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package it.cnr.istc.pst.platinum.ai.deliberative.solver; |
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import java.util.ArrayList; |
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import java.util.Collections; |
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import java.util.List; |
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import it.cnr.istc.pst.platinum.ai.deliberative.heuristic.FlawSelectionHeuristic; |
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import it.cnr.istc.pst.platinum.ai.deliberative.strategy.SearchStrategy; |
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import it.cnr.istc.pst.platinum.ai.framework.domain.component.PlanDataBase; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.FrameworkObject; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.inject.deliberative.FlawSelectionHeuristicPlaceholder; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.inject.deliberative.SearchStrategyPlaceholder; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.inject.framework.PlanDataBasePlaceholder; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.lifecycle.PostConstruct; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.NoSolutionFoundException; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.OperatorPropagationException; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.PlanRefinementException; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.flaw.Flaw; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.flaw.FlawSolution; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.plan.Plan; |
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import it.cnr.istc.pst.platinum.ai.framework.microkernel.resolver.ex.UnsolvableFlawException; |
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/** |
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* |
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* @author anacleto |
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* |
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*/ |
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public abstract class Solver extends FrameworkObject { |
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@PlanDataBasePlaceholder |
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protected PlanDataBase pdb; |
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@SearchStrategyPlaceholder |
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protected SearchStrategy fringe; |
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@FlawSelectionHeuristicPlaceholder |
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protected FlawSelectionHeuristic heuristic; |
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protected long timeout; |
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protected long time; |
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protected long stepCounter; |
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protected String label; |
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/** |
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* |
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* @param label |
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* @param timeout |
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*/ |
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protected Solver(String label, long timeout) { |
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super(); |
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this.label = label; |
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this.timeout = timeout; |
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} |
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/** |
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* |
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*/ |
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@PostConstruct |
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protected void init() { |
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// create the root node |
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SearchSpaceNode root = new SearchSpaceNode(); |
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// set initial partial plan |
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root.setPartialPlan(this.pdb.getPlan()); |
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// check flaws |
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for (Flaw f : this.pdb.checkFlaws()) { |
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root.addCheckedFlaw(f); |
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} |
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// enqueue the root node |
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this.fringe.enqueue(root); |
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} |
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/** |
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* |
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* @return |
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* @throws NoSolutionFoundException |
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*/ |
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public abstract SearchSpaceNode solve() |
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throws NoSolutionFoundException; |
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/** |
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* |
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*/ |
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public abstract void clear(); |
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/** |
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* |
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* @return |
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*/ |
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protected SearchSpaceNode createSearchSpaceNode() { |
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return new SearchSpaceNode(); |
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} |
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/** |
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* |
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* @return |
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*/ |
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public String getLabel() { |
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return label; |
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} |
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/** |
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* |
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* @param node |
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*/ |
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protected void backtrack(SearchSpaceNode node) |
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{ |
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// list of operators that have been applied to generate the node |
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List<Operator> operators = node.getOperators(); |
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// retract operators starting from the more recent ones |
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Collections.reverse(operators); |
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// retract all operators |
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for (Operator operator : operators) { |
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// retract operator |
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this.pdb.retract(operator); |
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} |
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} |
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/** |
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* |
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* @param node |
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* @throws OperatorPropagationException |
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*/ |
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protected void propagate(SearchSpaceNode node) |
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throws PlanRefinementException { |
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// get the list of applied operators |
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List<Operator> operators = node.getOperators(); |
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// list of committed operators |
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List<Operator> committed = new ArrayList<>(); |
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try { |
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// propagate operators in chronological order |
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for (Operator operator : operators) { |
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// propagate operator |
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this.pdb.propagate(operator); |
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// add committed operator |
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committed.add(operator); |
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} |
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} catch (OperatorPropagationException ex) { |
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// retract committed operators in reverse order |
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Collections.reverse(committed); |
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for (Operator operator : committed) { |
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this.pdb.retract(operator); |
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} |
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// throw exception |
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throw new PlanRefinementException("Error while propagating node:\n" + node + "\n- message: " + ex.getMessage() + "\n"); |
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} |
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} |
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/** |
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* |
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* @param last |
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* @param extracted |
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* @throws PlanRefinementException |
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*/ |
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protected void contextSwitch(SearchSpaceNode last, SearchSpaceNode extracted) |
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throws PlanRefinementException { |
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// compare the two nodes |
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if (last != null) { |
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// prepare a list of operators to retract |
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List<Operator> toRetract = new ArrayList<>(); |
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// prepare a list of operators to propagate |
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List<Operator> toPropagate = new ArrayList<>(); |
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// get the list of operators of the nodes |
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List<Operator> lastNodeOperators = last.getOperators(); |
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List<Operator> extractedNodeOperators = extracted.getOperators(); |
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// check min length between the two lists |
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int minLength = Math.min(lastNodeOperators.size(), extractedNodeOperators.size()); |
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// check potentially common operators |
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boolean common = true; |
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for (int i = 0; i < minLength; i++) { |
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// check common flag |
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if (common && !lastNodeOperators.get(i).equals(extractedNodeOperators.get(i))) { |
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common = false; |
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} |
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// check if no common operators have been found |
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if (!common) { |
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// add operator to the different lists |
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toRetract.add(lastNodeOperators.get(i)); |
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toPropagate.add(extractedNodeOperators.get(i)); |
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} |
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} |
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// check other operators to retract |
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for (int i = minLength; i < lastNodeOperators.size(); i++) { |
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toRetract.add(lastNodeOperators.get(i)); |
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} |
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// check other operators to propagate |
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for (int i = minLength; i < extractedNodeOperators.size(); i++) { |
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toPropagate.add(extractedNodeOperators.get(i)); |
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} |
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// retract operators in reverse order |
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Collections.reverse(toRetract); |
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// retract all operators |
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for (Operator operator : toRetract) { |
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// retract operator |
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this.pdb.retract(operator); |
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} |
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// list of committed operators |
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List<Operator> committed = new ArrayList<>(); |
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try { |
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// propagate operators in chronological order |
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for (Operator operator : toPropagate) { |
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// propagate operator |
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this.pdb.propagate(operator); |
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// add committed operator |
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committed.add(operator); |
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} |
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} catch (OperatorPropagationException ex) { |
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// retract committed operators in reverse order |
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Collections.reverse(committed); |
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for (Operator operator : committed) { |
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// retract operator |
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this.pdb.retract(operator); |
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} |
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// also restore retracted operators |
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Collections.reverse(toRetract); |
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for (Operator operator : toRetract) { |
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try { |
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// restore operator |
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this.pdb.propagate(operator); |
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} catch (OperatorPropagationException exx) { |
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warning("[ContextSwitch] Error while restoring operators after failure:\n" |
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+ "- message: " + ex.getMessage() + "\n"); |
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} |
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} |
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// throw exception |
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throw new PlanRefinementException("Error while propagating node:\n" + extracted + "\n- message: " + ex.getMessage() + "\n"); |
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} |
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} else { |
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// simply propagate extracted node |
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this.propagate(extracted); |
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} |
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} |
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/** |
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* |
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* Expand the search space by adding a new node for each solution of the flaw selected for |
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* plan refinement |
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* |
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* @param current |
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* @param flaw |
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* @return |
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* @throws UnsolvableFlawException |
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*/ |
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protected List<SearchSpaceNode> expand(SearchSpaceNode current, Flaw flaw) |
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throws UnsolvableFlawException { |
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// list of child nodes |
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List<SearchSpaceNode> list = new ArrayList<>(); |
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// check if no expansion has done |
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if (flaw.getSolutions().isEmpty()) { |
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// this is for debug mainly, as this condition should never occur. Computed flaw solutions should be valid |
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throw new UnsolvableFlawException("Search space expansion failure as no valid operator can be applied:\n" |
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+ "- current node: " + current + "\n" |
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+ "- flaw: " + flaw + "\n"); |
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} |
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// check flaw solutions |
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for (FlawSolution solution : flaw.getSolutions()) { |
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// create operator |
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Operator op = new Operator(solution); |
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try { |
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// propagate operator |
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this.pdb.propagate(op); |
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// get plan with updated temporal bounds and variable binding |
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Plan plan = this.pdb.getPlan(); |
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// create a child search space node |
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SearchSpaceNode child = new SearchSpaceNode(current, op); |
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// set partial plan |
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child.setPartialPlan(plan); |
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// look ahead of flaws representing the agenda of the node |
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for (Flaw f : this.pdb.checkFlaws()) { |
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// add checked flaw |
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child.addCheckedFlaw(f); |
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} |
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// add child |
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list.add(child); |
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// retract operator |
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this.pdb.retract(op); |
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} catch (OperatorPropagationException ex) { |
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// flaw with unsolvable solution |
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throw new UnsolvableFlawException("Flaw with unsolvable solution found:\n- msg: " + ex.getMessage() + "\n"); |
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} |
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} |
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// get children |
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return list; |
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} |
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} |
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