pstlab /
PLATINUm
| @@ 527-779 (lines=253) @@ | ||
| 524 | * @param decision |
|
| 525 | * @return |
|
| 526 | */ |
|
| 527 | private boolean isPredicateUnificationFeasible(Decision goal, Decision decision) |
|
| 528 | { |
|
| 529 | // feasibility flag |
|
| 530 | boolean feasible = true; |
|
| 531 | // first check if the decisions refer to the same values |
|
| 532 | if (!decision.getValue().equals(goal.getValue()) && |
|
| 533 | decision.getComponent().equals(goal.getComponent())) { |
|
| 534 | ||
| 535 | // not feasible unification |
|
| 536 | feasible = false; |
|
| 537 | debug("Not feasible predicate unification:\n" |
|
| 538 | + "- planning goal: " + goal + "\n" |
|
| 539 | + "- unification decision: " + decision + "\n"); |
|
| 540 | } |
|
| 541 | else |
|
| 542 | { |
|
| 543 | // list of committed parameter constraints |
|
| 544 | Set<Relation> committed = new HashSet<>(); |
|
| 545 | // list of translated parameter relations - reference |
|
| 546 | Set<ParameterRelation> translatedReferenceGoalRelations = new HashSet<>(); |
|
| 547 | // list of translated parameter relations - target |
|
| 548 | Set<ParameterRelation> translatedTargetGoalRelations = new HashSet<>(); |
|
| 549 | ||
| 550 | // get goal component |
|
| 551 | DomainComponent goalComp = goal.getComponent(); |
|
| 552 | // get all (pending) relation concerning the goal decision |
|
| 553 | Set<Relation> pending = goalComp.getRelations(goal); |
|
| 554 | // check relations |
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| 555 | for (Relation rel : pending) |
|
| 556 | { |
|
| 557 | // check parameter constraint type |
|
| 558 | if (rel.getCategory().equals(ConstraintCategory.PARAMETER_CONSTRAINT)) |
|
| 559 | { |
|
| 560 | // check relation type |
|
| 561 | switch (rel.getType()) |
|
| 562 | { |
|
| 563 | // bind parameter |
|
| 564 | case BIND_PARAMETER: |
|
| 565 | { |
|
| 566 | // the goal can be only the reference of the relation |
|
| 567 | ParameterRelation pRel = (ParameterRelation) rel; |
|
| 568 | ||
| 569 | // get relation reference parameter label |
|
| 570 | String refParamLabel = pRel.getReferenceParameterLabel(); |
|
| 571 | // get label index |
|
| 572 | int refParameterIndex = pRel.getReference().getParameterIndexByLabel(refParamLabel); |
|
| 573 | // get unification decision parameter label |
|
| 574 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
|
| 575 | ||
| 576 | // update reference decision |
|
| 577 | pRel.setReference(decision); |
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| 578 | ||
| 579 | // update reference label of the relation |
|
| 580 | pRel.setReferenceParameterLabel(label); |
|
| 581 | // add relation to the list of translated ones |
|
| 582 | translatedReferenceGoalRelations.add(pRel); |
|
| 583 | } |
|
| 584 | break; |
|
| 585 | ||
| 586 | case EQUAL_PARAMETER : |
|
| 587 | { |
|
| 588 | // get parameter relation |
|
| 589 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
|
| 590 | // check if the goal is the reference or the parameter constraint |
|
| 591 | if (eqRel.getReference().equals(goal)) |
|
| 592 | { |
|
| 593 | // get relation reference parameter label |
|
| 594 | String refParamLabel = eqRel.getReferenceParameterLabel(); |
|
| 595 | // get label index |
|
| 596 | int refParameterIndex = eqRel.getReference().getParameterIndexByLabel(refParamLabel); |
|
| 597 | // get unification decision parameter label |
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| 598 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
|
| 599 | ||
| 600 | // update reference decision |
|
| 601 | eqRel.setReference(decision); |
|
| 602 | // update reference label of the relation |
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| 603 | eqRel.setReferenceParameterLabel(label); |
|
| 604 | // add relation to the list of translated ones |
|
| 605 | translatedReferenceGoalRelations.add(eqRel); |
|
| 606 | } |
|
| 607 | else // the goal is the target of the relation |
|
| 608 | { |
|
| 609 | // get relation reference parameter label |
|
| 610 | String refParamLabel = eqRel.getTargetParameterLabel(); |
|
| 611 | // get label index |
|
| 612 | int refParameterIndex = eqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
|
| 613 | // get unification decision parameter label |
|
| 614 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
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| 615 | ||
| 616 | // update reference decision |
|
| 617 | eqRel.setTarget(decision); |
|
| 618 | // update reference label of the relation |
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| 619 | eqRel.setTargetParameterLabel(label); |
|
| 620 | // add relation to the list of translated ones |
|
| 621 | translatedTargetGoalRelations.add(eqRel); |
|
| 622 | } |
|
| 623 | } |
|
| 624 | break; |
|
| 625 | ||
| 626 | case NOT_EQUAL_PARAMETER : |
|
| 627 | { |
|
| 628 | // get parameter relation |
|
| 629 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
|
| 630 | // check if the goal is the reference or the parameter constraint |
|
| 631 | if (neqRel.getReference().equals(goal)) |
|
| 632 | { |
|
| 633 | // get relation reference parameter label |
|
| 634 | String refParamLabel = neqRel.getReferenceParameterLabel(); |
|
| 635 | // get label index |
|
| 636 | int refParameterIndex = neqRel.getReference().getParameterIndexByLabel(refParamLabel); |
|
| 637 | // get unification decision parameter label |
|
| 638 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
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| 639 | ||
| 640 | // update reference decision |
|
| 641 | neqRel.setReference(decision); |
|
| 642 | // update reference label of the relation |
|
| 643 | neqRel.setReferenceParameterLabel(label); |
|
| 644 | // add relation to the list of translated ones |
|
| 645 | translatedReferenceGoalRelations.add(neqRel); |
|
| 646 | } |
|
| 647 | else // the goal is the target of the relation |
|
| 648 | { |
|
| 649 | // get relation reference parameter label |
|
| 650 | String refParamLabel = neqRel.getTargetParameterLabel(); |
|
| 651 | // get label index |
|
| 652 | int refParameterIndex = neqRel.getTarget().getParameterIndexByLabel(refParamLabel); |
|
| 653 | // get unification decision parameter label |
|
| 654 | String label = decision.getParameterLabelByIndex(refParameterIndex); |
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| 655 | ||
| 656 | // update reference decision |
|
| 657 | neqRel.setTarget(decision); |
|
| 658 | // update reference label of the relation |
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| 659 | neqRel.setTargetParameterLabel(label); |
|
| 660 | // add relation to the list of translated ones |
|
| 661 | translatedTargetGoalRelations.add(neqRel); |
|
| 662 | } |
|
| 663 | } |
|
| 664 | break; |
|
| 665 | ||
| 666 | ||
| 667 | default: |
|
| 668 | // unknown parameter relation |
|
| 669 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
|
| 670 | } |
|
| 671 | } |
|
| 672 | } |
|
| 673 | ||
| 674 | try |
|
| 675 | { |
|
| 676 | // activate translated relations |
|
| 677 | for (Relation rel : translatedReferenceGoalRelations) { |
|
| 678 | // check if can be activated |
|
| 679 | if (rel.getReference().getComponent().activate(rel)) { |
|
| 680 | // add relation to the committed list |
|
| 681 | committed.add(rel); |
|
| 682 | } |
|
| 683 | } |
|
| 684 | ||
| 685 | // activate translated relations |
|
| 686 | for (Relation rel : translatedTargetGoalRelations) { |
|
| 687 | // check if can be activated |
|
| 688 | if (rel.getReference().getComponent().activate(rel)) { |
|
| 689 | // add relation to the committed list |
|
| 690 | committed.add(rel); |
|
| 691 | } |
|
| 692 | } |
|
| 693 | ||
| 694 | // check parameter of the plan |
|
| 695 | this.pdb.verify(); |
|
| 696 | } |
|
| 697 | catch (ConsistencyCheckException | RelationPropagationException ex) { |
|
| 698 | // not feasible |
|
| 699 | feasible = false; |
|
| 700 | // not feasible unification |
|
| 701 | debug("Not feasible predicate unification:\n" |
|
| 702 | + "- planning goal: " + goal + "\n" |
|
| 703 | + "- unification decision: " + decision + "\n"); |
|
| 704 | } |
|
| 705 | finally |
|
| 706 | { |
|
| 707 | // check committed relations |
|
| 708 | for (Relation rel : committed) { |
|
| 709 | // deactivate relation |
|
| 710 | rel.getReference().getComponent().deactivate(rel); |
|
| 711 | } |
|
| 712 | ||
| 713 | ||
| 714 | // translated back parameter relations |
|
| 715 | for (ParameterRelation rel : translatedReferenceGoalRelations) |
|
| 716 | { |
|
| 717 | // get relation reference parameter label |
|
| 718 | String refParamLabel = rel.getReferenceParameterLabel(); |
|
| 719 | // get label index |
|
| 720 | int pIndex = rel.getReference().getParameterIndexByLabel(refParamLabel); |
|
| 721 | // get goal decision parameter label |
|
| 722 | String label = goal.getParameterLabelByIndex(pIndex); |
|
| 723 | ||
| 724 | // update relation |
|
| 725 | rel.setReference(goal); |
|
| 726 | rel.setReferenceParameterLabel(label); |
|
| 727 | } |
|
| 728 | ||
| 729 | // translated back parameter relations |
|
| 730 | for (ParameterRelation rel : translatedTargetGoalRelations) |
|
| 731 | { |
|
| 732 | // check relation |
|
| 733 | switch (rel.getType()) |
|
| 734 | { |
|
| 735 | case EQUAL_PARAMETER : |
|
| 736 | { |
|
| 737 | // get equal relation |
|
| 738 | EqualParameterRelation eqRel = (EqualParameterRelation) rel; |
|
| 739 | // get relation reference parameter label |
|
| 740 | String tarParamLabel = eqRel.getTargetParameterLabel(); |
|
| 741 | // get label index |
|
| 742 | int pIndex = eqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
|
| 743 | // get goal decision parameter label |
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| 744 | String label = goal.getParameterLabelByIndex(pIndex); |
|
| 745 | ||
| 746 | // update relation |
|
| 747 | eqRel.setTarget(goal); |
|
| 748 | eqRel.setTargetParameterLabel(label); |
|
| 749 | } |
|
| 750 | break; |
|
| 751 | ||
| 752 | case NOT_EQUAL_PARAMETER : |
|
| 753 | { |
|
| 754 | // get equal relation |
|
| 755 | NotEqualParameterRelation neqRel = (NotEqualParameterRelation) rel; |
|
| 756 | // get relation reference parameter label |
|
| 757 | String tarParamLabel = neqRel.getTargetParameterLabel(); |
|
| 758 | // get label index |
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| 759 | int pIndex = neqRel.getTarget().getParameterIndexByLabel(tarParamLabel); |
|
| 760 | // get goal decision parameter label |
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| 761 | String label = goal.getParameterLabelByIndex(pIndex); |
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| 762 | ||
| 763 | // update relation |
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| 764 | neqRel.setTarget(goal); |
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| 765 | neqRel.setTargetParameterLabel(label); |
|
| 766 | } |
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| 767 | break; |
|
| 768 | ||
| 769 | default: |
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| 770 | // unknown parameter relation |
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| 771 | throw new RuntimeException("Unknown Parameter relation type : " + rel.getType() + "\n"); |
|
| 772 | ||
| 773 | } |
|
| 774 | } |
|
| 775 | } |
|
| 776 | } |
|
| 777 | ||
| 778 | // get feasibility flag |
|
| 779 | return feasible; |
|
| 780 | } |
|
| 781 | ||
| 782 | /** |
|
| @@ 532-782 (lines=251) @@ | ||
| 529 | * @param decision |
|
| 530 | * @return |
|
| 531 | */ |
|
| 532 | 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 | /** |
|
