private List <string> RunVersion4Down2Up(List <Agent> m_agents, Dictionary <Agent, List <Dependency> > agentsDependencies, Dictionary <Agent, Dictionary <Predicate, List <Dependency> > > agentsPreconditionDictionary, Dictionary <Agent, Dictionary <Action, List <Dependency> > > agentsActions2DependenciesInEffect, CancellationToken token)
{
PddlBuilderForOptimalDependenciesPlanningVer4 pddlBuilder;
List <string> plan = null;
try
{
UpdateBoundAndPlan(0, plan, false);
Console.WriteLine("DOWN2UP - " + "Starting to loop over possible amounts of dependencies from minimum of: 0 towards optimal value (down-->up) to see when is it possible to solve the problem");
for (int i = 0; NeedToContinueMainLoop(); i++)
{
token.ThrowIfCancellationRequested();
Console.WriteLine("DOWN2UP - " + "Trying to publish maximum " + i + " dependencies for each agent");
pddlBuilder = new PddlBuilderForOptimalDependenciesPlanningVer4();
pddlBuilder.UpdateMaxDependenciesRevealed(i);
pddlBuilder.BuildPddlFiles(m_agents, agentsDependencies, agentsPreconditionDictionary, agentsActions2DependenciesInEffect);
Console.WriteLine("DOWN2UP - " + "Sending the pddl files to the external planners");
List <string> tmpPlan = SendToExternalPlanners(pddlBuilder.GetJoinedDomain(), pddlBuilder.GetJoinedProblem(), pddlBuilder.GetJoinedStartState(), Program.SymPAFilename2, token, true);
if (tmpPlan != null)
{
if (!VerifyPlan(Program.currentJointDomain, Program.currentJointProblem, tmpPlan))
{
Program.isValidDown2UpPlan = false;
return(null);
}
plan = tmpPlan;
int currAmountOfDependencies = CalculateAmountOfDependenciesForPlan(plan);
if (currAmountOfDependencies < i)
{
throw new Exception("DOWN2UP - " + "Something is wrong here, we already showed that we can not solve the problem with less dependencies than " + i);
}
else if (currAmountOfDependencies > i)
{
throw new Exception("DOWN2UP - " + "Something is wrong here, we can not be using more dependencies than allowed!");
}
UpdateBoundAndPlan(i, plan, false);
Console.WriteLine("DOWN2UP - " + "The optimal amount of dependencies is " + i + " :)");
lowerFoundOptimal = true;
break;
}
else
{
UpdateBoundAndPlan(i + 1, plan, false);
Console.WriteLine("DOWN2UP - " + "Cannot solve the problem with " + i + " dependencies - Lower bound can be increased to " + (i + 1));
}
}
}
catch (OperationCanceledException canceledEx)
{
Console.WriteLine("DOWN2UP - " + "Terminating the down-->up thread");
}
return(plan);
}
private List <string> RunVersion4Or5PddlBuilder(List <Agent> m_agents, Dictionary <Agent, List <Dependency> > agentsDependencies, Dictionary <Agent, Dictionary <Predicate, List <Dependency> > > agentsPreconditionDictionary, Dictionary <Agent, Dictionary <Action, List <Dependency> > > agentsActions2DependenciesInEffect)
{
// We shall use the ver4 pddl builder in the ICAPS 2021 results, because we want to remove the possability to "go-solo" as MAFS used to allow, but now we do not allow it any more.
//PddlBuilderForOptimalDependenciesPlanningVer5 pddlBuilder = new PddlBuilderForOptimalDependenciesPlanningVer5();
PddlBuilderForOptimalDependenciesPlanningVer4 pddlBuilder = new PddlBuilderForOptimalDependenciesPlanningVer4();
pddlBuilder.BuildPddlFiles(m_agents, agentsDependencies, agentsPreconditionDictionary, agentsActions2DependenciesInEffect);
Console.WriteLine("Solving without limitation to establish the maximum amount of dependencies we can publish");
List <string> plan = SendToExternalPlanners(pddlBuilder.GetJoinedDomain(), pddlBuilder.GetJoinedProblem(), pddlBuilder.GetJoinedStartState(), null, default(CancellationToken));
if (plan == null)
{
Console.WriteLine("Could not solve even without limitation. This is a hard problem.");
return(null);
}
if (!VerifyPlan(Program.currentJointDomain, Program.currentJointProblem, plan))
{
Program.isValidUp2DownPlan = false;
return(null);
}
int amountOfDependencies = CalculateAmountOfDependenciesForPlan(plan);
Program.optimalAmountOfDependenciesForCurrentProblem = amountOfDependencies;
Program.planForOptimalAmountOfDependenciesForCurrentProblem = plan;
Console.WriteLine("The amount of used dependencies in the plan that was made is: " + amountOfDependencies);
if (amountOfDependencies == 0)
{
Console.WriteLine("0 is the minimal number of dependencies, which means that we have finished this planning process :)");
}
else
{
Console.WriteLine("Starting to loop over possible amounts of dependencies from maximum of: " + (amountOfDependencies - 1) + " to see when is it impossible to solve the problem");
}
for (int i = amountOfDependencies - 1; i >= 0; i--)
{
Console.WriteLine("Trying to publish maximum " + i + " dependencies for each agent");
//pddlBuilder = new PddlBuilderForOptimalDependenciesPlanningVer5();
pddlBuilder = new PddlBuilderForOptimalDependenciesPlanningVer4();
pddlBuilder.UpdateMaxDependenciesRevealed(i);
pddlBuilder.BuildPddlFiles(m_agents, agentsDependencies, agentsPreconditionDictionary, agentsActions2DependenciesInEffect);
Console.WriteLine("Sending the pddl files to the external planners");
List <string> tmpPlan = SendToExternalPlanners(pddlBuilder.GetJoinedDomain(), pddlBuilder.GetJoinedProblem(), pddlBuilder.GetJoinedStartState(), null, default(CancellationToken));
if (tmpPlan != null)
{
plan = tmpPlan;
if (!VerifyPlan(Program.currentJointDomain, Program.currentJointProblem, plan))
{
Program.isValidUp2DownPlan = false;
return(null);
}
int currAmountOfDependencies = CalculateAmountOfDependenciesForPlan(plan);
if (currAmountOfDependencies < i)
{
i = currAmountOfDependencies; //This can happen if suddenly we see that we need even less dependencies to solve...
}
else if (currAmountOfDependencies > i)
{
throw new Exception("Something is wrong here, we can not be using more dependencies than allowed!");
}
Program.optimalAmountOfDependenciesForCurrentProblem = i;
Program.planForOptimalAmountOfDependenciesForCurrentProblem = plan;
Console.WriteLine("The amount of dependencies needed for this problem can be reduces to " + i);
}
else
{
Console.WriteLine("The amount of dependencies needed for this problem can not be reduced to " + i + ", which means that " + (i + 1) + " is the optimal amount of dependencies needed for this problem");
break;
}
}
return(plan);
}
private List <string> RunVersion4Up2Down(List <Agent> m_agents, Dictionary <Agent, List <Dependency> > agentsDependencies, Dictionary <Agent, Dictionary <Predicate, List <Dependency> > > agentsPreconditionDictionary, Dictionary <Agent, Dictionary <Action, List <Dependency> > > agentsActions2DependenciesInEffect, CancellationToken token)
{
List <string> plan = null;
try
{
PddlBuilderForOptimalDependenciesPlanningVer4 pddlBuilder = new PddlBuilderForOptimalDependenciesPlanningVer4();
pddlBuilder.BuildPddlFiles(m_agents, agentsDependencies, agentsPreconditionDictionary, agentsActions2DependenciesInEffect);
Console.WriteLine("UP2DOWN - " + "Solving without limitation to establish the maximum amount of dependencies we can publish");
plan = SendToExternalPlanners(pddlBuilder.GetJoinedDomain(), pddlBuilder.GetJoinedProblem(), pddlBuilder.GetJoinedStartState(), Program.SymPAFilename1, token);
if (plan == null)
{
Console.WriteLine("UP2DOWN - " + "Could not solve even without limitation. This is a hard problem.");
return(null);
}
if (!VerifyPlan(Program.currentJointDomain, Program.currentJointProblem, plan))
{
Program.isValidUp2DownPlan = false;
return(null);
}
int amountOfDependencies = CalculateAmountOfDependenciesForPlan(plan);
UpdateBoundAndPlan(amountOfDependencies, plan, true);
Console.WriteLine("UP2DOWN - " + "The amount of used dependencies in the plan that was made is: " + amountOfDependencies);
if (amountOfDependencies == 0)
{
Console.WriteLine("UP2DOWN - " + "0 is the minimal number of dependencies, which means that we have finished this planning process :)");
}
else
{
Console.WriteLine("UP2DOWN - " + "Starting to loop over possible amounts of dependencies from maximum of: " + (amountOfDependencies - 1) + " to see when is it impossible to solve the problem");
}
for (int i = amountOfDependencies - 1; i >= 0 && NeedToContinueMainLoop(); i--)
{
token.ThrowIfCancellationRequested();
Console.WriteLine("UP2DOWN - " + "Trying to publish maximum " + i + " dependencies for each agent");
pddlBuilder = new PddlBuilderForOptimalDependenciesPlanningVer4();
pddlBuilder.UpdateMaxDependenciesRevealed(i);
pddlBuilder.BuildPddlFiles(m_agents, agentsDependencies, agentsPreconditionDictionary, agentsActions2DependenciesInEffect);
Console.WriteLine("UP2DOWN - " + "Sending the pddl files to the external planners");
List <string> tmpPlan = SendToExternalPlanners(pddlBuilder.GetJoinedDomain(), pddlBuilder.GetJoinedProblem(), pddlBuilder.GetJoinedStartState(), Program.SymPAFilename1, token);//, false, true, pddlBuilder.GetMapDependencyToConstant());
if (tmpPlan != null)
{
if (!VerifyPlan(Program.currentJointDomain, Program.currentJointProblem, tmpPlan))
{
Program.isValidUp2DownPlan = false;
return(null);
}
plan = tmpPlan;
int currAmountOfDependencies = CalculateAmountOfDependenciesForPlan(plan);
if (currAmountOfDependencies < i)
{
i = currAmountOfDependencies; //This can happen if suddenly we see that we need even less dependencies to solve...
}
else if (currAmountOfDependencies > i)
{
throw new Exception("UP2DOWN - " + "Something is wrong here, we can not be using more dependencies than allowed!");
}
UpdateBoundAndPlan(i, plan, true);
Console.WriteLine("UP2DOWN - " + "The amount of dependencies needed for this problem can be reduces to " + i);
}
else
{
Console.WriteLine("UP2DOWN - " + "The amount of dependencies needed for this problem can not be reduced to " + i + ", which means that " + (i + 1) + " is the optimal amount of dependencies needed for this problem");
upperFoundOptimal = true;
break;
}
}
}
catch (OperationCanceledException canceledEx)
{
Console.WriteLine("UP2DOWN - " + "Terminating the up-->down thread");
}
return(plan);
}
