// difference between this and overrided method is that this packages list of decompositions with a substep dictionary int -> replaced plan step
public static List <Tuple <TimelineDecomposition, Dictionary <int, IPlanStep> > > FilterDecompCandidates(TimelineDecomposition decomp)
{
// find and replace sub-steps
var comboList = new List <List <IOperator> >();
var ID_List = new List <int>();
foreach (var substep in decomp.SubSteps)
{
ID_List.Add(substep.ID);
// each substep has ground terms that are already consistent. Composite IS-A Operator
var cndts = ConsistentSteps(substep.Action as Operator);
// If there's no cndts for this substep, then abandon this decomp.
if (cndts.Count == 0)
{
return(new List <Tuple <TimelineDecomposition, Dictionary <int, IPlanStep> > >());
}
comboList.Add(cndts);
}
// update to this method is to track, for each decomposition, which number substep goes to which grounded plan step
List <Tuple <TimelineDecomposition, Dictionary <int, IPlanStep> > > decompMap = new List <Tuple <TimelineDecomposition, Dictionary <int, IPlanStep> > >();
foreach (var combination in EnumerableExtension.GenerateCombinations(comboList))
{
var decompClone = decomp.Clone() as TimelineDecomposition;
var newSubsteps = new List <IPlanStep>();
var substepDict = new Dictionary <int, IPlanStep>();
var order = 0;
foreach (var item in combination)
{
var originalID = ID_List[order++];
var newPlanStep = new PlanStep(item);
substepDict[originalID] = newPlanStep;
newSubsteps.Add(newPlanStep);
}
var newSuborderings = new List <Tuple <IPlanStep, IPlanStep> >();
foreach (var subordering in decomp.SubOrderings)
{
var first = substepDict[subordering.First.ID];
var second = substepDict[subordering.Second.ID];
newSuborderings.Add(new Tuple <IPlanStep, IPlanStep>(first, second));
}
var linkWorlds = new List <List <CausalLink <IPlanStep> > >();
linkWorlds.Add(new List <CausalLink <IPlanStep> >());
var newSublinks = new List <CausalLink <IPlanStep> >();
foreach (var sublink in decomp.SubLinks)
{
var head = substepDict[sublink.Head.ID];
var tail = substepDict[sublink.Tail.ID];
List <IPredicate> cndts = new List <IPredicate>();
//var cndts = head.Effects.Where(eff => eff.IsConsistent(sublink.Predicate) && tail.Preconditions.Any(pre => pre.Equals(eff)));
foreach (var eff in head.Effects)
{
foreach (var pre in tail.Preconditions)
{
if (eff.Equals(pre))
{
cndts.Add(eff);
//Debug.Log("here");
}
}
}
if (cndts.Count() == 0)
{
// forfeit this entire subplan
linkWorlds = new List <List <CausalLink <IPlanStep> > >();
continue;
}
if (cndts.Count() == 1)
{
var cndt = cndts.First();
var dependency = cndt.Clone() as Predicate;
var newLink = new CausalLink <IPlanStep>(dependency, head, tail);
newLink.Tail.Fulfill(cndt);
foreach (var linkworld in linkWorlds)
{
linkworld.Add(newLink);
}
}
else
{
foreach (var cndt in cndts)
{
var dependency = cndt.Clone() as Predicate;
var newLink = new CausalLink <IPlanStep>(dependency, head, tail);
newLink.Tail.Fulfill(cndt);
var clonedLinks = EnumerableExtension.CloneList(newSublinks);
linkWorlds.Add(clonedLinks);
foreach (var linkworld in linkWorlds)
{
linkworld.Add(newLink);
}
}
}
}
foreach (var linkworld in linkWorlds)
{
var newDecomp = decomp.Clone() as TimelineDecomposition;
newDecomp.SubSteps = newSubsteps;
newDecomp.SubOrderings = newSuborderings;
newDecomp.SubLinks = linkworld;
var outputTuple = new Tuple <TimelineDecomposition, Dictionary <int, IPlanStep> >(newDecomp, substepDict);
decompMap.Add(outputTuple);
}
}
return(decompMap);
}
/// <summary>
/// The Decomposition is composed of a sub-plan with at least sub-step at height "height"
/// </summary>
/// <returns>A list of decompositions with ground terms and where each sub-step is ground. </returns>
public static List <TimelineDecomposition> Compose(int height, TimelineDecomposition TD, List <CamSchema> camOptions, Dictionary <string, Vector3> locationMap)
{
///////////////////////////////////////
// START BY ADDING BINDINGS TO TERMS //
///////////////////////////////////////
var permList = new List <List <string> >();
foreach (Term variable in TD.Terms)
{
permList.Add(GroundActionFactory.TypeDict[variable.Type] as List <string>);
}
var decompList = new List <TimelineDecomposition>();
foreach (var combination in EnumerableExtension.GenerateCombinations(permList))
{
// Add bindings
var decompClone = TD.Clone() as TimelineDecomposition;
var termStringList = from term in decompClone.Terms select term.Variable;
var constantStringList = combination;
decompClone.AddBindings(termStringList.ToList(), constantStringList.ToList());
/////////////////////////////////////////////////////////
// PROPAGATE BINDINGS TO NONEQUALITY CONSTRAINTS
/////////////////////////////////////////////////////////
var newNonEqualities = new List <List <ITerm> >();
if (TD.NonEqualities == null)
{
TD.NonEqualities = new List <List <ITerm> >();
}
else
{
foreach (var nonequals in TD.NonEqualities)
{
var newNonEquals = new List <ITerm>();
newNonEquals.Add(decompClone.Terms.First(dterm => dterm.Variable.Equals(nonequals[0].Variable)));
newNonEquals.Add(decompClone.Terms.First(dterm => dterm.Variable.Equals(nonequals[1].Variable)));
newNonEqualities.Add(newNonEquals);
}
decompClone.NonEqualities = newNonEqualities;
if (!decompClone.NonEqualTermsAreNonequal())
{
continue;
}
}
// zip to dict
var varDict = EnumerableExtension.Zip(termStringList, constantStringList).ToDictionary(x => x.Key, x => x.Value);
/////////////////////////////////////////////////////////
// BINDINGS ARE ADDED. NEED TO APPLY BINDINGS TO SUBSTEPS
/////////////////////////////////////////////////////////
// Need to propagate bindings to sub-steps
foreach (var substep in decompClone.SubSteps)
{
var op = substep.Action as Operator;
foreach (var term in substep.Terms)
{
op.AddBinding(term.Variable, varDict[term.Variable]);
}
foreach (var precon in substep.Preconditions)
{
foreach (var term in precon.Terms)
{
if (!term.Bound)
{
var decompTerm = decompClone.Terms.First(dterm => dterm.Variable.Equals(term.Variable));
op.Terms.Add(term);
op.AddBinding(term.Variable, decompTerm.Constant);
}
}
}
foreach (var eff in substep.Effects)
{
foreach (var term in eff.Terms)
{
if (!term.Bound)
{
var decompTerm = decompClone.Terms.First(dterm => dterm.Variable.Equals(term.Variable));
op.Terms.Add(term);
op.AddBinding(term.Variable, decompTerm.Constant);
}
}
}
}
////////////////////////////////////////////////////////////////
// FILTER CANDIDATES FOR SUBSTEPS AND PASS BACK GROUNDED DECOMPS
////////////////////////////////////////////////////////////////
// legacy for fabula subplan. returns a list of decomp packages, whose second member is a map from fabula substep IDs to substeps
var fabulaGroundedDecompMap = TimelineDecomposition.FilterDecompCandidates(decompClone);
// foreach decomposition including a mapping from fabula substep IDs to substeps
foreach (Tuple <TimelineDecomposition, Dictionary <int, IPlanStep> > decompPackage in fabulaGroundedDecompMap)
{
// get candidates and ground for camera steps
var newGroundDecomps = TimelineDecompositionHelper.FilterTimelineDecompCandidates(TD, decompPackage, height, camOptions, locationMap);
foreach (var gdecomp in newGroundDecomps)
{
// This function updates the mapping from action variable names to step-variables, and repoints mapping to grounded fabula substep. These names used by camera shots.
gdecomp.UpdateActionVarMap(decompPackage.Second);
// Add new ground decomposition to map.
decompList.Add(gdecomp);
}
}
}
return(decompList);
}
