public void InsertDecomp(CompositeSchedulePlanStep newStep)
{
var IDMap = new Dictionary <int, IPlanStep>();
// Clone, Add, and Order Initial step
var dummyInit = new PlanStep(newStep.InitialStep) as IPlanStep;
dummyInit.InitCndt = newStep.InitialStep.InitCndt;
dummyInit.Depth = newStep.Depth;
IDMap[newStep.InitialStep.ID] = dummyInit;
Steps.Add(dummyInit);
Orderings.Insert(InitialStep, dummyInit);
Orderings.Insert(dummyInit, GoalStep);
// Clone, Add, and order Goal step
var dummyGoal = new PlanStep(newStep.GoalStep) as IPlanStep;
dummyGoal.Depth = newStep.Depth;
dummyGoal.InitCndt = dummyInit;
dummyGoal.GoalCndt = newStep.GoalStep.GoalCndt;
InsertPrimitiveSubstep(dummyGoal, dummyInit.Effects, true);
IDMap[newStep.GoalStep.ID] = dummyGoal;
Orderings.Insert(dummyInit, dummyGoal);
dummyInit.GoalCndt = dummyGoal;
//this.ID += "([" + dummyInit.ID.ToString() + ',' + dummyGoal.ID.ToString() + "])";
// needs same operator ID as newStep, in order to still be referenced for primary-effect-based open conditions
//var newStepCopy = new CompositeSchedulePlanStep(new Operator(newStep.Action.Predicate.Name, newStep.Action.Terms, new Hashtable(), new List<IPredicate>(), new List<IPredicate>(), newStep.Action.ID));
Steps.Add(newStep);
//newStepCopy.Height = newStep.Height;
//newStepCopy.Depth = newStep.Depth;
var newSubSteps = new List <IPlanStep>();
newStep.Preconditions = new List <IPredicate>();
newStep.Effects = new List <IPredicate>();
newStep.InitialStep = dummyInit;
newStep.GoalStep = dummyGoal;
DeLinks.Insert(newStep, dummyGoal);
DeLinks.Insert(newStep, dummyInit);
//newStepCopy.InitialStep = dummyInit;
//newStepCopy.GoalStep = dummyGoal;
var newCamPlanSteps = new List <CamPlanStep>();
foreach (var substep in newStep.SubSteps)
{
// substep is either a IPlanStep or ICompositePlanStep
if (substep.Height > 0)
{
var compositeSubStep = new CompositeSchedulePlanStep(substep.Clone() as CompositeSchedulePlanStep)
{
Depth = newStep.Depth + 1
};
// Avoid the following issue: compositeSubStep's initial and goal step will be reassigned its ID AFTER it is inserted; thus, insert first
newSubSteps.Add(compositeSubStep);
DeLinks.Insert(newStep, compositeSubStep);
Insert(compositeSubStep);
Orderings.Insert(compositeSubStep.GoalStep, dummyGoal);
Orderings.Insert(dummyInit, compositeSubStep.InitialStep);
//this.ID += "(^Oss[" + compositeSubStep.GoalStep.ID.ToString() + ',' + dummyGoal.ID.ToString() + "])";
// this.ID += "(^Oss[" + dummyInit.ID.ToString() + ',' + compositeSubStep.InitialStep.ID.ToString() + "])";
IDMap[substep.ID] = compositeSubStep;
// The initial step of the sub-step looks to this local-subplan's dummy init as it's init cndt
compositeSubStep.InitialStep.InitCndt = dummyInit;
// The goal step of the sub-step looks to this local sub-plan's dummy goal step as it's goal candidate
compositeSubStep.GoalStep.GoalCndt = dummyGoal;
}
else
{
IPlanStep newsubstep;
// new substep is either CamPlanStep or PlanStep
if (substep is CamPlanStep cps)
{
newsubstep = new CamPlanStep(cps)
{
Depth = newStep.Depth + 1
};
newCamPlanSteps.Add(newsubstep as CamPlanStep);
}
else
{
newsubstep = new PlanStep(substep.Clone() as IPlanStep)
{
Depth = newStep.Depth + 1
};
}
Orderings.Insert(newsubstep, dummyGoal);
Orderings.Insert(dummyInit, newsubstep);
IDMap[substep.ID] = newsubstep;
newSubSteps.Add(newsubstep);
newsubstep.InitCndt = dummyInit;
newsubstep.GoalCndt = dummyGoal;
//newsubstep.Parent = newStep;
DeLinks.Insert(newStep, newsubstep);
InsertPrimitiveSubstep(newsubstep, dummyInit.Effects, false);
// Pre-Mod
//if (newsubstep.Depth > Hdepth)
//{
// Hdepth = newsubstep.Depth;
//}
}
}
newStep.InitialAction = IDMap[newStep.InitialAction.ID];
if (newStep.InitialAction is CompositeSchedulePlanStep cspsNewStep)
{
newStep.InitialCamAction = cspsNewStep.InitialCamAction;
}
else
{
newStep.InitialCamAction = IDMap[newStep.InitialCamAction.ID] as CamPlanStep;
}
newStep.FinalAction = IDMap[newStep.FinalAction.ID];
if (newStep.FinalAction is CompositeSchedulePlanStep cspsNewStepf)
{
newStep.FinalCamAction = cspsNewStepf.FinalCamAction;
}
else
{
newStep.FinalCamAction = IDMap[newStep.FinalCamAction.ID] as CamPlanStep;
}
// update action seg targets
foreach (var cps in newCamPlanSteps)
{
cps.UpdateActionSegs(IDMap);
}
//foreach (var precon in newStep.ContextPrecons)
//{
// // these precons MUST be referencing a local sub-step; or else, they reference a precondition or effect of a sub-step.
// precon.ActionRef = IDMap[precon.ActionRef.ID];
//}
//foreach (var eff in newStep.ContextEffects)
//{
// eff.ActionRef = IDMap[eff.ActionRef.ID];
//}
//foreach(var precon in )
foreach (var tupleOrdering in newStep.SubOrderings)
{
// Don't bother adding orderings to dummies
if (tupleOrdering.First.Equals(newStep.InitialStep))
{
continue;
}
if (tupleOrdering.Second.Equals(newStep.GoalStep))
{
continue;
}
var head = IDMap[tupleOrdering.First.ID];
var tail = IDMap[tupleOrdering.Second.ID];
if (head.Height > 0)
{
// can you pass it back?
var temp = head as CompositeSchedulePlanStep;
head = temp.GoalStep as IPlanStep;
}
if (tail.Height > 0)
{
var temp = tail as CompositeSchedulePlanStep;
tail = temp.InitialStep as IPlanStep;
}
//this.ID += string.Format("(^Oso[{0},{1}])", head.ID, tail.ID);
Orderings.Insert(head, tail);
}
// in this world, all composite plan steps are composite schedule plan steps.
var schedulingStepComponent = newStep as CompositeSchedulePlanStep;
foreach (var cntg in schedulingStepComponent.Cntgs)
{
var head = IDMap[cntg.First.ID];
var tail = IDMap[cntg.Second.ID];
if (head.Height > 0)
{
// how do we describe a composite as being contiguous with another step?
var temp = head as CompositeSchedulePlanStep;
//var fas = temp.FinalActionSeg;
if (tail is CamPlanStep cps)
{
// then get final discourse step of temp // This is a HACK - because the last camera substep may be on a grandchild
head = temp.FinalCamAction as IPlanStep;
}
else
{
// then get the action referenced by the final action segment - already updated actionID and is already in plan.
head = temp.FinalAction;
}
}
if (tail.Height > 0)
{
var temp = tail as CompositeSchedulePlanStep;
if (head is CamPlanStep cps)
{
// then get first discourse step of temp // This is a HACK - because the first camera substep may be on a grandchild
tail = temp.InitialCamAction;
}
else
{
tail = temp.InitialAction;
}
}
Cntgs.Insert(head, tail);
// also add orderings just in case
Orderings.Insert(head, tail);
// this.ID += string.Format("(^Osc[{0},{1}])", head.ID, tail.ID);
}
foreach (var clink in newStep.SubLinks)
{
var head = IDMap[clink.Head.ID];
var tail = IDMap[clink.Tail.ID];
if (head.Height > 0)
{
var temp = head as CompositeSchedulePlanStep;
head = temp.GoalStep as IPlanStep;
}
if (tail.Height > 0)
{
var temp = tail as CompositeSchedulePlanStep;
tail = temp.InitialStep as IPlanStep;
}
var newclink = new CausalLink <IPlanStep>(clink.Predicate, head, tail);
CausalLinks.Add(newclink);
Orderings.Insert(head, tail);
//this.ID += string.Format("(^Osl[{0},{1}])", head.ID, tail.ID);
// check if this causal links is threatened by a step in subplan
foreach (var step in newSubSteps)
{
// Prerequisite criteria 1
if (step.ID == head.ID || step.ID == tail.ID)
{
continue;
}
// Prerequisite criteria 2
if (!CacheMaps.IsThreat(clink.Predicate, step))
{
continue;
}
// If the step has height, need to evaluate differently
if (step.Height > 0)
{
var temp = step as ICompositePlanStep;
if (Orderings.IsPath(head, temp.InitialStep))
{
continue;
}
if (Orderings.IsPath(temp.GoalStep, tail))
{
continue;
}
}
else
{
if (Orderings.IsPath(head, step))
{
continue;
}
if (Orderings.IsPath(step, tail))
{
continue;
}
}
Flaws.Add(new ThreatenedLinkFlaw(newclink, step));
//if (step.Height > 0)
//{
// // Then we need to dig deeper to find the step that threatens
// DecomposeThreat(clink, step as ICompositePlanStep);
//}
//else
//{
// Flaws.Add(new ThreatenedLinkFlaw(newclink, step));
//}
}
}
// This is needed because we'll check if these substeps are threatening links
newStep.SubSteps = newSubSteps;
//newStepCopy.SubSteps = newSubSteps;
// inital
newStep.InitialStep = dummyInit;
// goal
newStep.GoalStep = dummyGoal;
foreach (var pre in newStep.OpenConditions)
{
Flaws.Add(this, new OpenCondition(pre, dummyInit as IPlanStep));
}
}
public new void DetectThreats(IPlanStep possibleThreat)
{
CompositeSchedulePlanStep possibleThreatComposite = new CompositeSchedulePlanStep();
if (possibleThreat.Height > 0)
{
possibleThreatComposite = possibleThreat as CompositeSchedulePlanStep;
}
foreach (var clink in causalLinks)
{
if (!CacheMaps.IsThreat(clink.Predicate, possibleThreat))
{
continue;
}
if (possibleThreat.Height > 0)
{
if (DeLinks.OnDecompPath(clink.Head, possibleThreat.ID))
{
// must be ordered within
if (Orderings.IsPath(clink.Tail, possibleThreatComposite.GoalStep))
{
// already tucked into Q's borders
continue;
}
if (!DeLinks.OnDecompPath(clink.Tail, possibleThreat.ID))
{
// Q --> s -p-> t, not p in eff(Q), not Q --> t
// then, need to tuck t into Q's borders.
var tailRoot = GetStepByID(DeLinks.GetRoot(clink.Tail)) as CompositePlanStep;
Orderings.Insert(tailRoot.GoalStep, possibleThreatComposite.InitialStep);
//this.ID += string.Format("(^Od2[{0},{1}])", tailRoot.GoalStep.ID, possibleThreatComposite.InitialStep.ID);
}
continue;
}
if (DeLinks.OnDecompPath(clink.Tail, possibleThreat.ID))
{
continue;
}
if (Orderings.IsPath(clink.Tail, possibleThreatComposite.InitialStep))
{
continue;
}
if (Orderings.IsPath(possibleThreatComposite.GoalStep, clink.Head))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, possibleThreat));
}
else
{
// don't need to check decomp paths, because causal links and threat are all primitive.
if (Orderings.IsPath(clink.Tail, possibleThreat))
{
continue;
}
if (Orderings.IsPath(possibleThreat, clink.Head))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, possibleThreat));
}
}
}
public void Reuse(IPlan plan, OpenCondition oc)
{
// if repaired by initial state
if (plan.Initial.InState(oc.precondition))
{
var planClone = plan.Clone() as IPlan;
planClone.Repair(oc, planClone.InitialStep);
planClone.ID += "ri";
Insert(planClone);
}
foreach (var step in plan.Steps)
{
if (oc.step.ID == step.ID)
{
continue;
}
if (step.Height > 0)
{
if (CacheMaps.IsCndt(oc.precondition, step))
{
var stepAsComposite = step as CompositePlanStep;
if (stepAsComposite.SubSteps.Contains(oc.step) || stepAsComposite.GoalStep.ID == oc.step.ID)
{
continue;
}
// before adding a repair, check if there is a path.
if (plan.Orderings.IsPath(oc.step, stepAsComposite.GoalStep))
{
continue;
}
if (plan.Orderings.IsPath(oc.step, stepAsComposite.InitialStep))
{
continue;
}
var planClone = plan.Clone() as IPlan;
var stepAsCompositeClone = planClone.Steps.First(s => s.ID == stepAsComposite.ID) as CompositePlanStep;
planClone.Repair(oc, stepAsCompositeClone);
planClone.ID += "rc";
Insert(planClone);
}
continue;
}
else
{
if (step == oc.step.InitCndt && oc.hasDummyInit)
{
var planClone = plan.Clone() as IPlan;
planClone.Repair(oc, step);
planClone.ID += "r_";
Insert(planClone);
continue;
}
if (CacheMaps.IsCndt(oc.precondition, step))
{
// before adding a repair, check if there is a path.
if (plan.Orderings.IsPath(oc.step, step))
{
continue;
}
var planClone = plan.Clone() as IPlan;
planClone.Repair(oc, step);
planClone.ID += "rp";
Insert(planClone);
}
}
}
}
public void RepairWithComposite(OpenCondition oc, CompositeSchedulePlanStep repairStep)
{
var needStep = Find(oc.step);
if (!needStep.Name.Equals("DummyGoal") && !needStep.Name.Equals("DummyInit"))
{
needStep.Fulfill(oc.precondition);
}
// need to merge all steps that are being connected by this predicate:
if (oc.precondition.Name.Equals("obs-starts"))
//if (oc.precondition is ContextPredicate cxtp)
{
this.ID += "s";
//var repairEff = repairStep.Effects.Where(e => cxtp.Equals(oc.precondition)).First() ;
RepairWithMerge(oc.precondition, needStep, repairStep);
var otherflawsFromSameNeedStep = this.flaws.OpenConditions.Where(openC => openC.step.ID == oc.step.ID).ToList();
foreach (var otherFlaw in otherflawsFromSameNeedStep)
{
if (CacheMaps.IsCndt(otherFlaw.precondition, repairStep))
{
// Remove this flaw, because it would have been satisfied by this repair step. SHOULD produce new plan for each decision.
this.flaws.OpenConditions.Remove(otherFlaw);
}
}
return;
}
//if (oc.precondition.Name.Equals("obs-starts"))
//{
// Console.WriteLine("obs-starts");
//}
orderings.Insert(repairStep.GoalStep as IPlanStep, needStep);
//this.ID += string.Format("(^Orl[{0},{1}])", repairStep.GoalStep.ID, needStep.ID);
var clink = new CausalLink <IPlanStep>(oc.precondition as Predicate, repairStep.GoalStep as IPlanStep, needStep);
causalLinks.Add(clink);
foreach (var step in Steps)
{
if (step.ID == repairStep.ID || step.ID == needStep.ID)
{
continue;
}
if (!CacheMaps.IsThreat(oc.precondition, step))
{
continue;
}
if (step.Height > 0)
{
// we need to check that this step's goal step
var stepAsComp = step as CompositeSchedulePlanStep;
if (DeLinks.OnDecompPath(clink.Head, step.ID))
{
// must be ordered within
if (Orderings.IsPath(clink.Tail, stepAsComp.GoalStep))
{
// already tucked into Q's borders
continue;
}
if (!DeLinks.OnDecompPath(clink.Tail, step.ID))
{
// Special Case is when clink.Tail is goal step. Then we cannot tuck clink.Tail into borders.
if (clink.Tail.Equals(goalStep))
{
// We want to end this plan's existence, so we add a threat that cannot be resolved.
Flaws.Add(new ThreatenedLinkFlaw(clink, step));
continue;
}
// Q --> s -p-> t, not p in eff(Q), not Q --> t
// then, need to tuck t into Q's borders.
var tailRoot = GetStepByID(DeLinks.GetRoot(clink.Tail)) as CompositePlanStep;
Orderings.Insert(tailRoot.GoalStep, stepAsComp.InitialStep);
//this.ID += string.Format("(^Od[{0},{1}])", tailRoot.GoalStep.ID, stepAsComp.InitialStep.ID);
}
continue;
}
if (DeLinks.OnDecompPath(clink.Tail, step.ID))
{
// step cannot threaten
continue;
}
// step is a threat to need precondition
if (Orderings.IsPath(clink.Tail, stepAsComp.InitialStep))
{
continue;
}
if (Orderings.IsPath(stepAsComp.GoalStep, repairStep.InitialStep as IPlanStep))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, stepAsComp));
// Flaws.Add(new ThreatenedLinkFlaw(clink, compInit));
}
else
{
// is it possible that step is a sub-step of repair step? Yes it is.
if (DeLinks.OnDecompPath(step, repairStep.ID))
{
// but, there's nothing we can do about it; and all links to repairStep.GoalStep are there to be threatened
continue;
}
// step is a threat to need precondition
if (Orderings.IsPath(needStep, step))
{
continue;
}
if (Orderings.IsPath(step, repairStep.InitialStep as IPlanStep))
{
continue;
}
Flaws.Add(new ThreatenedLinkFlaw(clink, step));
}
}
}
public void InsertDecomp(CompositeSchedulePlanStep newStep)
{
Decomps += 1;
var IDMap = new Dictionary <int, IPlanStep>();
// Clone, Add, and Order Initial step
var dummyInit = newStep.InitialStep.Clone() as IPlanStep;
dummyInit.Depth = newStep.Depth;
IDMap[newStep.InitialStep.ID] = dummyInit;
Steps.Add(dummyInit);
Orderings.Insert(InitialStep, dummyInit);
Orderings.Insert(dummyInit, GoalStep);
// Clone, Add, and order Goal step
var dummyGoal = newStep.GoalStep.Clone() as IPlanStep;
dummyGoal.Depth = newStep.Depth;
dummyGoal.InitCndt = dummyInit;
InsertPrimitiveSubstep(dummyGoal, dummyInit.Effects, true);
IDMap[newStep.GoalStep.ID] = dummyGoal;
Orderings.Insert(dummyInit, dummyGoal);
var newStepCopy = new PlanStep(new Operator(newStep.Action.Predicate as Predicate, new List <IPredicate>(), new List <IPredicate>()));
Steps.Add(newStepCopy);
// orderings.Insert(dummyInit, newStepCopy);
// orderings.Insert(newStepCopy, dummyGoal);
newStepCopy.Height = newStep.Height;
var newSubSteps = new List <IPlanStep>();
foreach (var substep in newStep.SubSteps)
{
// substep is either a IPlanStep or ICompositePlanStep
if (substep.Height > 0)
{
var compositeSubStep = new CompositeSchedulePlanStep(substep.Clone() as IPlanStep)
{
Depth = newStep.Depth + 1
};
Orderings.Insert(compositeSubStep.GoalStep, dummyGoal);
Orderings.Insert(dummyInit, compositeSubStep.InitialStep);
IDMap[substep.ID] = compositeSubStep;
compositeSubStep.InitialStep.InitCndt = dummyInit;
newSubSteps.Add(compositeSubStep);
Insert(compositeSubStep);
// Don't bother updating hdepth yet because we will check on recursion
}
else
{
var newsubstep = new PlanStep(substep.Clone() as IPlanStep)
{
Depth = newStep.Depth + 1
};
Orderings.Insert(newsubstep, dummyGoal);
Orderings.Insert(dummyInit, newsubstep);
IDMap[substep.ID] = newsubstep;
newSubSteps.Add(newsubstep);
newsubstep.InitCndt = dummyInit;
InsertPrimitiveSubstep(newsubstep, dummyInit.Effects, false);
if (newsubstep.Depth > Hdepth)
{
Hdepth = newsubstep.Depth;
}
}
}
foreach (var tupleOrdering in newStep.SubOrderings)
{
// Don't bother adding orderings to dummies
if (tupleOrdering.First.Equals(newStep.InitialStep))
{
continue;
}
if (tupleOrdering.Second.Equals(newStep.GoalStep))
{
continue;
}
var head = IDMap[tupleOrdering.First.ID];
var tail = IDMap[tupleOrdering.Second.ID];
if (head.Height > 0)
{
// can you pass it back?
var temp = head as ICompositePlanStep;
head = temp.GoalStep as IPlanStep;
}
if (tail.Height > 0)
{
var temp = tail as ICompositePlanStep;
tail = temp.InitialStep as IPlanStep;
}
Orderings.Insert(head, tail);
}
// in this world, all composite plan steps are composite schedule plan steps.
var schedulingStepComponent = newStep as CompositeSchedulePlanStep;
foreach (var cntg in schedulingStepComponent.Cntgs)
{
var head = IDMap[cntg.First.ID];
var tail = IDMap[cntg.Second.ID];
if (head.Height > 0)
{
// how do we describe a composite as being contiguous with another step?
var temp = head as ICompositePlanStep;
head = temp.GoalStep as IPlanStep;
}
if (tail.Height > 0)
{
var temp = tail as ICompositePlanStep;
tail = temp.InitialStep as IPlanStep;
}
Cntgs.Insert(head, tail);
// also add orderings just in case
Orderings.Insert(head, tail);
}
foreach (var clink in newStep.SubLinks)
{
var head = IDMap[clink.Head.ID];
var tail = IDMap[clink.Tail.ID];
if (head.Height > 0)
{
var temp = head as CompositePlanStep;
head = temp.GoalStep as IPlanStep;
}
if (tail.Height > 0)
{
var temp = tail as CompositePlanStep;
tail = temp.InitialStep as IPlanStep;
}
var newclink = new CausalLink <IPlanStep>(clink.Predicate, head, tail);
CausalLinks.Add(newclink);
Orderings.Insert(head, tail);
// check if this causal links is threatened by a step in subplan
foreach (var step in newSubSteps)
{
// Prerequisite criteria 1
if (step.ID == head.ID || step.ID == tail.ID)
{
continue;
}
// Prerequisite criteria 2
if (!CacheMaps.IsThreat(clink.Predicate, step))
{
continue;
}
// If the step has height, need to evaluate differently
if (step.Height > 0)
{
var temp = step as ICompositePlanStep;
if (Orderings.IsPath(head, temp.InitialStep))
{
continue;
}
if (Orderings.IsPath(temp.GoalStep, tail))
{
continue;
}
}
else
{
if (Orderings.IsPath(head, step))
{
continue;
}
if (Orderings.IsPath(step, tail))
{
continue;
}
}
if (step.Height > 0)
{
// Then we need to dig deeper to find the step that threatens
DecomposeThreat(clink, step as ICompositePlanStep);
}
else
{
Flaws.Add(new ThreatenedLinkFlaw(newclink, step));
}
}
}
// This is needed because we'll check if these substeps are threatening links
newStep.SubSteps = newSubSteps;
newStep.InitialStep = dummyInit;
newStep.GoalStep = dummyGoal;
foreach (var pre in newStep.OpenConditions)
{
Flaws.Add(this, new OpenCondition(pre, dummyInit as IPlanStep));
}
}
