pstlab / PLATINUm

import java.util.ArrayList;

import java.util.Collections;

import java.util.List;

import it.cnr.istc.pst.platinum.ai.deliberative.heuristic.FlawSelectionHeuristic;

import it.cnr.istc.pst.platinum.ai.deliberative.strategy.SearchStrategy;

import it.cnr.istc.pst.platinum.ai.framework.domain.component.PlanDataBase;

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

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

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

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

import it.cnr.istc.pst.platinum.ai.framework.microkernel.annotation.lifecycle.PostConstruct;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.NoSolutionFoundException;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.OperatorPropagationException;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.ex.PlanRefinementException;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.flaw.Flaw;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.flaw.FlawSolution;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.lang.plan.Plan;

import it.cnr.istc.pst.platinum.ai.framework.microkernel.resolver.ex.UnsolvableFlawException;

/**

 * 

 * @author anacleto

 *

 */

public abstract class Solver extends FrameworkObject 

{

	@PlanDataBasePlaceholder

	protected PlanDataBase pdb;

	@SearchStrategyPlaceholder

	protected SearchStrategy fringe;

	@FlawSelectionHeuristicPlaceholder

	protected FlawSelectionHeuristic heuristic;

	protected long timeout;

	protected long time;

	protected long stepCounter;

	protected String label;

	/**

	 * 

	 * @param label

	 * @param timeout

	 */

	protected Solver(String label, long timeout) {

		super();

		this.label = label;

		this.timeout = timeout;

	}

	/**

	 * 

	 */

	@PostConstruct

	protected void init() {

		// create the root node

		SearchSpaceNode root = new SearchSpaceNode();

		// set initial partial plan

		root.setPartialPlan(this.pdb.getPlan());

		// check flaws

		for (Flaw f : this.pdb.checkFlaws()) {

			root.addCheckedFlaw(f);

		}

		// enqueue the root node

		this.fringe.enqueue(root);

	}

	/**

	 * 

	 * @return

	 * @throws NoSolutionFoundException

	 */

	public abstract SearchSpaceNode solve() 

			throws NoSolutionFoundException;

	/**

	 * 

	 */

	public abstract void clear();

	/**

	 * 

	 * @return

	 */

	protected SearchSpaceNode createSearchSpaceNode() {

		return new SearchSpaceNode();

	}

	/**

	 * 

	 * @return

	 */

	public String getLabel() {

		return label;

	}

	/**

	 * 

	 * @param node

	 */

	protected void backtrack(SearchSpaceNode node) 

	{

		// list of operators that have been applied to generate the node

		List<Operator> operators = node.getOperators();

		// retract operators starting from the more recent ones

		Collections.reverse(operators);

		// retract all operators

		for (Operator operator : operators) {

			// retract operator

			this.pdb.retract(operator);

		}

	}

	/**

	 * 

	 * @param node

	 * @throws OperatorPropagationException

	 */

	protected void propagate(SearchSpaceNode node) 

			throws PlanRefinementException 

	{

		// get the list of applied operators

		List<Operator> operators = node.getOperators();

		// list of committed operators

		List<Operator> committed = new ArrayList<>();

		try 

		{

			// propagate operators in chronological order

			for (Operator operator : operators) {

				// propagate operator

				this.pdb.propagate(operator);

				// add committed operator

				committed.add(operator);

			}

		}

		catch (OperatorPropagationException ex) {

			// retract committed operators in reverse order

			Collections.reverse(committed);

			for (Operator operator : committed) {

				this.pdb.retract(operator);

			}

			// throw exception

			throw new PlanRefinementException("Error while propagating node:\n" + node + "\n- message: " + ex.getMessage() + "\n");

		}

	}

	/**

	 * 

	 * @param last

	 * @param extracted

	 * @throws PlanRefinementException

	 */

	protected void contextSwitch(SearchSpaceNode last, SearchSpaceNode extracted) 

			throws PlanRefinementException 

	{

		// compare the two nodes

		if (last != null) 

		{

			// prepare a list of operators to retract 

			List<Operator> toRetract = new ArrayList<>();

			// prepare a list of operators to propagate

			List<Operator> toPropagate = new ArrayList<>();

			// get the list of operators of the nodes

			List<Operator> lastNodeOperators = last.getOperators();

			List<Operator> extractedNodeOperators = extracted.getOperators();

			// check min length between the two lists

			int minLength = Math.min(lastNodeOperators.size(), extractedNodeOperators.size());

			// check potentially common operators

			boolean common = true;

			for (int i = 0; i < minLength; i++) {

				// check common flag

				if (common && !lastNodeOperators.get(i).equals(extractedNodeOperators.get(i))) {

					common = false;

				}

				// check if no common operators have been found

				if (!common) {

					// add operator to the different lists

					toRetract.add(lastNodeOperators.get(i));

					toPropagate.add(extractedNodeOperators.get(i));

				}

			}

			// check other operators to retract

			for (int i = minLength; i < lastNodeOperators.size(); i++) {

				toRetract.add(lastNodeOperators.get(i));

			}

			// check other operators to propagate

			for (int i = minLength; i < extractedNodeOperators.size(); i++) {

				toPropagate.add(extractedNodeOperators.get(i));

			}

			// retract operators in reverse order

			Collections.reverse(toRetract);

			// retract all operators

			for (Operator operator : toRetract) {

				// retract operator

				this.pdb.retract(operator);

			}

			// list of committed operators

			List<Operator> committed = new ArrayList<>();

			try 

			{

				// propagate operators in chronological order

				for (Operator operator : toPropagate) {

					// propagate operator

					this.pdb.propagate(operator);

					// add committed operator

					committed.add(operator);

				}

			}

			catch (OperatorPropagationException  ex) {

				// retract committed operators in reverse order

				Collections.reverse(committed);

				for (Operator operator : committed) {

					// retract operator

					this.pdb.retract(operator);

				}

				// also restore retracted operators

				Collections.reverse(toRetract);

				for (Operator operator : toRetract) {

					try {

						// restore operator

						this.pdb.propagate(operator);

					}

					catch (OperatorPropagationException exx) {

						warning("[ContextSwitch] Error while restoring operators after failure:\n"

								+ "- message: " + ex.getMessage() + "\n");

					}

				}

				// throw exception

				throw new PlanRefinementException("Error while propagating node:\n" + extracted + "\n- message: " + ex.getMessage() + "\n");

			}

		}

		else {

			// simply propagate extracted node

			this.propagate(extracted);

		}

	}

	/**

	 * 

	 * Expand the search space by adding a new node for each solution of the flaw selected for 

	 * plan refinement

	 * 

	 * @param current

	 * @param flaw

	 * @return

	 * @throws UnsolvableFlawException

	 */

}