pstlab / PLATINUm

import java.io.BufferedWriter;

import java.io.File;

import java.io.FileWriter;

import java.io.IOException;

import java.util.HashMap;

import java.util.HashSet;

import java.util.Iterator;

import java.util.LinkedList;

import java.util.List;

import java.util.Map;

import java.util.Set;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.ConstraintCategory;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.FrameworkObject;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.cfg.framework.TemporalFacadeConfiguration;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.inject.framework.TemporalFacadePlaceholder;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.Relation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.AfterRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.BeforeRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.ContainsRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.DuringRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.EndsDuringRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.EqualsRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.MeetsRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.MetByRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.relations.temporal.StartsDuringRelation;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.query.TemporalQueryType;

import it.cnr.istc.pst.platinum.ai.framework.parameter.lang.ParameterType;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.ParameterDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.ParameterTypeDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.PlanProtocolDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.TimelineProtocolDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.TokenProtocolDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.protocol.lang.relation.RelationProtocolDescriptor;

import it.cnr.istc.pst.platinum.ai.framework.time.TemporalFacade;

import it.cnr.istc.pst.platinum.ai.framework.time.TemporalInterval;

import it.cnr.istc.pst.platinum.ai.framework.time.ex.TemporalConsistencyException;

import it.cnr.istc.pst.platinum.ai.framework.time.ex.TemporalConstraintPropagationException;

import it.cnr.istc.pst.platinum.ai.framework.time.ex.TemporalIntervalCreationException;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.FixIntervalDurationConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.FixTimePointConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.TemporalConstraintType;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.AfterIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.BeforeIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.ContainsIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.DuringIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.EndsDuringIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.EqualsIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.MeetsIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.allen.StartsDuringIntervalConstraint;

import it.cnr.istc.pst.platinum.ai.framework.time.lang.query.IntervalScheduleQuery;

import it.cnr.istc.pst.platinum.ai.framework.time.solver.TemporalSolverType;

import it.cnr.istc.pst.platinum.ai.framework.time.tn.TemporalNetworkType;

/**

 * 

 * @author alessandro

 *

 */

@TemporalFacadeConfiguration(

		// temporal network

		network = TemporalNetworkType.STNU,

		// temporal solver

		solver = TemporalSolverType.APSP

)

public class ExecutivePlanDataBase extends FrameworkObject 

{

	private PlanProtocolDescriptor plan;				// the plan to execute								

	@TemporalFacadePlaceholder

	protected TemporalFacade facade;					// temporal data base

	// plan locks

	private final Object[] locks;

	// plan's nodes

	protected Map<ExecutionNodeStatus, List<ExecutionNode>> nodes;

	// execution dependency graphs

	protected Map<ExecutionNode, Map<ExecutionNode, ExecutionNodeStatus>> sdg;		// start dependency graph

	protected Map<ExecutionNode, Map<ExecutionNode, ExecutionNodeStatus>> edg;		// end dependency graph

	/**

	 * 

	 * @param origin

	 * @param horizon

	 */

	protected ExecutivePlanDataBase() {

		super();

		// set array of locks

		this.locks = new Object[ExecutionNodeStatus.values().length];

		// add locks 

		for (ExecutionNodeStatus s : ExecutionNodeStatus.values()) {

			// set lock

			this.locks[s.getIndex()] = new Object();

		}

		// set data structures

		for (ExecutionNodeStatus s : ExecutionNodeStatus.values()) {

			// set the index of execution nodes

			this.nodes.put(s, new LinkedList<ExecutionNode>());

		}

		// set the dependency graph

		this.sdg = new HashMap<>();

		this.edg = new HashMap<>();

	}

	/**

	 * 

	 * @return

	 */

	public long getOrigin() {

		return this.facade.getOrigin();

	}

	/**

	 * 

	 * @return

	 */

	public long getHorizon() {

		return this.facade.getHorizon();

	}

	/**

	 * 

	 * @return

	 */

	public String export() throws IOException {

		// prepare file 

		//System.out.println("Prepare file plans/exported/plan.txt... ");

		File output = new File("plans/exported/plan.txt");

		// export current plan (if any) to a known file

		if (this.plan != null) 

		{

			// get plan encoding

			String encoding = this.plan.export();

			// write to a file

			System.out.println("Writing file:\n");

			try (BufferedWriter writer = new BufferedWriter(new FileWriter(output))) {

				// get data

				//System.out.println(encoding +"\n");

				writer.write(encoding);

				//System.out.println("Done!");

				writer.close();

			}

		}

		// get absolute file 

		//System.out.println(output.getAbsolutePath());

		return output.getAbsolutePath();

	}

	/**

	 * 

	 * @return

	 */

	public String getName() {

		return this.plan.getName();

	}

	/**

	 * 

	 * @param plan

	 */

	public void setup(PlanProtocolDescriptor plan) {

		try {

			// clear executed nodes

			this.clearExecutedNodes();

			// get plan descriptor

			this.plan = plan;

			// map token descriptor to nodes

			Map<TokenProtocolDescriptor, ExecutionNode> dictionary = new HashMap<>();

			// check time-lines

				// setup node arrays

				ExecutionNode[] list = new ExecutionNode[tl.getTokens().size()];

				// list index

				int counter = 0;

				// create an execution node for each token

				for (TokenProtocolDescriptor token : tl.getTokens()) {

					// check predicate

						// get token's bound

						long[] start = token.getStartTimeBounds();

						long[] end = token.getEndTimeBounds();

						long[] duration = token.getDurationBounds();

						// set default controllability type

						ControllabilityType controllability = null;

						// check specific type

						if (tl.isExternal()) {

							// uncontrollable 

							controllability = ControllabilityType.UNCONTROLLABLE;

						} else if (token.getPredicate().startsWith("_")) {

							// partially controllable token

							controllability = ControllabilityType.PARTIALLY_CONTROLLABLE;

						} else {

							// controllable

							controllability = ControllabilityType.CONTROLLABLE; 

						}

						// set parameter information

						String signature = token.getPredicate();

						String[] paramValues = new String[token.getParameters().size()];

						ParameterType[] paramTypes = new ParameterType[token.getParameters().size()];

						for (int index = 0; index < token.getParameters().size(); index++) {

							// get parameter

							ParameterDescriptor param= token.getParameter(index);

							// check type

							if (param.getType().equals(ParameterTypeDescriptor.NUMERIC)) 

							{

								// set type

								paramTypes[index] = ParameterType.NUMERIC_PARAMETER_TYPE;

								// set value

								paramValues[index] = Long.toString(param.getBounds()[0]); 

							}

							else 

							{

								// enumeration

								paramTypes[index] = ParameterType.ENUMERATION_PARAMETER_TYPE;

								// set value

								paramValues[index] = param.getValues()[0];

							}

						}

						// create a node

						ExecutionNode node = this.createNode(tl.getComponent(), tl.getName(), 

								signature, paramTypes, paramValues, 

								start, end, duration, controllability, token.getStartExecutionState());

						// add node

						this.addNode(node);

						// add entry to the dictionary

						dictionary.put(token, node);

						// add node to list

						list[counter] = node;

						counter++;

					}

				}

				// link subsequent nodes

				if (list.length > 1)  {

					for (int pos = 0; pos < list.length; pos++) {

						// check first node

						if (pos == 0) {

							// first node of the timeline

							ExecutionNode first = list[pos];

							// set next node

							first.setNext(list[pos+1]);

						} else if (pos == list.length - 1) {

							// last node of the timeline

							ExecutionNode last = list[pos];

							// set previous node

							last.setPrev(list[pos-1]);

						} else {

							// intermediate node

							ExecutionNode i = list[pos];

							// set previous

							i.setPrev(list[pos-1]);

							// set next

							i.setNext(list[pos+1]);

						}

					}

				}

			}

			// check observations

				// setup node arrays

				ExecutionNode[] list = new ExecutionNode[tl.getTokens().size()];

				// list index

				int counter = 0;

				// create an execution node for each token

				for (TokenProtocolDescriptor token : tl.getTokens()) {

					// check predicate

						// get token's bound

						long[] start = token.getStartTimeBounds();

						long[] end = token.getEndTimeBounds();

						long[] duration = token.getDurationBounds();

						// check controllability type

						// set default controllability type

						ControllabilityType controllability = null;

						// check specific type

						if (tl.isExternal()) {

							// uncontrollable 

							controllability = ControllabilityType.UNCONTROLLABLE;

						} else if (token.getPredicate().startsWith("_")) {

							// partially controllable token

							controllability = ControllabilityType.PARTIALLY_CONTROLLABLE;

						} else {

							// controllable token

							controllability = ControllabilityType.CONTROLLABLE;

						}

						// set parameter information

						String signature = token.getPredicate();

						String[] paramValues = new String[token.getParameters().size()];

						ParameterType[] paramTypes = new ParameterType[token.getParameters().size()];

						for (int index = 0; index < token.getParameters().size(); index++) {

							// get parameter

							ParameterDescriptor param= token.getParameter(index);

							// check type

							if (param.getType().equals(ParameterTypeDescriptor.NUMERIC)) {

								// set t							ype

								paramTypes[index] = ParameterType.NUMERIC_PARAMETER_TYPE;

								// set value

								paramValues[index] = Long.toString(param.getBounds()[0]);

							} else {

								// enumeration

								paramTypes[index] = ParameterType.ENUMERATION_PARAMETER_TYPE;

								// set value

								paramValues[index] = param.getValues()[0];

							}

						}

						// create a node

						ExecutionNode node = this.createNode(tl.getComponent(), tl.getName(), 

								signature, paramTypes, paramValues, 

								start, end, duration, controllability, token.getStartExecutionState());

						// add node

						this.addNode(node);

						// add entry to the dictionary

						dictionary.put(token, node);

						// add node to list

						list[counter] = node;

						counter++;

					}

				}

				// link subsequent nodes

				for (int pos = 0; pos < list.length; pos++) {

					// check first node

					if (pos == 0) {

						// first node of the timeline

						ExecutionNode first = list[pos];

						// set next node

						first.setNext(list[pos+1]);

					} else if (pos == list.length - 1) {

						// last node of the timeline

						ExecutionNode last = list[pos];

						// set previous ndoe

						last.setPrev(list[pos-1]);

					} else {

						// intermediate node

						ExecutionNode i = list[pos];

						// set prev

						i.setPrev(list[pos-1]);

						// set next

						i.setNext(list[pos+1]);

					}

				}

			}

			// check relations

			for (RelationProtocolDescriptor rel : plan.getRelations()) {

				try {

					// get related nodes

					ExecutionNode reference = dictionary.get(rel.getFrom());

					ExecutionNode target = dictionary.get(rel.getTo());

					// add temporal constraints and related execution dependencies

					this.createConstraintsAndDependencies(reference, target, rel);

				} catch (Exception ex) {

					// exception

					throw new TemporalConsistencyException("Error while propagating plan's relation " + rel + "\n" + ex.getMessage());

				}

			}

			// check consistency

			this.facade.verifyTemporalConsistency();

			// check the schedule for all temporal intervals

			for (ExecutionNode node : dictionary.values()) {

				// check node schedule

				IntervalScheduleQuery query = this.facade.createTemporalQuery(TemporalQueryType.INTERVAL_SCHEDULE);

				query.setInterval(node.getInterval());

				this.facade.process(query);

			}

			// prepare log message

			String msg = "";

			// print execution dependency graph (for debug only)

				// get nodes by status

				for (ExecutionNode node : this.nodes.get(status)) {

					// print node and the related execution conditions

					Map<ExecutionNode, ExecutionNodeStatus> dependencies = this.getNodeStartDependencies(node);

					}

					// get end conditions

					dependencies = this.getNodeEndDependencies(node);

					}

				}

			}

			// print log message

			debug(msg);

		} catch (TemporalIntervalCreationException ex) {

		} catch (TemporalConsistencyException ex) {

		}

	}

	/**

	 * 

	 * @param reference

	 * @param target

	 * @param rel

	 * @throws Exception

	 */

	protected void createConstraintsAndDependencies(ExecutionNode reference, ExecutionNode target, Relation rel) 

			throws Exception {

		// check temporal category

		if (rel.getCategory().equals(ConstraintCategory.TEMPORAL_CONSTRAINT)) {

			// check relation

			switch (rel.getType()) {

				// meets temporal relation

				case MEETS : {

					// get meets relation

					MeetsRelation meets = (MeetsRelation) rel;

					// prepare meets constraint

					this.prepareMeetsTemporalConstraint(reference, target, meets.getBounds());

				}

				break;

				// before temporal relation

				case BEFORE : {

					// get before relation

					BeforeRelation before = (BeforeRelation) rel;

					// prepare before constraint

					this.prepareBeforeTemporalConstraint(reference, target, before.getBounds());

				}

				break;

				case MET_BY : {

					// get met-by relation

					MetByRelation metby = (MetByRelation) rel;

					this.prepareAfterTemporalConstraint(reference, target, metby.getBounds());

				}

				break;

				case AFTER : {

					// get after relation

					AfterRelation after = (AfterRelation) rel;

					// prepare after constraint

					this.prepareAfterTemporalConstraint(reference, target, after.getBounds());

				}

				break;

				case CONTAINS : {

					// get contains relation

					ContainsRelation contains = (ContainsRelation) rel;

					// prepare contains constraint

					this.prepareContainsTemporalConstraint(reference, target, contains.getBounds());

				}

				break;

				case DURING : {

					// get during relation

					DuringRelation during = (DuringRelation) rel;

					// prepare during constraint

					this.prepareDuringTemporalConstraint(reference, target, during.getBounds());

				}

				break;

				case EQUALS : {

					// get equals relation

					EqualsRelation equals = (EqualsRelation) rel;

					// prepare equals constraint

					this.prepareEqualsTemporalConstraint(reference, target, equals.getBounds());

				}

				break;

				case STARTS_DURING : {

					// get starts-during relation

					StartsDuringRelation sduring = (StartsDuringRelation) rel;

					// prepare starts-during constraint

					this.prepareStartsDuringTemporalConstraint(reference, target, sduring.getBounds());

				}

				break;

				case ENDS_DURING : {

					// get ends-during relation

					EndsDuringRelation eduring = (EndsDuringRelation) rel;

					// prepare ends-during constraint

					this.prepareEndsDuringTemporalConstraint(reference, target, eduring.getBounds());

				}

				break;

				default : {

				}

			}

		}

	}

	/**

	 * 

	 * @param reference

	 * @param target

	 * @param rel

	 */

	protected void createConstraintsAndDependencies(ExecutionNode reference, ExecutionNode target, RelationProtocolDescriptor rel) 

			throws Exception {

		// check relation type

		switch (rel.getType()) {

			// meets temporal relation

			case "meets" : {

				// prepare meets constraint

				this.prepareMeetsTemporalConstraint(reference, target, new long[][] {

					{0, 0}

				});

			}

			break;

			case "before" : {

				// prepare before constraint

				this.prepareBeforeTemporalConstraint(reference, target, new long[][] {

					rel.getFirstBound()

				});

			}

			break;

			case "met-by" : {

				// prepare after constraint

				this.prepareMeetsTemporalConstraint(target, reference, new long[][] {

					{0, 0}

				});

			}

			break;

			case "after" : {

				// prepare after constraint

				this.prepareAfterTemporalConstraint(reference, target, new long[][] {

					rel.getFirstBound()

				});

			}

			break;

			case "during" : {

				// prepare during constraint

				this.prepareDuringTemporalConstraint(reference, target, new long[][] {

					rel.getFirstBound(),

					rel.getSecondBound()

				});

			}

			break;

			case "contains" : {

				// prepare contains constraint

				this.prepareContainsTemporalConstraint(reference, target, new long[][] {

					rel.getFirstBound(),

					rel.getSecondBound()

				});

			}

			break;

			case "equals" : {

				// prepare equals constraint

				this.prepareEqualsTemporalConstraint(reference, target, new long[][] {

					{0, 0},

					{0, 0}

				});

			}

			break;

			case "starts_during" : {

				// prepare starts-during constraint

				this.prepareStartsDuringTemporalConstraint(reference, target, new long[][] {

					rel.getFirstBound(),

					rel.getSecondBound()

				});

			}

			break;

			case "ends_during" : {

				// prepare ends-during constraint

				this.prepareEndsDuringTemporalConstraint(reference, target, new long[][] {

					rel.getFirstBound(),

					rel.getSecondBound()

				});

			}

			break;

			default : {

				// unknown temporal relation

			}

		}

	}

	/**

	 * 

	 * @return

	 */

	public List<ExecutionNode> getNodesByStatus(ExecutionNodeStatus status) {

		// list of nodes

		List<ExecutionNode> list = new LinkedList<>();

		synchronized (this.locks[status.getIndex()]) {

			// get all nodes with the desired status

			list.addAll(this.nodes.get(status));

		}

		// get the list of node with the desired status 

		return list;

	}

	/**

	 * 

	 * @param node

	 * @param status

	 */

	public synchronized void updateNodeStatus(ExecutionNode node, ExecutionNodeStatus status) {

		// remove node from the current status

		synchronized (this.locks[node.getStatus().getIndex()]) {

			// remove node from list

			this.nodes.get(node.getStatus()).remove(node);

		}

		// add node to the new status

		synchronized (this.locks[status.getIndex()]) {

			// add node

			this.nodes.get(status).add(node);

			// update status

			node.setStatus(status);

		}

	}

	/**

	 * 

	 * @param node

	 * @return

	 */

	public Map<ExecutionNode, ExecutionNodeStatus> getNodeStartDependencies(ExecutionNode node) {

		return new HashMap<>(this.sdg.get(node));

	}

	/**

	 * 

	 * @param node

	 * @return

	 */

	public Map<ExecutionNode, ExecutionNodeStatus> getNodeEndDependencies(ExecutionNode node) {

		return new HashMap<>(this.edg.get(node));

	}

	/**

	 * 

	 * @param node

	 */

	public void checkSchedule(ExecutionNode node) {

		// check resulting schedule of the interval

		IntervalScheduleQuery query = this.facade.

				 createTemporalQuery(TemporalQueryType.INTERVAL_SCHEDULE);

		query.setInterval(node.getInterval());

		this.facade.process(query);

	}

	/**

	 * 

	 * @param node

	 */

	public void addNode(ExecutionNode node) {

		// check expected initial execution state

		ExecutionNodeStatus initial = node.getStartExecutionState();

		node.setStatus(initial);

		this.nodes.get(initial).add(node);

		// setup dependency graph data structures

		this.sdg.put(node, new HashMap<ExecutionNode, ExecutionNodeStatus>());

		this.edg.put(node, new HashMap<ExecutionNode, ExecutionNodeStatus>());

	}

	/**

	 * 

	 */

		}

	}

	/**

	 * 

	 * @param component

	 * @param timeline

	 * @param signature

	 * @param pTypes

	 * @param pValues

	 * @param start

	 * @param end

	 * @param duration

	 * @param controllability

	 * @param state

	 * @return

	 * @throws TemporalIntervalCreationException

	 */

			String signature, ParameterType[] pTypes, String[] pValues, 

			long[] start, long[] end, long[] duration, 

			ControllabilityType controllability,

			ExecutionNodeStatus state) 

			throws TemporalIntervalCreationException  {

		// create temporal interval - consider all intervals as controllable during execution

		TemporalInterval interval = this.facade.createTemporalInterval(start, end, duration, true);

		// create predicate

		NodePredicate predicate = new NodePredicate(component, timeline, signature, pTypes, pValues); 

		// create execution node

		return new ExecutionNode(predicate, interval, controllability, state);

	}

	/**

	 * 

	 * @param node

	 * @param dependency

	 * @param condition

	 */

	protected void addStartExecutionDependency(ExecutionNode node, ExecutionNode dependency, ExecutionNodeStatus condition) {

		// add node's start dependency and related condition

		this.sdg.get(node).put(dependency, condition);

	}

	/**

	 * 

	 * @param node

	 * @param dependency

	 * @param condition

	 */

	protected void addEndExecutionDependency(ExecutionNode node, ExecutionNode dependency, ExecutionNodeStatus condition) {

		// add node's end dependency and related condition

		this.edg.get(node).put(dependency, condition);

	}

	/**

	 * 

	 * @param node

	 * @return

	 */

	public boolean checkEndExecutionDependencies(ExecutionNode node) {

		// flag 

		boolean canEnd = true;

		Map<ExecutionNode, ExecutionNodeStatus> dependencies = this.getNodeEndDependencies(node);

		if (!dependencies.isEmpty()) {

			// check if conditions are satisfied

			Iterator<ExecutionNode> it = dependencies.keySet().iterator();

			while (it.hasNext() && canEnd) {

				// get next dependency

				ExecutionNode d = it.next();

				canEnd = d.getStatus().equals(dependencies.get(d));

			}

		}

		// true if the node can end execution

		return canEnd;

	}

	/**

	 * 

	 * @param node

	 * @return

	 */

	public boolean checkStartExecutionDependencies(ExecutionNode node) {

		// flag

		boolean canStart = true;

		// get node's start dependencies

		Map<ExecutionNode, ExecutionNodeStatus> dependencies = this.getNodeStartDependencies(node);

		if (!dependencies.isEmpty()) {

			// check if conditions are satisfied

			Iterator<ExecutionNode> it = dependencies.keySet().iterator();

			while (it.hasNext() && canStart) {

				// get a dependency parent

				ExecutionNode d = it.next();

				// check condition

				canStart = d.getStatus().equals(dependencies.get(d));

			}

		}

		// true if ready

		return canStart;

	}

	/**

	 * 

	 * @param node

	 * @param duration

	 * @throws TemporalConstraintPropagationException

	 */

	public final void scheduleDuration(ExecutionNode node, long duration) 

			throws TemporalConstraintPropagationException {

		// fix start time first

		FixIntervalDurationConstraint fix = this.facade.

				createTemporalConstraint(TemporalConstraintType.FIX_INTERVAL_DURATION);

		fix.setReference(node.getInterval());

		fix.setDuration(duration);

		// propagate constraint

		this.facade.propagate(fix);

		try {

			// check the consistency of the resulting network

			this.facade.verifyTemporalConsistency();

		} catch (TemporalConsistencyException ex) {

			// retract propagated constraint and throw exception

			this.facade.retract(fix);

			throw new TemporalConstraintPropagationException("Error while propagating duration constraint for node\n- duration= " + duration +"\n- node= " + node + "\n");

		}

	}

	/**

	 * 

	 * @param node

	 * @param time

	 * @throws TemporalConstraintPropagationException

	 */

			throws TemporalConstraintPropagationException {

		// create constraint

		FixTimePointConstraint fix = this.facade.

				createTemporalConstraint(TemporalConstraintType.FIX_TIME_POINT);

		// set time point

		fix.setReference(node.getInterval().getStartTime());

		fix.setTime(time);

		// propagate constraint

		this.facade.propagate(fix);

		try {

			// check consistency of the resulting network

			this.facade.verifyTemporalConsistency();

		} catch (TemporalConsistencyException ex) {

			// retract propagated constraint and throw exception

			this.facade.retract(fix);

			throw new TemporalConstraintPropagationException("Error while propagating start constraint for node\n- "

					+ "time= " + time+ "\n- node= " + node + "\n");

		}

	}

	/**

	 * 

	 * @param node

	 * @param end

	 * @throws TemporalConstraintPropagationException

	 */

			throws TemporalConstraintPropagationException {

		// create constraint

		FixTimePointConstraint fix = this.facade.

				createTemporalConstraint(TemporalConstraintType.FIX_TIME_POINT);

		// set time point

		fix.setReference(node.getInterval().getEndTime());

		// set time

		fix.setTime(time);

		// propagate constraint

		this.facade.propagate(fix);

		try {

			// check consistency of the resulting network

			this.facade.verifyTemporalConsistency();

		} catch (TemporalConsistencyException ex) {

			// retract propagated constraint and throw exception

			this.facade.retract(fix);

			throw new TemporalConstraintPropagationException("Error while propagating end constraint for node\n"

					+ "- time= " + time+ "\n- node= " + node + "\n");

		}

	}

	/**

	 * 

	 * @param reference

	 * @param target

	 * @param bounds

	 * @throws Exception

	 */

	protected void prepareBeforeTemporalConstraint(ExecutionNode reference, ExecutionNode target, long[][] bounds)