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 % */

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:- style_check(-singleton). 22:- use_module(library(prolog_pack)). 23:- if( \+ prolog_pack:current_pack(logicmoo_planners)). 24:- dynamic user:file_search_path/2. 25:- multifile user:file_search_path/2. 26:- prolog_load_context(directory,Dir), 27 DirFor = planner, 28 (( \+ user:file_search_path(DirFor,Dir)) ->asserta(user:file_search_path(DirFor,Dir));true), 29 absolute_file_name('../../../../',Y,[relative_to(Dir),file_type(directory)]), 30 (( \+ user:file_search_path(pack,Y)) ->asserta(user:file_search_path(pack,Y));true). 31:- attach_packs. 32:- initialization(attach_packs). 33:- endif. 34 35% [Required] Load the Logicmoo Library Utils 36:- ensure_loaded(library(logicmoo_utils)). 37 38 39:- ensure_loaded(library(logicmoo_util_structs)). 40:- ensure_loaded(library(logicmoo_util_bb_env)). 41:- prolog_load_context(file,File),ain(user:env_source_file(File)). 42 43:-op(500,fx,env_call). 44 45/* 46 * GIPO COPYRIGHT NOTICE, LICENSE AND DISCLAIMER. 47 * 48 * Copyright 2001 - 2003 by R.M.Simpson W.Zhao T.L.McCLuskey D Liu D. Kitchin 49 * 50 * Permission to use, copy, modify, and distribute this software and its 51 * documentation for any purpose and without fee is hereby granted, 52 * provided that the above copyright notice appear in all copies and that 53 * both the copyright notice and this permission notice and warranty 54 * disclaimer appear in supporting documentation, and that the names of 55 * the authors or their employers not be used in advertising or publicity 56 * pertaining to distribution of the software without specific, written 57 * prior permission. 58 * 59 * The authors and their employers disclaim all warranties with regard to 60 * this software, including all implied warranties of merchantability and 61 * fitness. In no event shall the authors or their employers be liable 62 * for any special, indirect or consequential damages or any damages 63 * whatsoever resulting from loss of use, data or profits, whether in an 64 * action of contract, negligence or other tortious action, arising out of 65 * or in connection with the use or performance of this software. 66 */ 67 /* gipohyhtn.pl */ 68/* HyHTN planning: do preprocess first */ 69/* make all method and operators primitive */ 70%:-use_module(library(system)). 71/*********************** initialisation**************/ 72:-dynamic my_stats/1. 73 74 75:-multifile(on_call_decl_hyhtn/0). 76:-export(on_call_decl_hyhtn/0). 77% Tasks 78on_call_decl_hyhtn :- decl_env_mpred_dom([kb(dom,tasks),stubType(dyn)], ( htn_task/3, planner_task/3, planner_task_slow/3 )). 79 80on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(temp_assertIndivConds/1)). % Used for grounding operators 81on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(is_of_primitive_sort/2, is_of_sort/2)). 82on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(methodC/7, opParent/6,operatorC/5,gOperator/3)). 83on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(objectsC/2,objectsD/2,atomic_invariantsC/1)).% Used only dynamic objects 84on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(objectsOfSort/2)). % Used to store all objects of a sort 85on_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)). 86 87on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(initial_state/1)). 88on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache) /*stubType(with_pred(bb_op(_)))*/],(op_score/2)). 89on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)/*stubType(rec_db)*/],(node/5,final_node/1)). 90on_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)). 91%on_call_decl_hyhtn :- decl_env_mpred_task([stubType(rec_db),kb(node,cache)],(goal_related/3)). 92on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(goal_related/3)). 93on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(current_num/2)). 94on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tn/6)). % Used to store full expanded steps 95on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_node/6)). 96% on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_node_cached/6)). 97% on_call_decl_hyhtn :- decl_env_mpred_task([stubType(with_pred(gvar_list(tnodeSORTED))),kb(node,cache)],tp_node/6). 98 99% Tasks 100on_call_decl_hyhtn :- decl_env_mpred_dom([kb(dom,tasks),stubType(dyn)], ( htn_task/3, planner_task/3, planner_task_slow/3 )). 101 102% Contents of a OCLh Domain 103on_call_decl_hyhtn :- 104 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, 105 implied_invariant/2,operator/4, 106 % oper/4, 107 method/6]). 108 109:-export(call_decl_hyhtn/0). 110 111% :- rtrace. 112 113call_decl_hyhtn:-must(doall(on_call_decl_hyhtn)). 114 115:- % 116 call_decl_hyhtn. 117 118 119 120%%% ON :- initialization( profiler(_,walltime) ). 121%%% ON :- initialization(user:use_module(library(swi/pce_profile))). 122% :- qcompile_libraries. 123 124 125 :- rtrace. 126tryff(Call):- predicate_property(Call,_),!,once(tryf((Call,assert(passed_test_try(Call))))),fail. 127tryf(Call):- predicate_property(Call,_),!,catch(Call,E,dmsg(E = Call)). 128trye(Call):- catch(Call,E,((dmsg(error(E , Call)),throw(trace),Call))). 129 130:-dynamic(passed_test_try/1). 131:-dynamic(testing_already/0). 132 133check_passed_any:-not(not(passed_test_try(_))),nl,listing(passed_test_try/1). 134 135ttm:-retractall(passed_test_try(_)),fail. 136ttm:-testing_already,!. 137ttm:-asserta(testing_already), make, retractall(testing_already),fail. 138 139 140:-export(banner_party/2). 141banner_party(E,BANNER):- 142 ansicall(yellow,( 143 format("% xxxxxxxxxxxxxxx ~w xxxxxxxxxxxxxxxxxxx~n",[E]), 144 forall(t_l:doing(X),dmsg(E,doing(X))), 145 dmsg5(E,BANNER), 146 format("% xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx~n",[]))). 147 148 149subst_eq_h(A,B,C,D):- nd_subst(A,B,C,D),!. 150subst_eq_h(A,B,C,D):- throw(trace), nd_subst(A,B,C,D),!. 151 152 153:-export(term_expansion_alias/2). 154term_expansion_alias(In,Out):-term_expansion_alias([],In,Out). 155term_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). 156term_expansion_alias(_Not,InOut,InOut). 157term_alias(cond,se). 158term_alias(se,se). 159term_alias(state,ss). 160term_alias(trans,sc). 161term_alias(ne,dif). 162term_alias(neq,dif). 163% term_alias(htn_task,planner_task). 164term_alias(startOcl,start). 165term_alias(startOCL,start). 166 167 168%get_tasks(B, C, D) :-%show_call(get_env_ctx(A)),!, 169% if_defined(get_tasks(_A, B, C, D)). 170 171 172tasks:- 173 Call = get_tasks(N,Goal,State), 174 setof(Call,Call,List),list_to_set(List,Set),!, 175 env_info(kb(dom,file)),!, 176 once((ignore(forall(member(Call,Set), 177 w_tl(t_l:doing(tasks(N,Goal)), 178 (( 179 must(nonvar(Goal)),must(nonvar(State)), 180 ignore(N=Goal), 181 must((term_expansion_alias((Goal:-State),(GGoal:-GState)))), 182 must(nonvar(GGoal)),must(nonvar(GState)), 183 banner_party(informational,('GOAL'(N):-GGoal)), 184 must(((once( once(startOCL(GGoal,GState))*->banner_party(informational,'SUCCESSS');banner_party(error,'FAILUR!!!!!!!!!!!!!!!!!!!!!!!!!!!E')))))))))))). 185 186t:- once(run_header_tests). 187 188tt:-catch(ttm,E,dmsg(E)),!. 189 190tt:-tryff((tasks)). 191tt:-tryff((task1)). 192tt:-tryff((task2)). 193tt:-tryff((task3)). 194tt:-tryff((task4)). 195tt:-tryff((task5)). 196tt:-tryff((task6)). 197tt:-tryff((task7)). 198tt:-tryff((task8)). 199tt:-tryff((task9)). 200tt:-tryff((task10)). 201tt:-tryff((task11)). 202tt:-tryff((task22)). 203tt:-tryff((task33)). 204tt:-tryff((task44)). 205tt:-check_passed_any,!. 206 207 208tdom:-tdom([htn1,ty,ocl1,r3]). 209tdom2:-tdom([ocl2,htn2,htn3,htn4]). 210 211tdomfile(F):-tdomcall(load_data_file(F)). 212tdomcall(Call):- trye(once((env_clear_doms_and_tasks,trye(Call),tt))). 213 214tdom([]):-!. 215tdom([H|T]):- !, tdom(H),tdom(T). 216tdom(H):- predicate_property(H,_),!, throw(trace),call(H). 217tdom(F):- tdom1(F),!. 218tdom(F):- expand_file_name(F,List),List\=[],!,tdom1(List). 219tdom(F):- throw(tdom(F)). 220 221tdom1([]):-!. 222tdom1([H|T]):- !, tdom(H),tdom(T). 223tdom1(F):- tdom2(F),!. 224tdom1(FIn):- atom(FIn),tdom2(FIn). 225 226tdom2(FIn):- tdom3(FIn),!. 227tdom2(FIn):- atom_concat('domains_ocl/',FIn,F), tdom3(F),!. 228 229tdom3(FIn):- tdom4(FIn). 230tdom3(FIn):- atom_concat(FIn,'htn',F),tdom4(F). 231tdom3(FIn):- atom_concat(FIn,'ocl',F),tdom4(F). 232 233tdom4(F):- exists_file(F),!,tdomfile(F). 234 235 236:- discontiguous(post_header_hook/0). 237post_header_hook:-retractall(canDoTermExp). 238% user:term_expansion(In,Out):- canDoTermExp,term_expansion_hyhtn(In,M),In\=@=M,expand_term(M,Out). 239% user:goal_expansion(In,Out):- canDoTermExp,term_expansion_hyhtn(In,M),In\=@=M,expand_goal(M,Out). 240post_header_hook:-asserta(canDoTermExp). 241 242:-export(env_clear_doms_and_tasks/0). 243env_clear_doms_and_tasks:- env_clear(kb(dom,file)),env_clear(kb(dom,tasks)),env_clear(kb(dom,cache)),!. 244 245:- op(100,xfy,( /*ocluser*/ocl:('=>'))). 246 247% :-set_prolog_flag(verbose_file_search,true). 248post_header_hook:-set_prolog_flag(verbose_load,full). 249post_header_hook:-use_module(library(lists)). 250 251% :- must((current_op(P,FXY,(-)),arg(_,v(fy,fx),FXY),P =< 300)). 252:- style_check(-singleton). 253:- style_check(+discontiguous). 254 255 256%post_header_hook:-use_module(library(system)). 257:-if(exists_source(library(gui_tracer))). 258post_header_hook:- user:use_module(library(gui_tracer)),catch(guitracer,_,true). 259:-endif. 260post_header:- !. 261post_header:- dmsg(post_header),fail, forall(clause(post_header_hook,G),G). 262 263 264:- discontiguous(header_tests/0). 265 266run_tests(Call) :- 267 statistics_runtime(InTime), 268 w_tl(doing(run_tests(Call)), 269 call_cleanup(Call, 270 (( 271 statistics_runtime(OutTime), 272 Time is OutTime - InTime, 273 banner_party(informational,runtests(Call) = time(Time)))))). 274 275run_header_tests :- run_tests(forall(clause(header_tests,G),run_tests(G))). 276 277 278:-export(test_ocl/1). 279test_ocl(File):- forall(filematch(File,FM),test_ocl0(FM)). 280test_ocl0(File):- time(w_tl(t_l:doing(test_ocl(File)), 281 once((env_clear_doms_and_tasks,clean_problem,l_file(File),tasks)))). 282 283header_tests :-test_ocl('domains_ocl/*.ocl'). 284 285 286:- style_check(-singleton). 287:- style_check(-discontiguous). 288%:-use_module(library(system)). 289 290%:- asserta(t_l:disable_px). 291 292 293/* Donghong Liu */ 294/* University of Huddersfield */ 295/* September 2002 */ 296/* **********************************/ 297/* gipohyhtn.pl */ 298/* HyHTN planning: do preprocess first */ 299/* make all method and operators primitive */ 300/* htncode.pl */ 301 302planner_failure(Why,Info):-dmsg(error,Why-Info),banner_party(error,'FAILURE_PLANNER'),print_message(error,'FAILURE_PLANNER'(Why,Info)),!. %sleep(2). 303 304:-thread_local t_l:doing/1. 305 306statistics_runtime(CP):-statistics(runtime,[_,CP0]), (CP0==0 -> CP= 0.0000000000001 ; CP is (CP0/1000)) . % runtime WAS process_cputime 307statistics_walltime(CP):-statistics(walltime,[_,CP0]), (CP0==0 -> CP= 0.0000000000001 ; CP is (CP0/1000)) . % runtime WAS process_cputime 308 309 310 311% The following elements are expected in the sort engineered domain model 312% 313% sorts 314% objects 315% predictates 316% ss class expressions 317% invariants: 318% atomic invariants 319% -ve invariants 320% +ve invariants 321% operators 322startOCL(Goal,Init):- 323 clean_problem, 324 dmsg('OCL-PLANNER-TASK'(Goal)), 325 must(planner_interface(Goal,Init,Sol,_,TNLst)), 326 show_result_and_clean(F,Id,Sol,TNLst). 327 328 329 330% for boot.. 331:-dynamic kill_file/1,solution_file/1. 332% 333% :-expects_dialect(sicstus). 334:- style_check(-singleton). 335%:- prolog_flag(single_var_warnings, _, off). 336%:-set_prolog_flag(unknown,fail). 337% :- unknown(error,fail). 338:- op(100,xfy,'=>'). 339%---------------------structure-------------------- 340% for whole search: 341% node(Nodeid, Precond, Decomps, Temp, Statics) 342% tn(Tnid, Name, Precond, Postcond,Temp, Decomps) 343% tn is a full expanded node, it has fixed decomps and postcondtion 344% step(HPid,ActName,Precond,Postcond,Expansion) 345% for fwsearch achieve(Goal) only: 346% tp_goal(Pre,Goal,Statics) 347% goal_related(se(Sort,Obj,SEpre),Opls,LengthToGoal) 348% tp_node(TPid,Pre,Statics,from(Parentid),Score,Steps) 349% closed_node(TPid,Pre,from(Parentid),Score,Steps) 350%---------------------structure end-------------------- 351 352incr_op_num:- flag(op_num,X,X+1). 353set_op_num(X):-flag(op_num,_,X). 354current_op_num(X):- flag(op_num,X,X). 355 356 357get_tasks(N,Goal,State):- ocl:htn_task(N,Goal,State). 358get_tasks(N,Goal,State):- env_call planner_task(N,Goal,State). 359% get_tasks(N,Goal,State):- if_defined(htn_task(N,Goal,State)). 360 361:- set_op_num(0). 362:-asserta(my_stats(0)). 363 364l_file(File):- \+ exists_file(File),!,forall(filematch(File,FM),l_file(FM)). 365l_file(F):- env_consult(ocl:F). 366l_file(F):- 367 if_defined(/*ocluser*/ocl:force_reload_mpred_file(F), 368 if_defined(/*ocluser*/ocl:with_mpred_consult(/*ocluser*/ocl:consult(F)),/*ocluser*/ocl:consult(F))). 369 370solve_file(F):-with_filematch(l_file(wfm(F))), doall(solve(_)). 371solve:- solve_file(test_hyhtn). 372solve(Id) :- 373 no_repeats(get_tasks(Id,Goal,Init)), 374 planner_interface(Goal,Init,Sol,_,TNLst), 375 show_result_and_clean(user,Id,Sol,TNLst). 376 377show_result_and_clean(F,Id,Sol,TNLst):- 378 must(solution_file(F)), 379 tell(F), 380 format('~NSOLUTION for TASK ~w~n',[Id]), 381 display_sol(Sol), 382 write_out_test_data('.preClean',Id), 383 write('END FILE'),nl,nl, 384 nop((reverse(TNLst,TNForward), 385 display_details(TNForward), 386 write('END PLANNER RESULT'))), 387 told, 388 clean_problem. 389 390write_out_test_data(_MoreID,_Id):-!. 391write_out_test_data(MoreID,Id):- 392 must(( 393 394 (var(Id)->statistics(walltime,[Id,_]);true), 395 (push_env_ctx-> A= pushed_ ; A=nonpushed_ ), 396 atom_concat(A,Id,TN),atom_concat(TN,MoreID,TTN), 397 lws(TTN))),!. 398 399display_sol([]). 400display_sol([H|T]) :- 401 write(H), 402 nl, 403 display_sol(T). 404 405display_details([]):-!. 406display_details([H|T]):-!,display_details(H),display_details(T),!. 407display_details(tn(TN,Name,Pre,Post,Temp,Dec)):- 408% write('method::Description:'),write(';'), 409 nl,write('BEGIN METHOD'),nl,write(TN),write(';'), 410 nl,write('Name:'),write(Name),write(';'), 411 nl,write('Pre-condition:'),write(Pre),write(';'), 412% write('Index Transitions:'),write(Pre),write('=>'),write(Post1),write(';'), 413 nl,write('Index Transitions:'),write('=>'),write(Post),write(';'), 414% write('Static:'),write(';'), 415 nl,write('Temporal Constraints:'),write(Temp),write(';'), 416 nl,write('Decomposition:'),write(Dec),write(';'), 417 nl. 418 419display_details(H):-dmsg((display_details:-H)). 420 421clean_problem:- 422 env_retractall(temp_assertIndivConds(_)), 423 env_retractall(opParent(_,_,_,_,_,_)), 424 env_retractall(operatorC(_,_,_,_,_)), 425 env_retractall(initial_state(_)), 426 env_retractall(objectsOfSort(_,_)), 427 env_retractall(objectsD(_,_)), 428 env_retractall(objectsC(_,_)), 429 env_retractall(methodC(_,_,_,_,_,_,_)), 430 env_retractall(is_of_sort(_,_)), 431 env_retractall(is_of_primitive_sort(_,_)), 432 env_retractall(gsubstate_classes(_,_,_)), 433 env_retractall(gOperator(_,_,_)), 434 env_retractall(current_num(_,_)), 435 env_retractall(atomic_invariantsC(_)), 436 437 % nodes 438 env_retractall(final_node(_)), 439 % temp nodes 440 nb_setval(tnodeSORTED,[]), 441 env_retractall(tp_node(_,_,_,_,_,_)), 442 env_retractall(current_num(tp,_)), 443 env_retractall(node(_,_,_,_,_)), 444 env_retractall(solved_node(_,_)), 445 env_retractall(tn(_,_,_,_,_,_)), 446 env_retractall(closed_node(_,_,_,_,_,_)), 447 % env_retractall(score_list(_)), 448 % env_retractall(related_op(_,_)), 449 env_retractall(op_score(_,_)), 450 env_retractall(goal_related(_,_,_)), 451 env_retractall(goal_related_search(_)), 452 453 454 % retractall(my_stats(_)),assert(my_stats(0)), 455 set_op_num(0). 456 457 458 459get_instance(A1,Obj1):- \+compound(A1),!,Obj1=A1. 460get_instance(A1,Obj1):-functor(A1,_,N),N<3,!,arg(1,A1,Obj1). 461get_instance(A1,Obj1):-arg(2,A1,Obj1). 462 463compare_on_instance(Comp,A1,A2):- get_instance(A1,Obj1),get_instance(A2,Obj2),compare(Comp1,Obj1,Obj2), 464 (Comp1== (=) -> compare(Comp,A1,A2) ; Comp=Comp1). 465 466to_ssify(_,_,goal(S,X,L),goal(S,X,L)):-!. 467to_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)))). 468 469to_ssify0(Hints,SS,G,GG):-must(to_ssify1(Hints,SS,G,GG)). 470to_ssify1(Hints,SS,[],[]):- !. 471to_ssify1(Hints,SS,G,[GG]):- atom(G),!,G1=..[G,self],GG=..[SS,top,self,[G1]]. 472to_ssify1(Hints,SS,G,[GG]):- ( \+ compound(G)),!,GG=..[SS,top,self,[beliefsTrue(self,G)]]. 473to_ssify1(Hints,_,goal(S,X,L),[goal(S,X,L)]):-!. 474to_ssify1(Hints,SS,[GH|GT],GG):- !,to_ssify0(Hints,SS,GH,L1),to_ssify0(Hints,SS,GT,L2),append(L1,L2,GG). 475to_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))). 476to_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))). 477to_ssify1(Hints,SS,scL(S,X,L),GG):- !, append(Hints,[is_of_sort(X,S)|L],NewHints),to_ssify0(NewHints,scL,L,GG). 478to_ssify1(Hints,SS,scR(S,X,L),GG):- !, append(Hints,[is_of_sort(X,S)|L],NewHints),to_ssify0(NewHints,scR,L,GG). 479to_ssify1(Hints,SS,sc(S,X,Neg=>Pos),GG):-!, 480 must_det_l(( to_ssify0(Hints,SS,scL(S,X,Neg),L1),to_ssify0(Hints,SS,scR(S,X,Pos),L2), 481 append(L1,L2,GG))). 482to_ssify1(Hints,SS,G,[GG]):-get_instance(G,X),must_det_l((get_one_isa(S,X,Hints),GG=..[SS,S,X,[G]])). 483 484merge_ss2s([],[]). 485merge_ss2s([G1,G2|GG],GGG):- must(\+ is_list(G1)), 486 once(must_det_l((G1=..[SS1,S1,Obj1,L1],G2=..[SS2,S2,Obj2,L2]))),Obj1==Obj2, 487 merge_ss(SS1,S1,Obj1,L1,SS2,S2,Obj2,L2,G),merge_ss2s([G|GG],GGG),!. 488merge_ss2s([G|GG],[G|GGG]):- 489 merge_ss2s(GG,GGG). 490 491 492need_ss_swap(scR,scL). 493need_ss_swap(scR,sc). 494need_ss_swap(scL,sc). 495merge_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). 496 497merge_ss(scL,S1,Obj1,L1,scR,S2,_Obj2,L2,sc(S1,Obj1,L1=>L2)):-!. 498merge_ss(sc,S1,Obj1,[L=>R],scL,S2,_Obj2,[L2],sc(S1,Obj1,LL=>R)):-append(L,L2,LL). 499merge_ss(sc,S1,Obj1,[L=>R],scR,S2,_Obj2,[L2],sc(S1,Obj1,L=>RR)):-append(R,L2,RR). 500merge_ss(sc,S1,Obj1,[L1=>R1],sc,S2,_Obj2,[L2=>R2],sc(S1,Obj1,LL=>RR)):-append(L1,L2,LL),append(R1,R2,RR). 501%merge_ss(SS1,S1,Obj1,L1,SS2,S2,Obj2,L2,G):- SS1\==SS2,!,fail. 502merge_ss(SS,S1,Obj1,L1,SS,S1,Obj2,L2,G):-append(L1,L2,LL),G=..[SS,S1,Obj1,LL]. 503 504 505init_locol_planner_interface(G,I,Node):- 506 w_tl(t_l:db_spy, 507 init_locol_planner_interface0(G,I,Node)). 508 509assert_itital_state(I0):- is_list(I0),!, must_maplist(assert_itital_state,I0),!. 510assert_itital_state(sc(S,X,List)):- !,must(assert_itital_state(List)),must(assert_itital_state(is_of_sort(X,S))),!. 511assert_itital_state(ss(S,X,List)):- !,must(assert_itital_state(List)),must(assert_itital_state(is_of_sort(X,S))),!. 512assert_itital_state(is_of_sort(X,S)):- ground(X:S),env_assert(is_of_sort(X,S)). 513assert_itital_state(I0):- env_assert(initial_state(I0)). 514 515get_inital_state_preds0(G,[]):- (\+compound(G)),!. 516get_inital_state_preds0([],[]):-!. 517get_inital_state_preds0([G1|G2],L):- !,get_inital_state_preds0(G1,L1),get_inital_state_preds0(G2,L2),append(L1,L2,L). 518get_inital_state_preds0(ss(_,_,G),L):- !,get_inital_state_preds0(G,L). 519get_inital_state_preds0(sc(_,_,G),L):- !,get_inital_state_preds0(G,L). 520get_inital_state_preds0(se(_,_,G),L):- !,get_inital_state_preds0(G,L). 521get_inital_state_preds0(G,L):- G=..[F,_,_|GL], arg(_,v(ss,sc,se),F),!,get_inital_state_preds0(GL,L). 522get_inital_state_preds0(G,L):- G=..[F,_|GL], arg(_,v(operator,method,substate_classes,se),F),!,get_inital_state_preds0(GL,L). 523get_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). 524get_inital_state_preds0(G,[F/A]):-functor(G,F,A). 525 526get_inital_state_preds(Hints,L):- 527 findall(G1, 528 (member(F/A,[initial_state/1,operator/4,method/6,substate_classes/3, 529 predicates/1,implied_invariant/2,inconsistent_constraint/1]), 530 functor(G1,F,A), 531 env_call(G1)),LS), 532 get_inital_state_preds0([Hints|LS],UL),list_to_set(UL,L). 533 534 535env_call_if_defined(P):-catch((env_call P),_,fail). 536 537get_inital_state(G,I0):- 538 get_inital_state_preds(G,SP), 539 findall(S,(member(F/A,SP),functor(S,F,A),(if_defined(S,if_defined(ocl:S));env_call(initial_state(S)))),EL), 540 must(to_ssify(EL,ss,EL,I0)). 541 542 543:-export(init_locol_planner_interface0/3). 544 545% init_locol_planner_interface0(G0,I0,Node):-!,init_locol_planner_interface2(G0,I0,Node). 546init_locol_planner_interface0(G0,I0,Node):- 547 must_maplist(assert_itital_state,I0), 548 must(init_locol_planner_interface1(G0,Node)). 549 550init_locol_planner_interface1(G0,Node):- 551 must_det_l((get_inital_state(G0,I0),init_locol_planner_interface2(G0,I0,Node))). 552 553init_locol_planner_interface2(G0,I0,Node):- 554 must_det_l(( 555 flatten([G0,I0],Hints), 556 to_ssify(Hints,se,G0,G), 557 to_ssify(Hints,ss,I0,I), 558 wdmsg((goals:-G)), 559 wdmsg((input:-I)), 560 change_obj_list(I), 561 ground_op, 562 assert_is_of_sort, 563 change_op_representation, 564 prim_substate_class, 565 set_op_num(0), 566 statistics_runtime(Time), 567 statistics_walltime(_), 568 write_out_test_data('.setup',Id), 569 ignore(retract(my_stats(_))), 570 assert(my_stats(Time)), 571 make_problem_into_node(I, G, Node))),!. 572 573 574show_time(must(Call)):-!, functor(Call,F,A), time(must(Call)),format('~N% ~q~n',[previous_statistics_for(F/A)]). 575show_time(Call):- functor(Call,F,A), time(Call),format('~N% ~q~n',[previous_statistics_for(F/A)]). 576 577planner_interface0(G,I, SOLN,OPNUM,TNList):- 578 gripe_time(2.0,show_time(must(init_locol_planner_interface(G,I,Node)))), 579 env_assert(Node),!, 580 dmsg(solving_for(G)),!, 581 start_solve(SOLN,OPNUM,TNList). 582 583 584planner_interface(G,I, SOLN,OPNUM,TNList):- 585 (planner_interface0(G,I, SOLN,OPNUM,TNList) 586 *-> true ; 587 (tell(user),nl,write('failure in initial node'), 588 planner_failure('failure in initial node',planner_interface(G,I, SOLN,NODES,TNList)),!)). 589 590/******************** Nodes *******************/ 591% node(Name, Precond ,Decomps, Temp, Statics) 592% Initial Node: node(root, Init, Decomps, Temp, Statics) 593 594 595getN_name(node(Name, _, _, _,_), Name). 596getN_pre(node(_,Pre, _, _, _), Pre). 597getN_decomp(node(_, _, Decomp,_,_), Decomp). 598getH_temp(node(_, _, _,Temps, _), Temps). 599getN_statics(node(_,_,_,_,Statics), Statics). 600 601%Ron 21/9/01 - Try to give a closedown method 602start_solve(SOLN,OPNUM,_):- 603 kill_file(Kill), 604 exists_file(Kill), 605% write('Found kill file'),nl. 606 !,fail. 607 608start_solve(Sol,OPNUM,TNList):- 609 env_retract(final_node(Node)), 610 env_retractall(current_num(_,_)), 611 getN_statics(Node,Statics), 612 statics_consist(Statics), 613 extract_solution(Node,Sol,SIZE,TNList), 614 statistics_runtime(CP), 615 statistics_walltime(TIM), 616 tell(user), 617 flag(op_num,OPNUM,0), 618 nl, nl, 619 write('CPU Time = '),write(CP),nl, 620 write('WALL Time = '),write(TIM), 621 write(' SECONDS'),nl, 622 write('Solution SIZE = '),write(SIZE),nl, 623 write('Operator Used = '),write(OPNUM),nl, 624 write('***************************************'), 625 assert(time_taken(CP)), 626 assert(soln_size(SIZE)), 627 env_retractall(tn(_,_,_,_,_,_)), 628 !. 629start_solve(Sol,OPNUM,TNList):-start_solve0(Sol,OPNUM,TNList)*->true;start_solve1(Sol,OPNUM,TNList). 630 631start_solve0(Sol,OPNUM,TNList):- 632 select_node(Node), 633% nl,write('processing '),write(Node),nl, 634 % expand/prove its hps 635 process_node(Node), 636 start_solve(Sol,OPNUM,TNList). 637 638start_solve1(Sol,OPNUM,TNList):- solve_failed(Sol,OPNUM,TNList). 639 640solve_failed(Sol,OPNUM,TNList):- 641 tell(user), write('+++ task FAILED +++'), 642 planner_failure('+++ task FAILED +++',start_solve(Sol,OPNUM,TNList)), 643 % listing(in_dyn/2), 644 clean_problem. 645 646 647 648/******************************** MAIN LOOP **********/ 649 650% expand a node.. 651process_node(Node) :- 652 getN_name(Node, Name), 653 getN_pre(Node, Pre), 654 getN_decomp(Node, Dec), 655 getH_temp(Node, Temps), 656 getN_statics(Node, Statics), 657 expand_decomp(Dec,Pre,Post,Temps,Temp1,Statics,Statics1,Dec1), 658 statics_consist(Statics), 659 assert_node(Name,Pre,Dec1,Temp1,Statics1). 660 661assert_node(Name,Pre,Decomp,Temp,Statics):- 662 all_HP_expanded(Decomp), 663 env_assert(final_node(node(Name,Pre,Decomp,Temp,Statics))),!. 664assert_node(Name,Pre,Dec,Temp,Statics):- 665 gensym_special(root,SYM), 666 env_assert(node(SYM,Pre,Dec,Temp,Statics)),!. 667 668all_HP_expanded([]):-!. 669all_HP_expanded([step(HPid,Name,_,_,exp(TN))|THPS]):- 670 all_HP_expanded(THPS),!. 671 672/************ expand every step in Dec *********************/ 673% expand_decomp(Dec,Pre,Post,Temps,Temp1,Statics,Statics1,Dec1) 674% Pre and Post here is the current ground states changes 675% starts from Initial states to final ground states 676% 0. end, Post is the final ground states 677expand_decomp([],Post,Post,Temp,Temp,Statics,Statics,[]):-!. 678 679% 1. if the step has expand already, get the state change, go to next 680expand_decomp([step(HPid,Name,Pre0,Post0,exp(TN))|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre,State,exp(TN))|Decomp1]):- 681 state_achieved(Pre0,Pre), 682 state_change(Pre,Pre0,Post0,State), 683 statics_consist(Statics), 684 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 685 686% 2. if it is an achieve goal 687expand_decomp([step(HPid,ACH,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 688 ACH=..[achieve|_], 689 statics_consist(Statics), 690 expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post, 691 Temp,Temp1,Statics,Statics1,Decomp1),!. 692 693% 3. if HP's name and it's Pre meet an operator, return operator's name 694expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre,State,exp(Name))|Decomp1]):- 695 apply_op(Name,HPid,Name,Pre,undefd,State,Statics,Statics2), 696 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 697 698% apply operator by known its name and post state 699apply_op(Name,HPid,Name,Pre,Post,State,Statics,Statics1):- 700 env_call operatorC(Name,Pre0,Post0,Cond,Statics0), 701 statics_append(Statics0,Statics,Statics2), 702 state_achieved(Pre,Pre0,Statics2), 703 state_change(Pre,Pre0,Post0,State2), 704 cond_state_change(State2,Cond,State), 705 all_achieved(Post,Statics2,State), 706 remove_unneed(Statics2,[],Statics1), 707 statics_consist_instance(Statics1), 708 statics_consist_instance(Statics0), 709 incr_op_num,!. 710 711% 4. if HP's name meet an method, and it's precondition achieved 712% expand it and make it to that TNs 713expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre,State,exp(TN))|Decomp1]):- 714 apply_method(TN,HPid,Name,Pre,undefd,State,Statics,Statics2), 715 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 716 717% apply an method by its name 718apply_method(TN,HPid,Name,Pre,Post,State,Statics,Statics1):- 719 env_call methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH0),Dec0), 720 statics_append(Statics0,Statics,Statics2), 721 all_achieved(Pre0,Statics2,Pre), 722 remove_unneed(Statics2,[],Statics21), 723 make_dec1(HPid,Pre,ACH0,Statics21,Temp0,Dec0,Temp2,Dec2), 724 expand_decomp(Dec2,Pre,State,Temp2,Temp1,Statics21,Statics1,Dec1), 725 all_achieved(Post,Statics1,State), 726 incr_op_num, 727 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 728 729% 5. get another step which matchs and not after it before it to give a try 730expand_decomp([step(HP,N,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 731 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 732 HP,Temp,Temp2,Decomp,Decomp2), 733 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HP,N,Pre0,Post0,unexp)|Decomp2], 734 Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 735 736% 6. all failed, expanding failed 737/************ end of expand_decomp *********************/ 738 739% get another step which is not after it before it 740get_another_step(A,Pre,Statics,HP,Temp,Temp1,[],Dec2):-fail. 741get_another_step(step(HP2,Name2,Pre2,Post2,Exp),Pre,Statics,HP,Temp,[before(HP2,HP)|Temp],Dec,Dec2):- 742 member(step(HP2,Name2,Pre2,Post2,Exp),Dec), 743 not(necessarily_before(HP,HP2, Temp)), 744 state_achieved(Pre2,Pre,Statics), 745 list_take(Dec,[step(HP2,Name2,Pre2,Post2,Exp)],Dec2). 746 747% ***********expand the achieve goal*********** 748% 1.if the ACH is achieved already 749% remove it from decomposion and do the next 750expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 751 state_achieved(Post0,Pre), 752% nl,write('step '),write(HPid), 753% write('is already achieved'),nl, 754 remove_temp(Temp,HPid,Temp,Temp2), 755 expand_decomp(Decomp,Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1),!. 756 757% 2.do expanding achieve goal 758expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,ACH,Pre,Post0,exp(TN))|Decomp1]):- 759 expand_ach_goal(HPid,TN,ACH,Pre,Post0,State,Statics,Statics2), 760 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 761 762% 3. get another step which matchs and not after it before it to give a try 763expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,ACH,Pre,Post0,exp(TN))|Decomp1]):- 764 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 765 HP,Temp,Temp2,Decomp,Decomp2), 766 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HPid,ACH,Pre,Post0,unexp)|Decomp2], Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 767 768% 4. all failed, expanding failed 769/************ end of expand_decomp_ach *********************/ 770 771%************ expand an achive goal *********************/ 772% 1. directly achieve goal's Pre and Post by operator,method or tn 773expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 774 direct_expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1),!. 775 776% 2. else, nothing directly can achieve HP's Pre and Post 777% env_assert a temporely node for forward search 778% tp_node(TPid,Pre,Statics,from(Parentid),Score,Steps) 779expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 780 make_tpnodes(Pre,Post,Statics), 781% tell(user), 782 fwsearch(TN,State), 783% told, 784% all_achieved(Post,Statics1,State), 785 clean_temp_nodes. 786 787% 3. else, fail expand 788/************ end of expand_ach_goal *********************/ 789 790% -------direct expand an achieve goal----------------------- 791%1. if an achieve action meets an TN Pre and post 792direct_expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics):- 793 apply_tn(TN,HPid,ACH,Pre,Post,State,Statics,Statics). 794%2. if an action's action meets an operator Pre and post 795direct_expand_ach_goal(HPid,OP,ACH,Pre,Post,State,Statics,Statics1):- 796 dir_apply_op(OP,HPid,ACH,Pre,Post,State,Statics,Statics1). 797%3. if an achieve action meets a method's pre and post, 798% expand it and make it to that TNs 799direct_expand_ach_goal(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 800 dir_apply_method(TN,HPid,ACH,Pre,Post,State,Statics,Statics1),!. 801%4. else, failed for direct expand an achieve goal------ 802 803% apply an TN to an achieve goal that matches both pre and post conditions 804apply_tn(Tn0,HPid,ACH,Pre,Post,State,Statics,Statics):- 805 env_call(tn(Tn0,Name,Pre0,Post0,Temp0,Decomp0)), 806 state_achieved(Pre0,Pre), 807 state_change(Pre,Pre0,Post0,State), 808 all_achieved(Post,Statics,State), 809% nl,write('step '),write(HPid), 810 incr_op_num,!. 811% write('can be expand by tn '),write(Tn0),nl,!. 812 813% directly apply an operator when its Pre and Post matches 814dir_apply_op(Name,HPid,ACH,Pre,Goal,State,Statics,Statics1):- 815% ACH=..[achieve|Rest], 816 make_se_primitive(Goal,Post), 817 env_call operatorC(Name,Pre0,Post0,Cond,Statics0), 818 statics_append(Statics0,Statics,Statics2), 819 state_related(Post0,Cond,Post), 820% state_achieved(Pre,Pre0,Statics2),% can't say because not full instatiate 821 state_change(Pre,Pre0,Post0,State2), 822 cond_state_change(State2,Cond,State), 823 all_achieved(Post,Statics2,State), 824 remove_unneed(Statics2,[],Statics1), 825 statics_consist(Statics1), 826% nl,write('step '),write(HPid), 827% write('can be expand by operator '),write(Name),nl, 828 % eretract(op_num_GONE(N_GONE)), 829 % N1_GONE is N_GONE+1, 830 incr_op_num,!. 831 832% apply mehtod when Pre and Post condition matchs 833dir_apply_method(TN,HPid,ACH,Pre,Goal,State,Statics,Statics1):- 834% ACH=..[achieve|Rest], 835 make_se_primitive(Goal,Post), 836 env_call methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH0),Dec0), 837 statics_append(Statics0,Statics,Statics2), 838 state_related(Post0,Post), 839% state_achieved(Pre0,Pre,Statics2), 840 state_change(Pre,Pre0,Post0,State2), 841% rough_state_change(Pre,Pre0,Post0,State2), 842 may_achieved(Post,Statics2,State2), 843% remove_unneed(Statics2,[],Statics21), 844 make_dec1(HPid,Pre,ACH0,Statics2,Temp0,Dec0,Temp2,Dec2), 845 expand_decomp(Dec2,Pre,State,Temp2,Temp1,Statics2,Statics1,Dec1), 846 all_achieved(Post,Statics1,State), 847% nl,write('step '),write(HPid), 848% write('can be expand by method '),write(Name),nl, 849 incr_op_num, 850 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 851 852% make decomposition steps when expand a method 853make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1):- 854 var(HPid), 855 gensym_special(hp,HPid), 856 make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1),!. 857make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1):- 858 all_achieved(ACH,Statics,Pre), 859 make_dec01(HPid,1,Dec,Dec1), 860 change_temp(HPid,Temp,[],Temp1),!. 861make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,[before(STID0,STID1)|Temp1],[step(STID0,achieve(ACH),Pre,ACH,unexp)|Dec1]):- 862 gensym_num(HPid,0,STID0), 863 gensym_num(HPid,1,STID1), 864 make_dec01(HPid,1,Dec,Dec1), 865 change_temp(HPid,Temp,[],Temp1),!. 866 867make_dec01(HPid,_,[],[]):-!. 868make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 869 env_call operatorC(HDec,_,_,_,_), 870 gensym_num(HPid,Num,STID), 871 Num1 is Num + 1, 872 make_dec01(HPid,Num1,TDec,TDec0). 873make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 874 env_call methodC(HDec,_,_,_,_,_,_), 875 gensym_num(HPid,Num,STID), 876 Num1 is Num + 1, 877 make_dec01(HPid,Num1,TDec,TDec0). 878 879change_temp(HPid,[],Temp2,Temp2):-!. 880change_temp(HPid,[before(N1,N2)|Temp],Temp2,[before(ST1,ST2)|Temp0]):- 881 gensym_num(HPid,N1,ST1), 882 gensym_num(HPid,N2,ST2), 883 change_temp(HPid,Temp,Temp2,Temp0),!. 884% --------------------end of dir_apply_method/8--------------------- 885/************ end of direct_expand_ach_goal *********************/ 886 887% ----------------forward searching-------------- 888% make tp_node(TPID, Pre,Statics,from(Parent),Score,Steps) 889make_tpnodes(Pre,Post, Statics):- 890 flag(opCounter,Num,Num), 891 Num>=1000, 892 env_retractall(tp_goal(_,_,_)), 893 env_retractall(related_op(_,_)), 894 env_assert(tp_goal(Pre,Post,Statics)), 895 env_assert(tp_node(init,Pre,Statics,from(init),0,[])),!. 896 897make_tpnodes(Pre,Post, Statics):- 898 env_retractall(tp_goal(_,_,_)), 899 env_retractall(related_op(_,_)), 900 env_assert(tp_goal(Pre,Post,Statics)), 901 assert_goal_related_init(Pre,Post,Statics), 902 env_assert(op_score(goal,0)), 903 find_all_related_goals(Pre,Statics,1,N), 904% find_all_related_op, 905 env_assert(tp_node(init,Pre,Statics,from(init),0,[])),!. 906 907%tp_node(TP,Pre,Statics,from(Parent),Score,Steps) 908 909 910 911% forward search for operators can't directly solved 912 913fwsearch(TN,State):- fwsearch0(fwsearch,1000, TN,State). 914% fwsearch(TN,State):- fwsearch0(fwsearch,600, TN,State). 915 916 917fwsearch0(Caller, D, TN,State):-fwsearch0_0(Caller, D, TN,State). 918 919fwsearch0_0(_,_, TN,State):- 920 env_retract(solved_node(_,step(HP,Name,Pre,State,exp(TN)))). 921fwsearch0_0(_Caller, D, TN,State):- 922 var(TN),var(State),!, 923 D > 4, D2 is D-4, 924 fwsearch1(var_fwsearch0, D2, TN,State). 925fwsearch0_0(_Caller, D, TN,State):- 926 D > 0, D2 is D-1, 927 fwsearch1(fwsearch0, D2, TN,State). 928 929fwsearch1(_Caller, D, TN,State):- 930 select_tnode(tp_node(TP,Pre,Statics,from(PR),Score,Steps)), 931 env_assert(closed_node(TP,Pre,Statics,from(PR),Score,Steps)), 932 expand_node(TP,OP,Statics,Statics1,Pre,Post,from(PR),Steps,Steps1), 933 assert_tnode(TP,OP,PR,Score1,Post,Statics1,Steps1), 934 env_call solved_node(_,_),%expand every possible way until find solution 935 fwsearch0(fwsearch1, D, TN,State). 936fwsearch1(_Caller, D ,TN,State):- 937 env_call(tp_node(TP,Pre,Statics,from(PR),Score,Steps)), 938 fwsearch0(tp_node, D ,TN,State). 939 940 941 942clean_temp_nodes_was_wrong:- 943 % env_retractall(related_op(_)), 944 env_retractall(related_op(_,_)), 945 % env_retractall(tp_goal(_,_)), 946 env_retractall(tp_goal(_,_,_)),!. 947 948clean_temp_nodes:- 949 clean_temp_nodes_was_wrong, 950 env_retractall(goal_related(_,_,_)), 951 env_retractall(goal_related_search(_)), 952 env_retractall(op_score(_,_)), 953 env_retractall(solved_node(_,_)), 954 env_retractall(current_num(tp,_)), 955 env_retractall(tp_node(_,_,_,_,_,_)), 956 957 958 env_retractall(closed_node(_,_,_,_,_,_)),!. 959 960% expand all way possible to achieve the Post 961% if Post is achieved by Pre, finish 962expand_node(TP,done,Statics,Statics,Pre,Pre,from(PR),List,List):- 963 env_call tp_goal(_,Goal,_), 964 state_achieved(Goal,Pre,Statics),!. 965expand_node(TP,TN,Statics,Statics1,Pre,State,from(PR),List,List1):- 966 expand_node1(TN,Statics,Statics1,Pre,State,from(PR),List,List1). 967 968% check the Post can be solved by direct expand (Operator or Method) 969expand_node1(TN,Statics,Statics1,Pre,State,from(PR),List,List1):- 970 env_call tp_goal(_,Goal,_), 971 direct_expand(HP,TN,achieve(Goal),Pre,Goal,State,Statics,Statics1), 972% gensym_special(hp,HP), 973 append_dcut(List,[step(HP,achieve(Goal),Pre,State,exp(TN))],List1),!. 974% -------direct expand ----------------------- 975% if the goal canbe achieved by a method's pre and post, 976% expand it and make it to that TNs 977direct_expand(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 978 dir_apply_method(TN,HPid,ACH,Pre,Post,State,Statics,Statics1),!. 979 980% search forwards use ground operators only 981expand_node1(ID,Statics,Statics,Pre,State,from(PR),List,List1):- 982 find_related_op(Pre,[],OPls), 983 member(ID,OPls), 984 env_call gOperator(ID,_,OP), 985 apply_ground_op(OP,Pre,State,List,List1). 986expand_node1(OP,Statics,Statics1,Pre,State,from(PR),List,List1):- 987 not(env_call goal_related(_,_,_)), 988 env_call operatorC(OP,Pre0,Post0,Cond,ST), 989 apply_unground_op(OP,Pre0,Post0,Cond,ST,Statics,Statics1,Pre,State,List,List1). 990 991apply_ground_op(operator(OP,Prev,Nec,Cond),Pre,State,List,List1):- 992 state_achieved(Prev,Pre), 993 nec_state_change(Pre,Nec,State2), 994 cond_state_change(State2,Cond,State), 995 gensym_special(hp,HP), 996 append_dcut(List,[step(HP,OP,Pre,State,exp(OP))],List1), 997 incr_op_num,!. 998 999apply_unground_op(OP,Pre0,Post0,Cond,ST,Statics,Statics1,Pre,State,List,List1):- 1000 statics_append(ST,Statics,Statics2), 1001 state_achieved(Pre0,Pre,Statics2), 1002 state_change(Pre,Pre0,Post0,State2), 1003 cond_state_change(State2,Cond,State), 1004 statics_consist_instance(ST), 1005 remove_unneed(Statics2,[],Statics1), 1006 gensym_special(hp,HP), 1007 append_dcut(List,[step(HP,OP,Pre,State,exp(OP))],List1), 1008 incr_op_num. 1009 1010find_related_op([],Ops1,Ops):- 1011 remove_dup(Ops1,[],Ops),!. 1012find_related_op([Head|Pre],List,Ops):- 1013 setof(OPls,Head^Level^env_call(goal_related(Head,OPls,Level)),OPs0), 1014 flatten(OPs0,[],OPs1), 1015 append_dcut(List,OPs1,List1), 1016 find_related_op(Pre,List1,Ops),!. 1017find_related_op([Head|Pre],List,Ops):- 1018 find_related_op(Pre,List,Ops),!. 1019 1020 1021 1022% select_tnode(LowestScoredTNode) :- gvar_list(tnodeSORTED,retract,LowestScoredTNode),!. 1023/* 1024select_tnode(IncomingScoredNode) :- 1025 IncomingScoredNode = tp_node(TPid,Pre,Statics,Parents,Score,Dec), 1026 random_tnode_FREE, 1027 ignore(( 1028 env_call(tp_node(HPid,Pre,Statics,Parents,LScore,Dec)), 1029 nb_getval(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), 1030 LScore < SScore, nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1031 fail)), 1032 nb_getval(tnodeLOWEST,LowestScoredTNode), 1033 env_retract(LowestScoredTNode),!, 1034 must(IncomingScoredNode=LowestScoredTNode), 1035*/ 1036/* 1037select_tnode(tp_node(TPid,Pre,Statics,Parents,Score,Dec)) :- 1038 random_tnode_FREE, 1039 ignore((( 1040 env_call(tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1041 nb_getval(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), 1042 Score < SScore, 1043 nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)),fail))), 1044 1045 nb_getval(tnodeLOWEST,tp_node(TPid,Pre,Statics,Parents,Score,Dec)), 1046 env_retract(tp_node(TPid,Pre,Statics,Parents,Score,Dec)),!, 1047 random_tnode_FORCED. 1048% tell(user),nl,write('new level'),nl,told,!. 1049*/ 1050 1051select_tnode(tp_node(TPid,Pre,Statics,Parents,Score,Dec)) :- 1052 lowest_tnode_FORCED, 1053 nb_getval(tnodeLOWEST,tp_node(TPid,Pre,Statics,Parents,Score,Dec)), 1054 env_retract(tp_node(TPid,Pre,Statics,Parents,Score,Dec)),!, 1055 nb_delete(tnodeLOWEST). 1056% tell(user),nl,write('new level'),nl,told,!. 1057 1058random_tnode_FREE :- nb_current(tnodeLOWEST,_)->true;random_tnode_FORCED. 1059 1060random_tnode_FORCED:- 1061 env_call(tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1062 nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)),!. 1063 1064lowest_tnode_FORCED:- 1065 random_tnode_FORCED, 1066 ignore((( 1067 nb_getval(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), 1068 env_call(tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1069 Score < SScore, 1070 nb_setval(tnodeLOWEST,tp_node(HPid,Pre,Statics,Parents,Score,Dec)), 1071 fail))). 1072 1073 1074% env_assert assert_tnode(TP,OP,PR,Score,Post,Statics1,Steps1), 1075%if goal achieved, assert solved_node 1076assert_tnode(TP,OP,PR,Score,Post,Statics,[]):-!. 1077assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1078 env_call tp_goal(Pre,Goal,Statics1), 1079 state_achieved(Goal,Post,Statics), 1080 combine_exp_steps(Post,Steps,OneStep), 1081 env_assert(solved_node(Statics,OneStep)),!. 1082assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1083 existing_node(Post,Statics),!. 1084assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1085 get_score(PR,Post,Steps,Score), 1086% op_score(OP,SS), 1087% Score is Score1-SS, 1088 gensym_special(tp,TP1), 1089% write(TP1),nl, 1090% write(Steps),nl, 1091 env_assert(tp_node(TP1,Post,Statics,from(TP),Score,Steps)),!. 1092 1093 1094 1095assert_tnode(TP,OP,PR,Score,Post,Statics,Steps):- 1096 get_score(PR,Post,Steps,Score), 1097% op_score(OP,SS), 1098% Score is Score1-SS, 1099 gensym_special(tp,TP1), 1100% write(TP1),nl, 1101% write(Steps),nl, 1102 TNODEFULL = tp_node(TP1,Post,Statics,from(TP),Score,Steps), 1103 ((nb_current(tnodeLOWEST,tp_node(_,_,_,_,SScore,_)), Score < SScore) 1104 -> 1105 true; 1106 (nb_setval(tnodeLOWEST,TNODEFULL), 1107 env_shadow(asserta,TNODEFULL))),!, 1108 assert_tnode_into_sorted_list(Score,Post,TNODEFULL). 1109 1110assert_tnode_into_sorted_list(Score,Post,TNODEFULL):- 1111 (nb_getval(tnodeSORTED,NODES) -> 1112 (NODES = [] -> 1113 nb_setval(tnodeSORTED,[TNODEFULL]); 1114 (( 1115 [FrontNode|RightNodes] = NODES, 1116 must(FrontNode = tp_node(_,FPost,_,_,FScore,_)), 1117 (Post == FPost -> true ; 1118 ((FScore > Score) 1119 -> nb_setval(tnodeSORTED,[TNODEFULL|NODES]) ; 1120 insert_to_list(Score,Post,TNODEFULL,RightNodes,NODES)))))); 1121 1122 nb_setval(tnodeSORTED,[TNODEFULL])). 1123 1124 1125insert_to_list(_,_,TNODEFULL,[],NODES):-nb_setarg(2,NODES,[TNODEFULL]),!. 1126insert_to_list(Score,Post,TNODEFULL,AllNodes,NODES):- 1127 AllNodes = [FrontNode|RightNodes], 1128 FrontNode = tp_node(_,FPost,_,_,FScore,_),!, 1129 (Post = FPost -> true ; 1130 ((FScore > Score) -> ( env_asserta(TNODEFULL),nb_setarg(2,NODES,[TNODEFULL|AllNodes])) ; 1131 (insert_to_list(Score,Post,TNODEFULL,RightNodes,AllNodes)))). 1132insert_to_list(Score,Post,TNODEFULL,AllNodes,NODES):- 1133 AllNodes = [_|RightNodes], 1134 insert_to_list(Score,Post,TNODEFULL,RightNodes,AllNodes). 1135 1136 1137combine_exp_steps(Post,Steps,step(HP,achieve(Goal),Pre,Post,exp(TN))):- 1138 env_call tp_goal(Pre,Goal,Statics), 1139 get_action_list(Steps,[],ACTls), 1140 make_temp(ACTls,[],Temp), 1141 gensym_special(hp,HP), 1142 make_tn(TN,achieve(Goal),Pre,Post,Temp,Steps),!. 1143 1144% get the temperal from an ordered steps 1145get_action_list([],ACTls,ACTls):-!. 1146get_action_list([step(HP,_,_,_,_)|Steps],List,ACTls):- 1147 append_dcut(List,[HP],List1), 1148 get_action_list(Steps,List1,ACTls),!. 1149 1150make_temp([HP|[]],Temp,Temp):-!. 1151make_temp([HP1|[HP2|Rest]],List,Temp):- 1152 append_dcut(List,[before(HP1,HP2)],List1), 1153 make_temp([HP2|Rest],List,Temp),!. 1154 1155existing_node(Post,_Statics):- 1156 env_call(tp_node(_,Post,_,_,_,_)). 1157existing_node(Post,_Statics):- 1158 env_call closed_node(_,Post,_,_,_,_). 1159% ------------------related goals------------------ 1160 1161assert_goal_related_init(Pre,[],Statics):-!. 1162%assert_goal_related_init(Pre,[se(Sort,Obj,SE)|Post],Statics):- 1163% state_achieved([se(Sort,Obj,SE)],Pre,Statics),!. 1164 1165 1166assert_goal_related_init(Pre,[se(Sort,Obj,SE)|Post],Statics):- 1167 ground(Obj), 1168 env_call is_of_primitive_sort(Obj,SortP), 1169 env_assert(goal_related(se(SortP,Obj,SE),[],0)), 1170 assert_goal_related_init(Pre,Post,Statics),!. 1171assert_goal_related_init(Pre,[se(Sort,Obj,SE)|Post],Statics):- 1172 assert_related_goals_varible(Sort,Obj,SE,goal,0), 1173 assert_goal_related_init(Pre,Post,Statics),!. 1174 1175% find_all_related_goals: backward search 1176% until all preconditions have found 1177find_all_related_goals(Pre,Statics,N,N):- 1178 get_all_state(States), 1179 all_found(States,Pre,Statics), 1180 env_assert(goal_related_search(succ)), 1181 find_all_related_goals_final(Statics,N),!. 1182find_all_related_goals(Pre,Statics,I,N):- 1183 I1 is I-1, 1184 env_call goal_related(_,_,I1), 1185 find_related_goal(Statics,I1,I), 1186 I2 is I+1, 1187 Key is random(10), 1188 find_all_related_goals(Pre,Statics,I2,N),!. 1189find_all_related_goals(Pre,Statics,N,N):- 1190 not(env_call goal_related(_,_,N)), 1191 env_assert(goal_related_search(fail)), 1192 write('related goal search failed'), 1193 env_retractall(goal_related(_,_,_)),!. 1194 %fail to find out, don't search any more 1195 % fwsearch use all the ground ops. 1196 1197 1198% final find the actions to recover initial states: 1199% in case the initial states was deleted by other actions 1200find_all_related_goals_final(Statics,N):- 1201 N1 is N-1, 1202 env_call goal_related(Pre,_,N1), 1203 find_related_goal(Statics,N1,N),!. 1204find_all_related_goals_final(Statics,N):-!. 1205 1206% get all the found goal related states 1207get_all_state(States):- 1208 setof(Goal, Statics^Level^OP^(env_call goal_related(Goal,OP,Level)),States11), 1209 put_one_obj_together(States11,[],States),!. 1210 1211put_one_obj_together([],States,States):-!. 1212put_one_obj_together([se(Sort,Obj,ST)|States1],List,States):- 1213 put_one_obj_together1(se(Sort,Obj,ST),List,List1), 1214 put_one_obj_together(States1,List1,States),!. 1215 1216put_one_obj_together1(se(Sort,Obj,ST),[],[se(Sort,Obj,ST)]):-!. 1217put_one_obj_together1(se(Sort,Obj,ST),[se(Sort,Obj,ST00)|List],[se(Sort,Obj,ST1)|List]):- 1218 set_append_e(ST,ST00,ST1),!. 1219put_one_obj_together1(se(Sort,Obj,ST),[se(Sort1,Obj1,ST1)|List],[se(Sort1,Obj1,ST1)|List1]):- 1220 Obj\==Obj1, 1221 put_one_obj_together1(se(Sort,Obj,ST),List,List1),!. 1222 1223% all the Precondition states in backward search can reach initial states 1224all_found([],States,Statics):-!. 1225all_found([se(Sort,Obj,ST)|States],Pre,Statics):- 1226 member(se(Sort,Obj,SPre),Pre), 1227 subtract(SPre,ST,Diff), 1228 isemptylist(Diff), 1229 all_found(States,Pre,Statics),!. 1230% find all the states that can achieve the goal state 1231% separete ground operators to related-op and unrelated op 1232find_related_goal(Statics,I1,I):- 1233 env_call gOperator(OPID,ID,operator(Name,Prev,Nec,Cond)), 1234 find_related_goal_nec(OPID,Name,Prev,Nec,Statics,I1,I), 1235 find_related_goal_cond(OPID,Name,Prev,Nec,Cond,Statics,I1,I), 1236 fail. 1237find_related_goal(Statics,I1,I). 1238 1239find_related_goal_nec(ID,Name,Prev,Nec,Statics,I1,I):- 1240 env_call goal_related(se(Sort,Obj,SE),Ops,I1), 1241 member(sc(Sort,Obj,Lhs=>Rhs),Nec), 1242 state_match(Sort,Obj,SE,Rhs), 1243 statics_consist(Statics), 1244% assert_op_score(ID,OPs), 1245 assert_goal_related(Prev,Nec,ID,I). 1246 1247find_related_goal_cond(ID,Name,Prev,Nec,[],Statics,I1,I):- 1248 !. 1249find_related_goal_cond(ID,Name,Prev,Nec,Cond,Statics,I1,I):- 1250 env_call goal_related(se(Sort,Obj,SE),Ops,I1), 1251 member(sc(Sort0,Obj,LHS=>RHS),Cond), 1252 env_call is_of_sort(Obj,Sort0), 1253 env_call is_of_sort(Obj,Sort),%Sort is a primitive sort changed at init 1254 filterInvars(LHS,LInVars,LIsOfSorts,LNEs,FLHS), 1255 filterInvars(RHS,RInVars,RIsOfSorts,RNEs,FRHS), 1256 can_achieve_g([se(Sort,Obj,FRHS)],[se(Sort,Obj,SE)],Statics), 1257 statics_consist(Statics), 1258 checkInVars(LInVars), 1259 checkInVars(RInVars), 1260 checkIsOfSorts(LIsOfSorts), 1261 checkIsOfSorts(RIsOfSorts), 1262 obeysNEs(LNEs), 1263 obeysNEs(RNEs), 1264% assert_op_score(ID,OPs), 1265 assert_goal_related(Prev,[sc(Sort,Obj,FLHS=>FRHS)|Nec],ID,I). 1266 1267 1268% filter out invars, is_of_sorts and nes from a state list 1269filterInvars([],[],[],[],[]):-!. 1270filterInvars([is_of_sort(A,B)|State],InVars,[is_of_sort(A,B)|IsOfSorts],NEs,FState):- 1271 !, 1272 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1273filterInvars([ne(A,B)|State],InVars,IsOfSorts,[ne(A,B)|NEs],FState):- dif(A,B), 1274 !, 1275 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1276filterInvars([is_of_primitive_sort(A,B)|State],InVars,[is_of_sort(A,B)|IsOfSorts],NEs,FState):- 1277 !, 1278 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1279filterInvars([Pred|State],[Pred|InVars],IsOfSorts,NEs,FState):- 1280 functor(Pred,FF,NN), 1281 functor(Pred1,FF,NN), 1282 env_call(atomic_invariantsC(Atom)), 1283 member(Pred1,Atom),!, 1284 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1285filterInvars([Pred|State],InVars,IsOfSorts,NEs,[Pred|FState]):- 1286 filterInvars(State,InVars,IsOfSorts,NEs,FState). 1287 1288% filter out nes from a state list 1289filterNes([],[],[]):-!. 1290filterNes([ne(A,B)|State],[ne(A,B)|NEs],FState):- dif:dif(A,B), 1291 !, 1292 filterNes(State,NEs,FState). 1293filterNes([Pred|State],NEs,[Pred|FState]):- 1294 filterNes(State,NEs,FState). 1295 1296assert_related_op(OP,I):- 1297 env_call related_op(OP,_),!. 1298assert_related_op(OP,I):- 1299 env_asserta(related_op(OP,I)),!. 1300 1301% State2 can be achieved by State1 1302can_achieve_g([],State2,Statics):-!. 1303can_achieve_g(State1,State2,Statics):- 1304 can_achieve_g(State1,State2), 1305 statics_consist(Statics). 1306 1307can_achieve_g([se(Sort,Obj,ST1)|State1],[se(Sort,Obj,ST2)]):- 1308 state_match(Sort,Obj,ST2,ST1). 1309can_achieve_g([Head|State1],State2):- 1310 can_achieve_g(State1,State2). 1311 1312% assert goal_related(Pre,Post,Op,DistanseFromGoal) 1313assert_goal_related(Prev,Nec,OP,I):- 1314 assert_goal_related1(Prev,OP,I),!, 1315 assert_goal_related1(Nec,OP,I). 1316 1317assert_goal_related1([],Op,I):-!. 1318assert_goal_related1([se(Sort,Obj,SE)|Prev],Op,I):- 1319 assert_goal_related2(se(Sort,Obj,SE),Op,I), 1320 assert_goal_related1(Prev,Op,I),!. 1321assert_goal_related1([sc(Sort,Obj,LH=>RH)|Nec],Op,I):- 1322 ground(Obj),%because conditional didn't ground, so the Sort maybe nonprim 1323 env_call is_of_primitive_sort(Obj,PSort),!, 1324 assert_goal_related2(se(PSort,Obj,LH),Op,I), 1325 assert_goal_related1(Nec,Op,I). 1326assert_goal_related1([sc(Sort,Obj,LH=>RH)|Nec],Op,I):- 1327 var(Obj), 1328 assert_related_goals_varible(Sort,Obj,LH,Op,I), 1329 assert_goal_related1(Nec,Op,I). 1330 1331assert_goal_related2(se(Sort,Obj,SE),goal,I):- 1332 env_assert(goal_related(se(Sort,Obj,SE),[],I)),!. 1333assert_goal_related2(se(Sort,Obj,SE),Op,I):- 1334 env_call goal_related(se(Sort,Obj,SE1),Ops,I), 1335 not(is_diff(SE,SE1)), 1336 env_retract(goal_related(se(Sort,Obj,SE),Ops,I)), 1337 env_assert(goal_related(se(Sort,Obj,SE),[Op|Ops],I)),!. 1338assert_goal_related2(se(Sort,Obj,SE),Op,I):- 1339 env_assert(goal_related(se(Sort,Obj,SE),[Op],I)),!. 1340 1341assert_related_goals_varible(Sort,Obj,SE,Op,I):- 1342 find_prim_sort(Sort,PSorts), 1343 member(Sort1,PSorts), 1344 assert_goal_related2(se(Sort1,Obj,SE),Op,I), 1345 fail. 1346assert_related_goals_varible(Sort,Obj,SE,Op,I). 1347 1348%env_assert score for Op, the further from goal, the higher the score 1349assert_op_score(OP,OPB):- 1350 env_call op_score(OP,_),!. 1351assert_op_score(OP,OPB):- 1352 env_call op_score(OPB,I), 1353 I1 is I+1, 1354 env_assert(op_score(OP,I1)),!. 1355 1356get_score(PR,Post,Steps,Score):- 1357 env_call tp_goal(Pre,Goal,Statics), 1358 get_distance(Pre,Post,Goal,0,Dis),%length from Present to Goal 1359% length(Pre,Obj_Num), 1360 get_tnode_length(PR,1,Len), 1361% Num1 is Obj_Num*Dis,%distanse the smaller the better 1362% Num2 is Obj_Num*Len1,%length of the plan the smaller the better 1363% Score is Num1+Num2,!. 1364 Score is Dis+Len,!. 1365 1366get_distance(Pre,[],Goal,Dis,Dis):-!. 1367get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1368 member(se(Sort,Obj,SE0),Goal), 1369 state_match(Sort,Obj,SE0,SE),%if it achieved goal 1370 get_distance(Pre,Post,Goal,Dis1,Dis),!. 1371get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1372 env_call goal_related(se(Sort,Obj,SE0),_,Level), 1373 state_match(Sort,Obj,SE0,SE), 1374 Dis2 is Dis1+Level, 1375 get_distance(Pre,Post,Goal,Dis2,Dis),!. 1376get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1377 member(se(Sort,Obj,SE0),Pre), 1378 state_match(Sort,Obj,SE,SE0),%if it does't change initial state 1379 Dis2 is Dis1+1, 1380 get_distance(Pre,Post,Goal,Dis2,Dis),!. 1381get_distance(Pre,[se(Sort,Obj,SE)|Post],Goal,Dis1,Dis):- 1382 Dis2 is Dis1+100, 1383 get_distance(Pre,Post,Goal,Dis2,Dis),!. 1384 1385get_tnode_length(init,Len,Len):-!. 1386get_tnode_length(TP,Len1,Len):- 1387 env_call closed_node(TP,_,_,from(PR),_,_), 1388 Len2 is Len1+1, 1389 get_tnode_length(PR,Len2,Len),!. 1390 1391 1392% the states that can achieve a state 1393% that is: 1394% for a state in the rhs of operator 1395% all the states in the lhs 1396find_relate_state:- 1397 operatorC(A,Pre,Post,Cond,ST), 1398 assert_related_states(A,Pre,Post,Cond,ST), 1399 fail. 1400find_relate_state. 1401 1402assert_related_states(A,Pre,Post,Cond,ST):- 1403 assert_related_states1(A,Pre,Post,ST), 1404 assert_related_states2(A,Pre,Cond,ST). 1405% find relate in nec 1406% the sorts here are primitive 1407assert_related_states1(A,Pre,[],ST):-!. 1408%when prev 1409assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 1410 u_mem_cut(se(Sort,Obj,SE),Pre), 1411 assert_related_states1(A,Pre,Post,ST),!. 1412%when nec 1413assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 1414 assert(produce(se(Sort,Obj,SE),A,Pre,ST)), 1415 assert_related_states1(A,Pre,Post,ST),!. 1416 1417% find relate in conditional 1418% the sorts here are not primitive 1419assert_related_states2(A,Pre,SC,ST):- 1420 make_sc_primitive(SC,PSC), 1421 assert_related_states21(A,Pre,PSC,ST). 1422 1423assert_related_states21(A,Pre,[],ST):-!. 1424assert_related_states21(A,Pre,[sc(Sort,Obj,SE=>SS)|Trans],ST):- 1425 rem_statics([se(Sort,Obj,SE)],[se(Sort,Obj,SER)],St1), 1426 rem_statics([se(Sort,Obj,SS)],[se(Sort,Obj,SSR)],St2), 1427 append_dcut(ST,St1,ST1), 1428 append_dcut(ST1,St2,ST21), 1429 remove_unneed(ST21,[],ST2), 1430 append_dcut(Pre,[se(Sort,Obj,SER)],Pre1), 1431 env_assert(produce(se(Sort,Obj,SSR),A,Pre1,ST2)), 1432 must(produce(se(Sort,Obj,SSR),A,Pre1,ST2)), 1433 assert_related_states21(A,Pre,Trans,ST),!. 1434 1435%------------------------------------------- 1436% remove HP1 from the temp list 1437% if HP1<HP2, then all HP3<HP1 => HP3<HP2 1438% if HP2<HP1, then all HP1<HP3 => HP2<HP3 1439remove_temp([],HP1,List,List):-!. 1440remove_temp([before(HP1,HP2)|Temp],HP1,List,Temp1):- 1441 remove_temp_before(List,before(HP1,HP2),List2), 1442 remove_temp(Temp,HP1,List2,Temp1),!. 1443remove_temp([before(HP2,HP1)|Temp],HP1,List,Temp1):- 1444 remove_temp_after(List,before(HP2,HP1),List2), 1445 remove_temp(Temp,HP1,List2,Temp1),!. 1446remove_temp([before(HPX,HPY)|Temp],HP1,List,Temp1):- 1447 remove_temp(Temp,HP1,List,Temp1),!. 1448 1449% if HP1<HP2, remove HP1<HP2, and change all HP3<HP1 => HP3<HP2 1450remove_temp_before([],before(HP1,HP2),[]):-!. 1451remove_temp_before([before(HP1,HP2)|T],before(HP1,HP2),T1):- 1452 remove_temp_before(T,before(HP1,HP2),T1),!. 1453remove_temp_before([before(HP3,HP1)|T],before(HP1,HP2),[before(HP3,HP2)|T1]):- 1454 remove_temp_before(T,before(HP1,HP2),T1),!. 1455remove_temp_before([before(HPX,HPY)|T],before(HP1,HP2),[before(HPX,HPY)|T1]):- 1456 remove_temp_before(T,before(HP1,HP2),T1),!. 1457% if HP2<HP1, remove HP2<HP1, and change all HP1<HP3 => HP2<HP3 1458remove_temp_after([],before(HP1,HP2),[]):-!. 1459remove_temp_after([before(HP2,HP1)|T],before(HP2,HP1),T1):- 1460 remove_temp_after(T,before(HP2,HP1),T1),!. 1461remove_temp_after([before(HP1,HP3)|T],before(HP2,HP1),[before(HP2,HP3)|T1]):- 1462 remove_temp_after(T,before(HP2,HP1),T1),!. 1463remove_temp_after([before(HPX,HPY)|T],before(HP2,HP1),[before(HPX,HPY)|T1]):- 1464 remove_temp_after(T,before(HP2,HP1),T1),!. 1465 1466remove_dec(HPid,[],[]):-!. 1467remove_dec(HPid,[step(HPid,_,_,_,_)|Dec],Dec1):- 1468 remove_dec(HPid,Dec,Dec1),!. 1469remove_dec(HPid,[step(A,B,C,D,F)|Dec],[step(A,B,C,D,F)|Dec1]):- 1470 remove_dec(HPid,Dec,Dec1),!. 1471 1472/******************************************************/ 1473% State2 is achieved by State1 1474% the two states need to be primitive 1475state_achieved(undefd,State,Statics):-!. 1476state_achieved([],State2,Statics):-!. 1477state_achieved(State1,State2,Statics):- 1478 state_achieved(State1,State2), 1479 statics_consist(Statics). 1480 1481state_achieved(undefd,State):-!. 1482state_achieved([],State2). 1483state_achieved([se(Sort,Obj,ST1)|State1],State2):- 1484 member(se(Sort,Obj,ST2),State2), 1485 env_call is_of_sort(Obj,Sort), 1486 state_match(Sort,Obj,ST1,ST2), 1487 list_take(State2,[se(Sort,Obj,ST2)],State21), 1488 state_achieved(State1,State21). 1489state_achieved([se(Sort,Obj,ST1)|State1],State2):- 1490 not(member(se(Sort,Obj,ST2),State2)), 1491 state_achieved(State1,State2),!. 1492 1493/************ states ST matchs ST1 ********/ 1494% state_match: ST is achieved by ST1 1495% ST=ST1 1496state_match(Sort,Obj,ST,ST1):- 1497 not(is_diff(ST,ST1)),!. 1498% when ST is the subset of ST1, 1499% in some domain, one substateclass is anothers's subset 1500% they cann't consider as match each other 1501% for example [on_block(a,b)] and [on_block(a,b),clear(a)] 1502state_match(Sort,Obj,ST,ST1):- 1503 is_achieved(ST,ST1), 1504 env_call(gsubstate_classes(Sort,Obj,Substateclasses)), 1505 not(in_different_states(ST,ST1,Substateclasses)),!. 1506% when ST is not the subset of ST1, 1507% in hierarchical domain, maybe one is inhiered by the upperlevel 1508state_match(Sort,Obj,ST,ST1):- 1509 not(is_achieved(ST,ST1)), 1510 set_append(ST,ST1,ST0), 1511 env_call(gsubstate_classes(Sort,Obj,Substateclasses)), 1512 in_same_sub_states(ST0,Substateclasses),!. 1513 1514% in_same_sub_states: check if ST1+ST2 in one states 1515in_same_sub_states(ST0,[State|SCls]):- 1516 is_achieved(ST0,State),!. 1517in_same_sub_states(ST0, [State|SCls]):- 1518 in_same_sub_states(ST0,SCls),!. 1519 1520% in_different_states: check if ST,ST1 in different states 1521in_different_states(ST,ST1, [State|SCls]):- 1522 max_member(ST,Substateclasses,MSub, _), 1523 max_member(ST1,Substateclasses,MSub1, _), 1524 MSub\==MSub1,!. 1525 1526max_member(State, Stateclass, MSub, Others):- 1527 max_member1(State, Stateclass, 0, [],MSub), 1528 subtract(State,MSub,Others),!. 1529 1530% find out the biggest same items 1531max_member1(State, [], Num, MSub, MSub):-!. 1532% find it out the biggest set of common items in substateclass and State 1533max_member1(State, [State1|SCls], Num, MSub1, MSub):- 1534 same_items(State1,State,MSSt), 1535 length(MSSt,Len), 1536 Len > Num, 1537 max_member1(State, SCls, Len, MSSt, MSub),!. 1538max_member1(State, [State1|SCls], Num, MSub1,MSub):- 1539 max_member1(State, SCls, Num, MSub1,MSub),!. 1540 1541% find it out the same items in two list 1542same_items([],List2,[]):-!. 1543same_items([X|List1],List2,[X|Same]):- 1544 member(X,List2), 1545 same_items(List1,List2,Same),!. 1546same_items([X|List1],List2,Same):- 1547 same_items(List1,List2,Same),!. 1548 1549 1550% all the element in list1 are static or in list2 1551is_achieved([],_):-!. 1552is_achieved([H|T], State) :- 1553 is_statics(H), 1554 is_achieved(T,State),!. 1555is_achieved([H|T], State) :- 1556 member(H,State), 1557 is_achieved(T,State),!. 1558 1559% check if a predicate is statics or not 1560is_statics(ne(A,B)):-!. 1561is_statics(is_of_sort(A,B)):-!. 1562is_statics(is_of_primitive_sort(A,B)):-!. 1563is_statics(Pred):- 1564 functor(Pred,FF,NN), 1565 functor(Pred1,FF,NN), 1566 env_call(atomic_invariantsC(Atom)), 1567 member(Pred1,Atom),!. 1568 1569/************ state changes by actions ********/ 1570% on the condition that: 1571% an object's state meet action's precondition 1572% it change to the postcondition 1573% Pre is the current ground states(Sort is primitive) 1574% Pre0 and Post0 are from an Operator or Method 1575% (Sorts are all primitive) 1576state_change([],Pre0,Post0,[]):-!. 1577state_change(Pre,[],[],Pre):-!. 1578state_change([se(Sort,Obj,SPre)|Pre],Pre0,Post0,[se(Sort,Obj,STPost)|Post]):- 1579 state_achieved([se(Sort,Obj,SPre)],Pre0), 1580 state_change0(Sort,Obj,SPre,Pre0,Post0,Pre1,Post1,STPost), 1581 state_change(Pre,Pre1,Post1,Post). 1582state_change([se(Sort,Obj,SPre)|Pre],Pre0,Post0,[se(Sort,Obj,STPost)|Post]):- 1583 not(member(se(Sort,Obj,SPre0),Pre0)), 1584 state_change(Pre,Pre1,Post1,Post). 1585 1586% change the obj's post state with action's post 1587state_change0(Sort,Obj,SPre,[],[],[],[],SPre):-!. 1588state_change0(Sort,Obj,SPre,[se(Sort,Obj,SPre0)|Pre0],[se(Sort,Obj,SPost0)|Post0],Pre0,Post0,STPost):- 1589 state_change1(SPre,SPre0,SPost0,STPost). 1590state_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):- 1591 Obj\==Obj1, 1592 state_change0(Sort,Obj,SPre,Pre0,Post0,Pre1,Post1,STPost). 1593 1594state_change1([],SPre0,SPost0,SPost0):-!. 1595state_change1(Pre,[],[],Pre):-!. 1596%if the pre state in action's pre, not in post, remove that 1597state_change1([Head|SPre],SPre0,SPost0,STPost):- 1598 member(Head,SPre0), 1599 not(member(Head,SPost0)), 1600 state_change1(SPre,SPre0,SPost0,STPost). 1601% if the pre state is not action's pre, neither in post, add that 1602state_change1([Head|SPre],SPre0,SPost0,[Head|STPost]):- 1603 not(member(Head,SPre0)), 1604 not(member(Head,SPost0)), 1605 state_change1(SPre,SPre0,SPost0,STPost),!. 1606% if the pre state is in post, don't need to add 1607% because it will be add at last 1608state_change1([Head|SPre],SPre0,SPost0,STPost):- 1609 member(Head,SPost0), 1610 state_change1(SPre,SPre0,SPost0,STPost). 1611 1612% rough change the obj's post state with action's post 1613rough_state_change(Pre,[],[],Pre):-!. 1614rough_state_change([],_,_,[]):-!. 1615rough_state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SS0)|Post]):- 1616 member(se(Sort,Obj,SE0),Pre0), 1617 member(se(Sort,Obj,SS0),Post0), 1618 env_call is_of_sort(Obj,Sort), 1619 state_achieved([se(Sort,Obj,SE0)],[se(Sort,Obj,SE)]), 1620 list_take(Pre0,[se(Sort,Obj,SE0)],Pre01), 1621 list_take(Post0,[se(Sort,Obj,SS0)],Post01), 1622 rough_state_change(Pre,Pre01,Post01,Post),!. 1623rough_state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SE)|Post]):- 1624 rough_state_change(Pre,Pre0,Post0,Post),!. 1625 1626% a simple state_change for ground operators 1627state_changeG([],Pre0,Post0,[]):-!. 1628state_changeG([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,RHS)|State]):- 1629 member(se(Sort,Obj,LHS),Pre0), 1630 member(se(Sort,Obj,RHS),Post0), 1631 state_match(Sort,Obj,SE,LHS), 1632 state_changeG(Pre,Pre0,Post0,State),!. 1633state_changeG([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SE)|State]):- 1634 not(member(se(Sort,Obj,LHS),Pre0)), 1635 state_changeG(Pre,Pre0,Post0,State),!. 1636 1637find_lower_sort(Sort,Sort,Sort):-!. 1638find_lower_sort(Sort,Sort1,Sort1):- 1639 subsorts(Sort,Sortls), 1640 member(Sort1,Sortls),!. 1641find_lower_sort(Sort,Sort1,Sort):- 1642 subsorts(Sort1,Sortls), 1643 member(Sort,Sortls),!. 1644%------------------------------------------------- 1645/************ state changes by necessery changes ********/ 1646% for all the object's state meet the precondition 1647% it change to the postcondition 1648% this is only used in apply grounded operators 1649nec_state_change([],Nec,[]):-!. 1650nec_state_change([se(Sort,Obj,SE)|Pre],Nec,[se(Sort,Obj,Post)|State]):- 1651 member(sc(Sort,Obj,Lhs=>Rhs),Nec), 1652 state_match(Sort,Obj,Lhs,SE), 1653 state_change1(SE,Lhs,Rhs,Post), 1654 nec_state_change(Pre,Nec,State),!. 1655nec_state_change([se(Sort,Obj,SE)|Pre],Nec,[se(Sort,Obj,SE)|State]):- 1656 not(member(sc(Sort,Obj,Lhs=>Rhs),Nec)), 1657 nec_state_change(Pre,Nec,State),!. 1658%------------------------------------------------- 1659/************ state changes by conditions ********/ 1660% for all the object's state meet the precondition 1661% it change to the postcondition 1662cond_state_change([],Cond,[]):-!. 1663cond_state_change(State,[],State):-!. 1664cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[NewSS|State]):- 1665 member(sc(Sort1,Obj1,SE0=>SS0),Cond), 1666% var(Obj1), 1667 subsorts(Sort1,Subsorts), 1668 member(Sort,Subsorts), 1669 copy_states(se(Sort1,Obj1,SE0),se(Sort,Obj,SE2)), 1670 copy_states(se(Sort1,Obj1,SS0),se(Sort,Obj,SS2)), 1671% state_match(Sort,Obj,SE,SE0), 1672 filterInvars(SE2,LInVars,LIsOfSorts,LNEs,FSE), 1673 filterInvars(SS2,RInVars,RIsOfSorts,RNEs,FSS), 1674 state_match(Sort,Obj,SE,FSE), 1675 state_change([se(Sort,Obj,SE)],[se(Sort,Obj,FSE)], 1676 [se(Sort,Obj,FSS)],[NewSS]), 1677 checkInVars(LInVars), 1678 checkInVars(RInVars), 1679 checkIsOfSorts(LIsOfSorts), 1680 checkIsOfSorts(RIsOfSorts), 1681 obeysNEs(LNEs), 1682 obeysNEs(RNEs), 1683 cond_state_change(Pre,Cond,State),!. 1684cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[se(Sort,Obj,SE)|State]):- 1685 cond_state_change(Pre,Cond,State),!. 1686 1687% copy the states so that the Obj won't be instiated 1688copy_states(se(Sort1,Obj1,SE0),se(Sort,Obj,SE2)):- 1689 copy_states1(Obj1,SE0,Obj,SE2),!. 1690copy_states1(Obj1,[],Obj,[]):-!. 1691copy_states1(Obj1,[Pred|SE0],Obj,[Pred2|SE2]):- 1692 functor(Pred,FF,NN), 1693 functor(Pred2,FF,NN), 1694 Pred=..[Name|Vars], 1695 Pred2=..[Name|Vars2], 1696 copy_pred(Obj1,Obj,Vars,Vars2), 1697 copy_states1(Obj1,SE0,Obj,SE2),!. 1698 1699copy_pred(Obj1,Obj,[],[]):-!. 1700copy_pred(Obj1,Obj,[Var|Vars],[Var2|Vars2]):- 1701 Obj1==Var, 1702 Var2=Obj, 1703 copy_pred(Obj1,Obj,Vars,Vars2),!. 1704copy_pred(Obj1,Obj,[Var|Vars],[Var|Vars2]):- 1705 copy_pred(Obj1,Obj,Vars,Vars2),!. 1706%------------------------------------------- 1707% every states in List1 is achieved by List2 1708all_achieved(undefd,Statics,List2):-!. 1709all_achieved([],Statics,List2):-!. 1710all_achieved(List1,Statics,List2):- 1711 all_achieved(List1,List2), 1712 statics_consist(Statics). 1713 1714all_achieved([],List2). 1715all_achieved([se(Sort,Obj,SL)|List1],List2):- 1716 member(se(Sort1,Obj,SR),List2), 1717 env_call is_of_sort(Obj,Sort1), 1718 env_call is_of_sort(Obj,Sort), 1719 env_call is_of_primitive_sort(Obj,PSort), 1720 state_match(PSort,Obj,SL,SR), 1721 all_achieved(List1,List2). 1722%------------------------------------------- 1723% may_achieved: every states in Pre is not conflict with Post 1724may_achieved(undefd,Statics,Post):-!. 1725may_achieved([],Statics,Post):-!. 1726may_achieved(Pre,Statics,Post):- 1727 may_achieved(Pre,Post), 1728 statics_consist(Statics),!. 1729may_achieved([],Post). 1730may_achieved([se(Sort,Obj,SL)|Pre],Post):- 1731 member(se(Sort1,Obj,SR),Post), 1732 env_call is_of_sort(Obj,Sort1), 1733 env_call is_of_sort(Obj,Sort), 1734 env_call is_of_primitive_sort(Obj,PSort), 1735 state_may_achieved(PSort,Obj,SL,SR), 1736 may_achieved(Pre,Post),!. 1737 1738% if the ST1 is a subset of ST2 1739state_may_achieved(Sort,Obj,[],ST2):-!. 1740state_may_achieved(Sort,Obj,ST1,ST2):- 1741 is_achieved(ST1,ST2),!. 1742%------------------------------------------- 1743% instantiate a bit 1744% use action's state change include the postcondition 1745post_instant(Post0,Cond,Statics,undefd):-!. 1746post_instant(Post0,Cond,Statics,[]):-!. 1747post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1748 member(se(Sort,Obj,SE0),Post0), 1749 statics_consist(Statics). 1750post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1751 member(sc(Sort,Obj,SE1=>SS),Cond), 1752 statics_consist(Statics). 1753post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1754 member(sc(Sort0,Obj,SE1=>SS),Cond), 1755 not(env_call(objectsC(Sort0,_))), 1756 subsorts(Sort0,Sortls), 1757 not(not(member(Sort,Sortls))), 1758 statics_consist(Statics). 1759post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1760 post_instant(Post0,Cond,Statics,Post),!. 1761 1762/********* check for statics consist without instanciate them***/ 1763% only instance the variable when there is one choice of from the ground lists 1764statics_consist([]):-!. 1765statics_consist(Statics):- 1766 get_invariants(Invs), 1767 statics_consist(Invs,Statics),!. 1768statics_consist(Invs,[]):-!. 1769statics_consist(Invs,[ne(A,B)|Statics]):- dif(A,B), 1770 not(A==B),!, 1771 statics_consist(Invs,Statics). 1772statics_consist(Invs,[is_of_sort(Obj,Sort)|Statics]):- 1773 not(not(env_call is_of_sort(Obj,Sort))),!, 1774 statics_consist(Invs,Statics). 1775statics_consist(Invs,[is_of_primitive_sort(Obj,Sort)|Statics]):- 1776 not(not( env_call is_of_primitive_sort(Obj,Sort))),!, 1777 statics_consist(Invs,Statics). 1778statics_consist(Invs,[Pred|Statics]):- 1779 pred_member(Pred,Invs),!, 1780 statics_consist(Invs,Statics). 1781 1782/*********check for statics consist and instanciate them***/ 1783statics_consist_instance([]):-!. 1784statics_consist_instance(Statics):- 1785 get_invariants(Invs), 1786 statics_consist_instance(Invs,Statics). 1787 1788statics_consist_instance(Invs,[]):-!. 1789statics_consist_instance(Invs,[is_of_sort(Obj,Sort)|Atom]):- 1790 ground(Obj), 1791 env_call is_of_sort(Obj,Sort),!, 1792 statics_consist_instance(Invs,Atom). 1793statics_consist_instance(Invs,[is_of_sort(Obj,Sort)|Atom]):- 1794 var(Obj), 1795 env_call is_of_sort(Obj,Sort), 1796 statics_consist_instance(Invs,Atom). 1797statics_consist_instance(Invs,[is_of_primitive_sort(Obj,Sort)|Atom]):- 1798 ground(Obj), 1799 env_call is_of_primitive_sort(Obj,Sort),!, 1800 statics_consist_instance(Invs,Atom). 1801statics_consist_instance(Invs,[is_of_primitive_sort(Obj,Sort)|Atom]):- 1802 var(Obj), 1803 env_call is_of_primitive_sort(Obj,Sort), 1804 statics_consist_instance(Invs,Atom). 1805statics_consist_instance(Invs,[ne_back(A,B)|Atom]):- 1806 A\==B, dif(A,B), 1807 statics_consist_instance(Invs,Atom). 1808statics_consist_instance(Invs,[ne(A,B)|Atom]):- 1809 append_dcut(Atom,[ne_back(A,B)],Atom1),!, 1810 statics_consist_instance(Invs,Atom1). 1811statics_consist_instance(Invs,[Pred|Atom]):- 1812 ground(Pred), 1813 member(Pred,Invs),!, 1814 statics_consist_instance(Invs,Atom). 1815statics_consist_instance(Invs,[Pred|Atom]):- 1816 not(ground(Pred)), 1817 member(Pred,Invs), 1818 statics_consist_instance(Invs,Atom). 1819 1820 1821 1822/*********************Initial process *********************/ 1823%node(Name, Precond, Decomps, Temp, Statics) 1824% When inputting new methods etc filter all statics into 1825% static slot 1826 1827make_problem_into_node(I,goal(L,TM,STATS), NN) :- 1828 must_det_l(( make_problem_up(L, STEPS), 1829 make_num_hp(TM,Temp), 1830 sort_steps(STEPS,Temp,STEPS1), 1831 make_ss_to_se(I,I_Pre), 1832 NN = node(root,I_Pre,STEPS1 ,Temp, STATS))),!. 1833make_problem_into_node(I,L, NN) :- 1834 must_det_l(( make_problem_up([achieve(L)], STEPS), 1835 make_num_hp(TM,Temp), 1836 sort_steps(STEPS,Temp,STEPS1), 1837 make_ss_to_se(I,I_Pre), 1838 NN = node(root,I_Pre,STEPS1 ,Temp, STATS))),!. 1839 1840% make problem to steps 1841make_problem_up([],[]):-!. 1842make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,[L1],unexp)|RS]):- 1843 %preconditon here is undefd 1844 make_ss_to_se([L],[L1]), 1845 gensym_special(hp,HP), 1846 make_problem_up(R, RS),!. 1847make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,L1,unexp)|RS]):- 1848 %preconditon here is undefd 1849 make_ss_to_se(L,L1), 1850 gensym_special(hp,HP), 1851 make_problem_up(R, RS),!. 1852make_problem_up([O|R],[step(HP,O,undefd,undefd,unexp)|RS]):- 1853 env_call methodC(O,Pre,Post,Statics1,Temp,ACH,Dec), 1854 gensym_special(hp,HP), 1855 make_problem_up(R, RS),!. 1856make_problem_up([O|R], 1857 [step(HP,O,undefd,undefd,unexp)|RS]):- 1858 env_call operatorC(O,Pre,Post,Cond,Statics1), 1859 gensym_special(hp,HP), 1860 make_problem_up(R, RS),!. 1861 1862make_num_hp([],[]):-!. 1863make_num_hp([before(N1,N2)|TM],[before(H1,H2)|Temp]):- 1864 gensym_num(hp,N1,H1), 1865 gensym_num(hp,N2,H2), 1866 make_num_hp(TM,Temp),!. 1867 1868%**************sort steps********************************* 1869% sort steps by temporal constraints. 1870sort_steps(Steps,[],Steps):-!. 1871sort_steps([Steps|[]],[],[Steps]):-!. 1872sort_steps(Steps,Temp,OrderedST):- 1873 steps_in_temp(Temp,[],ST), 1874 sort_steps1(Temp,ST,OrderedSTID), 1875 sort_steps2(Steps,OrderedSTID,[],OrderedST),!. 1876 1877% find out the steps in temporal constraints. 1878steps_in_temp([],ST,ST):-!. 1879steps_in_temp([before(H1,H2)|TT],List,ST):- 1880 set_append_e(List,[H1,H2],List1), 1881 steps_in_temp(TT,List1,ST),!. 1882 1883% sort the steps_id(hps) by temporal constraints. 1884sort_steps1(Temp,[],[]):-!. 1885sort_steps1(Temp,[HP1|TST],[HPF|OST]):- 1886 earliest_step(HP1,HPF,Temp,TST,TST1), 1887 sort_steps1(Temp,TST1,OST),!. 1888 1889earliest_step(HPF,HPF,Temp,[],[]):-!. 1890earliest_step(HP1,HPF,Temp,[HP2|TST],[HP1|TST1]):- 1891 member(before(HP2,HP1),Temp), 1892 earliest_step(HP2,HPF,Temp,TST,TST1),!. 1893earliest_step(HP1,HPF,Temp,[HP2|TST],[HP2|TST1]):- 1894 earliest_step(HP1,HPF,Temp,TST,TST1),!. 1895 1896% sort the steps, put the unordered steps in the front 1897sort_steps2(OtherST,[],OrderedST1,OrderedST):- 1898 append_dcut(OrderedST1,OtherST,OrderedST),!. 1899sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1900 member(step(HP,N,Pre,Post,F),Steps), 1901 append_dcut(List,[step(HP,N,Pre,Post,F)],List1), 1902 list_take(Steps,[step(HP,N,Pre,Post,F)],Steps1), 1903 sort_steps2(Steps1,THPS,List1,OrderedST),!. 1904sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1905 sort_steps2(Steps,THPS,List,OrderedST),!. 1906%******************************************************* 1907 1908% replace ss to se 1909make_ss_to_se([],[]):-!. 1910make_ss_to_se([ss(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1911 make_ss_to_se(TPost,TPre),!. 1912make_ss_to_se([se(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1913 make_ss_to_se(TPost,TPre),!. 1914 1915%******************************************************* 1916% extract_solution(Node,.. 1917% recurvise routine to work down tree and 1918% print out a linearisation of it ) 1919extract_solution(Node,PHPs,SIZE1,TNList) :- 1920 % its the name of a hierarchical op...... 1921 getN_decomp(Node, HPs), 1922 push_to_primitive(HPs,[],PHPs,[],TNList), 1923 pprint(PHPs,1,SIZE), 1924 SIZE1 is SIZE -1,!. 1925 1926/************ change_op_representation ***********/ 1927% make pre and post explicit 1928% filter out statics and put in a new slot 1929change_op_representation :- 1930 env_call(method(A,B,C,Stat,T,Dec)), 1931 make_ss_to_se(B,B0), 1932 make_se_primitive(B0,B1), 1933 make_sc_primitive(C,C1), 1934 get_preconditions(C1,B1,Pre,Post), 1935 rem_statics(Post, PostR,St1), 1936 rem_statics(Pre, PreR,St2), 1937 append_dcut(St1,St2,Statics), 1938 append_dcut(Stat,Statics,Statics1), 1939 remove_unneed(Statics1,[],Statics2), 1940 get_achieval(A,Dec,T,Dec1,T1,ACH), 1941 env_assert(methodC(A,PreR,PostR,Statics2,T1,achieve(ACH),Dec1)), 1942 fail. 1943change_op_representation :- 1944 env_call(operator(A,B,C,D)), 1945 make_ss_to_se(B,B0), 1946 make_se_primitive(B0,B1), 1947 make_sc_primitive(C,C1), 1948% make_sc_primitive(D,D1), 1949 %can't do that because it narrow the conditional change 1950 get_preconditions(C1,B1,Pre,Post), 1951 rem_statics(Post, PostR,St1), 1952 rem_statics(Pre, PreR,St2), 1953 append_dcut(St1,St2,Statics1), 1954 remove_unneed(Statics1,[],Statics), 1955 statics_consist(Statics), 1956 env_assert(operatorC(A,PreR,PostR,D,Statics)), 1957 fail. 1958change_op_representation:- 1959 env_retractall(current_num(sm,_)),!. 1960 1961get_preconditions([],Prev,Prev,Prev) :-!. 1962get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From1)|Pre],[se(S,X,To1)|Post]):- 1963 member_e(se(S,X,PSE),Prev), 1964 append_dcut(PSE,From,From1), 1965 append_dcut(PSE,To,To1), 1966 list_take(Prev,[se(S,X,PSE)],Prev1), 1967 get_preconditions(Rest,Prev1, Pre,Post),!. 1968get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From)|Pre],[se(S,X,To)|Post]):- 1969 get_preconditions(Rest,Prev, Pre,Post),!. 1970get_preconditions([],Prev,Prev,Prev) :-!. 1971 1972% get all achieve goals out 1973get_achieval(A,Dec,T,Dec1,T1,Achieval):- 1974 env_retractall(current_num(sm,_)), 1975 make_dec(A,Dec,Dec1,T,T1,[],Achieval),!. 1976make_dec(A,[],[],Temp,Temp,Achieval,Achieval):-!. 1977make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1978 HD=..[achieve|Goal], 1979 env_call current_num(sm,Num), 1980 replace_achieval_temp(Temp,Temp0,Num), 1981 make_ss_to_se(Goal,Goal0), 1982 append_dcut(Achieval,Goal0,Achieval0), 1983 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1),!. 1984make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1985 HD=..[achieve|Goal], 1986 not(env_call current_num(sm,_)), 1987 replace_achieval_temp(Temp,Temp0,1), 1988 make_ss_to_se(Goal,Goal0), 1989 append_dcut(Achieval,Goal0,Achieval0), 1990 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1). 1991make_dec(A,[HD|TD],[HD|TD1],Temp,Temp1,Achieval,Achieval1):- 1992 HD=..[DecName|Goal], 1993 DecName\==achieve, 1994 gensym_special(sm,SM), 1995 env_call current_num(sm,Num), 1996 make_dec(A,TD,TD1,Temp,Temp1,Achieval,Achieval1),!. 1997 1998% get rid of the achievals in temp orders 1999replace_achieval_temp(Temp,Temp1,Num):- 2000 change_all_numbers(Temp,Num,Temp00), 2001 tidy_temp(Temp00,Temp1). 2002 2003change_all_numbers([],Num,[]):-!. 2004change_all_numbers([HTemp|TTemp],Num,[HTemp00|TTemp00]):- 2005 HTemp=..[before|Nums], 2006 change_nums(Nums,Num,Nums1), 2007 HTemp00=..[before|Nums1], 2008 change_all_numbers(TTemp,Num,TTemp00). 2009 2010change_nums([],Num,[]):-!. 2011change_nums([Num1|TN],Num,[Num1|TN1]):- 2012 Num1<Num, 2013 change_nums(TN,Num,TN1),!. 2014change_nums([Num1|TN],Num,[Num2|TN1]):- 2015 Num1>Num, 2016 Num2 is Num1-1, 2017 change_nums(TN,Num,TN1),!. 2018change_nums([Num|TN],Num,[0|TN1]):- 2019 change_nums(TN,Num,TN1),!. 2020 2021% since assumed achieval only happen at first, so only change the after ones 2022tidy_temp(Temp,Temp1):- 2023 member(before(Num,0),Temp), 2024 list_take(Temp,[before(Num,0)],Temp0), 2025 change_laters(Temp0,Num,Temp01), 2026 tidy_temp(Temp01,Temp1). 2027tidy_temp([],[]):-!. 2028tidy_temp([before(0,Num)|Temp],Temp0):- 2029 tidy_temp(Temp,Temp0),!. 2030tidy_temp([before(Num1,Num2)|Temp],[before(Num1,Num2)|Temp0]):- 2031 tidy_temp(Temp,Temp0),!. 2032 2033change_laters([before(0,Num2)|Temp],Num,[before(Num,Num2)|Temp0]):- 2034 change_laters(Temp,Num,Temp0). 2035change_laters([before(Num1,0)|Temp],Num,[before(Num1,0)|Temp0]):- 2036 change_laters(Temp,Num,Temp0). 2037change_laters([before(Num1,Num2)|Temp],Num,[before(Num1,Num2)|Temp0]):- 2038 change_laters(Temp,Num,Temp0). 2039 2040% change the states to primitive states 2041make_se_primitive([],[]). 2042make_se_primitive([se(Sort,Obj,ST)|SE],[se(Sort,Obj,ST)|SE0]):- 2043 env_call objectsC(Sort,Objls),!, 2044 make_se_primitive(SE,SE0). 2045make_se_primitive([se(Sort,Obj,ST)|SE],[se(PSort,Obj,ST)|SE0]):- 2046 find_prim_sort(Sort,PSorts), 2047 member(PSort,PSorts), 2048 make_se_primitive(SE,SE0). 2049 2050% change the state changes to primitive states 2051make_sc_primitive([],[]). 2052make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(Sort,Obj,SE1=>SE2)|ST0]):- 2053 env_call objectsC(Sort,Objls),!, 2054 make_sc_primitive(ST,ST0). 2055make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(PSort,Obj,SE1=>SE2)|ST0]):- 2056 find_prim_sort(Sort,PSorts), 2057 member(PSort,PSorts), 2058 make_sc_primitive(ST,ST0). 2059 2060 2061% ------------ end of change operator ---------------------- 2062/********make_tn: save the expansion results*****/ 2063make_tn(TN,Name,Pre,Post,Temp,Dec):- 2064 find_only_changed(Pre,Post,[],Pre1,[],Post1), 2065 not(isemptylist(Post1)), 2066 not(exist_tn(Pre,Post)), 2067 gensym_special(tn,TN), 2068% tell(user),nl,write(tn(TN,Name,Pre1,Post1,Temp,Dec)),nl,told, 2069 env_assert(tn(TN,Name,Pre1,Post1,Temp,Dec)),!. 2070 2071exist_tn(Pre,Post):- 2072 env_call(tn(_,_,Pre,Post1,_,_)), 2073 state_achieved(Post,Post1),!. 2074find_only_changed([],[],Pre,Pre,Post,Post):-!. 2075% just a lazy check if they are in exactly same sequence 2076find_only_changed([se(Sort,Obj,ST)|Pre],[se(Sort,Obj,ST)|Post],Pre0,Pre1,Post0,Post1):- 2077 find_only_changed(Pre,Post,Pre0,Pre1,Post0,Post1),!. 2078find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 2079 member(se(Sort,Obj,ST1),Post), 2080 list_take(Post,[se(Sort,Obj,ST1)],Post2), 2081 append_changed(se(Sort,Obj,ST),se(Sort,Obj,ST1),Pre0,Pre3,Post0,Post3), 2082 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 2083find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 2084 member(se(SortN,Obj,ST1),Post), 2085 list_take(Post,[se(SortN,Obj,ST1)],Post2), 2086 append_changed(se(Sort,Obj,ST),se(SortN,Obj,ST1),Pre0,Pre3,Post0,Post3), 2087 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 2088% other fail. 2089 2090% append_dcut only changed states 2091% state_match here means not changed 2092append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre0,Post0,Post0):- 2093 state_match(Sort,Obj,ST,ST1),!. 2094append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre3,Post0,Post3):- 2095 append_dcut(Pre0,[se(Sort,Obj,ST)],Pre3), 2096 append_dcut(Post0,[se(Sort,Obj,ST1)],Post3),!. 2097 2098%***********print out solution************************** 2099push_to_primitive([],PHPs,PHPs,TNLst,TNLst) :-!. 2100push_to_primitive([step(HPID,_,_,_,exp(TN))|HPs],List,PHPs,TNSoFar,TNFinal) :- 2101 env_call(tn(TN,Name,Pre,Post,Temp,Dec)), 2102 push_to_primitive(Dec,List,Dec1,[tn(TN,Name,Pre,Post,Temp,Dec)|TNSoFar],TNNext), 2103 push_to_primitive(HPs,Dec1,PHPs,TNNext,TNFinal),!. 2104push_to_primitive([step(HPID,_,_,_,exp(Name))|HPs],List,PHPs,TNSoFar,TNFinal):- 2105 append_dcut(List,[Name],List1), 2106 push_to_primitive(HPs,List1,PHPs,TNSoFar,TNFinal),!. 2107 2108/*********** TEMPORAL AND DECLOBBERING ************/ 2109 2110possibly_before(I,J,Temps) :- 2111 \+ necessarily_before(J,I,Temps), !. 2112 2113necessarily_before(J,I,Temps) :- 2114 member(before(J,I),Temps),!. 2115necessarily_before(J,I,Temps) :- 2116 member(before(J,Z),Temps), 2117 necessarily_before(Z,I,Temps),!. 2118 2119select_node(node(Name,Pre,Temp,Decomp,Statics)) :- 2120 env_retract(node(Name,Pre,Temp,Decomp,Statics)), 2121% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 2122% tell(user), 2123% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 2124% tell(FF), 2125 !. 2126 2127get_obj_prim_sort([],[]):-!. 2128get_obj_prim_sort([HSort|TV],[HObj|TS]):- 2129 env_call is_of_primitive_sort(HObj,HSort), 2130 get_obj_prim_sort(TV,TS),!. 2131/* 2132is_of_primitive_sort(X,Y) :- 2133 env_call objectsC(Y,L),member(X,L). 2134is_of_sort(X,Y) :- 2135 env_call is_of_primitive_sort(X,Y). 2136is_of_sort(X,Y) :- 2137 env_call sorts(Y,SL),member(Z,SL),is_of_sort(X,Z). 2138*/ 2139find_all_upper([],[]). 2140find_all_upper([HVars|TV],[HSorts|TS]):- 2141 uppersorts(HSorts,Upsorts), 2142 member(HVars,Upsorts), 2143 find_all_upper(TV,TS). 2144 2145% find out primitive sorts of a sort. 2146find_prim_sort(Sort,PS):- 2147 subsorts(Sort,Subsorts), 2148 split_prim_noprim(Subsorts,PS,NP),!. 2149 2150% find out the objects of a sort 2151get_sort_objects(Sort,Objs):- 2152 find_prim_sort(Sort,PSorts), 2153 get_objects1(PSorts,Objls), 2154 flatten(Objls,[],Objs),!. 2155 2156get_objects1([],[]):-!. 2157get_objects1([PS1|RS],[Objls1|Objls]):- 2158 env_call objectsC(PS1,Objls1), 2159 get_objects1(RS,Objls),!. 2160 2161% find subsorts of a sort(exclude). 2162%TODO 2163subsortse(Sort,Subsorts):- 2164 subsorts(Sort,Subsorts1), 2165 subtract(Subsorts1,[Sort],Subsorts),!. 2166% find subsorts of a sort(include). 2167subsorts(Sort,Subsorts):- 2168 sort_down([Sort],[],Subsorts),!. 2169 2170sort_down([],Subsorts,Subsorts):-!. 2171sort_down([HOpen|TOpen],List,Subsorts):- 2172 env_call objectsC(HOpen,Objls), 2173 append_dcut(List,[HOpen],List1), 2174 sort_down(TOpen,List1,Subsorts),!. 2175sort_down([HOpen|TOpen],List,Sortslist):- 2176 env_call sorts(HOpen,Sorts), 2177 sort_down(Sorts,List,List2), 2178 sort_down(TOpen,[HOpen|List2],Sortslist),!. 2179sort_down([HOpen|TOpen],List,Sortslist):- 2180 sort_down(TOpen,List,Sortslist),!. 2181 2182% find uppersorts of a sort(excludes). 2183uppersortse(Sort,Uppersorts):- 2184 uppersorts(Sort,Uppersortsf), 2185 subtract(Uppersortsf,[Sort],Uppersorts),!. 2186% find uppersorts of a sort or object(include). 2187uppersorts(Sort,Uppersorts):- 2188 env_call objectsC(Sort,Objls), 2189 sort_up(Sort,[Sort],Uppersorts),!. 2190uppersorts(Sort,Uppersorts):- 2191 env_call sorts(Sort,Sortls), 2192 sort_up(Sort,[Sort],Uppersorts),!. 2193uppersorts(Obj,Sortls):- 2194 env_call objectsC(Sort,Objls), 2195 member(Obj, Objls), 2196 sort_up(Sort,[Sort],Sortls),!. 2197 2198sort_up(Sort, List,Sortslist):- 2199 env_call sorts(NPSort, NPSortls), 2200 not((special_sorts(PS), NPSort == PS )), 2201 member(Sort,NPSortls), 2202 sort_up(NPSort,[NPSort|List],Sortslist). 2203sort_up(Sort, List,List):-!. 2204 2205special_sorts(primitive_sorts). 2206special_sorts(non_primitive_sorts). 2207 2208 2209% sametree: Sort1 and Sort2 are in same sort tree. 2210sametree(Sort1,Sort2):- 2211 Sort1==Sort2,!. 2212sametree(Sort1,Sort2):- 2213 var(Sort1),!. 2214sametree(Sort1,Sort2):- 2215 var(Sort2),!. 2216sametree(Sort1,Sort2):- 2217 uppersorts(Sort2,Sortls), 2218 member(Sort1,Sortls),!. 2219sametree(Sort1,Sort2):- 2220 uppersorts(Sort1,Sortls), 2221 member(Sort2,Sortls),!. 2222 2223% split a sortlist to primitive sorts and non-primitive sorts. 2224split_prim_noprim([],[],[]):-!. 2225split_prim_noprim([HS|TS],[HS|TP],NP):- 2226 env_call objectsC(HS,Obj), 2227 split_prim_noprim(TS,TP,NP),!. 2228split_prim_noprim([HS|TS],PS,[HS|NP]):- 2229 split_prim_noprim(TS,PS,NP),!. 2230 2231/***************** local utils *****************/ 2232 2233/*********** DOMAIN MODEL FUNCTIONS *****************/ 2234get_invariants(Invs) :- 2235 env_call(atomic_invariantsC(Invs)),!. 2236 2237get_one_isa(S,X,Preds):- \+ is_list(Preds),!,get_one_isa(S,X,[Preds]). 2238get_one_isa(S,X,Preds):-member(is_of_sort(X,S),Preds). 2239get_one_isa(S,X,Preds):-member(ss(S,X,_),Preds). 2240get_one_isa(S,X,Preds):-member(se(S,X,_),Preds). 2241get_one_isa(S,X,Preds):- member(Pred,Preds),Pred=..[F|Args],functor(Pred,F,A),get_one_isa_fa(S,X,F,A,Args). 2242 2243get_one_isa_fa(S,X,S,1,[X]):- is_sort(S). 2244get_one_isa_fa(S,X,_,_,[X|_]):- nonvar(X), is_decl_of_sort(X,S),!. 2245get_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). 2246 2247is_decl_of_sort(X,S):- env_call is_of_sort(X,S). 2248is_decl_of_sort(X,S):- env_call objects(S,L),member(X,L). 2249% 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). 2250is_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). 2251 2252is_sort(V):-var(V),!,fail. 2253is_sort(obj). 2254is_sort(driver). 2255is_sort(truck). 2256is_sort(ball). 2257is_sort(room). 2258is_sort(gripper). 2259is_sort(S):- (env_call sorts(_,SS)),member(S,SS). 2260is_sort(S):- (env_call sorts(S,_)). 2261 2262rem_statics([sc(S,X,Lhs=>Rhs)|ST], [sc(S,X,LhsR=>RhsR)|STR],Rt1) :- 2263 split_st_dy(Lhs,[],LR, [],LhsR), 2264 split_st_dy(Rhs,[],RR,[],RhsR), 2265 append_dcut(LR,RR,R), 2266 rem_statics(ST, STR,Rt), 2267 append_dcut(Rt,[is_of_sort(X,S)|R],Rt1),!. 2268rem_statics([ss(S,X,Preds)|Post], [ss(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([se(S,X,Preds)|Post], [se(S,X,PredR)|PostR],Rt1) :- 2273 split_st_dy(Preds,[],R, [],PredR), 2274 rem_statics(Post, PostR,Rt), 2275 append_dcut(Rt,[is_of_sort(X,S)|R],Rt1),!. 2276rem_statics([], [],[]) :-!. 2277 2278 2279% ----------------------utilities--------------------- 2280 2281 2282isemptylist([]):-!. 2283 2284%instantiate variables 2285/* 2286not(X):- \+X. 2287member(X,[X|_]). 2288member(X,[_|L]) :- member(X,L). 2289*/ 2290 2291member_cut(X,[X|_]) :- !. 2292member_cut(X,[_|Y]) :- member_cut(X,Y),!. 2293 2294% member_e: X is the exact memeber of List 2295member_e(X,[Y|_]):- 2296 X==Y,!. 2297member_e(X,[Y|L]):- 2298 var(Y), 2299 member_e(X,L),!. 2300member_e(ss(Sort,Obj,SE),[ss(Sort,Obj1,SE)|_]):- 2301 Obj==Obj1,!. 2302member_e(se(Sort,Obj,SE),[se(Sort,Obj1,SE)|_]):- 2303 Obj==Obj1,!. 2304member_e(sc(Sort,Obj,SE1=>SE2),[sc(Sort,Obj1,SE1=>SE2)|_]):- 2305 Obj==Obj1,!. 2306member_e(X,[Y|L]):- member_e(X,L),!. 2307 2308 2309% u_mem in ob_utils is SLOW!?. 2310% this is a fast impl. 2311u_mem_cut(_,[]):-!,fail. 2312u_mem_cut(X,[Y|_]) :- X == Y,!. 2313u_mem_cut(X,[_|L]) :- u_mem_cut(X,L),!. 2314% check if object X is a member of a objects list 2315% 1. if it is not a variable, check if it is in the list 2316% 2. X is a variable, and the list only has one objects, make X as that obj 2317% 3. X is a variable, but the list has more than one objects, leave X unchange 2318obj_member(X,[X|[]]):-!. 2319obj_member(X,List):- 2320 obj_member0(X,List),!. 2321obj_member0(X,[Y|_]):- 2322 var(X),!.%if X is var, but Y not, the leave X as that variable 2323obj_member0(X,[Y|_]):- 2324 X==Y,!. 2325obj_member0(X,[_|Y]) :- obj_member0(X,Y),!. 2326 2327% check if a predicate is a member of a ground predicate list, 2328% 1. when only one predicates found 2329% just used in binding the predicates to a sort without instantiate it 2330% for efficiency, instantiate the variable if the list only have one atom 2331pred_member(X,List):- 2332 ground(X), 2333 member(X,List),!. 2334pred_member(X,List):- 2335 setof(X,member(X,List),Refined), 2336 pred_member0(X,Refined),!. 2337pred_member0(X,[X|[]]):-!. 2338pred_member0(X,Y):- 2339 pred_member1(X,Y),!. 2340pred_member1(X,[Y|_]):- 2341 X=..[H|XLs], 2342 Y=..[H|YLs], 2343 vequal(XLs,YLs),!. 2344pred_member1(X,[_|Y]):- pred_member1(X,Y),!. 2345 2346statics_append([],L,L):- 2347 statics_consist(L),!. 2348statics_append(L,[],L):- 2349 statics_consist(L),!. 2350statics_append(List1,List2,L):- 2351 statics_consist(List1), 2352 statics_consist(List2), 2353 statics_append1(List1,List2,[],L), 2354 statics_consist(L),!. 2355 2356statics_append1([],List2,L1,L):- 2357 append_dcut(List2,L1,L),!. 2358statics_append1([H|List1],List2,L,Z) :- 2359 statics_append0(H,List2,L,L1), 2360 statics_append1(List1,List2,L1,Z),!. 2361 2362statics_append0(H,[],L,[H|L]):-!. 2363statics_append0(H,[H|Z],L,L):-!. 2364statics_append0(H,[X|Z],L1,L):- 2365 statics_append0(H,Z,L1,L),!. 2366 2367append_dcut([],L,L):-!. 2368append_dcut([H|T],L,[H|Z]) :- append_dcut(T,L,Z),!. 2369 2370 2371 2372 2373% append_st: append_dcut two statics 2374% remove the constants that no need 2375% instanciate the viables that all ready been bind 2376% ------------------------------------------ 2377append_st(ST1,ST2,ST):- 2378 append_dcut(ST1,ST2,ST0), 2379 remove_unneed(ST0,[],ST),!. 2380 2381% remove the constants that no need 2382% instanciate the variables that all ready been bind 2383remove_unneed([],C,C):-!. 2384remove_unneed([A|B], Z, C):- 2385 var(A), 2386 member_e(A,Z), 2387 remove_unneed(B, Z, C),! . 2388remove_unneed([A|B], Z, C):- 2389 var(A), 2390 append_dcut(Z,[A],D), 2391 remove_unneed(B, D, C),!. 2392remove_unneed([A|B], Z, C):- 2393 ground(A), 2394 remove_unneed(B, Z, C),!. 2395remove_unneed([A|B], Z, C):- 2396 A=..[ne|Paras], 2397 append_dcut(Z,[A],D), 2398 remove_unneed(B, D, C),!. 2399remove_unneed([A|B], Z, C):- 2400 A=..[Pred|Paras], 2401 same_var_member(A,Z), 2402 remove_unneed(B, Z, C),!. 2403remove_unneed([A|B], Z, C):- 2404 append_dcut(Z,[A],D), 2405 remove_unneed(B, D, C),!. 2406 2407same_var_member(Pred,[Pred1|List]):- 2408 var(Pred1), 2409 same_var_member(Pred,List),!. 2410same_var_member(Pred,[Pred1|List]):- 2411 Pred==Pred1,!. 2412same_var_member(Pred,[Pred1|List]):- 2413 Pred=..[H|T], 2414 Pred1=..[H|T1], 2415 same_var_member1(T,T1),!. 2416same_var_member(Pred,[Pred1|List]):- 2417 same_var_member(Pred,List),!. 2418 2419same_var_member1([],[]):-!. 2420same_var_member1([H1|T],[H2|T]):- 2421 var(H1), 2422 H1==H2,!. 2423same_var_member1([H|T1],[H|T2]):- 2424 var(T1), 2425 T1==T2,!. 2426same_var_member1([H1|T1],[H2|T2]):- 2427 H1==H2, 2428 same_var_member1(T1,T2),!. 2429 2430% two states or lists are equal 2431is_equal_list(List1,List2):- 2432 List1==List2,!. 2433is_equal_list([],[]):-!. 2434is_equal_list(List1,List2):- 2435 length(List1,L), 2436 length(List2,L), 2437 is_equal_list1(List1,List2),!. 2438is_equal_list1([],[]):-!. 2439is_equal_list1([Head1|List1],[Head2|List2]):- 2440 Head1==Head2, 2441 is_equal_list1(List1,List2),!. 2442is_equal_list1([se(Sort,Obj,Head1)|List1],[se(Sort,Obj,Head2)|List2]):- 2443 is_equal_list(Head1,Head2), 2444 is_equal_list1(List1,List2),!. 2445is_equal_list1([Head1|List1],[Head2|List2]):- 2446 Head1=..[FF|Var1], 2447 Head2=..[FF|Var2], 2448 FF\==se, 2449 vequal(Var1,Var2), 2450 is_equal_list1(List1,List2),!. 2451is_equal_list1([Head1|List1],List2):- 2452 member(Head1,List2), 2453 append_dcut(List1,[Head1],List10), 2454 is_equal_list1(List10,List2),!. 2455 2456% two states or lists are different 2457is_diff(List1,List2):- 2458 length(List1,L1), 2459 length(List2,L2), 2460 L1\==L2,!. 2461is_diff([Head|List1],List2):- 2462 not_exist(Head,List2),!. 2463is_diff([Head|List1],List2):- 2464 list_take(List2,[Head],List21), 2465 is_diff(List1,List21),!. 2466 2467not_exist(Pred,List2):- 2468 not(member(Pred,List2)),!. 2469not_exist(se(Sort,Obj,Head1),List2):- 2470 not(member(se(Sort,Obj,Head),List2)),!. 2471not_exist(se(Sort,Obj,Head1),List2):- 2472 member(se(Sort,Obj,Head2),List2), 2473 is_diff(Head1,Head2),!. 2474 2475% set_append: list1 + list2 -> list 2476% no duplicate, do instanciation 2477% ------------------------------------------ 2478set_append([], Z, Z):-! . 2479set_append([A|B], Z, C) :- 2480 not(not(member(A, Z))) , 2481 set_append(B, Z, C),! . 2482set_append([A|B], Z, [A|C]) :- 2483 set_append(B, Z, C) . 2484 2485% set_append_e: list1 + list2 -> list 2486% no duplicate, no instanciation 2487% ------------------------------------------ 2488set_append_e(A,B,C):- 2489 append_dcut(A,B,D), 2490 remove_dup(D,[],C),!. 2491 2492% remove duplicate 2493remove_dup([],C,C):-!. 2494remove_dup([A|B],Z,C) :- 2495 member_e(A, Z), 2496 remove_dup(B, Z, C),! . 2497remove_dup([A|B], Z, C):- 2498 append_dcut(Z,[A],D), 2499 remove_dup(B, D, C),!. 2500 2501% two atom lists equals (without instantiate variables) 2502vequal([],[]):-!. 2503vequal([X|XLs],[Y|YLs]):- 2504 X==Y, 2505 vequal(XLs,YLs),!. 2506vequal([X|XLs],[Y|YLs]):- 2507 var(X), 2508 vequal(XLs,YLs),!. 2509vequal([X|XLs],[Y|YLs]):- 2510 var(Y), 2511 vequal(XLs,YLs),!. 2512 2513 2514% subtract(A,B,C): subtract B from A 2515% ------------------------------------- 2516/* 2517subtract([],_,[]):-!. 2518subtract([A|B],C,D) :- 2519 member(A,C), 2520 subtract(B,C,D),!. 2521subtract([A|B],C,[A|D]) :- 2522 subtract(B,C,D),!. 2523*/ 2524 2525/* arg1 - arg2 = arg3 */ 2526 2527list_take(R,[E|R1],R2):- 2528 remove_el(R,E,RR), 2529 list_take(RR,R1,R2),!. 2530list_take(R,[_|R1],R2):- 2531 list_take(R,R1,R2),!. 2532list_take(A,[],A) :- !. 2533 2534% remove_el: list * el -> list-el 2535% ---------------------------------- 2536remove_el([],_,[]) :- ! . 2537remove_el([A|B],A,B) :- ! . 2538remove_el([A|B],C,[A|D]) :- 2539 remove_el(B,C,D) . 2540 2541/* generate symbol predicate (from file futile)*/ 2542 2543 2544gensym_special(Root,Atom) :- 2545 getnum(Root,Num), 2546 name(Root,Name1), 2547 name(Num,Name2), 2548 append_dcut(Name1,Name2,Name), 2549 name(Atom,Name). 2550 2551getnum(Root,Num) :- 2552 env_retract(current_num(Root,Num1)),!, 2553 Num is Num1+1, 2554 env_asserta(current_num(Root,Num)). 2555 2556getnum(Root,1) :- env_asserta(current_num(Root,1)). 2557 2558gensym_num(Root,Num,Atom):-atom_concat(Root,Num,Atom),!. 2559gensym_num(Root,Num,Atom):- 2560 name(Root,Name), 2561 name(Num,Name1), 2562 append_dcut(Name,Name1,Name2), 2563 name(Atom,Name2),!. 2564 2565 2566pprint([],SIZE,SIZE):-!. 2567pprint([HS|TS],Size0,SIZE):- 2568 is_list(HS), 2569 pprint(HS,Size0,Size1), 2570 pprint(TS,Size1,SIZE),!. 2571pprint([HS|TS],Size0,SIZE):- 2572% write('step '),write(Size0),write(': '), 2573% write(HS),nl, 2574 Size1 is Size0+1, 2575 pprint(TS,Size1,SIZE),!. 2576 2577/* split static and dynamic from states*/ 2578 2579split_st_dy([],ST,ST,DY,DY):-!. 2580split_st_dy([Pred|TStates],ST0,ST,DY0,DY):- 2581 is_statics(Pred), 2582 append_dcut(ST0,[Pred],ST1), 2583 split_st_dy(TStates,ST1,ST,DY0,DY),!. 2584split_st_dy([Pred|TStates],ST0,ST,DY0,DY):- 2585 append_dcut(DY0,[Pred],DY1), 2586 split_st_dy(TStates,ST0,ST,DY1,DY),!. 2587 2588% list of lists -> list 2589 2590flatten([HO|TO], List, O_List):- 2591 append_dcut(HO, List, List_tmp), 2592 flatten(TO, List_tmp, O_List),!. 2593flatten([H|TO], List,O_List):- 2594 append_dcut([H], List, List_tmp), 2595 flatten(TO, List_tmp, O_List). 2596flatten([], [HList|T], O_List):- 2597 HList = [], 2598 flatten(T, [], O_List). 2599flatten([], [HList|T], O_List):- 2600 is_list(HList), 2601 flatten([HList|T],[], O_List),!. 2602flatten([], L,L):-!. 2603 2604% flatten with no duplicate 2605set_flatten([HO|TO], List, O_List):- 2606 set_append_e(HO, List, List_tmp), 2607 set_flatten(TO, List_tmp, O_List),!. 2608set_flatten([H|TO], List,O_List):- 2609 set_append_e([H], List, List_tmp), 2610 set_flatten(TO, List_tmp, O_List). 2611set_flatten([], [HList|T], O_List):- 2612 HList = [], 2613 set_flatten(T, [], O_List). 2614set_flatten([], [HList|T], O_List):- 2615 is_list(HList), 2616 set_flatten([HList|T],[], O_List),!. 2617set_flatten([], L,L):-!. 2618 2619 2620% list: [el1,el2, ...] --> bool 2621% ----------------------------- 2622/* 2623list(A) :- 2624 var(A) , 2625 ! , 2626 fail . 2627list(A) :- 2628 functor(A,'.',_). 2629*/ 2630 2631reverse_unused(L,RL) :- 2632 revSlave(L,[],RL). 2633 2634revSlave([],RL,RL). 2635revSlave([H|T],Sofar,Final) :- 2636 revSlave(T,[H|Sofar],Final). 2637 2638% ***********************for multy tasks***************** 2639:- assert_if_new(time_taken(0)). 2640:- assert_if_new(sum(0)). 2641:- assert_if_new(soln_size(0)). 2642 2643solve(N,FN):- 2644 N < FN, 2645 nl,write('task '), write(N),write(': '),nl, 2646 solve(N), 2647 Ni is N+1, 2648 solve(Ni,FN). 2649solve(FN,FN):- 2650 nl,write('task '), write(FN),write(': '),nl, 2651 solve(FN), 2652 retractall(sum(_)), 2653 assert(sum(0)), 2654 sum_time(CP), 2655 retractall(sum(_)), 2656 assert(sum(0)), 2657 sum_size(SIZE), 2658 TIM is CP /1000, 2659 retractall(time_taken(_)), 2660 retractall(soln_size(_)), 2661 nl,write('total time '),write(TIM),write(' seconds'), 2662 nl,write('total size '),write(SIZE),nl. 2663solve(N,N). 2664 2665sum_time(TIM):- 2666 time_taken(CP), 2667 env_retract(sum(N)), 2668 N1 is N +CP, 2669 assert(sum(N1)), 2670 fail. 2671sum_time(TIM):- 2672 sum(TIM). 2673sum_size(SIZE):- 2674 soln_size(S), 2675 retract(sum(N)), 2676 N1 is N +S, 2677 assert(sum(N1)), 2678 fail. 2679sum_size(SIZE):- 2680 sum(SIZE). 2681 2682stoppoint. 2683% State1 has relation with State2 2684state_related(Post,Cond,undefd):-!. 2685state_related(Post,Cond,[]):-!. 2686state_related(Post,Cond,State2):- 2687 append_dcut(Post,Cond,State1), 2688 state_related(State1,State2). 2689 2690% all states in necc are primitive 2691% so does the goal state--State2 2692state_related([se(Sort,Obj,SE1)|State1],State2):- 2693 member(se(Sort,Obj,SE2),State2), 2694 state_related0(SE1,SE2). 2695% states in Cond are not neccessary primitive 2696state_related([sc(Sort1,Obj,SE1=>SS1)|State1],State2):- 2697 member(se(Sort,Obj,SE2),State2), 2698 env_call is_of_sort(Obj,Sort1), 2699 env_call is_of_sort(Obj,Sort). 2700state_related([se(Sort,Obj,SE)|State1],State2):- 2701 state_related(State1,State2),!. 2702state_related([sc(Sort,Obj,SE=>SS)|State1],State2):- 2703 state_related(State1,State2),!. 2704 2705%instatiate abit the variables 2706state_related0([],SE2):-!. 2707state_related0([Head|SE1],SE2):- 2708 member(Head,SE2), 2709 state_related0(SE1,SE2). 2710state_related0([Head|SE1],SE2):- 2711 state_related0(SE1,SE2). 2712 2713% change_obj_list: narrow down objects 2714% by just using the objects occure in initial states(world state) 2715change_obj_list(I):- 2716 find_dynamic_objects(I), 2717 collect_dynamic_obj, 2718 change_obj_list1, 2719 change_atomic_inv,!. 2720 2721change_obj_list1:- 2722 forall(objects(Sort,_),change_obj_list2(Sort)). 2723 2724% only keep the dynamic objects that used in tasks 2725change_obj_list2(Sort):- 2726 env_call(objectsC(Sort,Objls)),!. 2727% statics objects: keep 2728change_obj_list2(Sort):- 2729 findall(Obj1s,env_call(objects(Sort,Objls)),Lists), 2730 flatten(Lists,Objls), 2731 env_assert(objectsC(Sort,Objls)),!. 2732 2733% only keep the dynamic objects in atomic_invariants 2734change_atomic_inv:- 2735 findall(Atom1,(env_call(atomic_invariants(Atom)),change_atomic_inv1(Atom,Atom1)),Lists), 2736 flatten(Lists,List), 2737 env_assert(atomic_invariantsC(List)),!. 2738change_atomic_inv. 2739 2740change_atomic_inv1([],[]). 2741change_atomic_inv1([Pred|Atom],[Pred|Atom1]):- 2742 Pred=..[Name|Objs], 2743 just_dynamic_objects(Objs), 2744 change_atomic_inv1(Atom,Atom1). 2745change_atomic_inv1([Pred|Atom],Atom1):- 2746 change_atomic_inv1(Atom,Atom1). 2747 2748just_dynamic_objects([]). 2749just_dynamic_objects([Head|Objs]):- 2750 env_call(objectsC(Sort,Objls)), 2751 member(Head,Objls),!, 2752 just_dynamic_objects(Objs). 2753 2754find_dynamic_objects([]):-!. 2755find_dynamic_objects([SE|Rest]):- 2756 find_dynamic_objects(SE), 2757 find_dynamic_objects(Rest),!. 2758find_dynamic_objects(ss(Sort,Obj,List)):- 2759 env_assert(objectsD(Sort,Obj)),!, 2760 forall((member(is_of_sort(X,S),List), 2761 nonvar(X),nonvar(S)), 2762 env_assert(objectsD(S,X))),!. 2763 2764collect_dynamic_obj:- 2765 env_call(objectsD(Sort,_)), 2766 setof(Obj, env_call(objectsD(Sort,Obj)), Objls), 2767 env_retractall(objectsD(Sort,_)), 2768 env_assert(objectsC(Sort,Objls)), 2769 fail. 2770collect_dynamic_obj. 2771 2772get_preconditions_g([],Prev,Prev,Prev):-!. 2773get_preconditions_g([sc(S,X,(From =>To))|Rest],Prev,[se(S,X,From)|Pre],[se(S,X,To)|Post]):- 2774 !, 2775 get_preconditions_g(Rest,Prev, Pre,Post). 2776 2777% ******************************************************************** 2778% ground all operators% enumerateOps 2779 2780ground_op :- 2781 assert_sort_objects, 2782 enumerateOps, 2783 instOps, 2784 flag(opCounter,Top,Top), 2785 write(opCounter = Top),nl,!. 2786 2787enumerateOps :- 2788 flag(opCounter,_,1), 2789 enumOps. 2790 2791enumOps :- 2792 env_call operator(Name,Prev,Nec,Cond), 2793 flag(opCounter,Count,Count), 2794 containsInvars(operator(Name,Prev,Nec,Cond),InVars,IsOfSorts,FPrev,FNec), 2795 %Find the atomic_invariants 2796 findVarsAndTypes(operator(Name,Prev,Nec,Cond),VT,NEs), 2797 env_assert(opParent(Count,operator(Name,FPrev,FNec,Cond),VT,NEs,InVars,IsOfSorts)), 2798 Next is Count + 1, 2799 flag(opCounter,Count,Next), 2800 fail. 2801 2802enumOps. 2803 2804 2805% ********************************************************************* 2806% findVarsAndTypes - collect a list of all variables and their 2807% types as they occur in an operator 2808% also collect the list of "ne" constraints 2809% that apply to variables 2810% [<Type>,<Variable>|<Rest>] 2811% 2812% findVarsAndTypes(+Operator,-TypeVarList,-Nes) 2813 2814 2815findVarsAndTypes(operator(_,Pre,Nec,Cond),Vars,NEs) :- 2816 vtPrevail(Pre,PreVars,PreNEs), 2817 vtEffects(Nec,NecVars,NecNEs), 2818 append_dcut(PreVars,NecVars,Vars), 2819 append_dcut(PreNEs,NecNEs,NEs), 2820 !. 2821 2822% collect all Vars and types in a changes clause 2823%vtEffects(+EffectsClause,-VarsTypes,-NEClauses). 2824 2825vtEffects([],[],[]). 2826 2827vtEffects([sc(Type,Obj1,Preds)|Rest],VT,NEs) :- 2828 vtPreds(Preds,Related,NEs1), 2829 append_dcut([Type,Obj1],Related,Obj1VT), 2830 vtEffects(Rest,RestVT,RestNEs), 2831 append_dcut(Obj1VT,RestVT,VT), 2832 append_dcut(NEs1,RestNEs,NEs). 2833 2834% collect all Vars and types in a Prevail clause 2835%vtPrevail(+PrevailClause,-VarsTypes,-NEClauses). 2836 2837vtPrevail([],[],[]). 2838 2839vtPrevail([se(Type,Obj1,Preds)|Rest],VT,NEs) :- 2840 vtPLst(Preds,Related,NEs1), 2841 append_dcut([Type,Obj1],Related,Obj1VT), 2842 vtPrevail(Rest,RestVT,RestNEs), 2843 append_dcut(Obj1VT,RestVT,VT), 2844 append_dcut(NEs1,RestNEs,NEs). 2845 2846% Deal with the change predicates in a changes clause 2847% vtPreds(+ChangeProps,-VarsTypes,-NEClauses). 2848 2849vtPreds((Pre => Add),Res,NEs) :- 2850 vtPLst(Pre,VTPre,NEs1), 2851 vtPLst(Add,VTAdd,NEs2), 2852 append_dcut(VTPre,VTAdd,Res), 2853 append_dcut(NEs1,NEs2,NEs). 2854 2855% Deal with a list of literals 2856% vtPLst(+Literals,-VarTypes,-NEClauses). 2857 2858vtPLst([],[],[]). 2859 2860vtPLst([ne(X,Y)|Rest],Res,[ne(X,Y)|RestNEs]) :- 2861 !, 2862 vtPLst(Rest,Res,RestNEs). 2863 2864vtPLst([Pred|Preds],Res,NEs) :- 2865 functor(Pred,_,1), 2866 !, 2867 vtPLst(Preds,Res,NEs). 2868 2869vtPLst([is_of_sort(_,_)|Preds],Res,NEs) :- 2870 !, 2871 vtPLst(Preds,Res,NEs). 2872 2873% here is the hard bit, Create a dummy literal - instantiate it with 2874% the OCL predicate list to find the types then 2875% match up the type with the original literal variables. 2876 2877vtPLst([Pred|Preds],Res,NEs) :- 2878 functor(Pred,Name,Arity), 2879 Pred =.. [Name,Obj1|Rest], 2880 VNeeded is Arity - 1, 2881 createVarList(VNeeded,VN), 2882 DummyPred =.. [Name,X|VN], 2883 env_call predicates(PList), 2884 member(DummyPred,PList), 2885 pair(VN,Rest,This), 2886 vtPLst(Preds,RestPre,NEs), 2887 append_dcut(This,RestPre,Res). 2888 2889% Create a list of new uninstantiated variables 2890% createVarList(+NoOfVariablesNeeded, -ListOfvariables). 2891 2892createVarList(1,[X]) :- 2893 !. 2894 2895createVarList(N,[X|Rest]) :- 2896 Next is N - 1, 2897 createVarList(Next,Rest). 2898 2899% merge the list of variables and the list of types 2900% pair(+TypeList,+VarList,-varTypeList). 2901 2902pair([],[],[]). 2903 2904pair([Type|Types],[Var|Vars],[Type,Var|Rest]) :- 2905 pair(Types,Vars,Rest). 2906 2907 2908 2909% ********************************************************************** 2910% Top Level Routine to instantiate / ground operators in all legal ways 2911% 2912% instOps 2913 2914instOps :- 2915 flag(opCounter,_,1), 2916 env_call opParent(No,Operator,VT,NEs,InVars,IsOfSorts), 2917 checkIsOfSorts(IsOfSorts), 2918 checkInVars(InVars), 2919 chooseVals(VT,NEs,InVars,Vals), 2920 obeysNEs(NEs), 2921 flag(opCounter,Count,Count), 2922 (operator(Name,Prev,Nec,Cond) = Operator), 2923 filterSE(Prev,FPrev), 2924 filterSC(Nec,FNec), 2925 env_assert(gOperator(Count,No,operator(Name,FPrev,FNec,Cond))), 2926 Next is Count + 1, 2927 flag(opCounter,Count,Next), 2928 fail. 2929 2930instOps. 2931 2932 2933checkInVars([]):- !. 2934checkInVars(Preds):- 2935 env_call(atomic_invariantsC(Invars)), 2936 doCheckInvars(Preds,Invars). 2937 2938doCheckInvars([],_). 2939doCheckInvars([Pred|Rest],Invars) :- 2940 member(Pred,Invars), 2941 doCheckInvars(Rest,Invars). 2942 2943checkIsOfSorts([]). 2944checkIsOfSorts([is_of_sort(V,Sort)|Rest]) :- 2945 env_call objectsOfSort(Sort,Objs), 2946 member(V,Objs), 2947 checkIsOfSorts(Rest). 2948 2949 2950% filterSE - remove ne and is_of_sort clauses 2951 2952filterSE([],[]) :- !. 2953filterSE([se(Sort,Id,Preds)|Rest],[se(Sort,Id,FPreds)|FRest]) :- 2954 filterPreds(Preds,FPreds),!, 2955 filterSE(Rest,FRest). 2956 2957% filterSC - remove ne and is_of_sort clauses 2958 2959filterSC([],[]) :- !. 2960filterSC([sc(Sort,Id,(Pre => Post))|Rest],[sc(Sort,Id,(FPre => FPost))|FRest]) :- 2961 filterPreds(Pre,FPre), 2962 filterPreds(Post,FPost), 2963 !, 2964 filterSC(Rest,FRest). 2965 2966% FilterPreds - remove ne and is_of_sort clauses 2967 2968filterPreds([],[]). 2969filterPreds([ne(_,_)|Rest],FRest) :- 2970 !, 2971 filterPreds(Rest,FRest). 2972filterPreds([is_of_sort(_,_)|Rest],FRest) :- 2973 !, 2974 filterPreds(Rest,FRest). 2975%filterPreds([Pred|Rest],FRest) :- 2976% env_call(atomic_invariantsC(Invars)), 2977% member(Pred,Invars), 2978% !, 2979% filterPreds(Rest,FRest). 2980filterPreds([H|T],[H|FT]) :- 2981 filterPreds(T,FT). 2982 2983 2984% Collect all possible ways of instantiating the conditional effects 2985 2986collectAllConds(_,_,_,_,[],[]) :- !. 2987 2988collectAllConds(CondVT,NEs,InVars,CondVals,Cond,_) :- 2989 env_retractall(temp_assertIndivConds(_)), 2990 chooseVals(CondVT,NEs,InVars,Vals), 2991 assertIndivConds(Cond), 2992 fail. 2993 2994collectAllConds(_,_,_,_,_,NewConds) :- 2995 setof(Cond,env_call(temp_assertIndivConds(Cond)),NewConds), 2996 dmsg(collectAllConds=NewConds),!. 2997 2998assertIndivConds([]) :- !. 2999 3000assertIndivConds([H|T]) :- 3001 env_assert(temp_assertIndivConds(H)), 3002 assertIndivConds(T). 3003 3004% Find the atomic_invariants in the Operator 3005 3006containsInvars(operator(Name,Prev,Nec,Cond),InVars,IsOfSorts,FPrev,FNec) :- 3007 prevInvars(Prev,PInVars,PIsOfSorts,FPrev), 3008 necInvars(Nec,NecInVars,NIsOfSorts,FNec), 3009 append_dcut(NecInVars,PInVars,InVars), 3010 append_dcut(PIsOfSorts,NIsOfSorts,IsOfSorts), 3011 !. 3012 3013prevInvars([],[],[],[]). 3014prevInvars([se(Type,Obj,Props)|Rest],InVars,IsOfSorts,[se(Type,Obj,FProps)|RFPrev]) :- 3015 propsInvars(Props,PInvars,PIsOfSorts,FProps), 3016 prevInvars(Rest,RInVars,RIsOfSorts,RFPrev), 3017 append_dcut(PInVars,RInVars,InVars), 3018 append_dcut([is_of_sort(Obj,Type)|PIsOfSorts],RIsOfSorts,IsOfSorts). 3019 3020necInvars([],[],[],[]). 3021necInvars([sc(Type,Obj,(Props => Adds))|Rest],Invars,IsOfSorts,[sc(Type,Obj,(FProps => FAdds))|RFNec]) :- 3022 propsInvars(Props,PInvars,PIsOfSorts,FProps), 3023 propsInvars(Adds,AInvars,AIsOfSorts,FAdds), 3024 necInvars(Rest,RInvars,RIsOfSorts,RFNec), 3025 append_dcut(AInvars,PInvars,Temp), 3026 append_dcut(Temp,RInvars,Invars), 3027 append_dcut(PIsOfSorts,AIsOfSorts,SortsTemp), 3028 append_dcut([is_of_sort(Obj,Type)|SortsTemp],RIsOfSorts,IsOfSorts). 3029 3030propsInvars([],[],[],[]). 3031propsInvars([Prop|Props],[Prop|Rest],IsOfSorts,FProps) :- 3032 isInvariant(Prop), 3033 !, 3034 propsInvars(Props,Rest,IsOfSorts,FProps). 3035propsInvars([is_of_sort(X,Y)|Props],InVars,[is_of_sort(X,Y)|IsOfSorts],FProps):- 3036 !, 3037 propsInvars(Props,InVars,IsOfSorts,FProps). 3038 3039propsInvars([Pred|Props],Rest,IsOfSorts,[Pred|FProps]) :- 3040 propsInvars(Props,Rest,IsOfSorts,FProps). 3041 3042isInvariant(Prop) :- 3043 env_call atomic_invariantsC(Invars), 3044 functor(Prop,Name,Arity), 3045 createVarList(Arity,VN), 3046 Pred =.. [Name | VN], 3047 member(Pred,Invars). 3048 3049% Select values for the variables in the operator 3050% 3051% chooseVals(+TypeVarList,+NEList,+Invariants,-VarValueList) 3052 3053chooseVals([],_,_,[]). 3054 3055chooseVals([Type,Var|TypeVars],NEs,InVars,Vals) :- 3056 ground(Var), 3057 !, 3058 chooseVals(TypeVars,NEs,InVars,Vals). 3059 3060chooseVals([Type,Var|TypeVars],NEs,InVars,[Var|Vals]) :- 3061 env_call objectsOfSort(Type,AllVals), 3062 member(Var,AllVals), 3063 chooseVals(TypeVars,NEs,InVars,Vals).

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