|_]):- 2320 X==Y,!. 2321obj_member0(X,[_|Y]) :- obj_member0(X,Y),!. 2322 2323% check if a predicate is a member of a ground predicate list, 2324% 1. when only one predicates found 2325% just used in binding the predicates to a sort without instantiate it 2326% for efficiency, instantiate the variable if the list only have one atom 2327pred_member(X,List):- 2328 ground(X), 2329 member(X,List),!. 2330pred_member(X,List):- 2331 setof(X,member(X,List),Refined), 2332 pred_member0(X,Refined),!. 2333pred_member0(X,[X|[]]):-!. 2334pred_member0(X,Y):- 2335 pred_member1(X,Y),!. 2336pred_member1(X,[Y|_]):- 2337 X=..[H|XLs], 2338 Y=..[H|YLs], 2339 vequal(XLs,YLs),!. 2340pred_member1(X,[_|Y]):- pred_member1(X,Y),!. 2341 2342statics_append([],L,L):- 2343 statics_consist(L),!. 2344statics_append(L,[],L):- 2345 statics_consist(L),!. 2346statics_append(List1,List2,L):- 2347 statics_consist(List1), 2348 statics_consist(List2), 2349 statics_append1(List1,List2,[],L), 2350 statics_consist(L),!. 2351 2352statics_append1([],List2,L1,L):- 2353 append_dcut(List2,L1,L),!. 2354statics_append1([H|List1],List2,L,Z) :- 2355 statics_append0(H,List2,L,L1), 2356 statics_append1(List1,List2,L1,Z),!. 2357 2358statics_append0(H,[],L,[H|L]):-!. 2359statics_append0(H,[H|Z],L,L):-!. 2360statics_append0(H,[X|Z],L1,L):- 2361 statics_append0(H,Z,L1,L),!. 2362 2363append_dcut([],L,L):-!. 2364append_dcut([H|T],L,[H|Z]) :- append_dcut(T,L,Z),!. 2365 2366append_cut([],L,L) :- !. 2367append_cut([H|T],L,[H|Z]) :- append_cut(T,L,Z),!. 2368 2369% append_st: append_dcut two statics 2370% remove the constants that no need 2371% instanciate the viables that all ready been bind 2372% ------------------------------------------ 2373append_st(ST1,ST2,ST):- 2374 append_dcut(ST1,ST2,ST0), 2375 remove_unneed(ST0,[],ST),!. 2376 2377% remove the constants that no need 2378% instanciate the variables that all ready been bind 2379remove_unneed([],C,C):-!. 2380remove_unneed([A|B], Z, C):- 2381 var(A), 2382 member_e(A,Z), 2383 remove_unneed(B, Z, C),! . 2384remove_unneed([A|B], Z, C):- 2385 var(A), 2386 append_dcut(Z,[A],D), 2387 remove_unneed(B, D, C),!. 2388remove_unneed([A|B], Z, C):- 2389 ground(A), 2390 remove_unneed(B, Z, C),!. 2391remove_unneed([A|B], Z, C):- 2392 A=..[ne|Paras], 2393 append_dcut(Z,[A],D), 2394 remove_unneed(B, D, C),!. 2395remove_unneed([A|B], Z, C):- 2396 A=..[Pred|Paras], 2397 same_var_member(A,Z), 2398 remove_unneed(B, Z, C),!. 2399remove_unneed([A|B], Z, C):- 2400 append_dcut(Z,[A],D), 2401 remove_unneed(B, D, C),!. 2402 2403same_var_member(Pred,[Pred1|List]):- 2404 var(Pred1), 2405 same_var_member(Pred,List),!. 2406same_var_member(Pred,[Pred1|List]):- 2407 Pred==Pred1,!. 2408same_var_member(Pred,[Pred1|List]):- 2409 Pred=..[H|T], 2410 Pred1=..[H|T1], 2411 same_var_member1(T,T1),!. 2412same_var_member(Pred,[Pred1|List]):- 2413 same_var_member(Pred,List),!. 2414 2415same_var_member1([],[]):-!. 2416same_var_member1([H1|T],[H2|T]):- 2417 var(H1), 2418 H1==H2,!. 2419same_var_member1([H|T1],[H|T2]):- 2420 var(T1), 2421 T1==T2,!. 2422same_var_member1([H1|T1],[H2|T2]):- 2423 H1==H2, 2424 same_var_member1(T1,T2),!. 2425 2426% two states or lists are equal 2427is_equal_list(List1,List2):- 2428 List1==List2,!. 2429is_equal_list([],[]):-!. 2430is_equal_list(List1,List2):- 2431 length(List1,L), 2432 length(List2,L), 2433 is_equal_list1(List1,List2),!. 2434is_equal_list1([],[]):-!. 2435is_equal_list1([Head1|List1],[Head2|List2]):- 2436 Head1==Head2, 2437 is_equal_list1(List1,List2),!. 2438is_equal_list1([se(Sort,Obj,Head1)|List1],[se(Sort,Obj,Head2)|List2]):- 2439 is_equal_list(Head1,Head2), 2440 is_equal_list1(List1,List2),!. 2441is_equal_list1([Head1|List1],[Head2|List2]):- 2442 Head1=..[FF|Var1], 2443 Head2=..[FF|Var2], 2444 FF\==se, 2445 vequal(Var1,Var2), 2446 is_equal_list1(List1,List2),!. 2447is_equal_list1([Head1|List1],List2):- 2448 member(Head1,List2), 2449 append_dcut(List1,[Head1],List10), 2450 is_equal_list1(List10,List2),!. 2451 2452% two states or lists are different 2453is_diff(List1,List2):- 2454 length(List1,L1), 2455 length(List2,L2), 2456 L1\==L2,!. 2457is_diff([Head|List1],List2):- 2458 not_exist(Head,List2),!. 2459is_diff([Head|List1],List2):- 2460 list_take(List2,[Head],List21), 2461 is_diff(List1,List21),!. 2462 2463not_exist(Pred,List2):- 2464 not(member(Pred,List2)),!. 2465not_exist(se(Sort,Obj,Head1),List2):- 2466 not(member(se(Sort,Obj,Head),List2)),!. 2467not_exist(se(Sort,Obj,Head1),List2):- 2468 member(se(Sort,Obj,Head2),List2), 2469 is_diff(Head1,Head2),!. 2470 2471% set_append: list1 + list2 -> list 2472% no duplicate, do instanciation 2473% ------------------------------------------ 2474set_append([], Z, Z):-! . 2475set_append([A|B], Z, C) :- 2476 not(not(member(A, Z))) , 2477 set_append(B, Z, C),! . 2478set_append([A|B], Z, [A|C]) :- 2479 set_append(B, Z, C) . 2480 2481% set_append_e: list1 + list2 -> list 2482% no duplicate, no instanciation 2483% ------------------------------------------ 2484set_append_e(A,B,C):- 2485 append_dcut(A,B,D), 2486 remove_dup(D,[],C),!. 2487 2488% remove duplicate 2489remove_dup([],C,C):-!. 2490remove_dup([A|B],Z,C) :- 2491 member_e(A, Z), 2492 remove_dup(B, Z, C),! . 2493remove_dup([A|B], Z, C):- 2494 append_dcut(Z,[A],D), 2495 remove_dup(B, D, C),!. 2496 2497% two atom lists equals (without instantiate variables) 2498vequal([],[]):-!. 2499vequal([X|XLs],[Y|YLs]):- 2500 X==Y, 2501 vequal(XLs,YLs),!. 2502vequal([X|XLs],[Y|YLs]):- 2503 var(X), 2504 vequal(XLs,YLs),!. 2505vequal([X|XLs],[Y|YLs]):- 2506 var(Y), 2507 vequal(XLs,YLs),!. 2508 2509 2510% subtract(A,B,C): subtract B from A 2511% ------------------------------------- 2512/* 2513subtract([],_,[]):-!. 2514subtract([A|B],C,D) :- 2515 member(A,C), 2516 subtract(B,C,D),!. 2517subtract([A|B],C,[A|D]) :- 2518 subtract(B,C,D),!. 2519*/ 2520 2521/* arg1 - arg2 = arg3 */ 2522 2523list_take(R,[E|R1],R2):- 2524 remove_el(R,E,RR), 2525 list_take(RR,R1,R2),!. 2526list_take(R,[_|R1],R2):- 2527 list_take(R,R1,R2),!. 2528list_take(A,[],A) :- !. 2529 2530% remove_el: list * el -> list-el 2531% ---------------------------------- 2532remove_el([],_,[]) :- ! . 2533remove_el([A|B],A,B) :- ! . 2534remove_el([A|B],C,[A|D]) :- 2535 remove_el(B,C,D) . 2536 2537/* generate symbol predicate (from file futile)*/ 2538 2539 2540gensym_special(Root,Atom) :- 2541 getnum(Root,Num), 2542 name(Root,Name1), 2543 name(Num,Name2), 2544 append_dcut(Name1,Name2,Name), 2545 name(Atom,Name). 2546 2547getnum(Root,Num) :- 2548 env_retract(current_num(Root,Num1)),!, 2549 Num is Num1+1, 2550 env_asserta(current_num(Root,Num)). 2551 2552getnum(Root,1) :- env_asserta(current_num(Root,1)). 2553 2554gensym_num(Root,Num,Atom):-atom_concat(Root,Num,Atom),!. 2555gensym_num(Root,Num,Atom):- 2556 name(Root,Name), 2557 name(Num,Name1), 2558 append_dcut(Name,Name1,Name2), 2559 name(Atom,Name2),!. 2560 2561 2562pprint([],SIZE,SIZE):-!. 2563pprint([HS|TS],Size0,SIZE):- 2564 is_list(HS), 2565 pprint(HS,Size0,Size1), 2566 pprint(TS,Size1,SIZE),!. 2567pprint([HS|TS],Size0,SIZE):- 2568% write('step '),write(Size0),write(': '), 2569% write(HS),nl, 2570 Size1 is Size0+1, 2571 pprint(TS,Size1,SIZE),!. 2572 2573/* split static and dynamic from states*/ 2574 2575split_st_dy([],ST,ST,DY,DY):-!. 2576split_st_dy([Pred|TStates],ST0,ST,DY0,DY):- 2577 is_statics(Pred), 2578 append_dcut(ST0,[Pred],ST1), 2579 split_st_dy(TStates,ST1,ST,DY0,DY),!. 2580split_st_dy([Pred|TStates],ST0,ST,DY0,DY):- 2581 append_dcut(DY0,[Pred],DY1), 2582 split_st_dy(TStates,ST0,ST,DY1,DY),!. 2583 2584% list of lists -> list 2585 2586flatten([HO|TO], List, O_List):- 2587 append_dcut(HO, List, List_tmp), 2588 flatten(TO, List_tmp, O_List),!. 2589flatten([H|TO], List,O_List):- 2590 append_dcut([H], List, List_tmp), 2591 flatten(TO, List_tmp, O_List). 2592flatten([], [HList|T], O_List):- 2593 HList = [], 2594 flatten(T, [], O_List). 2595flatten([], [HList|T], O_List):- 2596 is_list(HList), 2597 flatten([HList|T],[], O_List),!. 2598flatten([], L,L):-!. 2599 2600% flatten with no duplicate 2601set_flatten([HO|TO], List, O_List):- 2602 set_append_e(HO, List, List_tmp), 2603 set_flatten(TO, List_tmp, O_List),!. 2604set_flatten([H|TO], List,O_List):- 2605 set_append_e([H], List, List_tmp), 2606 set_flatten(TO, List_tmp, O_List). 2607set_flatten([], [HList|T], O_List):- 2608 HList = [], 2609 set_flatten(T, [], O_List). 2610set_flatten([], [HList|T], O_List):- 2611 is_list(HList), 2612 set_flatten([HList|T],[], O_List),!. 2613set_flatten([], L,L):-!. 2614 2615 2616% list: [el1,el2, ...] --> bool 2617% ----------------------------- 2618/* 2619list(A) :- 2620 var(A) , 2621 ! , 2622 fail . 2623list(A) :- 2624 functor(A,'.',_). 2625*/ 2626 2627reverse_unused(L,RL) :- 2628 revSlave(L,[],RL). 2629 2630revSlave([],RL,RL). 2631revSlave([H|T],Sofar,Final) :- 2632 revSlave(T,[H|Sofar],Final). 2633 2634% ***********************for multy tasks***************** 2635:- assert_if_new(time_taken(0)). 2636:- assert_if_new(sum(0)). 2637:- assert_if_new(soln_size(0)). 2638 2639solve(N,FN):- 2640 N < FN, 2641 nl,write('task '), write(N),write(': '),nl, 2642 solve(N), 2643 Ni is N+1, 2644 solve(Ni,FN). 2645solve(FN,FN):- 2646 nl,write('task '), write(FN),write(': '),nl, 2647 solve(FN), 2648 retractall(sum(_)), 2649 assert(sum(0)), 2650 sum_time(CP), 2651 retractall(sum(_)), 2652 assert(sum(0)), 2653 sum_size(SIZE), 2654 TIM is CP /1000, 2655 retractall(time_taken(_)), 2656 retractall(soln_size(_)), 2657 nl,write('total time '),write(TIM),write(' seconds'), 2658 nl,write('total size '),write(SIZE),nl. 2659solve(N,N). 2660 2661sum_time(TIM):- 2662 time_taken(CP), 2663 env_retract(sum(N)), 2664 N1 is N +CP, 2665 assert(sum(N1)), 2666 fail. 2667sum_time(TIM):- 2668 sum(TIM). 2669sum_size(SIZE):- 2670 soln_size(S), 2671 retract(sum(N)), 2672 N1 is N +S, 2673 assert(sum(N1)), 2674 fail. 2675sum_size(SIZE):- 2676 sum(SIZE). 2677 2678stoppoint. 2679% State1 has relation with State2 2680state_related(Post,Cond,undefd):-!. 2681state_related(Post,Cond,[]):-!. 2682state_related(Post,Cond,State2):- 2683 append_dcut(Post,Cond,State1), 2684 state_related(State1,State2). 2685 2686% all states in necc are primitive 2687% so does the goal state--State2 2688state_related([se(Sort,Obj,SE1)|State1],State2):- 2689 member(se(Sort,Obj,SE2),State2), 2690 state_related0(SE1,SE2). 2691% states in Cond are not neccessary primitive 2692state_related([sc(Sort1,Obj,SE1=>SS1)|State1],State2):- 2693 member(se(Sort,Obj,SE2),State2), 2694 env_call is_of_sort(Obj,Sort1), 2695 env_call is_of_sort(Obj,Sort). 2696state_related([se(Sort,Obj,SE)|State1],State2):- 2697 state_related(State1,State2),!. 2698state_related([sc(Sort,Obj,SE=>SS)|State1],State2):- 2699 state_related(State1,State2),!. 2700 2701%instatiate abit the variables 2702state_related0([],SE2):-!. 2703state_related0([Head|SE1],SE2):- 2704 member(Head,SE2), 2705 state_related0(SE1,SE2). 2706state_related0([Head|SE1],SE2):- 2707 state_related0(SE1,SE2). 2708 2709% change_obj_list: narrow down objects 2710% by just using the objects occure in initial states(world state) 2711change_obj_list(I):- 2712 find_dynamic_objects(I), 2713 collect_dynamic_obj, 2714 change_obj_list1, 2715 change_atomic_inv,!. 2716 2717change_obj_list1:- 2718 forall(objects(Sort,_),change_obj_list2(Sort)). 2719 2720% only keep the dynamic objects that used in tasks 2721change_obj_list2(Sort):- 2722 env_call(objectsC(Sort,Objls)),!. 2723% statics objects: keep 2724change_obj_list2(Sort):- 2725 findall(Obj1s,env_call(objects(Sort,Objls)),Lists), 2726 flatten(Lists,Objls), 2727 env_assert(objectsC(Sort,Objls)),!. 2728 2729% only keep the dynamic objects in atomic_invariants 2730change_atomic_inv:- 2731 findall(Atom1,(env_call(atomic_invariants(Atom)),change_atomic_inv1(Atom,Atom1)),Lists), 2732 flatten(Lists,List), 2733 env_assert(atomic_invariantsC(List)),!. 2734change_atomic_inv. 2735 2736change_atomic_inv1([],[]). 2737change_atomic_inv1([Pred|Atom],[Pred|Atom1]):- 2738 Pred=..[Name|Objs], 2739 just_dynamic_objects(Objs), 2740 change_atomic_inv1(Atom,Atom1). 2741change_atomic_inv1([Pred|Atom],Atom1):- 2742 change_atomic_inv1(Atom,Atom1). 2743 2744just_dynamic_objects([]). 2745just_dynamic_objects([Head|Objs]):- 2746 env_call(objectsC(Sort,Objls)), 2747 member(Head,Objls),!, 2748 just_dynamic_objects(Objs). 2749 2750find_dynamic_objects([]):-!. 2751find_dynamic_objects([SE|Rest]):- 2752 find_dynamic_objects(SE), 2753 find_dynamic_objects(Rest),!. 2754find_dynamic_objects(ss(Sort,Obj,List)):- 2755 env_assert(objectsD(Sort,Obj)),!, 2756 forall((member(is_of_sort(X,S),List), 2757 nonvar(X),nonvar(S)), 2758 env_assert(objectsD(S,X))),!. 2759 2760collect_dynamic_obj:- 2761 env_call(objectsD(Sort,_)), 2762 setof(Obj, env_call(objectsD(Sort,Obj)), Objls), 2763 env_retractall(objectsD(Sort,_)), 2764 env_assert(objectsC(Sort,Objls)), 2765 fail. 2766collect_dynamic_obj. 2767 2768get_preconditions_g([],Prev,Prev,Prev):-!. 2769get_preconditions_g([sc(S,X,(From =>To))|Rest],Prev,[se(S,X,From)|Pre],[se(S,X,To)|Post]):- 2770 !, 2771 get_preconditions_g(Rest,Prev, Pre,Post). 2772 2773% ******************************************************************** 2774% ground all operators% enumerateOps 2775 2776ground_op :- 2777 assert_sort_objects, 2778 enumerateOps, 2779 instOps, 2780 flag(opCounter,Top,Top), 2781 write(opCounter = Top),nl,!. 2782 2783enumerateOps :- 2784 flag(opCounter,_,1), 2785 enumOps. 2786 2787enumOps :- 2788 env_call operator(Name,Prev,Nec,Cond), 2789 flag(opCounter,Count,Count), 2790 containsInvars(operator(Name,Prev,Nec,Cond),InVars,IsOfSorts,FPrev,FNec), 2791 %Find the atomic_invariants 2792 findVarsAndTypes(operator(Name,Prev,Nec,Cond),VT,NEs), 2793 env_assert(opParent(Count,operator(Name,FPrev,FNec,Cond),VT,NEs,InVars,IsOfSorts)), 2794 Next is Count + 1, 2795 flag(opCounter,Count,Next), 2796 fail. 2797 2798enumOps. 2799 2800 2801% ********************************************************************* 2802% findVarsAndTypes - collect a list of all variables and their 2803% types as they occur in an operator 2804% also collect the list of "ne" constraints 2805% that apply to variables 2806% [<Type>,<Variable>|<Rest>] 2807% 2808% findVarsAndTypes(+Operator,-TypeVarList,-Nes) 2809 2810 2811findVarsAndTypes(operator(_,Pre,Nec,Cond),Vars,NEs) :- 2812 vtPrevail(Pre,PreVars,PreNEs), 2813 vtEffects(Nec,NecVars,NecNEs), 2814 append_dcut(PreVars,NecVars,Vars), 2815 append_dcut(PreNEs,NecNEs,NEs), 2816 !. 2817 2818% collect all Vars and types in a changes clause 2819%vtEffects(+EffectsClause,-VarsTypes,-NEClauses). 2820 2821vtEffects([],[],[]). 2822 2823vtEffects([sc(Type,Obj1,Preds)|Rest],VT,NEs) :- 2824 vtPreds(Preds,Related,NEs1), 2825 append_dcut([Type,Obj1],Related,Obj1VT), 2826 vtEffects(Rest,RestVT,RestNEs), 2827 append_dcut(Obj1VT,RestVT,VT), 2828 append_dcut(NEs1,RestNEs,NEs). 2829 2830% collect all Vars and types in a Prevail clause 2831%vtPrevail(+PrevailClause,-VarsTypes,-NEClauses). 2832 2833vtPrevail([],[],[]). 2834 2835vtPrevail([se(Type,Obj1,Preds)|Rest],VT,NEs) :- 2836 vtPLst(Preds,Related,NEs1), 2837 append_dcut([Type,Obj1],Related,Obj1VT), 2838 vtPrevail(Rest,RestVT,RestNEs), 2839 append_dcut(Obj1VT,RestVT,VT), 2840 append_dcut(NEs1,RestNEs,NEs). 2841 2842% Deal with the change predicates in a changes clause 2843% vtPreds(+ChangeProps,-VarsTypes,-NEClauses). 2844 2845vtPreds((Pre => Add),Res,NEs) :- 2846 vtPLst(Pre,VTPre,NEs1), 2847 vtPLst(Add,VTAdd,NEs2), 2848 append_dcut(VTPre,VTAdd,Res), 2849 append_dcut(NEs1,NEs2,NEs). 2850 2851% Deal with a list of literals 2852% vtPLst(+Literals,-VarTypes,-NEClauses). 2853 2854vtPLst([],[],[]). 2855 2856vtPLst([ne(X,Y)|Rest],Res,[ne(X,Y)|RestNEs]) :- 2857 !, 2858 vtPLst(Rest,Res,RestNEs). 2859 2860vtPLst([Pred|Preds],Res,NEs) :- 2861 functor(Pred,_,1), 2862 !, 2863 vtPLst(Preds,Res,NEs). 2864 2865vtPLst([is_of_sort(_,_)|Preds],Res,NEs) :- 2866 !, 2867 vtPLst(Preds,Res,NEs). 2868 2869% here is the hard bit, Create a dummy literal - instantiate it with 2870% the OCL predicate list to find the types then 2871% match up the type with the original literal variables. 2872 2873vtPLst([Pred|Preds],Res,NEs) :- 2874 functor(Pred,Name,Arity), 2875 Pred =.. [Name,Obj1|Rest], 2876 VNeeded is Arity - 1, 2877 createVarList(VNeeded,VN), 2878 DummyPred =.. [Name,X|VN], 2879 env_call predicates(PList), 2880 member(DummyPred,PList), 2881 pair(VN,Rest,This), 2882 vtPLst(Preds,RestPre,NEs), 2883 append_dcut(This,RestPre,Res). 2884 2885% Create a list of new uninstantiated variables 2886% createVarList(+NoOfVariablesNeeded, -ListOfvariables). 2887 2888createVarList(1,[X]) :- 2889 !. 2890 2891createVarList(N,[X|Rest]) :- 2892 Next is N - 1, 2893 createVarList(Next,Rest). 2894 2895% merge the list of variables and the list of types 2896% pair(+TypeList,+VarList,-varTypeList). 2897 2898pair([],[],[]). 2899 2900pair([Type|Types],[Var|Vars],[Type,Var|Rest]) :- 2901 pair(Types,Vars,Rest). 2902 2903 2904 2905% ********************************************************************** 2906% Top Level Routine to instantiate / ground operators in all legal ways 2907% 2908% instOps 2909 2910instOps :- 2911 flag(opCounter,_,1), 2912 env_call opParent(No,Operator,VT,NEs,InVars,IsOfSorts), 2913 checkIsOfSorts(IsOfSorts), 2914 checkInVars(InVars), 2915 chooseVals(VT,NEs,InVars,Vals), 2916 obeysNEs(NEs), 2917 flag(opCounter,Count,Count), 2918 (operator(Name,Prev,Nec,Cond) = Operator), 2919 filterSE(Prev,FPrev), 2920 filterSC(Nec,FNec), 2921 env_assert(gOperator(Count,No,operator(Name,FPrev,FNec,Cond))), 2922 Next is Count + 1, 2923 flag(opCounter,Count,Next), 2924 fail. 2925 2926instOps. 2927 2928 2929checkInVars([]):- !. 2930checkInVars(Preds):- 2931 env_call(atomic_invariantsC(Invars)), 2932 doCheckInvars(Preds,Invars). 2933 2934doCheckInvars([],_). 2935doCheckInvars([Pred|Rest],Invars) :- 2936 member(Pred,Invars), 2937 doCheckInvars(Rest,Invars). 2938 2939checkIsOfSorts([]). 2940checkIsOfSorts([is_of_sort(V,Sort)|Rest]) :- 2941 env_call objectsOfSort(Sort,Objs), 2942 member(V,Objs), 2943 checkIsOfSorts(Rest). 2944 2945 2946% filterSE - remove ne and is_of_sort clauses 2947 2948filterSE([],[]) :- !. 2949filterSE([se(Sort,Id,Preds)|Rest],[se(Sort,Id,FPreds)|FRest]) :- 2950 filterPreds(Preds,FPreds),!, 2951 filterSE(Rest,FRest). 2952 2953% filterSC - remove ne and is_of_sort clauses 2954 2955filterSC([],[]) :- !. 2956filterSC([sc(Sort,Id,(Pre => Post))|Rest],[sc(Sort,Id,(FPre => FPost))|FRest]) :- 2957 filterPreds(Pre,FPre), 2958 filterPreds(Post,FPost), 2959 !, 2960 filterSC(Rest,FRest). 2961 2962% FilterPreds - remove ne and is_of_sort clauses 2963 2964filterPreds([],[]). 2965filterPreds([ne(_,_)|Rest],FRest) :- 2966 !, 2967 filterPreds(Rest,FRest). 2968filterPreds([is_of_sort(_,_)|Rest],FRest) :- 2969 !, 2970 filterPreds(Rest,FRest). 2971%filterPreds([Pred|Rest],FRest) :- 2972% env_call(atomic_invariantsC(Invars)), 2973% member(Pred,Invars), 2974% !, 2975% filterPreds(Rest,FRest). 2976filterPreds([H|T],[H|FT]) :- 2977 filterPreds(T,FT). 2978 2979 2980% Collect all possible ways of instantiating the conditional effects 2981 2982collectAllConds(_,_,_,_,[],[]) :- !. 2983 2984collectAllConds(CondVT,NEs,InVars,CondVals,Cond,_) :- 2985 env_retractall(temp_assertIndivConds(_)), 2986 chooseVals(CondVT,NEs,InVars,Vals), 2987 assertIndivConds(Cond), 2988 fail. 2989 2990collectAllConds(_,_,_,_,_,NewConds) :- 2991 setof(Cond,env_call(temp_assertIndivConds(Cond)),NewConds), 2992 dmsg(collectAllConds=NewConds),!. 2993 2994assertIndivConds([]) :- !. 2995 2996assertIndivConds([H|T]) :- 2997 env_assert(temp_assertIndivConds(H)), 2998 assertIndivConds(T). 2999 3000% Find the atomic_invariants in the Operator 3001 3002containsInvars(operator(Name,Prev,Nec,Cond),InVars,IsOfSorts,FPrev,FNec) :- 3003 prevInvars(Prev,PInVars,PIsOfSorts,FPrev), 3004 necInvars(Nec,NecInVars,NIsOfSorts,FNec), 3005 append_dcut(NecInVars,PInVars,InVars), 3006 append_dcut(PIsOfSorts,NIsOfSorts,IsOfSorts), 3007 !. 3008 3009prevInvars([],[],[],[]). 3010prevInvars([se(Type,Obj,Props)|Rest],InVars,IsOfSorts,[se(Type,Obj,FProps)|RFPrev]) :- 3011 propsInvars(Props,PInvars,PIsOfSorts,FProps), 3012 prevInvars(Rest,RInVars,RIsOfSorts,RFPrev), 3013 append_dcut(PInVars,RInVars,InVars), 3014 append_dcut([is_of_sort(Obj,Type)|PIsOfSorts],RIsOfSorts,IsOfSorts). 3015 3016necInvars([],[],[],[]). 3017necInvars([sc(Type,Obj,(Props => Adds))|Rest],Invars,IsOfSorts,[sc(Type,Obj,(FProps => FAdds))|RFNec]) :- 3018 propsInvars(Props,PInvars,PIsOfSorts,FProps), 3019 propsInvars(Adds,AInvars,AIsOfSorts,FAdds), 3020 necInvars(Rest,RInvars,RIsOfSorts,RFNec), 3021 append_dcut(AInvars,PInvars,Temp), 3022 append_dcut(Temp,RInvars,Invars), 3023 append_dcut(PIsOfSorts,AIsOfSorts,SortsTemp), 3024 append_dcut([is_of_sort(Obj,Type)|SortsTemp],RIsOfSorts,IsOfSorts). 3025 3026propsInvars([],[],[],[]). 3027propsInvars([Prop|Props],[Prop|Rest],IsOfSorts,FProps) :- 3028 isInvariant(Prop), 3029 !, 3030 propsInvars(Props,Rest,IsOfSorts,FProps). 3031propsInvars([is_of_sort(X,Y)|Props],InVars,[is_of_sort(X,Y)|IsOfSorts],FProps):- 3032 !, 3033 propsInvars(Props,InVars,IsOfSorts,FProps). 3034 3035propsInvars([Pred|Props],Rest,IsOfSorts,[Pred|FProps]) :- 3036 propsInvars(Props,Rest,IsOfSorts,FProps). 3037 3038isInvariant(Prop) :- 3039 env_call atomic_invariantsC(Invars), 3040 functor(Prop,Name,Arity), 3041 createVarList(Arity,VN), 3042 Pred =.. [Name | VN], 3043 member(Pred,Invars). 3044 3045% Select values for the variables in the operator 3046% 3047% chooseVals(+TypeVarList,+NEList,+Invariants,-VarValueList) 3048 3049chooseVals([],_,_,[]). 3050 3051chooseVals([Type,Var|TypeVars],NEs,InVars,Vals) :- 3052 ground(Var), 3053 !, 3054 chooseVals(TypeVars,NEs,InVars,Vals). 3055 3056chooseVals([Type,Var|TypeVars],NEs,InVars,[Var|Vals]) :- 3057 env_call objectsOfSort(Type,AllVals), 3058 member(Var,AllVals), 3059 chooseVals(TypeVars,NEs,InVars,Vals).

3066assert_sort_objects :- 3067 env_call objectsC(Type,Objects), 3068 env_assert(objectsOfSort(Type,Objects)), 3069 fail. 3070 3071assert_sort_objects :- 3072 env_call sorts(Type,SubTypes), 3073 not((special_sorts(PS), Type == PS )), 3074 all_objects(Type,Objs), 3075 env_assert(objectsOfSort(Type,Objs)), 3076 fail. 3077 3078assert_sort_objects. 3079 3080all_objects(Type,Objs) :- 3081 env_call objectsC(Type,Objs), 3082 !. 3083all_objects(Type,Objs) :- 3084 env_call sorts(Type,SubSorts), 3085 !, 3086 collect_subsort_objects(SubSorts,Objs). 3087 3088collect_subsort_objects([],[]). 3089collect_subsort_objects([Sort|Rest],Objs ) :- 3090 all_objects(Sort,SortObjs), 3091 !, 3092 collect_subsort_objects(Rest,RestObjs), 3093 append_dcut(SortObjs,RestObjs,Objs). 3094 3095obeysNEs([]). 3096 3097obeysNEs([ne(V1,V2)|Rest]) :- 3098 V1 \== V2, dif(V1,V2), % add corroutine 3099 obeysNEs(Rest),!. 3100 3101obeysInVars([]). 3102obeysInVars([Prop|Rest]) :- 3103 env_call(atomic_invariantsC(Invars)), 3104 member(Prop,Invars), 3105 !. 3106 3107% ********************************************************************** 3108% prettyPrinting Routines for ground OCL operators 3109% long and boring 3110 3111 3112% prettyPrintOp(+<Ground Operator>) 3113 3114prettyPrintOp(gOperator(No,Par,Op)) :- 3115 write('gOperator('), 3116 write(No),write(','), 3117 write(Par),write(','),nl, 3118 writeOp(4,Op), 3119 !. 3120 3121writeOp(TabVal,operator(Name,Prev,Nec,Cond)) :- 3122 tab(TabVal), 3123 write('operator('),write(Name),write(','),nl, 3124 tab(8),write('% Prevail'),nl, 3125 tab(8),write('['),nl, 3126 writePrevailLists(8,Prev), 3127 tab(8),write('],'),nl, 3128 tab(8),write('% Necessary'),nl, 3129 tab(8),write('['),nl, 3130 writeChangeLists(10,Nec), 3131 tab(8),write('],'),nl, 3132 tab(8),write('% Conditional'),nl, 3133 tab(8),write('['),nl, 3134 writeChangeLists(10,Cond), 3135 tab(8),write('])).'),nl. 3136 3137writePropList(TabVal,[]) :- 3138 tab(TabVal), 3139 write('[]'). 3140 3141writePropList(TabVal,[ne(_,_)|Props]) :- 3142 !, 3143 writePropList(Indent,Props). 3144 3145writePropList(TabVal,[Prop|Props]) :- 3146 env_call(atomic_invariantsC(Invars)), 3147 member(Prop,Invars), 3148 writePropList(TabVal,Props). 3149 3150writePropList(TabVal,[Prop|Props]) :- 3151 tab(TabVal), 3152 write('['), 3153 write(Prop), 3154 Indent is TabVal + 1, 3155 writePList(Indent,Props). 3156 3157writePList(TabVal,[]) :- 3158 nl, 3159 tab(TabVal), 3160 write(']'). 3161 3162writePList(TabVal,[ne(_,_)]) :- 3163 !, 3164 nl, 3165 tab(TabVal), 3166 write(']'). 3167 3168writePList(TabVal,[Prop]) :- 3169 env_call(atomic_invariantsC(Invars)), 3170 member(Prop,Invars), 3171 !, 3172 nl, 3173 tab(TabVal), 3174 write(']'). 3175 3176writePList(TabVal,[Prop]) :- 3177 write(','), 3178 nl, 3179 tab(TabVal), 3180 write(Prop), 3181 write(']'). 3182 3183writePList(TabVal,[ne(_,_),P2|Rest]) :- 3184 !, 3185 writePList(TabVal,[P2|Rest]). 3186 3187writePList(TabVal,[Prop,P2|Rest]) :- 3188 env_call(atomic_invariantsC(Invars)), 3189 member(Prop,Invars), 3190 !, 3191 writePList(TabVal,[P2|Rest]). 3192 3193writePList(TabVal,[P1,P2|Rest]) :- 3194 write(','), 3195 nl, 3196 tab(TabVal), 3197 write(P1), 3198 writePList(TabVal,[P2|Rest]). 3199 3200writeChangeLists(_,[]). 3201 3202writeChangeLists(TabVal,[sc(Type,Obj,(Req => Add))|Rest]) :- 3203 tab(TabVal), 3204 write('sc('),write(Type),write(','),write(Obj),write(',('),nl, 3205 Indent is TabVal + 12, 3206 writePropList(Indent,Req), 3207 nl, 3208 tab(Indent), 3209 write('=>'), 3210 nl, 3211 writePropList(Indent,Add), 3212 write('))'),writeComma(Rest), 3213 nl, 3214 writeChangeLists(TabVal,Rest). 3215 3216writeComma([]). 3217writeComma(_) :- 3218 write(','). 3219 3220writePrevailLists(_,[]). 3221 3222writePrevailLists(TabVal,[se(Type,Obj,Props)|Rest]) :- 3223 tab(TabVal), 3224 write('se('),write(Type),write(','),write(Obj),write(','),nl, 3225 Indent is TabVal + 12, 3226 writePropList(Indent,Props), 3227 write(')'),writeComma(Rest), 3228 nl, 3229 writePrevailLists(TabVal,Rest). 3230 3231 3232assert_is_of_sort :- 3233 env_call objectsOfSort(Type,Objects), 3234 member(Obj,Objects), 3235 assert_is_of_sort1(Type,Obj), 3236 fail. 3237assert_is_of_sort :- 3238 env_call objectsC(Type,Objects), 3239 member(Obj,Objects), 3240 assert_is_of_primitive_sort(Type,Obj), 3241 fail. 3242assert_is_of_sort. 3243 3244assert_is_of_sort1(Type,Obj):- env_assert(is_of_sort(Obj,Type)),!. 3245assert_is_of_primitive_sort(Type,Obj):- 3246 env_assert(is_of_primitive_sort(Obj,Type)),!. 3247 3248% change substate_class to primary sort level 3249% assert in prolog database as gsubstate_class(Sort,Obj,States) 3250prim_substate_class:- 3251 env_call substate_classes(Sort,Obj,Substate), 3252 find_prim_sort(Sort,PS), 3253 assert_subclass(PS,Obj,Substate), 3254 fail. 3255prim_substate_class:- 3256 collect_prim_substates. 3257 3258assert_subclass([],Obj,Substate). 3259assert_subclass([HS|TS],Obj,Substate):- 3260 env_assert(gsstates(HS,Obj,Substate)), 3261 assert_subclass(TS,Obj,Substate). 3262 3263collect_prim_substates:- 3264 env_call gsstates(Sort,Obj,_), 3265 setof(SStates,(env_call gsstates(Sort,Obj,SStates)),GSStates), 3266 env_retractall(gsstates(Sort,Obj,_)), 3267 all_combined(GSStates,GSStates0), 3268 env_assert(gsubstate_classes(Sort,Obj,GSStates0)), 3269 fail. 3270collect_prim_substates. 3271 3272all_combined(SStates,CSStates):- 3273 xprod(SStates,CSStates1), 3274 flat_interal(CSStates1,CSStates),!. 3275 3276flat_interal([],[]):-!. 3277flat_interal([HSS1|TSS1],[HSS|TSS]):- 3278 flatten(HSS1,[],HSS), 3279 flat_interal(TSS1,TSS),!. 3280 3281% xprod: list * list --> (list X list) 3282% ----------------------------------- 3283xprod(A,B,C) :- 3284 xprod([A,B],C) . 3285 3286xprod([],[]). 3287xprod(A,E) :- 3288 xprod(A,B,C,D) , 3289 F =..[^,C,env_call(D)] , 3290 call(setof(B,F,E)) . 3291 3292xprod([X],[A],A,member(A,X)) . 3293xprod([X,Y],[A,B],C,(D,E)) :- 3294 C =..[^,A,B] , 3295 D =..[member,A,X] , 3296 E =..[member,B,Y] . 3297xprod([X|Y],[A|E],D,(F,G)) :- 3298 D =..[^,A,C] , 3299 F =..[member,A,X] , 3300 xprod(Y,E,C,G). 3301 3302 3303:-retractall(solution_file(_)). 3304:-asserta(solution_file(user)). 3305 3306% :-sleep(1). 3307% :-tell(user),run_header_tests. 3308 3309 3310 3311lws:- listing(ocl:[method, 3312operator,implied_invariant,atomic_invariants,inconsistent_constraint,predicates,objects,substate_classes,sorts,domain_name,planner_task_slow,planner_task, 3313htn_task,tp_node,tn,current_num,goal_related,goal_related_search,solved_node,closed_node,tp_goal,final_node,node,op_score,gsstates,gsubstate_classes,related_op, 3314objectsOfSort,atomic_invariantsC,objectsD,objectsC,gOperator,operatorC,opParent,methodC,is_of_sort,is_of_primitive_sort,temp_assertIndivConds]). 3315 3316lws(F):-tell(F),lws,told. 3317 3318:-export(rr/0). 3319:-export(rr1/0). 3320rr:- test_ocl('domains_ocl/chameleonWorld.ocl'). 3321rr1:- test_ocl('domains_ocl/translog.ocl'). 3322 3323:- fixup_exports. 3324 3325:- include(translog4). 3326 3327:-rr.