Exemple #1
0
        private ActionDef ParseActionDef(
            Tokenizer tok,
            Dictionary <string, ActionDef> parsedActions)
        {
            var posPre  = new HashSet <VariableRelation>();
            var negPre  = new HashSet <VariableRelation>();
            var posPost = new HashSet <VariableRelation>();
            var negPost = new HashSet <VariableRelation>();

            string name = tok.Consume(TokenType.Id).Value;

            // Signature
            var parameters = ParseSignature(tok);
            var paramVars  = parameters
                             .ToDictionary(k => k.Name);

            // Optional Dependent Actions
            while (tok.PeekType() == TokenType.LParen)
            {
                tok.Consume(TokenType.LParen);

                // Dependent Action
                if (tok.PeekType() == TokenType.Id)
                {
                    var depAction = ParseDependentAction(tok, parsedActions, paramVars);
                    posPre.AddRange(depAction.PositivePreconditions);
                    negPre.AddRange(depAction.NegativePreconditions);
                    posPost.AddRange(depAction.PositivePostconditions);
                    negPost.AddRange(depAction.NegativePostconditions);
                }
                // Pre Expression
                else if (tok.PeekType() == TokenType.Pre)
                {
                    tok.Consume(TokenType.Pre);
                    if (tok.PeekToken().Type != TokenType.RParen)
                    {
                        var propDefs = ParseVariableRelations(paramVars, tok);
                        foreach (var pd in propDefs)
                        {
                            var b = pd.Negated ? negPre.Add(pd) : posPre.Add(pd);
                        }
                    }
                }
                // Post Expression
                else if (tok.PeekType() == TokenType.Post)
                {
                    tok.Consume(TokenType.Post);
                    if (tok.PeekToken().Type != TokenType.RParen)
                    {
                        var propDefs = ParseVariableRelations(paramVars, tok);
                        foreach (var pd in propDefs)
                        {
                            var b = pd.Negated ? negPost.Add(pd) : posPost.Add(pd);
                        }
                    }
                }

                tok.Consume(TokenType.RParen);
            }

            tok.Consume(TokenType.RParen);

            var ret = new ActionDef(
                name,
                paramVars.Values.ToArray(),
                posPre,
                negPre,
                posPost,
                negPost
                );

            return(ret);
        }
Exemple #2
0
 public Action(ActionDef def, uint[] parameters)
 {
     Definition = def;
     Parameters = parameters;
 }
Exemple #3
0
        public IEnumerable <Action> GetActionsForActionDef(ActionDef ad)
        {
            ParamSet knownSet = null;
            var      names    = Facts
                                .Select(p => p.Value.AId)
                                .ToArray();

            // If action has no parameters
            if (ad.Parameters.Length == 0)
            {
                yield break;
            }

            // Each N+V gets mapped to a paramIdx
            foreach (VariableRelation varRelation in ad.PositivePreconditions)
            {
                IEnumerable <Fact> facts = null;
                int[] valueIdxs          = null;

                // Exit if no matches found
                if (knownSet != null && !knownSet.Params.Any())
                {
                    break;
                }
                // R L R
                else if (varRelation.A.IsFree && varRelation.Rel.IsBound && varRelation.B.IsFree)
                {
                    uint property = varRelation.Rel.Id;
                    if (!Rel.Value.ContainsKey(property))
                    {
                        yield break;
                    }

                    facts     = Rel.Value[property];
                    valueIdxs = new[] { varRelation.A.Idx, varRelation.B.Idx };
                }
                // R L L
                else if (varRelation.A.IsFree && varRelation.Rel.IsBound && varRelation.B.IsBound)
                {
                    uint prop = varRelation.Rel.Id;
                    if (!Rel.Value.ContainsKey(prop))
                    {
                        yield break;
                    }

                    facts     = Rel.Value[prop].Where(p => p.BId == varRelation.B.Id);
                    valueIdxs = new[] { varRelation.A.Idx };
                }
                // L L L
                else if (varRelation.A.IsBound && varRelation.Rel.IsBound && varRelation.B.IsBound)
                {
                    throw new NotImplementedException();
                }
                // R R R
                else if (varRelation.A.IsFree && varRelation.Rel.IsFree && varRelation.B.IsFree)
                {
                    facts     = Facts.Values;
                    valueIdxs = new[] {
                        varRelation.A.Idx,
                        varRelation.Rel.Idx,
                        varRelation.B.Idx
                    };
                }
                else
                {
                    throw new NotImplementedException();
                }

                // Convert Preds to Param objects
                var validParams = facts
                                  .Select(proposition => {
                    var ret = new uint[ad.Parameters.Length];
                    if (varRelation.A.IsFree)
                    {
                        ret[varRelation.A.Idx] = proposition.AId;
                    }
                    if (varRelation.Rel.IsFree)
                    {
                        ret[varRelation.Rel.Idx] = proposition.RelId;
                    }
                    if (varRelation.B.IsFree)
                    {
                        ret[varRelation.B.Idx] = proposition.BId;
                    }
                    return(ret);
                })
                                  .ToList();

                // If first Proposition
                if (knownSet == null)
                {
                    knownSet = new ParamSet(validParams, valueIdxs);
                }
                // Join known param with new params
                else
                {
                    var newSet = new ParamSet(validParams, valueIdxs);
                    knownSet = knownSet.Join(newSet);
                }
            }

            if (knownSet != null)
            {
                knownSet = knownSet.Expand(names);
            }

            foreach (VariableRelation varRelation in ad.NegativePreconditions)
            {
                IEnumerable <Fact> props = null;
                int[] valueIdxs          = null;

                // Exit if no matches found
                if (knownSet != null && !knownSet.Params.Any())
                {
                    break;
                }
                // R L R
                else if (varRelation.A.IsFree && varRelation.Rel.IsBound && varRelation.B.IsFree)
                {
                    uint prop = varRelation.Rel.Id;
                    if (!Rel.Value.ContainsKey(prop))
                    {
                        break;
                    }

                    props     = Rel.Value[prop];
                    valueIdxs = new[] { varRelation.A.Idx, varRelation.B.Idx };
                }
                // R L L
                else if (varRelation.A.IsFree && varRelation.Rel.IsBound && varRelation.B.IsBound)
                {
                    uint prop = varRelation.Rel.Id;
                    if (!Rel.Value.ContainsKey(prop))
                    {
                        break;
                    }

                    props = Rel.Value[prop]
                            .Where(p => p.BId == varRelation.B.Id);
                    valueIdxs = new[] { varRelation.A.Idx };
                }
                // L L L
                else if (varRelation.A.IsBound && varRelation.Rel.IsBound && varRelation.B.IsBound)
                {
                    throw new NotImplementedException();
                }
                // R R R
                else
                {
                    props     = Facts.Values;
                    valueIdxs = new[] { varRelation.A.Idx, varRelation.Rel.Idx, varRelation.B.Idx };
                }

                // Convert Propositions to Param objects
                var toRemove = props
                               .Select(prop => {
                    var ret = new uint[ad.Parameters.Length];
                    if (varRelation.A.IsFree)
                    {
                        ret[varRelation.A.Idx] = prop.AId;
                    }
                    if (varRelation.Rel.IsFree)
                    {
                        ret[varRelation.Rel.Idx] = prop.RelId;
                    }
                    if (varRelation.B.IsFree)
                    {
                        ret[varRelation.B.Idx] = prop.BId;
                    }
                    return(ret);
                })
                               .ToList();

                // If first Proposition
                if (knownSet == null)
                {
                    knownSet = new ParamSet(toRemove, valueIdxs);
                }
                // Remove invalid propositions from KnownSet
                else
                {
                    var newSet = new ParamSet(toRemove, valueIdxs);
                    knownSet = knownSet.Except(newSet);
                }
            }

            if (knownSet != null)
            {
                knownSet = knownSet.Expand(names);
                foreach (var action in knownSet.Params.Select(p => new Action(ad, p)))
                {
                    yield return(action);
                }
            }
        }