/**
* This method is the access point to the planning procedure. Initially, it adds all variables
* from axioms to the set of found vars, then does the linear planning. If lp does not solve the
* problem and there are subtasks, goal-driven recursive planning with backtracking is invoked.
* Planning is performed until no new variables are introduced into the algorithm.
*/
public EvaluationAlgorithm invokePlaning(Problem problem, boolean _computeAll) {
long startTime = System.currentTimeMillis();
computeAll = _computeAll;
EvaluationAlgorithm algorithm = new EvaluationAlgorithm();
PlanningContext context = problem.getCurrentContext();
// add all axioms at the beginning of an algorithm
Collection<Var> flattened = new HashSet<Var>();
for (Iterator<Rel> axiomIter = problem.getAxioms().iterator(); axiomIter.hasNext(); ) {
Rel rel = axiomIter.next();
unfoldVarsToSet(rel.getOutputs(), flattened);
// do not overwrite values of variables that come via args of compute() or as inputs of
// independent subtasks
if (!problem.getAssumptions().containsAll(flattened)
// do not overwrite values of already known variables.
// typically this is the case when a value of a variable
// is given in a scheme via a properties window
// && !problem.getKnownVars().containsAll( flattened )
) {
algorithm.addRel(rel);
}
axiomIter.remove();
context.getKnownVars().addAll(flattened);
flattened.clear();
}
context.getFoundVars().addAll(context.getKnownVars());
// remove all known vars with no relations
for (Iterator<Var> varIter = context.getKnownVars().iterator(); varIter.hasNext(); ) {
if (varIter.next().getRels().isEmpty()) {
varIter.remove();
}
}
// start planning
if (problem.getRelsWithSubtasks().isEmpty()
&& linearForwardSearch(context, algorithm, computeAll)) {
if (isLinearLoggingOn()) logger.debug("Problem solved without subtasks");
} else if (!problem.getRelsWithSubtasks().isEmpty() && subtaskPlanning(problem, algorithm)) {
if (isLinearLoggingOn()) logger.debug("Problem solved with subtasks");
} else if (!computeAll) {
if (isLinearLoggingOn()) logger.debug("Problem not solved");
}
if (!nested) {
logger.info("Planning time: " + (System.currentTimeMillis() - startTime) + "ms.");
}
return algorithm;
}
