/**
* 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;
}
/**
* Linear forward search algorithm
*
* @param p
* @param algorithm
* @param targetVars
* @param _computeAll
* @return
*/
private boolean linearForwardSearch(
PlanningContext context, EvaluationAlgorithm algorithm, boolean _computeAll) {
/*
* while iterating through hashset, items cant be removed from/added to
* that set. Theyre collected into these sets and added/removedall
* together after iteration is finished
*/
Set<Var> newVars = new LinkedHashSet<Var>();
Set<Var> relOutputs = new LinkedHashSet<Var>();
Set<Var> removableVars = new LinkedHashSet<Var>();
boolean changed = true;
if (isLinearLoggingOn())
logger.debug(
"------Starting linear planning with (sub)goals: "
+ context.getRemainingGoals()
+ "--------");
if (isLinearLoggingOn()) logger.debug("Algorithm " + algorithm);
int counter = 1;
while ((!_computeAll && changed && !context.getRemainingGoals().isEmpty())
|| (changed && _computeAll)) {
if (isLinearLoggingOn()) logger.debug("----Iteration " + counter + " ----");
counter++;
changed = false;
// iterate through all knownvars
if (isLinearLoggingOn()) logger.debug("Known:" + context.getKnownVars());
for (Var var : context.getKnownVars()) {
if (isLinearLoggingOn()) logger.debug("Current Known: " + var);
// Check the relations of all components
for (Rel rel : var.getRels()) {
if (isLinearLoggingOn()) logger.debug("And its rel: " + rel);
if (context.isAvailableRel(rel)) {
context.removeUnknownInput(rel, var);
if (isLinearLoggingOn()) logger.debug("problem contains it " + rel);
removableVars.add(var);
if (context.isRelReadyToUse(rel) && rel.getType() != RelType.TYPE_METHOD_WITH_SUBTASK) {
if (isLinearLoggingOn()) logger.debug("rel is ready to be used " + rel);
boolean relIsNeeded = false;
if (isLinearLoggingOn()) logger.debug("its outputs " + rel.getOutputs());
for (Var relVar : rel.getOutputs()) {
if (!context.getFoundVars().contains(relVar)) {
relIsNeeded = true;
}
}
if (rel.getOutputs().isEmpty()) {
relIsNeeded = true;
}
if (isLinearLoggingOn()) logger.debug("relIsNeeded " + relIsNeeded);
if (relIsNeeded) {
if (isLinearLoggingOn()) logger.debug("needed rel: " + rel);
if (!rel.getOutputs().isEmpty()) {
relOutputs.clear();
unfoldVarsToSet(rel.getOutputs(), relOutputs);
newVars.addAll(relOutputs);
context.getFoundVars().addAll(relOutputs);
}
algorithm.addRel(rel);
if (isLinearLoggingOn()) logger.debug("algorithm " + algorithm);
}
context.removeRel(rel);
changed = true;
}
}
}
}
// remove targets if they have already been found
for (Iterator<Var> targetIter = context.getRemainingGoals().iterator();
targetIter.hasNext(); ) {
Var targetVar = targetIter.next();
if (context.getFoundVars().contains(targetVar)) {
targetIter.remove();
}
}
if (isLinearLoggingOn()) logger.debug("foundvars " + context.getFoundVars());
context.getKnownVars().addAll(newVars);
context.getKnownVars().removeAll(removableVars);
newVars.clear();
}
if (isLinearLoggingOn()) logger.debug("algorithm " + algorithm);
if (!_computeAll) {
Optimizer.optimize(context, algorithm);
if (isLinearLoggingOn()) logger.debug("optimized algorithm " + algorithm);
}
if (isLinearLoggingOn()) logger.debug("\n---!!!Finished linear planning!!!---\n");
return context.getRemainingGoals().isEmpty()
|| context.getFoundVars().containsAll(context.getAllGoals());
}