// used for initialization
public TimelineDecomposition(IOperator core, List <IPredicate> literals,
List <Tuple <IPlanStep, IPlanStep> > fcntgs, List <Tuple <CamPlanStep, CamPlanStep> > dcntgs,
List <Tuple <string, Tuple <PlanStep, PlanStep> > > fconstraints, List <Tuple <string, Tuple <CamPlanStep, CamPlanStep> > > dconstraints,
List <IPlanStep> substeps, List <CamPlanStep> camSteps,
List <Tuple <IPlanStep, IPlanStep> > suborderings, List <Tuple <CamPlanStep, CamPlanStep> > dOrderings,
List <CausalLink <IPlanStep> > sublinks, List <CausalLink <CamPlanStep> > dLinks,
Dictionary <string, PlanStep> fabulaStepVariableNameDictionary)
: base(core, literals, substeps, suborderings, sublinks)
{
fabCntgs = fcntgs;
discCntgs = dcntgs;
fabConstraints = fconstraints;
discourseSubSteps = camSteps;
discConstraints = dconstraints;
discOrderings = dOrderings;
discLinks = dLinks;
fabulaActionNameMap = fabulaStepVariableNameDictionary;
// to be updated after grounding or adding connectives
InitialCamAction = discourseSubSteps[0];
FinalCamAction = discourseSubSteps[discourseSubSteps.Count - 1];
// to beupdated after grounding regular actions
InitialActionSeg = InitialCamAction.TargetDetails.ActionSegs[0];
FinalActionSeg = FinalCamAction.TargetDetails.ActionSegs[FinalCamAction.TargetDetails.ActionSegs.Count - 1];
// to be instantiated after grounding actions
InitialAction = new PlanStep();
FinalAction = new PlanStep();
}
public TimelineDecomposition() : base()
{
fabCntgs = new List <Tuple <IPlanStep, IPlanStep> >();
discCntgs = new List <Tuple <CamPlanStep, CamPlanStep> >();
discourseSubSteps = new List <CamPlanStep>();
InitialActionSeg = new ActionSeg();
FinalActionSeg = new ActionSeg();
InitialAction = new PlanStep();
FinalAction = new PlanStep();
InitialCamAction = new CamPlanStep();
FinalCamAction = new CamPlanStep();
}
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));
}
}
