private boolean subtaskPlanning(Problem problem, EvaluationAlgorithm algorithm) {
if (isSubtaskLoggingOn())
logger.debug("!!!--------- Starting Planning With Subtasks ---------!!!");
final int maxDepthBackup = maxDepth;
if (isSubtaskLoggingOn())
logger.debug(
"maxDepthBackup:" + maxDepthBackup + " sbt: " + problem.getRelsWithSubtasks().size());
PlanningContext context = problem.getCurrentContext();
try {
Set<Rel> relsWithSubtasks = new LinkedHashSet<Rel>(problem.getRelsWithSubtasks());
if (isIncremental) {
int incrementalDepth = 0;
while (incrementalDepth
<= (isSubtaskRepetitionAllowed
? maxDepthBackup
: problem.getRelsWithSubtasks().size() - 1)) {
if (isSubtaskLoggingOn())
logger.debug(
"Incremental dfs, with max depth "
+ (incrementalDepth + 1)
+ " and "
+ problem.getRelsWithSubtasks().size()
+ " subtasks to solve");
maxDepth = incrementalDepth++;
// if we need to compute some specific goals, after reaching a certain depth, but not the
// maximal depth,
// the problem may be solved and there is no need to go any deeper.
if (subtaskPlanningImpl(context, relsWithSubtasks, algorithm, new LinkedList<Rel>(), 0)) {
if (isSubtaskLoggingOn())
logger.debug("The problem was solved during idfs after some intermediate MLB");
return true;
}
if (isSubtaskLoggingOn())
logger.debug("Unsolved subtask left: " + problem.getRelsWithSubtasks().size());
}
if (isSubtaskLoggingOn()) logger.debug("Fininshed incremental dfs");
} else {
if (!isSubtaskRepetitionAllowed) {
maxDepth = problem.getRelsWithSubtasks().size() - 1;
}
if (isSubtaskLoggingOn())
logger.debug("Starting subtask dfs with maxDepth: " + (maxDepth + 1));
if (subtaskPlanningImpl(context, relsWithSubtasks, algorithm, new LinkedList<Rel>(), 0)) {
if (isSubtaskLoggingOn())
logger.debug("The problem was solved during dfs after some intermediate MLB");
return true;
}
}
} finally {
if (isSubtaskLoggingOn()) logger.debug("Fininshed dfs");
maxDepth = maxDepthBackup;
indSubtasks.clear();
}
if (isSubtaskLoggingOn()) logger.debug("Invoking final linear planning");
return linearForwardSearch(context, algorithm, computeAll);
}
