private void ReadGoal(Problem p, Domain d, Expression eGoal)
{
Formula fGoal = ReadGroundedFormula((CompoundExpression)eGoal, d);
p.Goal = fGoal;
}
private void ReadMetric(Problem p, Domain d, CompoundExpression eSub)
{
p.AddMetric(eSub.ToString());
}
public KnowledgeState(Problem p)
: base(p)
{
}
public Problem ParseProblem(string sProblemFile, Domain d)
{
StreamReader sr = new StreamReader(sProblemFile);
CompoundExpression exp = (CompoundExpression)ToExpression(sr);
sr.Close();
Problem p = null;
CompoundExpression eSub = null;
foreach (Expression e in exp.SubExpressions)
{
eSub = (CompoundExpression)e;
if (eSub.Type == "problem")
{
p = new Problem(eSub.SubExpressions.First().ToString(), d);
}
if (eSub.Type == ":domain")
{
if (eSub.SubExpressions.First().ToString() != d.Name)
{
throw new InvalidDataException("Domain and problem files don't match!");
}
}
if (eSub.Type == ":objects")
{
ReadConstants(eSub, d);
}
if (eSub.Type == ":init")
{
CompoundExpression eAnd = (CompoundExpression)eSub.SubExpressions.First();
if (eAnd.Type == "and")
{
ReadInitState(p, d, eAnd);
}
else
{
ReadInitState(p, d, eSub);
}
//throw new InvalidDataException("Expecting 'and', got " + eAnd.Type);
}
if (eSub.Type == ":goal")
{
ReadGoal(p, d, eSub.SubExpressions[0]);
}
if (eSub.Type == ":metric")
{
ReadMetric(p, d, eSub);
}
}
//p.AddReasoningActions(); not needed as long as we use FF to do the planning for us
d.ComputeAlwaysKnown();
p.CompleteKnownState();
List <Predicate> lConstantPredicates = new List <Predicate>();
foreach (Predicate pKnown in p.Known)
{
if (d.AlwaysConstant(pKnown))
{
lConstantPredicates.Add(pKnown);
}
}
//Problem here - sometimes ~p and p are both effects (remove p and immediately add it), and the current code forbids that - not sure what to do...
//d.RemoveUniversalQuantifiers(lConstantPredicates);
//p.RemoveUniversalQuantifiers();
d.ComputePrivateActions();
return(p);
}
public static List <Agent> CreateProjAgents(List <Agent> m_agents, List <Domain> lDomains, List <Problem> lProblems)
{
agents = m_agents;
map = new Dictionary <string, int>();
int j = 0;
foreach (Agent agent in agents)
{
map.Add(agent.name, j);
j++;
}
List <Action> allProjectionAction = new List <Action>();
List <Landmark> lGoal = new List <Landmark>();
int index = 0;
Distributed_Landmarks_Detection.Reset(agents);
List <Predicate> predicates = new List <Predicate>();
Domain dPublic = new Domain("PublicDomain", "");
Problem pPublic = new Problem("PublicProblem", dPublic);
State publicStartState = new State(pPublic);
GroundedPredicate newPrePredicate = null;
newPrePredicate = new GroundedPredicate(Domain.ARTIFICIAL_PREDICATE + "StartState");
publicStartState.AddPredicate(newPrePredicate);
predicates.Add(newPrePredicate);
//mapActionNameToAction=new Dictionary<string,Action>();
for (int i = 0; i < agents.Count; i++)
{
Agent agent = agents[i];
agent.mapActionNameToAction = new Dictionary <string, Action>();
foreach (Action act in agent.publicActions)
{
if (!agent.mapActionNameToAction.ContainsKey(act.Name))
{
agent.mapActionNameToAction.Add(act.Name, act);
}
}
agent.initLandmarksDetect();
agent.saveInfo();
State startState = new State(lProblems[i]);
startState.AddPredicate(newPrePredicate);
List <Action> currentlProjAction = agent.getAdvancedProjectionPublicAction(index, predicates, startState);
agent.m_actions = currentlProjAction;
agent.privateActions = new List <Action>();
agent.publicActions = currentlProjAction;
// agent.PublicPredicates = new HashSet<GroundedPredicate>();
//allProjectionAction.AddRange(currentlProjAction);
foreach (Action act in currentlProjAction)
{
act.agent = agent.name;
//if (!agent.mapActionNameToAction.ContainsKey(act.Name))
// agent.mapActionNameToAction.Add(act.Name, act);
}
foreach (Predicate pred in agent.PublicPredicates)
{
predicates.Add(pred);
// agent.PublicPredicates.Add((GroundedPredicate)pred);
}
agent.Predicates = new HashSet <GroundedPredicate>();
foreach (GroundedPredicate pgp in predicates)
{
agent.Predicates.Add(pgp);
}
foreach (GroundedPredicate pgp in agent.GetPublicStartState())
{
startState.AddPredicate(pgp);
}
index += 1000;
lGoal.AddRange(agent.GetPublicGoals());
/**** I implmented this in GetPublicStartState function in Agent ****/
List <GroundedPredicate> lInitialPrivate = agent.GetPrivateStartState();
foreach (KeyValuePair <GroundedPredicate, HashSet <GroundedPredicate> > pArtificial in agent.ArtificialToPrivate)
{
bool bAllTrue = true;
foreach (GroundedPredicate gpReal in pArtificial.Value)
{
if (!lInitialPrivate.Contains(gpReal))
{
bAllTrue = false;
}
}
if (bAllTrue)
{
if (!startState.Contains(pArtificial.Key))
{
startState.AddPredicate(pArtificial.Key);
}
}
}
agent.startState = startState;
}
return(agents);
/* dPublic.Actions = allProjectionAction;
* foreach (Domain d in lDomains)
* {
* foreach (ParametrizedPredicate pp in d.Predicates)
* dPublic.Predicates.Add(pp);
* foreach (string sType in d.Types)
* if (!dPublic.Types.Contains(sType))
* dPublic.Types.Add(sType);
* foreach (KeyValuePair<string, string> pair in d.TypeHierarchy)
* dPublic.TypeHierarchy[pair.Key] = pair.Value;
* foreach (Constant c in d.Constants)
* dPublic.Constants.Add(c);
* }
* foreach (Predicate p in predicates)
* {
* if (p.Name.StartsWith(Domain.ARTIFICIAL_PREDICATE))
* {
* ParametrizedPredicate pp = new ParametrizedPredicate(p.Name);
* dPublic.Predicates.Add(pp);
* }
*
* }
*
* foreach (Predicate pInit in publicStartState.Predicates)
* pPublic.AddKnown(pInit);
*/
/*CompoundFormula goalf = new CompoundFormula("and");
* foreach (Landmark l in lGoal)
* {
* CompoundFormula disjGoal = new CompoundFormula("or");
* foreach (GroundedPredicate gp in l.facts.Keys)
* {
* disjGoal.AddOperand(gp);
* }
* goalf.AddOperand(disjGoal);
* }
* pPublic.Goal = goalf;
*
* bool ans;
*
* highLevelplan = ExternalPlanners.FFPlan(dPublic, pPublic, publicStartState, goalf, dPublic.Actions, 20 * 60000, out ans);
* //highLevelplan = ExternalPlanners.FDPlan(dPublic, pPublic, publicStartState, goalf, dPublic.Actions, 20 * 60000, out ans);
* if (highLevelplan == null)
* return null;
* // return ManualSolve(pPublic, dPublic);
* string fault;
* List<string> finalPlan;
* if (Grounding(out finalPlan, out fault))
* return finalPlan;
* //throw new NotImplementedException();
* return null;*/
}