pstlab /
PLATINUm
| Total Complexity | 158 |
| Total Lines | 1763 |
| Duplicated Lines | 76.97 % |
| Changes | 1 | ||
| Bugs | 0 | Features | 0 |
Duplicate code is one of the most pungent code smells. A rule that is often used is to re-structure code once it is duplicated in three or more places.
Common duplication problems, and corresponding solutions are:
Complex classes like it.cnr.istc.pst.platinum.ai.framework.microkernel.resolver.plan.TimelineAwarePlanRefinementResolver often do a lot of different things. To break such a class down, we need to identify a cohesive component within that class. A common approach to find such a component is to look for fields/methods that share the same prefixes, or suffixes.
Once you have determined the fields that belong together, you can apply the Extract Class refactoring. If the component makes sense as a sub-class, Extract Subclass is also a candidate, and is often faster.
| 1 | package it.cnr.istc.pst.platinum.ai.framework.microkernel.resolver.plan; |
||
| 47 | public class TimelineAwarePlanRefinementResolver extends Resolver<DomainComponent> { |
||
| 48 | |||
| 49 | private boolean load; |
||
| 50 | private double expansionCost; |
||
| 51 | private double unificationCost; |
||
| 52 | |||
| 53 | /** |
||
| 54 | * |
||
| 55 | */ |
||
| 56 | protected TimelineAwarePlanRefinementResolver() { |
||
| 57 | super(ResolverType.TIMELINE_AWARE_PLAN_REFINEMENT.getLabel(), |
||
| 58 | ResolverType.TIMELINE_AWARE_PLAN_REFINEMENT.getFlawTypes()); |
||
| 59 | |||
| 60 | // flag to load parameters when it is necessary |
||
| 61 | this.load = false; |
||
| 62 | } |
||
| 63 | |||
| 64 | /** |
||
| 65 | * |
||
| 66 | */ |
||
| 67 | private void load() { |
||
| 68 | // get deliberative property file |
||
| 69 | FilePropertyReader properties = new FilePropertyReader( |
||
| 70 | FRAMEWORK_HOME + FilePropertyReader.DEFAULT_DELIBERATIVE_PROPERTY); |
||
| 71 | |||
| 72 | // read weights |
||
| 73 | this.expansionCost = Double.parseDouble(properties.getProperty("expansion-cost")); |
||
| 74 | this.unificationCost = Double.parseDouble(properties.getProperty("unification-cost")); |
||
| 75 | // set load flag |
||
| 76 | this.load = true; |
||
| 77 | } |
||
| 78 | |||
| 79 | /** |
||
| 80 | * |
||
| 81 | */ |
||
| 82 | View Code Duplication | @Override |
|
|
Duplication
introduced
by
|
|||
| 83 | protected List<Flaw> doFindFlaws() { |
||
| 84 | |||
| 85 | // check load parameters |
||
| 86 | if (!this.load) { |
||
| 87 | this.load(); |
||
| 88 | } |
||
| 89 | |||
| 90 | // list of goals |
||
| 91 | List<Flaw> flaws = new ArrayList<>(); |
||
| 92 | // check pending decisions |
||
| 93 | for (Decision decision : this.component.getPendingDecisions()) { |
||
| 94 | |||
| 95 | // add sub-goal |
||
| 96 | Goal goal = new Goal(FLAW_COUNTER.getAndIncrement(), this.component, decision); |
||
| 97 | // check if external component |
||
| 98 | if (decision.getComponent().isExternal()) { |
||
| 99 | // set mandatory unification |
||
| 100 | goal.setMandatoryUnification(); |
||
| 101 | } |
||
| 102 | |||
| 103 | // add goal to flaws |
||
| 104 | flaws.add(goal); |
||
| 105 | } |
||
| 106 | |||
| 107 | // get flaws |
||
| 108 | return flaws; |
||
| 109 | } |
||
| 110 | |||
| 111 | /** |
||
| 112 | * |
||
| 113 | */ |
||
| 114 | View Code Duplication | @Override |
|
| 115 | protected void doComputeFlawSolutions(Flaw flaw) |
||
| 116 | throws UnsolvableFlawException { |
||
| 117 | |||
| 118 | // get goal |
||
| 119 | Goal goal = (Goal) flaw; |
||
| 120 | |||
| 121 | // check solving information |
||
| 122 | if (!goal.isMandatoryExpansion()) { |
||
| 123 | // compute unification solutions |
||
| 124 | this.doComputeUnificationSolutions(goal); |
||
| 125 | } |
||
| 126 | |||
| 127 | // check solving information |
||
| 128 | if (!goal.isMandatoryUnification()) { |
||
| 129 | // compute expansion solutions |
||
| 130 | this.doComputeExpansionSolutions(goal); |
||
| 131 | } |
||
| 132 | |||
| 133 | // check if solvable |
||
| 134 | if (!goal.isSolvable()) { |
||
| 135 | // simply throw exception |
||
| 136 | throw new UnsolvableFlawException("Unsolvable flaw found on component " + this.component.getName() + ":" |
||
| 137 | + "\n" + flaw + "\n"); |
||
| 138 | } |
||
| 139 | } |
||
| 140 | |||
| 141 | |||
| 142 | /** |
||
| 143 | * |
||
| 144 | * @param solution |
||
| 145 | * @throws Exception |
||
| 146 | */ |
||
| 147 | @Override |
||
| 148 | protected void doApply(FlawSolution solution) |
||
| 149 | throws FlawSolutionApplicationException |
||
| 150 | { |
||
| 151 | // get goal justification |
||
| 152 | GoalJustification just = (GoalJustification) solution; |
||
| 153 | // check type |
||
| 154 | switch (just.getJustificationType()) |
||
| 155 | { |
||
| 156 | // expansion step |
||
| 157 | case EXPANSION : { |
||
| 158 | // apply solution |
||
| 159 | this.doApplyExpansion((GoalExpansion) just); |
||
| 160 | } |
||
| 161 | break; |
||
| 162 | |||
| 163 | // unification step |
||
| 164 | case UNIFICATION : { |
||
| 165 | // apply solution |
||
| 166 | this.doApplyUnification((GoalUnification) just); |
||
| 167 | } |
||
| 168 | break; |
||
| 169 | } |
||
| 170 | } |
||
| 171 | |||
| 172 | /** |
||
| 173 | * |
||
| 174 | */ |
||
| 175 | @Override |
||
| 176 | protected void doRestore(FlawSolution solution) |
||
| 177 | throws DecisionPropagationException, RelationPropagationException |
||
| 178 | { |
||
| 179 | // get goal justification |
||
| 180 | GoalJustification just = (GoalJustification) solution; |
||
| 181 | // check if unification |
||
| 182 | if (just.getJustificationType().equals(JustificationType.UNIFICATION)) { |
||
| 183 | // restore unification |
||
| 184 | this.doRestoreUnification((GoalUnification) just); |
||
| 185 | } |
||
| 186 | else { |
||
| 187 | // "standard" way of restoring a flaw solution |
||
| 188 | super.doRestore(solution); |
||
| 189 | } |
||
| 190 | } |
||
| 191 | |||
| 192 | /** |
||
| 193 | * |
||
| 194 | * @param solution |
||
| 195 | * @throws RelationPropagationException |
||
| 196 | */ |
||
| 197 | View Code Duplication | private void doRestoreUnification(GoalUnification solution) |
|
| 198 | throws RelationPropagationException { |
||
| 199 | |||
| 200 | // restore relation translation |
||
| 201 | for (Relation rel : solution.getTranslatedReferenceGoalRelations()) { |
||
| 202 | |||
| 203 | // check relation category |
||
| 204 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 205 | // replace reference |
||
| 206 | rel.setReference(solution.getUnificationDecision()); |
||
| 207 | } |
||
| 208 | |||
| 209 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) { |
||
| 210 | |||
| 211 | // check relation type |
||
| 212 | switch (rel.getType()) { |
||
| 213 | |||
| 214 | // bind parameter |
||
| 215 | case BIND_PARAMETER: |
||
| 216 | { |
||
| 217 | // the goal can be only the reference of the relation |
||
| 218 | ParameterRelation pRel = (ParameterRelation) rel; |
||
| 219 | |||
| 220 | // get relation reference parameter label |
||
| 221 | String refParamLabel = pRel.getReferenceParameterLabel(); |
||
| 222 | // get label index |
||
| 223 | int refParameterIndex = pRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 224 | // get unification decision parameter label |
||
| 225 | String label = solution.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 226 | |||
| 227 | // update reference decision |
||
| 228 | pRel.setReference(solution.getUnificationDecision()); |
||
| 229 | // update reference label of the relation |
||
| 230 | pRel.setReferenceParameterLabel(label); |
||
| 231 | } |
||
| 232 | break; |
||
| 233 | |||
| 234 | case EQUAL_PARAMETER : |
||
| 235 | { |
||
| 236 | // get parameter relation |
||
| 237 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 238 | // get relation reference parameter label |
||
| 239 | String refParamLabel = eqRel.getReferenceParameterLabel(); |
||
| 240 | // get label index |
||
| 241 | int refParameterIndex = eqRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 242 | // get unification decision parameter label |
||
| 243 | String label = solution.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 244 | |||
| 245 | // update reference decision |
||
| 246 | eqRel.setReference(solution.getUnificationDecision()); |
||
| 247 | // update reference label of the relation |
||
| 248 | eqRel.setReferenceParameterLabel(label); |
||
| 249 | } |
||
| 250 | break; |
||
| 251 | |||
| 252 | case NOT_EQUAL_PARAMETER : |
||
| 253 | { |
||
| 254 | // get parameter relation |
||
| 255 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 256 | // get relation reference parameter label |
||
| 257 | String refParamLabel = neqRel.getReferenceParameterLabel(); |
||
| 258 | // get label index |
||
| 259 | int refParameterIndex = neqRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 260 | // get unification decision parameter label |
||
| 261 | String label = solution.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 262 | |||
| 263 | // update reference decision |
||
| 264 | neqRel.setReference(solution.getUnificationDecision()); |
||
| 265 | // update reference label of the relation |
||
| 266 | neqRel.setReferenceParameterLabel(label); |
||
| 267 | } |
||
| 268 | break; |
||
| 269 | |||
| 270 | |||
| 271 | default: |
||
| 272 | // unknown parameter relation |
||
| 273 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 274 | } |
||
| 275 | } |
||
| 276 | } |
||
| 277 | |||
| 278 | |||
| 279 | // restore relation translation |
||
| 280 | for (Relation rel : solution.getTranslatedTargetGoalRelations()) { |
||
| 281 | |||
| 282 | // check relation category |
||
| 283 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 284 | // replace reference |
||
| 285 | rel.setTarget(solution.getUnificationDecision()); |
||
| 286 | } |
||
| 287 | |||
| 288 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) { |
||
| 289 | |||
| 290 | // check relation type |
||
| 291 | switch (rel.getType()) { |
||
| 292 | |||
| 293 | case EQUAL_PARAMETER : |
||
| 294 | { |
||
| 295 | // get parameter relation |
||
| 296 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 297 | // get relation reference parameter label |
||
| 298 | String refParamLabel = eqRel.getTargetParameterLabel(); |
||
| 299 | // get label index |
||
| 300 | int refParameterIndex = eqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
||
| 301 | // get unification decision parameter label |
||
| 302 | String label = solution.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 303 | |||
| 304 | // update reference decision |
||
| 305 | eqRel.setTarget(solution.getUnificationDecision()); |
||
| 306 | // update reference label of the relation |
||
| 307 | eqRel.setTargetParameterLabel(label); |
||
| 308 | } |
||
| 309 | break; |
||
| 310 | |||
| 311 | case NOT_EQUAL_PARAMETER : |
||
| 312 | { |
||
| 313 | // get parameter relation |
||
| 314 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 315 | // get relation reference parameter label |
||
| 316 | String refParamLabel = neqRel.getTargetParameterLabel(); |
||
| 317 | // get label index |
||
| 318 | int refParameterIndex = neqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
||
| 319 | // get unification decision parameter label |
||
| 320 | String label = solution.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 321 | |||
| 322 | // update reference decision |
||
| 323 | neqRel.setTarget(solution.getUnificationDecision()); |
||
| 324 | // update reference label of the relation |
||
| 325 | neqRel.setTargetParameterLabel(label); |
||
| 326 | } |
||
| 327 | break; |
||
| 328 | |||
| 329 | |||
| 330 | default: |
||
| 331 | // unknown parameter relation |
||
| 332 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 333 | } |
||
| 334 | } |
||
| 335 | } |
||
| 336 | |||
| 337 | |||
| 338 | |||
| 339 | // list of committed parameter constraints |
||
| 340 | Set<Relation> committed = new HashSet<>(); |
||
| 341 | try |
||
| 342 | { |
||
| 343 | // get goal component |
||
| 344 | DomainComponent gComp = solution.getGoalDecision().getComponent(); |
||
| 345 | // remove original goal: PENDING -> SILENT |
||
| 346 | gComp.free(solution.getGoalDecision()); |
||
| 347 | |||
| 348 | // activate translated relations |
||
| 349 | for (Relation rel : solution.getActivatedRelations()) |
||
| 350 | { |
||
| 351 | // check if can be activated |
||
| 352 | if (rel.getReference().getComponent().activate(rel)) { |
||
| 353 | // add relation to the committed list |
||
| 354 | committed.add(rel); |
||
| 355 | } |
||
| 356 | } |
||
| 357 | |||
| 358 | // check consistency |
||
| 359 | this.tdb.verify(); |
||
| 360 | this.pdb.verify(); |
||
| 361 | |||
| 362 | } catch (RelationPropagationException | ConsistencyCheckException ex) { |
||
| 363 | |||
| 364 | // get goal component |
||
| 365 | DomainComponent gComp = solution.getGoalDecision().getComponent(); |
||
| 366 | // restore goal: SILENT -> PENDING |
||
| 367 | gComp.restore(solution.getGoalDecision()); |
||
| 368 | |||
| 369 | // deactivate committed relations |
||
| 370 | for (Relation rel : committed) { |
||
| 371 | // get reference component |
||
| 372 | DomainComponent refComp = rel.getReference().getComponent(); |
||
| 373 | refComp.deactivate(rel); |
||
| 374 | } |
||
| 375 | |||
| 376 | // translated back relations |
||
| 377 | for (Relation rel : solution.getTranslatedReferenceGoalRelations()) { |
||
| 378 | // check category |
||
| 379 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) { |
||
| 380 | // get parameter relation |
||
| 381 | ParameterRelation pRel = (ParameterRelation) rel; |
||
| 382 | |||
| 383 | // get relation reference parameter label |
||
| 384 | String refParamLabel = pRel.getReferenceParameterLabel(); |
||
| 385 | // get label index |
||
| 386 | int pIndex = pRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 387 | // get goal decision parameter label |
||
| 388 | String label = solution.getGoalDecision().getParameterLabelByIndex(pIndex); |
||
| 389 | |||
| 390 | // update relation |
||
| 391 | pRel.setReference(solution.getGoalDecision()); |
||
| 392 | pRel.setReferenceParameterLabel(label); |
||
| 393 | } |
||
| 394 | |||
| 395 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 396 | // update relation |
||
| 397 | rel.setReference(solution.getGoalDecision()); |
||
| 398 | } |
||
| 399 | } |
||
| 400 | |||
| 401 | |||
| 402 | // translated back parameter relations |
||
| 403 | for (Relation rel : solution.getTranslatedTargetGoalRelations()) |
||
| 404 | { |
||
| 405 | // check relation category |
||
| 406 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) |
||
| 407 | { |
||
| 408 | // check relation |
||
| 409 | switch (rel.getType()) |
||
| 410 | { |
||
| 411 | case EQUAL_PARAMETER : |
||
| 412 | { |
||
| 413 | // get equal relation |
||
| 414 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 415 | // get relation reference parameter label |
||
| 416 | String tarParamLabel = eqRel.getTargetParameterLabel(); |
||
| 417 | // get label index |
||
| 418 | int pIndex = eqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 419 | // get goal decision parameter label |
||
| 420 | String label = solution.getGoalDecision().getParameterLabelByIndex(pIndex); |
||
| 421 | |||
| 422 | // update relation |
||
| 423 | eqRel.setTarget(solution.getGoalDecision()); |
||
| 424 | eqRel.setTargetParameterLabel(label); |
||
| 425 | } |
||
| 426 | break; |
||
| 427 | |||
| 428 | case NOT_EQUAL_PARAMETER : |
||
| 429 | { |
||
| 430 | // get equal relation |
||
| 431 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 432 | // get relation reference parameter label |
||
| 433 | String tarParamLabel = neqRel.getTargetParameterLabel(); |
||
| 434 | // get label index |
||
| 435 | int pIndex = neqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 436 | // get goal decision parameter label |
||
| 437 | String label = solution.getGoalDecision().getParameterLabelByIndex(pIndex); |
||
| 438 | |||
| 439 | // update relation |
||
| 440 | neqRel.setTarget(solution.getGoalDecision()); |
||
| 441 | neqRel.setTargetParameterLabel(label); |
||
| 442 | } |
||
| 443 | break; |
||
| 444 | |||
| 445 | default: |
||
| 446 | // unknown parameter relation |
||
| 447 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 448 | |||
| 449 | } |
||
| 450 | } |
||
| 451 | |||
| 452 | // check temporal relation |
||
| 453 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) |
||
| 454 | { |
||
| 455 | // update relation |
||
| 456 | rel.setTarget(solution.getGoalDecision()); |
||
| 457 | } |
||
| 458 | } |
||
| 459 | |||
| 460 | // not feasible solution |
||
| 461 | throw new RelationPropagationException(ex.getMessage()); |
||
| 462 | } |
||
| 463 | } |
||
| 464 | |||
| 465 | /** |
||
| 466 | * |
||
| 467 | */ |
||
| 468 | @Override |
||
| 469 | protected void doRetract(FlawSolution solution) { |
||
| 470 | |||
| 471 | // check solution type |
||
| 472 | GoalJustification justif = (GoalJustification) solution; |
||
| 473 | // check if unification solution |
||
| 474 | if (justif.getJustificationType().equals(JustificationType.UNIFICATION)) { |
||
| 475 | // special management of unification |
||
| 476 | this.doRetractUnification((GoalUnification) solution); |
||
| 477 | } |
||
| 478 | else { |
||
| 479 | // "standard" management of flaw solution |
||
| 480 | super.doRetract(solution); |
||
| 481 | } |
||
| 482 | } |
||
| 483 | |||
| 484 | /** |
||
| 485 | * |
||
| 486 | * @param goal |
||
| 487 | */ |
||
| 488 | View Code Duplication | private void doComputeUnificationSolutions(Goal goal) { |
|
| 489 | |||
| 490 | // get goal component |
||
| 491 | DomainComponent gComp = goal.getComponent(); |
||
| 492 | // list of goal unifications found |
||
| 493 | List<GoalUnification> unifications = new ArrayList<>(); |
||
| 494 | |||
| 495 | // search active decisions that can be unified with the goal |
||
| 496 | for (Decision unif : gComp.getActiveDecisions()) { |
||
| 497 | |||
| 498 | // check predicate and temporal unification |
||
| 499 | if (this.isPredicateUnificationFeasible(goal.getDecision(), unif) && |
||
| 500 | this.isTemporalUnificationFeasible(goal.getDecision(), unif)) { |
||
| 501 | |||
| 502 | // possible unification found |
||
| 503 | GoalUnification unification = new GoalUnification(goal, unif, this.unificationCost); |
||
| 504 | // add unifications |
||
| 505 | unifications.add(unification); |
||
| 506 | info("Feasible unification found:\n" |
||
| 507 | + "- planning goal: " + goal + "\n" |
||
| 508 | + "- unification decision: " + unification + "\n"); |
||
| 509 | } |
||
| 510 | else { |
||
| 511 | |||
| 512 | // unification not feasible |
||
| 513 | debug("No feasible unification:\n" |
||
| 514 | + "- planning goal: " + goal + "\n" |
||
| 515 | + "- decision : \"" + unif + "\"\n"); |
||
| 516 | } |
||
| 517 | } |
||
| 518 | |||
| 519 | // add unifications as goal solutions |
||
| 520 | Collections.shuffle(unifications); |
||
| 521 | for (GoalUnification unif : unifications) { |
||
| 522 | goal.addSolution(unif); |
||
| 523 | } |
||
| 524 | } |
||
| 525 | |||
| 526 | /** |
||
| 527 | * |
||
| 528 | * @param goal |
||
| 529 | * @param decision |
||
| 530 | * @return |
||
| 531 | */ |
||
| 532 | View Code Duplication | private boolean isPredicateUnificationFeasible(Decision goal, Decision decision) { |
|
| 533 | |||
| 534 | // feasibility flag |
||
| 535 | boolean feasible = true; |
||
| 536 | // first check if the decisions refer to the same values |
||
| 537 | if (!decision.getValue().equals(goal.getValue()) && |
||
| 538 | decision.getComponent().equals(goal.getComponent())) { |
||
| 539 | |||
| 540 | // not feasible unification |
||
| 541 | feasible = false; |
||
| 542 | debug("Not feasible predicate unification:\n" |
||
| 543 | + "- planning goal: " + goal + "\n" |
||
| 544 | + "- unification decision: " + decision + "\n"); |
||
| 545 | } else { |
||
| 546 | |||
| 547 | // list of committed parameter constraints |
||
| 548 | Set<Relation> committed = new HashSet<>(); |
||
| 549 | // list of translated parameter relations - reference |
||
| 550 | Set<ParameterRelation> translatedReferenceGoalRelations = new HashSet<>(); |
||
| 551 | // list of translated parameter relations - target |
||
| 552 | Set<ParameterRelation> translatedTargetGoalRelations = new HashSet<>(); |
||
| 553 | |||
| 554 | // get goal component |
||
| 555 | DomainComponent goalComp = goal.getComponent(); |
||
| 556 | // get all (pending) relation concerning the goal decision |
||
| 557 | Set<Relation> pending = goalComp.getRelations(goal); |
||
| 558 | // check relations |
||
| 559 | for (Relation rel : pending) |
||
| 560 | { |
||
| 561 | // check parameter constraint type |
||
| 562 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) |
||
| 563 | { |
||
| 564 | // check relation type |
||
| 565 | switch (rel.getType()) |
||
| 566 | { |
||
| 567 | // bind parameter |
||
| 568 | case BIND_PARAMETER: |
||
| 569 | { |
||
| 570 | // the goal can be only the reference of the relation |
||
| 571 | ParameterRelation pRel = (ParameterRelation) rel; |
||
| 572 | |||
| 573 | // get relation reference parameter label |
||
| 574 | String refParamLabel = pRel.getReferenceParameterLabel(); |
||
| 575 | // get label index |
||
| 576 | int refParameterIndex = pRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 577 | // get unification decision parameter label |
||
| 578 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
||
| 579 | |||
| 580 | // update reference decision |
||
| 581 | pRel.setReference(decision); |
||
| 582 | |||
| 583 | // update reference label of the relation |
||
| 584 | pRel.setReferenceParameterLabel(label); |
||
| 585 | // add relation to the list of translated ones |
||
| 586 | translatedReferenceGoalRelations.add(pRel); |
||
| 587 | } |
||
| 588 | break; |
||
| 589 | |||
| 590 | case EQUAL_PARAMETER : |
||
| 591 | { |
||
| 592 | // get parameter relation |
||
| 593 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 594 | // check if the goal is the reference or the parameter constraint |
||
| 595 | if (eqRel.getReference().equals(goal)) |
||
| 596 | { |
||
| 597 | // get relation reference parameter label |
||
| 598 | String refParamLabel = eqRel.getReferenceParameterLabel(); |
||
| 599 | // get label index |
||
| 600 | int refParameterIndex = eqRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 601 | // get unification decision parameter label |
||
| 602 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
||
| 603 | |||
| 604 | // update reference decision |
||
| 605 | eqRel.setReference(decision); |
||
| 606 | // update reference label of the relation |
||
| 607 | eqRel.setReferenceParameterLabel(label); |
||
| 608 | // add relation to the list of translated ones |
||
| 609 | translatedReferenceGoalRelations.add(eqRel); |
||
| 610 | } |
||
| 611 | else // the goal is the target of the relation |
||
| 612 | { |
||
| 613 | // get relation reference parameter label |
||
| 614 | String refParamLabel = eqRel.getTargetParameterLabel(); |
||
| 615 | // get label index |
||
| 616 | int refParameterIndex = eqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
||
| 617 | // get unification decision parameter label |
||
| 618 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
||
| 619 | |||
| 620 | // update reference decision |
||
| 621 | eqRel.setTarget(decision); |
||
| 622 | // update reference label of the relation |
||
| 623 | eqRel.setTargetParameterLabel(label); |
||
| 624 | // add relation to the list of translated ones |
||
| 625 | translatedTargetGoalRelations.add(eqRel); |
||
| 626 | } |
||
| 627 | } |
||
| 628 | break; |
||
| 629 | |||
| 630 | case NOT_EQUAL_PARAMETER : |
||
| 631 | { |
||
| 632 | // get parameter relation |
||
| 633 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 634 | // check if the goal is the reference or the parameter constraint |
||
| 635 | if (neqRel.getReference().equals(goal)) |
||
| 636 | { |
||
| 637 | // get relation reference parameter label |
||
| 638 | String refParamLabel = neqRel.getReferenceParameterLabel(); |
||
| 639 | // get label index |
||
| 640 | int refParameterIndex = neqRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 641 | // get unification decision parameter label |
||
| 642 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
||
| 643 | |||
| 644 | // update reference decision |
||
| 645 | neqRel.setReference(decision); |
||
| 646 | // update reference label of the relation |
||
| 647 | neqRel.setReferenceParameterLabel(label); |
||
| 648 | // add relation to the list of translated ones |
||
| 649 | translatedReferenceGoalRelations.add(neqRel); |
||
| 650 | } |
||
| 651 | else // the goal is the target of the relation |
||
| 652 | { |
||
| 653 | // get relation reference parameter label |
||
| 654 | String refParamLabel = neqRel.getTargetParameterLabel(); |
||
| 655 | // get label index |
||
| 656 | int refParameterIndex = neqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
||
| 657 | // get unification decision parameter label |
||
| 658 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
||
| 659 | |||
| 660 | // update reference decision |
||
| 661 | neqRel.setTarget(decision); |
||
| 662 | // update reference label of the relation |
||
| 663 | neqRel.setTargetParameterLabel(label); |
||
| 664 | // add relation to the list of translated ones |
||
| 665 | translatedTargetGoalRelations.add(neqRel); |
||
| 666 | } |
||
| 667 | } |
||
| 668 | break; |
||
| 669 | |||
| 670 | |||
| 671 | default: |
||
| 672 | // unknown parameter relation |
||
| 673 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 674 | } |
||
| 675 | } |
||
| 676 | } |
||
| 677 | |||
| 678 | try { |
||
| 679 | |||
| 680 | // activate translated relations |
||
| 681 | for (Relation rel : translatedReferenceGoalRelations) { |
||
| 682 | // check if can be activated |
||
| 683 | if (rel.getReference().getComponent().activate(rel)) { |
||
| 684 | // add relation to the committed list |
||
| 685 | committed.add(rel); |
||
| 686 | } |
||
| 687 | } |
||
| 688 | |||
| 689 | // activate translated relations |
||
| 690 | for (Relation rel : translatedTargetGoalRelations) { |
||
| 691 | // check if can be activated |
||
| 692 | if (rel.getReference().getComponent().activate(rel)) { |
||
| 693 | // add relation to the committed list |
||
| 694 | committed.add(rel); |
||
| 695 | } |
||
| 696 | } |
||
| 697 | |||
| 698 | // check parameter of the plan |
||
| 699 | this.pdb.verify(); |
||
| 700 | } |
||
| 701 | catch (ConsistencyCheckException | RelationPropagationException ex) { |
||
| 702 | // not feasible |
||
| 703 | feasible = false; |
||
| 704 | // not feasible unification |
||
| 705 | debug("Not feasible predicate unification:\n" |
||
| 706 | + "- planning goal: " + goal + "\n" |
||
| 707 | + "- unification decision: " + decision + "\n"); |
||
| 708 | |||
| 709 | } finally { |
||
| 710 | |||
| 711 | // check committed relations |
||
| 712 | for (Relation rel : committed) { |
||
| 713 | // deactivate relation |
||
| 714 | rel.getReference().getComponent().deactivate(rel); |
||
| 715 | } |
||
| 716 | |||
| 717 | // translated back parameter relations |
||
| 718 | for (ParameterRelation rel : translatedReferenceGoalRelations) { |
||
| 719 | |||
| 720 | // get relation reference parameter label |
||
| 721 | String refParamLabel = rel.getReferenceParameterLabel(); |
||
| 722 | // get label index |
||
| 723 | int pIndex = rel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 724 | // get goal decision parameter label |
||
| 725 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 726 | |||
| 727 | // update relation |
||
| 728 | rel.setReference(goal); |
||
| 729 | rel.setReferenceParameterLabel(label); |
||
| 730 | } |
||
| 731 | |||
| 732 | // translated back parameter relations |
||
| 733 | for (ParameterRelation rel : translatedTargetGoalRelations) |
||
| 734 | { |
||
| 735 | // check relation |
||
| 736 | switch (rel.getType()) |
||
| 737 | { |
||
| 738 | case EQUAL_PARAMETER : |
||
| 739 | { |
||
| 740 | // get equal relation |
||
| 741 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 742 | // get relation reference parameter label |
||
| 743 | String tarParamLabel = eqRel.getTargetParameterLabel(); |
||
| 744 | // get label index |
||
| 745 | int pIndex = eqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 746 | // get goal decision parameter label |
||
| 747 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 748 | |||
| 749 | // update relation |
||
| 750 | eqRel.setTarget(goal); |
||
| 751 | eqRel.setTargetParameterLabel(label); |
||
| 752 | } |
||
| 753 | break; |
||
| 754 | |||
| 755 | case NOT_EQUAL_PARAMETER : |
||
| 756 | { |
||
| 757 | // get equal relation |
||
| 758 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 759 | // get relation reference parameter label |
||
| 760 | String tarParamLabel = neqRel.getTargetParameterLabel(); |
||
| 761 | // get label index |
||
| 762 | int pIndex = neqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 763 | // get goal decision parameter label |
||
| 764 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 765 | |||
| 766 | // update relation |
||
| 767 | neqRel.setTarget(goal); |
||
| 768 | neqRel.setTargetParameterLabel(label); |
||
| 769 | } |
||
| 770 | break; |
||
| 771 | |||
| 772 | default: |
||
| 773 | // unknown parameter relation |
||
| 774 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 775 | |||
| 776 | } |
||
| 777 | } |
||
| 778 | } |
||
| 779 | } |
||
| 780 | |||
| 781 | // get feasibility flag |
||
| 782 | return feasible; |
||
| 783 | } |
||
| 784 | |||
| 785 | /** |
||
| 786 | * |
||
| 787 | * @param goal |
||
| 788 | * @param decision |
||
| 789 | * @return |
||
| 790 | */ |
||
| 791 | View Code Duplication | private boolean isTemporalUnificationFeasible(Decision goal, Decision decision) { |
|
| 792 | |||
| 793 | // feasibility flag |
||
| 794 | boolean feasible = true; |
||
| 795 | // list of translated relations |
||
| 796 | Set<Relation> translated = new HashSet<>(); |
||
| 797 | // list of committed relations |
||
| 798 | Set<Relation> committed = new HashSet<>(); |
||
| 799 | |||
| 800 | // get goal component |
||
| 801 | DomainComponent gComp = goal.getComponent(); |
||
| 802 | // get all (pending) relations associated to the goal |
||
| 803 | Set<Relation> pRels = gComp.getRelations(goal); |
||
| 804 | // translate relations |
||
| 805 | for (Relation pRel : pRels) |
||
| 806 | { |
||
| 807 | // focus on temporal relations only |
||
| 808 | if (pRel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) |
||
| 809 | { |
||
| 810 | // check relation reference |
||
| 811 | if (pRel.getReference().equals(goal)) { |
||
| 812 | // replace reference |
||
| 813 | pRel.setReference(decision); |
||
| 814 | // add translated relation |
||
| 815 | translated.add(pRel); |
||
| 816 | } |
||
| 817 | |||
| 818 | // check relation target |
||
| 819 | if (pRel.getTarget().equals(goal)) { |
||
| 820 | // replace target |
||
| 821 | pRel.setTarget(decision); |
||
| 822 | // add translated relation |
||
| 823 | translated.add(pRel); |
||
| 824 | } |
||
| 825 | } |
||
| 826 | } |
||
| 827 | |||
| 828 | try { |
||
| 829 | |||
| 830 | // check translated relation and activate them if possible |
||
| 831 | for (Relation tRel : translated) { |
||
| 832 | // activate relation |
||
| 833 | if (tRel.getReference().getComponent().activate(tRel)) { |
||
| 834 | |||
| 835 | // add relation to committed list |
||
| 836 | committed.add(tRel); |
||
| 837 | } |
||
| 838 | } |
||
| 839 | |||
| 840 | // check temporal consistency after activated relations |
||
| 841 | this.tdb.verify(); |
||
| 842 | |||
| 843 | } catch (ConsistencyCheckException | RelationPropagationException ex) { |
||
| 844 | |||
| 845 | // not feasible unification |
||
| 846 | feasible = false; |
||
| 847 | // not feasible unification |
||
| 848 | debug("Not feasible temporal unification:\n" |
||
| 849 | + "- planning goal: " + goal + "\n" |
||
| 850 | + "- unification decision: " + decision + "\n"); |
||
| 851 | |||
| 852 | } finally { |
||
| 853 | |||
| 854 | // deactivate relations |
||
| 855 | for (Relation rel : committed) { |
||
| 856 | // deactivate relation |
||
| 857 | rel.getReference().getComponent().deactivate(rel); |
||
| 858 | } |
||
| 859 | |||
| 860 | // translate back relations |
||
| 861 | for (Relation rel : translated) { |
||
| 862 | |||
| 863 | // check reference |
||
| 864 | if (rel.getReference().equals(decision)) { |
||
| 865 | // replace reference |
||
| 866 | rel.setReference(goal); |
||
| 867 | } |
||
| 868 | |||
| 869 | // check target |
||
| 870 | if (rel.getTarget().equals(decision)) { |
||
| 871 | // replace target |
||
| 872 | rel.setTarget(goal); |
||
| 873 | } |
||
| 874 | } |
||
| 875 | } |
||
| 876 | |||
| 877 | // get feasibility flag |
||
| 878 | return feasible; |
||
| 879 | } |
||
| 880 | |||
| 881 | /** |
||
| 882 | * |
||
| 883 | * @param goal |
||
| 884 | */ |
||
| 885 | private void doComputeExpansionSolutions(Goal goal) { |
||
| 886 | |||
| 887 | // get component |
||
| 888 | DomainComponent gComp = goal.getComponent(); |
||
| 889 | // buffer of activated relations |
||
| 890 | Set<Relation> rels = new HashSet<>(); |
||
| 891 | |||
| 892 | try { |
||
| 893 | |||
| 894 | // get the list of current tokens on the timeline |
||
| 895 | List<Decision> tokens = gComp.getActiveDecisions(); |
||
| 896 | |||
| 897 | // activate goal decision and check its feasibility |
||
| 898 | rels = gComp.activate(goal.getDecision()); |
||
| 899 | // check temporal and parameter consistency |
||
| 900 | this.tdb.verify(); |
||
| 901 | this.pdb.verify(); |
||
| 902 | info("Goal decision consistent.. check possible schedules and refinements\n-\t " + goal.getDecision()); |
||
| 903 | |||
| 904 | // evaluate possible schedules of the goal w.r.t. existing tokens. |
||
| 905 | if (!tokens.isEmpty()) { |
||
| 906 | |||
| 907 | // create relation |
||
| 908 | BeforeIntervalConstraint c0 = this.tdb.createTemporalConstraint( |
||
| 909 | TemporalConstraintType.BEFORE); |
||
| 910 | // set constraint data |
||
| 911 | c0.setReference(goal.getDecision().getToken().getInterval()); |
||
| 912 | c0.setTarget(tokens.get(0).getToken().getInterval()); |
||
| 913 | c0.setLowerBound(0); |
||
| 914 | c0.setUpperBound(this.tdb.getHorizon()); |
||
| 915 | |||
| 916 | View Code Duplication | try { |
|
| 917 | |||
| 918 | // propagate temporal constraint |
||
| 919 | this.tdb.propagate(c0); |
||
| 920 | // check temporal consistency |
||
| 921 | this.tdb.verify(); |
||
| 922 | |||
| 923 | // consistent so create a possible refinements considering this schedule |
||
| 924 | for (GoalExpansion exp : this.expansions(goal)) { |
||
| 925 | |||
| 926 | // add goal schedule |
||
| 927 | exp.addGoalSchedule(new GoalSchedule( |
||
| 928 | goal.getDecision(), |
||
| 929 | tokens.get(0), |
||
| 930 | 0, |
||
| 931 | this.tdb.getHorizon())); |
||
| 932 | |||
| 933 | // add expansion and related relation as feasible refinement of the goal |
||
| 934 | goal.addSolution(exp); |
||
| 935 | debug("Add goal expansion solution\n\t- " + exp + "\n"); |
||
| 936 | |||
| 937 | } |
||
| 938 | |||
| 939 | } catch (TemporalConstraintPropagationException | ConsistencyCheckException ix) { |
||
| 940 | |||
| 941 | // infeasible schedule of the decision |
||
| 942 | debug("Infeasible schedule of goal " + goal.getDecision() + "\n" |
||
| 943 | + "\t- goal: " + goal.getDecision() + "\n" |
||
| 944 | + "\t- token: " + tokens.get(0) + "\n"); |
||
| 945 | } finally { |
||
| 946 | |||
| 947 | // discard propagated constraints |
||
| 948 | this.tdb.retract(c0); |
||
| 949 | } |
||
| 950 | |||
| 951 | |||
| 952 | // iterate over tokens to find feasible schedule of the activated one |
||
| 953 | for (int index = 0; index < tokens.size() - 1; index++) { |
||
| 954 | |||
| 955 | // create temporal constraint |
||
| 956 | BeforeIntervalConstraint c1 = this.tdb.createTemporalConstraint( |
||
| 957 | TemporalConstraintType.BEFORE); |
||
| 958 | // set constraint data |
||
| 959 | c1.setReference(tokens.get(index).getToken().getInterval()); |
||
| 960 | c1.setTarget(goal.getDecision().getToken().getInterval()); |
||
| 961 | c1.setLowerBound(0); |
||
| 962 | c1.setUpperBound(this.tdb.getHorizon()); |
||
| 963 | |||
| 964 | // create temporal constraint |
||
| 965 | BeforeIntervalConstraint c2 = this.tdb.createTemporalConstraint( |
||
| 966 | TemporalConstraintType.BEFORE); |
||
| 967 | // set constraint data |
||
| 968 | c2.setReference(goal.getDecision().getToken().getInterval()); |
||
| 969 | c2.setTarget(tokens.get(index + 1).getToken().getInterval()); |
||
| 970 | c2.setLowerBound(0); |
||
| 971 | c2.setUpperBound(this.tdb.getHorizon()); |
||
| 972 | |||
| 973 | try { |
||
| 974 | |||
| 975 | // propagate constraints |
||
| 976 | this.tdb.propagate(c1); |
||
| 977 | this.tdb.propagate(c2); |
||
| 978 | // check temporal consistency |
||
| 979 | this.tdb.verify(); |
||
| 980 | |||
| 981 | // consistent so create a possible refinements considering this schedule |
||
| 982 | for (GoalExpansion exp : this.expansions(goal)) { |
||
| 983 | |||
| 984 | // add goal schedules |
||
| 985 | exp.addGoalSchedule(new GoalSchedule( |
||
| 986 | tokens.get(index), |
||
| 987 | goal.getDecision(), |
||
| 988 | 0, |
||
| 989 | this.tdb.getHorizon())); |
||
| 990 | |||
| 991 | exp.addGoalSchedule(new GoalSchedule( |
||
| 992 | goal.getDecision(), |
||
| 993 | tokens.get(index + 1), |
||
| 994 | 0, |
||
| 995 | this.tdb.getHorizon())); |
||
| 996 | |||
| 997 | // add expansion and related relation as feasible refinement of the goal |
||
| 998 | goal.addSolution(exp); |
||
| 999 | debug("Add goal expansion solution\n\t- " + exp + "\n"); |
||
| 1000 | |||
| 1001 | } |
||
| 1002 | |||
| 1003 | } catch (TemporalConstraintPropagationException | ConsistencyCheckException ix) { |
||
| 1004 | |||
| 1005 | // infeasible schedule of the decision |
||
| 1006 | debug("Infeasible schedule of goal " + goal.getDecision() + "\n" |
||
| 1007 | + "\t- token: " + tokens.get(index) + "\n" |
||
| 1008 | + "\t- goal: " + goal.getDecision() + "\n" |
||
| 1009 | + "\t- token: " + tokens.get(index + 1) + "\n"); |
||
| 1010 | |||
| 1011 | } finally { |
||
| 1012 | |||
| 1013 | // discard propagated constraints |
||
| 1014 | this.tdb.retract(c1); |
||
| 1015 | this.tdb.retract(c2); |
||
| 1016 | } |
||
| 1017 | } |
||
| 1018 | |||
| 1019 | // check last token |
||
| 1020 | |||
| 1021 | // create temporal constraint |
||
| 1022 | BeforeIntervalConstraint c3 = this.tdb.createTemporalConstraint( |
||
| 1023 | TemporalConstraintType.BEFORE); |
||
| 1024 | // set constraint data |
||
| 1025 | c3.setReference(tokens.get(tokens.size() - 1).getToken().getInterval()); |
||
| 1026 | c3.setTarget(goal.getDecision().getToken().getInterval()); |
||
| 1027 | c3.setLowerBound(0); |
||
| 1028 | c3.setUpperBound(this.tdb.getHorizon()); |
||
| 1029 | |||
| 1030 | View Code Duplication | try { |
|
| 1031 | |||
| 1032 | // propagate temporal constraint |
||
| 1033 | this.tdb.propagate(c3); |
||
| 1034 | // check temporal consistency |
||
| 1035 | this.tdb.verify(); |
||
| 1036 | |||
| 1037 | // consistent so create a possible refinements considering this schedule |
||
| 1038 | for (GoalExpansion exp : this.expansions(goal)) { |
||
| 1039 | |||
| 1040 | // create schedule |
||
| 1041 | GoalSchedule schedule = new GoalSchedule( |
||
| 1042 | tokens.get(tokens.size() - 1), |
||
| 1043 | goal.getDecision(), |
||
| 1044 | 0, |
||
| 1045 | this.tdb.getHorizon()); |
||
| 1046 | |||
| 1047 | // add goal schedule |
||
| 1048 | exp.addGoalSchedule(schedule); |
||
| 1049 | // add expansion and related relation as feasible refinement of the goal |
||
| 1050 | goal.addSolution(exp); |
||
| 1051 | debug("Add goal expansion solution\n\t- " + exp + "\n"); |
||
| 1052 | |||
| 1053 | } |
||
| 1054 | |||
| 1055 | } catch (TemporalConstraintPropagationException | ConsistencyCheckException ix) { |
||
| 1056 | |||
| 1057 | // infeasible schedule of the decision |
||
| 1058 | debug("Infeasible schedule of goal " + goal.getDecision() + "\n" |
||
| 1059 | + "\t- token: " + tokens.get(tokens.size() - 1) + "\n" |
||
| 1060 | + "\t- goal: " + goal.getDecision() + "\n"); |
||
| 1061 | |||
| 1062 | } finally { |
||
| 1063 | |||
| 1064 | // discard propagated constraints |
||
| 1065 | this.tdb.retract(c3); |
||
| 1066 | } |
||
| 1067 | } |
||
| 1068 | |||
| 1069 | } catch (DecisionPropagationException | ConsistencyCheckException ex) { |
||
| 1070 | // not feasible goal expansion |
||
| 1071 | warning("Infeasible activated goal:\n\t- goal " + goal.getDecision() + "\n\t- msg: " + ex.getMessage() + "\n"); |
||
| 1072 | |||
| 1073 | } finally { |
||
| 1074 | |||
| 1075 | // deactivate relations if any |
||
| 1076 | for (Relation rel : rels) { |
||
| 1077 | gComp.deactivate(rel); |
||
| 1078 | } |
||
| 1079 | |||
| 1080 | // deactivate goal decision |
||
| 1081 | gComp.deactivate(goal.getDecision()); |
||
| 1082 | } |
||
| 1083 | } |
||
| 1084 | |||
| 1085 | /** |
||
| 1086 | * |
||
| 1087 | * @return |
||
| 1088 | */ |
||
| 1089 | private List<GoalExpansion> expansions(Goal goal) { |
||
| 1090 | |||
| 1091 | // list of expansions according to synchronization rules |
||
| 1092 | List<GoalExpansion> exps = new ArrayList<>(); |
||
| 1093 | List<SynchronizationRule> rules = this.component.getSynchronizationRules(goal.getDecision().getValue()); |
||
| 1094 | |||
| 1095 | // check rules |
||
| 1096 | View Code Duplication | if (rules.isEmpty()) { |
|
| 1097 | |||
| 1098 | // create expansion |
||
| 1099 | GoalExpansion expansion = new GoalExpansion(goal, this.expansionCost); |
||
| 1100 | // add expansion |
||
| 1101 | exps.add(expansion); |
||
| 1102 | // print debug message |
||
| 1103 | debug("Simple goal found no synchronization is triggered after expansion:\n" |
||
| 1104 | + "- planning goal: " + goal.getDecision() + "\n"); |
||
| 1105 | |||
| 1106 | |||
| 1107 | } else { |
||
| 1108 | |||
| 1109 | // create a branch for each rule |
||
| 1110 | for (SynchronizationRule rule : rules) { |
||
| 1111 | |||
| 1112 | // expansion solution |
||
| 1113 | GoalExpansion expansion = new GoalExpansion(goal, rule, this.expansionCost); |
||
| 1114 | // add expansion |
||
| 1115 | exps.add(expansion); |
||
| 1116 | // print debug message |
||
| 1117 | debug("Complex goal found:\n" |
||
| 1118 | + "- planning goal: " + goal.getDecision() + "\n" |
||
| 1119 | + "- synchronization rule: " + rule + "\n"); |
||
| 1120 | } |
||
| 1121 | |||
| 1122 | } |
||
| 1123 | |||
| 1124 | // randomly order created expansions |
||
| 1125 | Collections.shuffle(exps); |
||
| 1126 | // get expansions |
||
| 1127 | return exps; |
||
| 1128 | } |
||
| 1129 | |||
| 1130 | /** |
||
| 1131 | * |
||
| 1132 | * @param unification |
||
| 1133 | * @throws Exception |
||
| 1134 | */ |
||
| 1135 | View Code Duplication | private void doApplyUnification(GoalUnification unification) |
|
| 1136 | throws FlawSolutionApplicationException { |
||
| 1137 | |||
| 1138 | // get original goal |
||
| 1139 | Decision goal = unification.getGoalDecision(); |
||
| 1140 | // get all (pending) relations concerning the planning goal |
||
| 1141 | DomainComponent goalComp = goal.getComponent(); |
||
| 1142 | |||
| 1143 | // list of committed parameter constraints |
||
| 1144 | Set<Relation> committed = new HashSet<>(); |
||
| 1145 | // list of translated parameter relations - reference |
||
| 1146 | Set<Relation> translatedReferenceGoalRelations = new HashSet<>(); |
||
| 1147 | // list of translated parameter relations - target |
||
| 1148 | Set<Relation> translatedTargetGoalRelations = new HashSet<>(); |
||
| 1149 | |||
| 1150 | |||
| 1151 | // get pending relations associated to the goal |
||
| 1152 | Set<Relation> gRels = goalComp.getRelations(goal); |
||
| 1153 | // translate pending relations by replacing goal's information with unification decision's information |
||
| 1154 | for (Relation rel : gRels) { |
||
| 1155 | |||
| 1156 | // check relation category |
||
| 1157 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 1158 | |||
| 1159 | // check relation reference |
||
| 1160 | if (rel.getReference().equals(goal)) { |
||
| 1161 | // replace reference |
||
| 1162 | rel.setReference(unification.getUnificationDecision()); |
||
| 1163 | // add relation to the list |
||
| 1164 | translatedReferenceGoalRelations.add(rel); |
||
| 1165 | } |
||
| 1166 | |||
| 1167 | // check relation target |
||
| 1168 | if (rel.getTarget().equals(goal)) { |
||
| 1169 | // replace target |
||
| 1170 | rel.setTarget(unification.getUnificationDecision()); |
||
| 1171 | // add relation to the list |
||
| 1172 | translatedTargetGoalRelations.add(rel); |
||
| 1173 | } |
||
| 1174 | |||
| 1175 | } |
||
| 1176 | |||
| 1177 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) |
||
| 1178 | { |
||
| 1179 | // check relation type |
||
| 1180 | switch (rel.getType()) |
||
| 1181 | { |
||
| 1182 | // bind parameter |
||
| 1183 | case BIND_PARAMETER: |
||
| 1184 | { |
||
| 1185 | // the goal can be only the reference of the relation |
||
| 1186 | ParameterRelation pRel = (ParameterRelation) rel; |
||
| 1187 | |||
| 1188 | // get relation reference parameter label |
||
| 1189 | String refParamLabel = pRel.getReferenceParameterLabel(); |
||
| 1190 | // get label index |
||
| 1191 | int refParameterIndex = pRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 1192 | // get unification decision parameter label |
||
| 1193 | String label = unification.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 1194 | |||
| 1195 | // update reference decision |
||
| 1196 | pRel.setReference(unification.getUnificationDecision()); |
||
| 1197 | // update reference label of the relation |
||
| 1198 | pRel.setReferenceParameterLabel(label); |
||
| 1199 | // add relation to the list of translated ones |
||
| 1200 | translatedReferenceGoalRelations.add(pRel); |
||
| 1201 | } |
||
| 1202 | break; |
||
| 1203 | |||
| 1204 | case EQUAL_PARAMETER : |
||
| 1205 | { |
||
| 1206 | // get parameter relation |
||
| 1207 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 1208 | // check if the goal is the reference or the parameter constraint |
||
| 1209 | if (eqRel.getReference().equals(goal)) |
||
| 1210 | { |
||
| 1211 | // get relation reference parameter label |
||
| 1212 | String refParamLabel = eqRel.getReferenceParameterLabel(); |
||
| 1213 | // get label index |
||
| 1214 | int refParameterIndex = eqRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 1215 | // get unification decision parameter label |
||
| 1216 | String label = unification.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 1217 | |||
| 1218 | // update reference decision |
||
| 1219 | eqRel.setReference(unification.getUnificationDecision()); |
||
| 1220 | // update reference label of the relation |
||
| 1221 | eqRel.setReferenceParameterLabel(label); |
||
| 1222 | // add relation to the list of translated ones |
||
| 1223 | translatedReferenceGoalRelations.add(eqRel); |
||
| 1224 | } |
||
| 1225 | else // the goal is the target of the relation |
||
| 1226 | { |
||
| 1227 | // get relation reference parameter label |
||
| 1228 | String refParamLabel = eqRel.getTargetParameterLabel(); |
||
| 1229 | // get label index |
||
| 1230 | int refParameterIndex = eqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
||
| 1231 | // get unification decision parameter label |
||
| 1232 | String label = unification.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 1233 | |||
| 1234 | // update reference decision |
||
| 1235 | eqRel.setTarget(unification.getUnificationDecision()); |
||
| 1236 | // update reference label of the relation |
||
| 1237 | eqRel.setTargetParameterLabel(label); |
||
| 1238 | // add relation to the list of translated ones |
||
| 1239 | translatedTargetGoalRelations.add(eqRel); |
||
| 1240 | } |
||
| 1241 | } |
||
| 1242 | break; |
||
| 1243 | |||
| 1244 | case NOT_EQUAL_PARAMETER : |
||
| 1245 | { |
||
| 1246 | // get parameter relation |
||
| 1247 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 1248 | // check if the goal is the reference or the parameter constraint |
||
| 1249 | if (neqRel.getReference().equals(goal)) |
||
| 1250 | { |
||
| 1251 | // get relation reference parameter label |
||
| 1252 | String refParamLabel = neqRel.getReferenceParameterLabel(); |
||
| 1253 | // get label index |
||
| 1254 | int refParameterIndex = neqRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 1255 | // get unification decision parameter label |
||
| 1256 | String label = unification.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 1257 | |||
| 1258 | // update reference decision |
||
| 1259 | neqRel.setReference(unification.getUnificationDecision()); |
||
| 1260 | // update reference label of the relation |
||
| 1261 | neqRel.setReferenceParameterLabel(label); |
||
| 1262 | // add relation to the list of translated ones |
||
| 1263 | translatedReferenceGoalRelations.add(neqRel); |
||
| 1264 | } |
||
| 1265 | else // the goal is the target of the relation |
||
| 1266 | { |
||
| 1267 | // get relation reference parameter label |
||
| 1268 | String refParamLabel = neqRel.getTargetParameterLabel(); |
||
| 1269 | // get label index |
||
| 1270 | int refParameterIndex = neqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
||
| 1271 | // get unification decision parameter label |
||
| 1272 | String label = unification.getUnificationDecision().getParameterLabelByIndex(refParameterIndex); |
||
| 1273 | |||
| 1274 | // update reference decision |
||
| 1275 | neqRel.setTarget(unification.getUnificationDecision()); |
||
| 1276 | // update reference label of the relation |
||
| 1277 | neqRel.setTargetParameterLabel(label); |
||
| 1278 | // add relation to the list of translated ones |
||
| 1279 | translatedTargetGoalRelations.add(neqRel); |
||
| 1280 | } |
||
| 1281 | } |
||
| 1282 | break; |
||
| 1283 | |||
| 1284 | |||
| 1285 | default: |
||
| 1286 | // unknown parameter relation |
||
| 1287 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 1288 | } |
||
| 1289 | } |
||
| 1290 | } |
||
| 1291 | |||
| 1292 | |||
| 1293 | try |
||
| 1294 | { |
||
| 1295 | // remove original goal: PENDING -> SILENT |
||
| 1296 | goalComp.free(goal); |
||
| 1297 | |||
| 1298 | // activate translated relations |
||
| 1299 | for (Relation rel : translatedReferenceGoalRelations) |
||
| 1300 | { |
||
| 1301 | // check if can be activated |
||
| 1302 | if (rel.getReference().getComponent().activate(rel)) { |
||
| 1303 | |||
| 1304 | // add activated relations |
||
| 1305 | unification.addActivatedRelation(rel); |
||
| 1306 | // add relation to the committed list |
||
| 1307 | committed.add(rel); |
||
| 1308 | } |
||
| 1309 | } |
||
| 1310 | |||
| 1311 | // activate translated relations |
||
| 1312 | for (Relation rel : translatedTargetGoalRelations) |
||
| 1313 | { |
||
| 1314 | // check if can be activated |
||
| 1315 | if (rel.getReference().getComponent().activate(rel)) { |
||
| 1316 | |||
| 1317 | // add activated relations |
||
| 1318 | unification.addActivatedRelation(rel); |
||
| 1319 | // add relation to the committed list |
||
| 1320 | committed.add(rel); |
||
| 1321 | } |
||
| 1322 | } |
||
| 1323 | |||
| 1324 | // set translated relations |
||
| 1325 | unification.setTranslatedReferenceGoalRelation(translatedReferenceGoalRelations); |
||
| 1326 | unification.setTranslatedTargetGoalRealtion(translatedTargetGoalRelations); |
||
| 1327 | |||
| 1328 | // check consistency |
||
| 1329 | this.tdb.verify(); |
||
| 1330 | this.pdb.verify(); |
||
| 1331 | |||
| 1332 | } catch (RelationPropagationException | ConsistencyCheckException ex) { |
||
| 1333 | |||
| 1334 | // restore goal: SILENT -> PENDING |
||
| 1335 | goalComp.restore(goal); |
||
| 1336 | // deactivate committed relations |
||
| 1337 | for (Relation rel : committed) { |
||
| 1338 | // get reference component |
||
| 1339 | DomainComponent refComp = rel.getReference().getComponent(); |
||
| 1340 | refComp.deactivate(rel); |
||
| 1341 | } |
||
| 1342 | |||
| 1343 | |||
| 1344 | // translated back relations |
||
| 1345 | for (Relation rel : translatedReferenceGoalRelations) { |
||
| 1346 | // check category |
||
| 1347 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) { |
||
| 1348 | |||
| 1349 | // get parameter relation |
||
| 1350 | ParameterRelation pRel = (ParameterRelation) rel; |
||
| 1351 | // get relation reference parameter label |
||
| 1352 | String refParamLabel = pRel.getReferenceParameterLabel(); |
||
| 1353 | // get label index |
||
| 1354 | int pIndex = pRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 1355 | // get goal decision parameter label |
||
| 1356 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 1357 | |||
| 1358 | // update relation |
||
| 1359 | pRel.setReference(goal); |
||
| 1360 | pRel.setReferenceParameterLabel(label); |
||
| 1361 | } |
||
| 1362 | |||
| 1363 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 1364 | // update relation |
||
| 1365 | rel.setReference(goal); |
||
| 1366 | } |
||
| 1367 | } |
||
| 1368 | |||
| 1369 | // translated back parameter relations |
||
| 1370 | for (Relation rel : translatedTargetGoalRelations) { |
||
| 1371 | |||
| 1372 | // check relation category |
||
| 1373 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) { |
||
| 1374 | // check relation |
||
| 1375 | switch (rel.getType()) { |
||
| 1376 | |||
| 1377 | case EQUAL_PARAMETER : { |
||
| 1378 | |||
| 1379 | // get equal relation |
||
| 1380 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 1381 | // get relation reference parameter label |
||
| 1382 | String tarParamLabel = eqRel.getTargetParameterLabel(); |
||
| 1383 | // get label index |
||
| 1384 | int pIndex = eqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 1385 | // get goal decision parameter label |
||
| 1386 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 1387 | |||
| 1388 | // update relation |
||
| 1389 | eqRel.setTarget(goal); |
||
| 1390 | eqRel.setTargetParameterLabel(label); |
||
| 1391 | } |
||
| 1392 | break; |
||
| 1393 | |||
| 1394 | case NOT_EQUAL_PARAMETER : { |
||
| 1395 | |||
| 1396 | // get equal relation |
||
| 1397 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 1398 | // get relation reference parameter label |
||
| 1399 | String tarParamLabel = neqRel.getTargetParameterLabel(); |
||
| 1400 | // get label index |
||
| 1401 | int pIndex = neqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 1402 | // get goal decision parameter label |
||
| 1403 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 1404 | |||
| 1405 | // update relation |
||
| 1406 | neqRel.setTarget(goal); |
||
| 1407 | neqRel.setTargetParameterLabel(label); |
||
| 1408 | } |
||
| 1409 | break; |
||
| 1410 | |||
| 1411 | default: |
||
| 1412 | // unknown parameter relation |
||
| 1413 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 1414 | |||
| 1415 | } |
||
| 1416 | } |
||
| 1417 | |||
| 1418 | // check temporal relation |
||
| 1419 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 1420 | // update relation |
||
| 1421 | rel.setTarget(goal); |
||
| 1422 | } |
||
| 1423 | } |
||
| 1424 | |||
| 1425 | // not feasible solution |
||
| 1426 | throw new FlawSolutionApplicationException(ex.getMessage()); |
||
| 1427 | } |
||
| 1428 | } |
||
| 1429 | |||
| 1430 | /** |
||
| 1431 | * |
||
| 1432 | * @param expansion |
||
| 1433 | * @throws Exception |
||
| 1434 | */ |
||
| 1435 | private void doApplyExpansion(GoalExpansion expansion) |
||
| 1436 | throws FlawSolutionApplicationException { |
||
| 1437 | |||
| 1438 | // get goal |
||
| 1439 | Decision goal = expansion.getGoalDecision(); |
||
| 1440 | |||
| 1441 | // check subgoals from selected synchronization rule if any |
||
| 1442 | View Code Duplication | if (expansion.hasSubGoals()) { |
|
| 1443 | |||
| 1444 | // get the rule to apply |
||
| 1445 | SynchronizationRule rule = expansion.getSynchronizationRule(); |
||
| 1446 | // create an index of token variable |
||
| 1447 | Map<TokenVariable, Decision> var2dec = new HashMap<>(); |
||
| 1448 | var2dec.put(rule.getTriggerer(), goal); |
||
| 1449 | // add pending decisions |
||
| 1450 | for (TokenVariable var : rule.getTokenVariables()) { |
||
| 1451 | |||
| 1452 | // get target component |
||
| 1453 | DomainComponent target = var.getValue().getComponent(); |
||
| 1454 | // create a pending decision |
||
| 1455 | Decision pending = target.create( |
||
| 1456 | var.getValue(), |
||
| 1457 | var.getParameterLabels()); |
||
| 1458 | |||
| 1459 | // set causal link |
||
| 1460 | pending.setCausalLink(goal); |
||
| 1461 | // check solving knowledge |
||
| 1462 | if (var.isMandatoryExpansion()) { |
||
| 1463 | pending.setMandatoryExpansion(); |
||
| 1464 | } |
||
| 1465 | |||
| 1466 | // check solving knowledge |
||
| 1467 | if (var.isMandatoryUnificaiton()) { |
||
| 1468 | pending.setMandatoryUnification(); |
||
| 1469 | } |
||
| 1470 | |||
| 1471 | // add entry to cache |
||
| 1472 | var2dec.put(var, pending); |
||
| 1473 | // add created decision |
||
| 1474 | expansion.addCreatedDecision(pending); |
||
| 1475 | } |
||
| 1476 | |||
| 1477 | // add pending relations |
||
| 1478 | for (SynchronizationConstraint c : rule.getConstraints()) { |
||
| 1479 | // check category |
||
| 1480 | switch (c.getCategory()) { |
||
| 1481 | |||
| 1482 | // temporal category |
||
| 1483 | case TEMPORAL_CONSTRAINT : { |
||
| 1484 | |||
| 1485 | // temporal constraint |
||
| 1486 | TemporalSynchronizationConstraint tc = (TemporalSynchronizationConstraint) c; |
||
| 1487 | // get decisions |
||
| 1488 | Decision reference = var2dec.get(tc.getReference()); |
||
| 1489 | Decision target = var2dec.get(tc.getTarget()); |
||
| 1490 | // get reference component |
||
| 1491 | DomainComponent refComp = reference.getComponent(); |
||
| 1492 | // create pending relation |
||
| 1493 | TemporalRelation rel = refComp.create(tc.getType(), reference, target); |
||
| 1494 | // set bounds |
||
| 1495 | rel.setBounds(tc.getBounds()); |
||
| 1496 | // add created relation |
||
| 1497 | expansion.addCreatedRelation(rel); |
||
| 1498 | } |
||
| 1499 | break; |
||
| 1500 | |||
| 1501 | // parameter category |
||
| 1502 | case PARAMETER_CONSTRAINT: { |
||
| 1503 | |||
| 1504 | // parameter constraint |
||
| 1505 | ParameterSynchronizationConstraint pc = (ParameterSynchronizationConstraint) c; |
||
| 1506 | // get decisions |
||
| 1507 | Decision reference = var2dec.get(pc.getReference()); |
||
| 1508 | Decision target = var2dec.get(pc.getTarget()); |
||
| 1509 | // get reference component |
||
| 1510 | DomainComponent refComp = reference.getComponent(); |
||
| 1511 | // create pending relation |
||
| 1512 | ParameterRelation rel = (ParameterRelation) refComp.create(pc.getType(), reference, target); |
||
| 1513 | |||
| 1514 | // check parameter relation type |
||
| 1515 | switch (rel.getType()) { |
||
| 1516 | |||
| 1517 | // bind parameter relation |
||
| 1518 | case BIND_PARAMETER : { |
||
| 1519 | |||
| 1520 | // bind constraint |
||
| 1521 | BindParameterRelation bind = (BindParameterRelation) rel; |
||
| 1522 | // set binding value |
||
| 1523 | bind.setValue(pc.getTargetLabel()); |
||
| 1524 | // set reference label |
||
| 1525 | if (pc.getReference().equals(rule.getTriggerer())) { |
||
| 1526 | |||
| 1527 | // get trigger label index |
||
| 1528 | int index = rule.getTriggerer().getParameterIndexByLabel(pc.getReferenceLabel()); |
||
| 1529 | // set decision's label |
||
| 1530 | String label = goal.getParameterLabelByIndex(index); |
||
| 1531 | // set label |
||
| 1532 | bind.setReferenceParameterLabel(label); |
||
| 1533 | |||
| 1534 | } else { |
||
| 1535 | |||
| 1536 | bind.setReferenceParameterLabel(pc.getReferenceLabel()); |
||
| 1537 | } |
||
| 1538 | } |
||
| 1539 | break; |
||
| 1540 | |||
| 1541 | // equal parameter relation |
||
| 1542 | case EQUAL_PARAMETER : { |
||
| 1543 | |||
| 1544 | // get relation |
||
| 1545 | EqualParameterRelation eq = (EqualParameterRelation) rel; |
||
| 1546 | |||
| 1547 | // check if source is the trigger |
||
| 1548 | if (pc.getReference().equals(rule.getTriggerer())) { |
||
| 1549 | |||
| 1550 | // get trigger label index |
||
| 1551 | int index = rule.getTriggerer().getParameterIndexByLabel(pc.getReferenceLabel()); |
||
| 1552 | // get decions's label |
||
| 1553 | String label = goal.getParameterLabelByIndex(index); |
||
| 1554 | // set label |
||
| 1555 | eq.setReferenceParameterLabel(label); |
||
| 1556 | |||
| 1557 | } else { |
||
| 1558 | |||
| 1559 | // directly set the label |
||
| 1560 | eq.setReferenceParameterLabel(pc.getReferenceLabel()); |
||
| 1561 | } |
||
| 1562 | |||
| 1563 | // check if target is the trigger |
||
| 1564 | if (pc.getTarget().equals(rule.getTriggerer())) { |
||
| 1565 | |||
| 1566 | // get trigger label index |
||
| 1567 | int index = rule.getTriggerer().getParameterIndexByLabel(pc.getTargetLabel()); |
||
| 1568 | // get decision's label |
||
| 1569 | String label = goal.getParameterLabelByIndex(index); |
||
| 1570 | // set label |
||
| 1571 | eq.setTargetParameterLabel(label); |
||
| 1572 | |||
| 1573 | } else { |
||
| 1574 | |||
| 1575 | // directly set the label |
||
| 1576 | eq.setTargetParameterLabel(pc.getTargetLabel()); |
||
| 1577 | } |
||
| 1578 | } |
||
| 1579 | break; |
||
| 1580 | |||
| 1581 | // not-equal parameter relation |
||
| 1582 | case NOT_EQUAL_PARAMETER : { |
||
| 1583 | |||
| 1584 | // get relation |
||
| 1585 | NotEqualParameterRelation neq = (NotEqualParameterRelation) rel; |
||
| 1586 | |||
| 1587 | // check if source is the trigger |
||
| 1588 | if (pc.getReference().equals(rule.getTriggerer())) { |
||
| 1589 | |||
| 1590 | // get trigger label index |
||
| 1591 | int index = rule.getTriggerer().getParameterIndexByLabel(pc.getReferenceLabel()); |
||
| 1592 | // get decions's label |
||
| 1593 | String label = goal.getParameterLabelByIndex(index); |
||
| 1594 | // set label |
||
| 1595 | neq.setReferenceParameterLabel(label); |
||
| 1596 | |||
| 1597 | } else { |
||
| 1598 | |||
| 1599 | // directly set the label |
||
| 1600 | neq.setReferenceParameterLabel(pc.getReferenceLabel()); |
||
| 1601 | } |
||
| 1602 | |||
| 1603 | // check if target is the trigger |
||
| 1604 | if (pc.getTarget().equals(rule.getTriggerer())) { |
||
| 1605 | |||
| 1606 | // get trigger label index |
||
| 1607 | int index = rule.getTriggerer().getParameterIndexByLabel(pc.getTargetLabel()); |
||
| 1608 | // get decision's label |
||
| 1609 | String label = goal.getParameterLabelByIndex(index); |
||
| 1610 | // set label |
||
| 1611 | neq.setTargetParameterLabel(label); |
||
| 1612 | |||
| 1613 | } else { |
||
| 1614 | // directly set the label |
||
| 1615 | neq.setTargetParameterLabel(pc.getTargetLabel()); |
||
| 1616 | } |
||
| 1617 | } |
||
| 1618 | break; |
||
| 1619 | |||
| 1620 | default : { |
||
| 1621 | throw new RuntimeException("Unknown parameter constraint type - " + rel.getType()); |
||
| 1622 | } |
||
| 1623 | } |
||
| 1624 | |||
| 1625 | // add created relation |
||
| 1626 | expansion.addCreatedRelation(rel); |
||
| 1627 | } |
||
| 1628 | } |
||
| 1629 | } |
||
| 1630 | } |
||
| 1631 | |||
| 1632 | try { |
||
| 1633 | |||
| 1634 | // activate goal decision |
||
| 1635 | DomainComponent goalComp = goal.getComponent(); |
||
| 1636 | // get goal-related activated relations |
||
| 1637 | Set<Relation> list = goalComp.activate(goal); |
||
| 1638 | // add goal to activated decisions |
||
| 1639 | expansion.addActivatedDecision(goal); |
||
| 1640 | // add to activated relations |
||
| 1641 | expansion.addActivatedRelations(list); |
||
| 1642 | |||
| 1643 | // create goal scheduling relations |
||
| 1644 | for (GoalSchedule schedule : expansion.getGoalSchedules()) { |
||
| 1645 | |||
| 1646 | Decision left = schedule.getLeft(); |
||
| 1647 | Decision right = schedule.getRight(); |
||
| 1648 | |||
| 1649 | // create before relation |
||
| 1650 | BeforeRelation rel = left.getComponent().create(RelationType.BEFORE, |
||
| 1651 | left, |
||
| 1652 | right); |
||
| 1653 | // set bounds |
||
| 1654 | rel.setBound(new long[] { |
||
| 1655 | schedule.getLowerBound(), |
||
| 1656 | schedule.getUpperBound() |
||
| 1657 | }); |
||
| 1658 | |||
| 1659 | // add created relation |
||
| 1660 | expansion.addCreatedRelation(rel); |
||
| 1661 | |||
| 1662 | // activate relation |
||
| 1663 | left.getComponent().activate(rel); |
||
| 1664 | |||
| 1665 | // add activated relation |
||
| 1666 | expansion.addActivatedRelation(rel); |
||
| 1667 | } |
||
| 1668 | |||
| 1669 | // check consistency |
||
| 1670 | this.tdb.verify(); |
||
| 1671 | this.pdb.verify(); |
||
| 1672 | |||
| 1673 | } catch (RelationPropagationException | DecisionPropagationException | ConsistencyCheckException ex) { |
||
| 1674 | |||
| 1675 | // deactivate activated relations |
||
| 1676 | for (Relation rel : expansion.getActivatedRelations()) { |
||
| 1677 | // get reference component |
||
| 1678 | DomainComponent refComp = rel.getReference().getComponent(); |
||
| 1679 | refComp.deactivate(rel); |
||
| 1680 | } |
||
| 1681 | |||
| 1682 | // delete created relations |
||
| 1683 | for (Relation rel : expansion.getCreatedRelations()) { |
||
| 1684 | // get reference component |
||
| 1685 | DomainComponent refComp = rel.getReference().getComponent(); |
||
| 1686 | refComp.delete(rel); |
||
| 1687 | } |
||
| 1688 | |||
| 1689 | // deactivate activated decisions |
||
| 1690 | for (Decision dec : expansion.getActivatedDecisions()) { |
||
| 1691 | // get component |
||
| 1692 | DomainComponent refComp = dec.getComponent(); |
||
| 1693 | refComp.deactivate(dec); |
||
| 1694 | } |
||
| 1695 | |||
| 1696 | |||
| 1697 | // delete created decisions |
||
| 1698 | for (Decision dec : expansion.getCreatedDecisions()) { |
||
| 1699 | // get component |
||
| 1700 | DomainComponent comp = dec.getComponent(); |
||
| 1701 | comp.free(dec); |
||
| 1702 | } |
||
| 1703 | |||
| 1704 | // throw exception |
||
| 1705 | throw new FlawSolutionApplicationException(ex.getMessage()); |
||
| 1706 | } |
||
| 1707 | } |
||
| 1708 | |||
| 1709 | /** |
||
| 1710 | * |
||
| 1711 | * @param unification |
||
| 1712 | */ |
||
| 1713 | View Code Duplication | private void doRetractUnification(GoalUnification unification) { |
|
| 1714 | |||
| 1715 | // original goal |
||
| 1716 | Decision goal = unification.getGoalDecision(); |
||
| 1717 | |||
| 1718 | // get goal component |
||
| 1719 | DomainComponent goalComp = goal.getComponent(); |
||
| 1720 | // restore original planning goal SILENT -> PENDING |
||
| 1721 | goalComp.restore(goal); |
||
| 1722 | |||
| 1723 | // deactivate activated relations |
||
| 1724 | for (Relation rel : unification.getActivatedRelations()) { |
||
| 1725 | // get reference component |
||
| 1726 | DomainComponent refComp = rel.getReference().getComponent(); |
||
| 1727 | refComp.deactivate(rel); |
||
| 1728 | } |
||
| 1729 | |||
| 1730 | // translated back relations |
||
| 1731 | for (Relation rel : unification.getTranslatedReferenceGoalRelations()){ |
||
| 1732 | // check category |
||
| 1733 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) { |
||
| 1734 | |||
| 1735 | // get parameter relation |
||
| 1736 | ParameterRelation pRel = (ParameterRelation) rel; |
||
| 1737 | |||
| 1738 | // get relation reference parameter label |
||
| 1739 | String refParamLabel = pRel.getReferenceParameterLabel(); |
||
| 1740 | // get label index |
||
| 1741 | int pIndex = pRel.getReference().getParameterIndexByLabel(refParamLabel); |
||
| 1742 | // get goal decision parameter label |
||
| 1743 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 1744 | |||
| 1745 | // update relation |
||
| 1746 | pRel.setReference(goal); |
||
| 1747 | pRel.setReferenceParameterLabel(label); |
||
| 1748 | } |
||
| 1749 | |||
| 1750 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 1751 | // update relation |
||
| 1752 | rel.setReference(goal); |
||
| 1753 | } |
||
| 1754 | } |
||
| 1755 | |||
| 1756 | // translated back parameter relations |
||
| 1757 | for (Relation rel : unification.getTranslatedTargetGoalRelations()) { |
||
| 1758 | |||
| 1759 | // check relation category |
||
| 1760 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) { |
||
| 1761 | // check relation |
||
| 1762 | switch (rel.getType()) { |
||
| 1763 | |||
| 1764 | case EQUAL_PARAMETER : { |
||
| 1765 | |||
| 1766 | // get equal relation |
||
| 1767 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
||
| 1768 | // get relation reference parameter label |
||
| 1769 | String tarParamLabel = eqRel.getTargetParameterLabel(); |
||
| 1770 | // get label index |
||
| 1771 | int pIndex = eqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 1772 | // get goal decision parameter label |
||
| 1773 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 1774 | |||
| 1775 | // update relation |
||
| 1776 | eqRel.setTarget(goal); |
||
| 1777 | eqRel.setTargetParameterLabel(label); |
||
| 1778 | } |
||
| 1779 | break; |
||
| 1780 | |||
| 1781 | case NOT_EQUAL_PARAMETER : { |
||
| 1782 | |||
| 1783 | // get equal relation |
||
| 1784 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
||
| 1785 | // get relation reference parameter label |
||
| 1786 | String tarParamLabel = neqRel.getTargetParameterLabel(); |
||
| 1787 | // get label index |
||
| 1788 | int pIndex = neqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
||
| 1789 | // get goal decision parameter label |
||
| 1790 | String label = goal.getParameterLabelByIndex(pIndex); |
||
| 1791 | |||
| 1792 | // update relation |
||
| 1793 | neqRel.setTarget(goal); |
||
| 1794 | neqRel.setTargetParameterLabel(label); |
||
| 1795 | } |
||
| 1796 | break; |
||
| 1797 | |||
| 1798 | default: |
||
| 1799 | // unknown parameter relation |
||
| 1800 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
||
| 1801 | |||
| 1802 | } |
||
| 1803 | } |
||
| 1804 | |||
| 1805 | // check temporal relation |
||
| 1806 | if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) { |
||
| 1807 | |||
| 1808 | // update relation |
||
| 1809 | rel.setTarget(goal); |
||
| 1810 | } |
||
| 1815 |
Loading history...