htncode

% Provides a prolog database env % % % % Logicmoo Project PrologMUD: A MUD server written in Prolog % Maintainer: Douglas Miles % Denton, TX 2005, 2010, 2014 % Dec 13, 2035 % */

12:-module(htncode,[]). 13 14:-multifile(user:push_env_ctx/0). 15:-dynamic(user:push_env_ctx/0). 16 17/* ***********************************/ 18/* Douglas Miles 2005, 2010, 2014 */ 19/* Denton, TX */ 20/* ***********************************/ 21 22% [Required] Load the Logicmoo Library Utils 23:- ensure_loaded(library(logicmoo_common)). 24:- ensure_loaded(library(planner_api)). 25:- use_module(library(logicmoo_planner)). 26 27:- kb_shared(baseKB:mpred_prop/3). 28 29:- ensure_loaded(library(logicmoo/util_structs)). 30:- ensure_loaded(library(logicmoo/util_bb_env)). 31:- prolog_load_context(file,File),ain(user:env_source_file(File)). 32 33:-op(500,fx,env_call). 34/* htncode.pl */ 35 36/* Donghong Liu */ 37/* University of Huddersfield */ 38/* September 2002 */ 39/* **********************************/ 40/* gipohyhtn.pl */ 41/* HyHTN planning: do preprocess first */ 42/* make all method and operators primitive */ 43 44 45planner_failure(Why,Info):-dmsg(error,Why-Info),banner_party(error,'FAILURE_PLANNER'),print_message(error,'FAILURE_PLANNER'(Why,Info)),!. %sleep(2). 46 47:-thread_local t_l:doing/1. 48 49statistics_runtime(CP):-statistics(runtime,[_,CP0]), (CP0==0 -> CP= 0.0000000000001 ; CP is (CP0/1000)) . % runtime WAS process_cputime 50statistics_walltime(CP):-statistics(walltime,[_,CP0]), (CP0==0 -> CP= 0.0000000000001 ; CP is (CP0/1000)) . % runtime WAS process_cputime 51 52 53 54/* 55 * GIPO COPYRIGHT NOTICE, LICENSE AND DISCLAIMER. 56 * 57 * Copyright 2001 - 2003 by R.M.Simpson W.Zhao T.L.McCLuskey D Liu D. Kitchin 58 * 59 * Permission to use, copy, modify, and distribute this software and its 60 * documentation for any purpose and without fee is hereby granted, 61 * provided that the above copyright notice appear in all copies and that 62 * both the copyright notice and this permission notice and warranty 63 * disclaimer appear in supporting documentation, and that the names of 64 * the authors or their employers not be used in advertising or publicity 65 * pertaining to distribution of the software without specific, written 66 * prior permission. 67 * 68 * The authors and their employers disclaim all warranties with regard to 69 * this software, including all implied warranties of merchantability and 70 * fitness. In no event shall the authors or their employers be liable 71 * for any special, indirect or consequential damages or any damages 72 * whatsoever resulting from loss of use, data or profits, whether in an 73 * action of contract, negligence or other tortious action, arising out of 74 * or in connection with the use or performance of this software. 75 */ 76 /* gipohyhtn.pl */ 77/* HyHTN planning: do preprocess first */ 78/* make all method and operators primitive */ 79%:-use_module(library(system)). 80/*********************** initialisation**************/ 81:-dynamic my_stats/1. 82 83 84:-multifile(on_call_decl_hyhtn/0). 85:-export(on_call_decl_hyhtn/0). 86% Tasks 87on_call_decl_hyhtn :- decl_env_mpred_dom([kb(dom,tasks),stubType(dyn)], ( htn_task/3, planner_task/3, planner_task_slow/3 )). 88 89on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(temp_assertIndivConds/1)). % Used for grounding operators 90on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(is_of_primitive_sort/2, is_of_sort/2)). 91on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(methodC/7, opParent/6,operatorC/5,gOperator/3)). 92on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(objectsC/2,objectsD/2,atomic_invariantsC/1)).% Used only dynamic objects 93on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache)],(objectsOfSort/2)). % Used to store all objects of a sort 94on_call_decl_hyhtn :- decl_env_mpred_dom([stubType(dyn),kb(dom,cache) /*stubType(with_pred(bb_op(_)))*/],(related_op/2, gsubstate_classes/3, gsstates/3)). 95 96on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(initial_state/1)). 97on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache) /*stubType(with_pred(bb_op(_)))*/],(op_score/2)). 98on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)/*stubType(rec_db)*/],(node/5,final_node/1)). 99on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_goal/3,closed_node/6,solved_node/2, goal_related_search/1)). 100%on_call_decl_hyhtn :- decl_env_mpred_task([stubType(rec_db),kb(node,cache)],(goal_related/3)). 101on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(goal_related/3)). 102on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(current_num/2)). 103on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tn/6)). % Used to store full expanded steps 104on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_node/6)). 105% on_call_decl_hyhtn :- decl_env_mpred_task([stubType(dyn),kb(node,cache)],(tp_node_cached/6)). 106% on_call_decl_hyhtn :- decl_env_mpred_task([stubType(with_pred(gvar_list(tnodeSORTED))),kb(node,cache)],tp_node/6). 107 108% Tasks 109on_call_decl_hyhtn :- decl_env_mpred_dom([kb(dom,tasks),stubType(dyn)], ( htn_task/3, planner_task/3, planner_task_slow/3 )). 110 111% Contents of a OCLh Domain 112on_call_decl_hyhtn :- 113 decl_env_mpred_dom([kb(dom,file),stubType(dyn)],[domain_name/1,sorts/2,substate_classes/3,objects/2,predicates/1,inconsistent_constraint/1,atomic_invariants/1, 114 implied_invariant/2,operator/4, 115 % oper/4, 116 method/6]). 117 118:-export(call_decl_hyhtn/0). 119 120% :- rtrace. 121 122call_decl_hyhtn:-must(doall(on_call_decl_hyhtn)). 123 124% :- % 125 % call_decl_hyhtn. 126 127 128 129%%% ON :- initialization( profiler(_,walltime) ). 130%%% ON :- initialization(user:use_module(library(swi/pce_profile))). 131% :- qcompile_libraries. 132 133 134% :- rtrace. 135tryff(Call):- predicate_property(Call,_),!,once(tryf((Call,assert(passed_test_try(Call))))),fail. 136tryf(Call):- predicate_property(Call,_),!,catch(Call,E,dmsg(E = Call)). 137trye(Call):- catch(Call,E,((dmsg(error(E , Call)),throw(trace),Call))). 138 139:-dynamic(passed_test_try/1). 140:-dynamic(testing_already/0). 141 142check_passed_any:-not(not(passed_test_try(_))),nl,listing(passed_test_try/1). 143 144ttm:-retractall(passed_test_try(_)),fail. 145ttm:-testing_already,!. 146ttm:-asserta(testing_already), make, retractall(testing_already),fail. 147 148 149:-export(banner_party/2). 150banner_party(E,BANNER):- 151 ansicall(yellow,( 152 format("% xxxxxxxxxxxxxxx ~w xxxxxxxxxxxxxxxxxxx~n",[E]), 153 forall(t_l:doing(X),dmsg(E,doing(X))), 154 dmsg5(E,BANNER), 155 format("% xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx~n",[]))). 156 157 158subst_eq_h(A,B,C,D):- nd_subst(A,B,C,D),!. 159subst_eq_h(A,B,C,D):- throw(trace), nd_subst(A,B,C,D),!. 160 161 162:-export(term_expansion_alias/2). 163term_expansion_alias(In,Out):-term_expansion_alias([],In,Out). 164term_expansion_alias(Not,In,Out):-term_alias(I,O),not(member(I,Not)),subst_eq_h(In,I,O,M), In\=@=M,!, term_expansion_alias([I|Not],M,Out). 165term_expansion_alias(_Not,InOut,InOut). 166term_alias(cond,se). 167term_alias(se,se). 168term_alias(state,ss). 169term_alias(trans,sc). 170term_alias(ne,dif). 171term_alias(neq,dif). 172% term_alias(htn_task,planner_task). 173term_alias(startOcl,start). 174term_alias(startOCL,start). 175 176 177%get_tasks(B, C, D) :-%show_call(get_env_ctx(A)),!, 178% if_defined(get_tasks(_A, B, C, D)). 179 180 181tasks:- 182 Call = get_tasks(N,Goal,State), 183 setof(Call,Call,List),list_to_set(List,Set),!, 184 env_info(kb(dom,file)),!, 185 once((ignore(forall(member(Call,Set), 186 locally(t_l:doing(tasks(N,Goal)), 187 (( 188 must(nonvar(Goal)),must(nonvar(State)), 189 ignore(N=Goal), 190 must((term_expansion_alias((Goal:-State),(GGoal:-GState)))), 191 must(nonvar(GGoal)),must(nonvar(GState)), 192 banner_party(informational,('GOAL'(N):-GGoal)), 193 must(((once( once(startOCL(GGoal,GState))*->banner_party(informational,'SUCCESSS');banner_party(error,'FAILUR!!!!!!!!!!!!!!!!!!!!!!!!!!!E')))))))))))). 194 195t:- once(run_header_tests). 196 197tt:-catch(ttm,E,dmsg(E)),!. 198 199tt:-tryff((tasks)). 200tt:-tryff((task1)). 201tt:-tryff((task2)). 202tt:-tryff((task3)). 203tt:-tryff((task4)). 204tt:-tryff((task5)). 205tt:-tryff((task6)). 206tt:-tryff((task7)). 207tt:-tryff((task8)). 208tt:-tryff((task9)). 209tt:-tryff((task10)). 210tt:-tryff((task11)). 211tt:-tryff((task22)). 212tt:-tryff((task33)). 213tt:-tryff((task44)). 214tt:-check_passed_any,!. 215 216 217tdom:-tdom([htn1,ty,ocl1,r3]). 218tdom2:-tdom([ocl2,htn2,htn3,htn4]). 219 220tdomfile(F):-tdomcall(load_data_file(F)). 221tdomcall(Call):- trye(once((env_clear_doms_and_tasks,trye(Call),tt))). 222 223tdom([]):-!. 224tdom([H|T]):- !, tdom(H),tdom(T). 225tdom(H):- predicate_property(H,_),!, throw(trace),call(H). 226tdom(F):- tdom1(F),!. 227tdom(F):- expand_file_name(F,List),List\=[],!,tdom1(List). 228tdom(F):- throw(tdom(F)). 229 230tdom1([]):-!. 231tdom1([H|T]):- !, tdom(H),tdom(T). 232tdom1(F):- tdom2(F),!. 233tdom1(FIn):- atom(FIn),tdom2(FIn). 234 235tdom2(FIn):- tdom3(FIn),!. 236tdom2(FIn):- atom_concat('domains_ocl/',FIn,F), tdom3(F),!. 237 238tdom3(FIn):- tdom4(FIn). 239tdom3(FIn):- atom_concat(FIn,'htn',F),tdom4(F). 240tdom3(FIn):- atom_concat(FIn,'ocl',F),tdom4(F). 241 242tdom4(F):- exists_file(F),!,tdomfile(F). 243 244 245:- discontiguous(post_header_hook/0). 246post_header_hook:-retractall(canDoTermExp). 247% user:term_expansion(In,Out):- canDoTermExp,term_expansion_hyhtn(In,M),In\=@=M,expand_term(M,Out). 248% user:goal_expansion(In,Out):- canDoTermExp,term_expansion_hyhtn(In,M),In\=@=M,expand_goal(M,Out). 249post_header_hook:-asserta(canDoTermExp). 250 251:-export(env_clear_doms_and_tasks/0). 252env_clear_doms_and_tasks:- env_clear(kb(dom,file)),env_clear(kb(dom,tasks)),env_clear(kb(dom,cache)),!. 253 254:- op(100,xfy,( /*ocluser*/ocl:('=>'))). 255 256% :-set_prolog_flag(verbose_file_search,true). 257post_header_hook:-set_prolog_flag(verbose_load,full). 258post_header_hook:-use_module(library(lists)). 259 260% :- must((current_op(P,FXY,(-)),arg(_,v(fy,fx),FXY),P =< 300)). 261:- style_check(-singleton). 262:- style_check(+discontiguous). 263 264 265%post_header_hook:-use_module(library(system)). 266:-if(exists_source(library(gui_tracer))). 267post_header_hook:- user:use_module(library(gui_tracer)),catch(guitracer,_,true). 268:-endif. 269post_header:- !. 270post_header:- dmsg(post_header),fail, forall(clause(post_header_hook,G),G). 271 272 273:- discontiguous(header_tests/0). 274 275run_tests(Call) :- 276 statistics_runtime(InTime), 277 locally(doing(run_tests(Call)), 278 call_cleanup(Call, 279 (( 280 statistics_runtime(OutTime), 281 Time is OutTime - InTime, 282 banner_party(informational,runtests(Call) = time(Time)))))). 283 284run_header_tests :- run_tests(forall(clause(header_tests,G),run_tests(G))). 285 286 287:-export(test_ocl/1). 288test_ocl(File):- forall(filematch(File,FM),test_ocl0(FM)). 289test_ocl0(File):- time(locally(t_l:doing(test_ocl(File)), 290 once((env_clear_doms_and_tasks,clean_problem,l_file(File),tasks)))). 291 292header_tests :-test_ocl('domains_ocl/*.ocl'). 293 294 295:- style_check(-singleton). 296:- style_check(-discontiguous). 297%:-use_module(library(system)). 298 299%:- asserta(t_l:disable_px). 300 301 302:-use_module(library(system)). 303 304 305 306:- dynamic htn_task/3. 307:- multifile htn_task/3. 308:- dynamic planner_task/3. 309 310htn_task(Id,Goal,Init):-planner_task(Id,Goal,Init). 311 312% The following elements are expected in the sort engineered domain model 313% 314:-dynamic 315 316 domain_name/1, 317 sorts/2, 318 objects/2, 319 predicates/1, 320 atomic_invariants/1, 321 substate_classes/3, 322 method/6, 323 operator/4, 324 implied_invariant/2, 325 inconsistent_constraint/1. 326 327:-discontiguous 328 domain_name/1, 329 sorts/2, 330 objects/2, 331 predicates/1, 332 atomic_invariants/1, 333 substate_classes/3, 334 method/6, 335 operator/4, 336 implied_invariant/2, 337 inconsistent_constraint/1. 338 339 340% ss class expressions 341% invariants: 342% atomic invariants 343% -ve invariants 344% +ve invariants 345% operators 346 347 348% for boot.. 349:- dynamic kill_file/1,solution_file/1. 350% 351my_stats(0). 352solution_file(fred). 353 354 355%:-set_prolog_flag(unknown,fail). 356%:- unknown(error,fail). 357:- dynamic gsstates/3, gpred/2. 358:- op(100,xfy,'=>'). 359%---------------------structure-------------------- 360% for whole search: 361% node(Nodeid, Precond, Decomps, Temp, Statics) 362% tn(Tnid, Name, Precond, Postcond,Temp, Decomps) 363% tn is a full expanded node, it has fixed decomps and postcondtion 364% step(HPid,ActName,Precond,Postcond,Expansion) 365% for fwsearch achieve(Goal) only: 366% tp_goal(Pre,Goal,Statics) 367% goal_related(se(Sort,Obj,SEpre),Opls,LengthToGoal) 368% tp_node(TPid,Pre,Statics,from(Parentid),Score,Steps) 369% closed_node(TPid,Pre,from(Parentid),Score,Steps) 370%---------------------structure end-------------------- 371 372:- dynamic op_num/1. 373:- dynamic sum/1. 374%:- dynamic initial_node/1, final_node/1. 375:- dynamic methodC/7, operatorC/5, my_stats/1. 376%%:- dynamic node/7,,solved_node/5. 377:- dynamic tp_node/6,tn/6. 378:- dynamic solved_node/2. 379:- dynamic closed_node/6. 380:- dynamic gsubstate_classes/3. 381:- dynamic current_num/2. 382:- dynamic produce/4,goal_related/1. %%,achieved_goal/1. 383 384incr_op_num:- flag(op_num,X,X+1). 385set_op_num(X):-flag(op_num,_,X). 386current_op_num(X):- flag(op_num,X,X). 387 388 389 390startOCL(Goal,Init):- 391 clean_problem, 392 dmsg('OCL-PLANNER-TASK'(Goal)), 393 must(planner_interface(Goal,Init,Sol,_,TNLst)), 394 show_result_and_clean(F,Id,Sol,TNLst). 395 396 397get_tasks(N,Goal,State):- htn_task(N,Goal,State). 398% get_tasks(N,Goal,State):- ocl:htn_task(N,Goal,State). 399get_tasks(N,Goal,State):- env_call planner_task(N,Goal,State). 400 401:- set_op_num(0). 402:-asserta(my_stats(0)). 403 404l_file(File):- \+ exists_file(File),!,forall(filematch(File,FM),l_file(FM)). 405l_file(F):- env_consult(ocl:F). 406l_file(F):- 407 if_defined(/*ocluser*/ocl:force_reload_mpred_file(F), 408 if_defined(/*ocluser*/ocl:with_mpred_consult(/*ocluser*/ocl:consult(F)),/*ocluser*/ocl:consult(F))). 409 410solve_file(F):-with_filematch(l_file(wfm(F))), doall(solve(_)). 411solve:- solve_file(test_hyhtn). 412 413 414 415solve(Id) :- fail, 416 no_repeats(get_tasks(Id,Goal,Init)), 417 planner_interface(Goal,Init,Sol,_), 418 show_result_and_clean(_,Id,Sol,[Id]). 419 420solve(Id) :- 421 htn_task(Id,Goal,Init), 422 once(planner_interface(Goal,Init,Sol,_)), 423% solution_file(F), 424% gensym_num(F,Id,TRF), 425% tell(user), 426% write('TASK '),write(Id),nl, 427% write('SOLUTION'),nl, 428% display_sol(Sol), 429% write('END FILE'),nl, 430% told, 431 clean_problem. 432 433show_result_and_clean(F,Id,Sol,TNLst):- 434 %ignore(solution_file(F)), 435 tell(user), 436 format('~NSOLUTION for TASK ~w~n',[Id]), 437 display_sol(Sol), 438 %write_out_test_data('.preClean',Id), 439 % write('END FILE'),nl,nl, 440 nop((reverse(TNLst,TNForward), display_details(TNForward), write('END PLANNER RESULT'))), 441 told, 442 clean_problem. 443 444write_out_test_data(_MoreID,_Id):-!. 445write_out_test_data(MoreID,Id):- 446 must(( 447 448 (var(Id)->statistics(walltime,[Id,_]);true), 449 (push_env_ctx-> A= pushed_ ; A=nonpushed_ ), 450 atom_concat(A,Id,TN),atom_concat(TN,MoreID,TTN), 451 lws(TTN))),!. 452 453display_sol([]). 454display_sol([H|T]) :- 455 write(H), 456 nl, 457 display_sol(T). 458 459display_details([]):-!. 460display_details([H|T]):-!,display_details(H),display_details(T),!. 461display_details(tn(TN,Name,Pre,Post,Temp,Dec)):- 462% write('method::Description:'),write(';'), 463 nl,write('BEGIN METHOD'),nl,write(TN),write(';'), 464 nl,write('Name:'),write(Name),write(';'), 465 nl,write('Pre-condition:'),write(Pre),write(';'), 466% write('Index Transitions:'),write(Pre),write('=>'),write(Post1),write(';'), 467 nl,write('Index Transitions:'),write('=>'),write(Post),write(';'), 468% write('Static:'),write(';'), 469 nl,write('Temporal Constraints:'),write(Temp),write(';'), 470 nl,write('Decomposition:'),write(Dec),write(';'), 471 nl. 472 473display_details(H):-dmsg((display_details:-H)). 474 475clean_problem:- 476 retractall(current_num(_,_)), 477 retractall(node(_,_,_,_,_)), 478 retractall(tn(_,_,_,_,_,_)), 479 retractall(gpredicates(_,_)), 480 retractall(gsubstate_classes(_,_,_)), 481 retractall(methodC(_,_,_,_,_,_,_)), 482 retractall(operatorC(_,_,_,_,_)), 483 retractall(goal_related(_)), 484 retractall(produce(_,_,_,_)), 485 retractall(solved_node(_,_)), 486 retractall(tp_node(_,_,_,_,_,_)), 487 retractall(closed_node(_,_,_,_,_,_)), 488 retractall(score_list(_)), 489 set_op_num(0), 490 assert(my_stats(0)). 491 492planner_interface(G,I, SOLN,NODES):- 493 time(ground_hierarchy), 494 change_op_representation, 495 find_relate_state, 496 set_op_num(0), 497 statistics(runtime,[_,Time]), 498 (retract(my_stats(_)) ; true), 499 assert(my_stats(Time)), 500 make_problem_into_node(I, G, Node), 501 assert(Node), 502 start_solve(SOLN,NODES). 503planner_interface(G,I, SOLN,NODES):- 504 tell(user),nl,write('failure in initial node'),!. 505 506 507 508/******************** HP ADT *********************/ 509 510% node(Name, Precond ,Decomps, Temp, Statics) 511getN_name(node(Name, _, _, _,_), Name). 512getN_pre(node(_,Pre, _, _, _), Pre). 513getN_decomp(node(_, _, Decomp,_,_), Decomp). 514getH_temp(node(_, _, _,Temps, _), Temps). 515getN_statics(node(_,_,_,_,Statics), Statics). 516 517%Ron 21/9/01 - Try to give a closedown method 518start_solve(SOLN,NODES):- 519 kill_file(Kill), 520 file_exists(Kill). 521% write('Found kill file'),nl. 522 523start_solve(Sol,OPNUM):- 524 retract(final_node(Node)), 525 retractall(current_num(_,_)), 526 getN_statics(Node,Statics), 527 statics_consist(Statics), 528 extract_solution(Node,Sol,SIZE), 529 statistics(runtime,[_,CP]), 530 TIM is CP/1000, 531 current_op_num(OPNUM), 532 set_op_num(0), 533 nl, nl, write('CPU Time = '),write(CP),nl, 534 write('TIME TAKEN = '),write(TIM), 535 write(' SECONDS'),nl, 536 write('Solution SIZE = '),write(SIZE),nl, 537 write('Operator Used = '),write(OPNUM),nl, 538 write('Solution:\n '),writeq(Sol),nl, 539 write('***************************************'), 540 assert(time_taken(CP)), 541 assert(soln_size(SIZE)), 542 assert(plan_used(OPNUM)), 543 retractall(tn(_,_,_,_,_,_)),!. 544 545start_solve(Sol,OPNUM):- 546 select_node(Node), 547% nl,write('processing '),write(Node),nl, 548 % expand/prove its hps 549 process_node(Node), 550 start_solve(Sol,OPNUM),!. 551start_solve(Sol,OPNUM):- 552 tell(user), write('+++ task FAILED +++'), 553 clean_problem. 554 555/******************************** MAIN LOOP **********/ 556 557% expand a node.. 558process_node(Node) :- 559 getN_name(Node, Name), 560 getN_pre(Node, Pre), 561 getN_decomp(Node, Dec), 562 getH_temp(Node, Temps), 563 getN_statics(Node, Statics), 564 expand_decomp(Dec,Pre,Post,Temps,Temp1,Statics,Statics1,Dec1), 565 statics_consist(Statics), 566 assert_node(Name,Pre,Dec1,Temp1,Statics1). 567 568assert_node(Name,Pre,Decomp,Temp,Statics):- 569 all_HP_expanded(Decomp), 570 assert(final_node(node(Name,Pre,Decomp,Temp,Statics))),!. 571assert_node(Name,Pre,Dec,Temp,Statics):- 572 gensym_special(root,SYM), 573 assert(node(SYM,Pre,Dec,Temp,Statics)),!. 574 575all_HP_expanded([]):-!. 576all_HP_expanded([step(HPid,Name,_,_,exp(TN))|THPS]):- 577 all_HP_expanded(THPS),!. 578/************ expand every step *********************/ 579expand_decomp([],Post,Post,Temp,Temp,Statics,Statics,[]):-!. 580%0-1 if the step has expand already, get the state change, go to next 581expand_decomp([step(HPid,Name,Pre0,Post0,exp(TN))|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,State1,Post1,exp(TN))|Decomp1]):- 582 state_achieved(Pre0,Pre,State1), 583 state_change(State1,Pre0,Post0,Post1), 584 statics_consist(Statics), 585 expand_decomp(Decomp,Post1,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 586 587%0-2. if it is an achieve action 588expand_decomp([step(HPid,ACH,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 589 ACH=..[achieve|_], 590 state_achieved(Pre0,Pre,State), 591 statics_consist(Statics), 592 expand_decomp_ach([step(HPid,ACH,State,Post0,unexp)|Decomp],State,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 593/* 594% 1. if the step's Name is match a exist TN also Pre meet, return TN 595% tn(Tn0,Name,Pre0,Post0,Temp0,Decomp)is a task network 596% which was generated by previous process, 597% it has been decomposed to ordered primitive operators 598% and has all states changes defiend 599expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(Tn0))|Decomp1]):- 600 tn(Tn0,Name,Pre0,Post0,Temp0,Decomp0), 601 state_achieved(Pre0,Pre,State1), 602 statics_consist(Statics), 603 state_change(State1,Pre0,Post0,State), 604% nl,write('step '),write(HPid), 605 incr_op_num, 606% write('can be expand by tn '),write(Tn0),nl, 607 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics,Statics1,Decomp1),!. 608*/ 609% 2. if HP's name meet an method, 610% and it's precondition and achieve goals are achieved 611% expand it and make it to that TNs

617expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 618 methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH),Dec0), 619 append_cut(Statics0,Statics,Statics2), 620 statics_consist(Statics2), 621 remove_unneed(Statics2,[],Statics3), 622 state_achieved(Pre0,Pre,State1), 623% state_achieved(ACH,State1,State11), 624 statics_consist(Statics3), 625 apply_method1(HPid,TN,Name,State1,Pre0,ACH,Post0,State,Statics3,Temp0,Dec0), 626% apply_method(HPid,TN,Name,State11,Pre0,Post0,State,Statics21,Temp0,Dec0), 627% changed here for if there are too many unordered tasks 628% apply_method1 is directly apply method even it's achieve goal not achieved 629% nl,write('step '),write(HPid), 630 incr_op_num, 631% write('can be expand by method '),write(Name),nl, 632 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 633 634 635 636 637 638 639 640 641% 3. if HP's name and it's Pre meet an operator, return operator's name 642expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(Name))|Decomp1]):- 643 operatorC(Name,Pre0,Post0,Cond,Statics0), 644 append_cut(Statics0,Statics,Statics2), 645 statics_consist(Statics2), 646 remove_unneed(Statics2,[],Statics21), 647 state_achieved(Pre0,Pre,State1), 648 state_change(State1,Pre0,Post0,State2), 649 cond_state_change(State2,Cond,State), 650% nl,write('step '),write(HPid), 651 statics_consist_instance(Statics0), 652% write('can be expand by operator '),write(Name),nl, 653 incr_op_num, 654 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics21,Statics1,Decomp1),!. 655 656% 4. get another step which matchs and not after it before it to give a try 657expand_decomp([step(HP,N,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 658 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 659 HP,Temp,Temp2,Decomp,Decomp2), 660 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HP,N,Pre0,Post0,unexp)|Decomp2],Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 661 662/* 663% 5. if HP's name meet an method, 664% and it's precondition achieved 665% but failed to match achieve_goals 666% expand it and make it to that TNs 667expand_decomp([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 668 methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH),Dec0), 669 append_cut(Statics0,Statics,Statics2), 670 statics_consist(Statics2), 671 remove_unneed(Statics2,[],Statics3), 672 state_achieved(Pre0,Pre,State1), 673 statics_consist(Statics3), 674 apply_method1(HPid,TN,Name,State1,Pre0,ACH,Post0,State,Statics3,Temp0,Dec0), 675 % need to expand achieve goals first 676 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics3,Statics1,Decomp1),!. 677 678% 6. if all above failed 679% get another step which matchs and not after it before it to give a try 680expand_decomp([step(HP,N,Pre0,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 681 get_another_step(step(HP2,N2,Pre2,Post2,Exp),Pre,Statics, 682 HP,Temp,Temp2,Decomp,Decomp2), 683 expand_decomp([step(HP2,N2,Pre2,Post2,Exp),step(HP,N,Pre0,Post0,unexp)|Decomp2],Pre,Post,Temp2,Temp1,Statics,Statics1,Decomp1). 684*/ 685% Else fail expand 686 687% get another step which is not after it before it 688get_another_step(A,Pre,Statics,HP,Temp,Temp1,[],Dec2):-fail. 689get_another_step(step(HP2,Name2,Pre2,Post2,Exp),Pre,Statics,HP,Temp,[before(HP2,HP)|Temp],Dec,Dec2):- 690 member(step(HP2,Name2,Pre2,Post2,Exp),Dec), 691 not(necessarily_before(HP,HP2, Temp)), 692 state_achieved(Pre2,Pre,_), 693 statics_consist(Statics), 694 list_take(Dec,[step(HP2,Name2,Pre2,Post2,Exp)],Dec2). 695 696% expand the achieve goal 697% 1.if the ACH is achieved already 698% remove it from decomposion and do the next 699expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,Decomp1):- 700 state_achieved(Post0,Pre,State), 701 statics_consist(Statics), 702% nl,write('step '),write(HPid), 703% write('is already achieved'),nl, 704 remove_temp(Temp,HPid,Temp,Temp2), 705 expand_decomp(Decomp,State,Post,Temp2,Temp1,Statics,Statics1,Decomp1),!. 706 707% 2.take out the already achieved states before expanding 708expand_decomp_ach([step(HPid,ACH,Pre,Post0,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,ACH,Pre,Post0,exp(TN))|Decomp1]):- 709 expand_hp(HPid,TN,ACH,Pre,Post0,State,Statics,Statics2), 710 expand_decomp(Decomp,State,Post,Temp,Temp1,Statics2,Statics1,Decomp1),!. 711 712% directly achieve HP's Pre and Post by operator,method or tn 713expand_hp(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 714 direct_expand_hp(HPid,TN,ACH,Pre,Post,State,Statics,Statics1),!. 715% else, nothing directly can achieve HP's Pre and Post 716% assert a temporely node for forward search 717% tp_node(Name, Precond, Postcond, Statics,Score,Temp,Decomps) 718expand_hp(HPid,TN,ACH,Pre,Post,State,Statics,Statics1):- 719 make_to_steps1(Pre,Post,Steps), 720 gensym_special(tp,TP), 721 get_all_related_goal(Post), 722 get_score(100,[],Steps,Score), 723 assert(tp_node(TP,Pre,Post,Statics,Score,Steps)), 724 fwsearch(TN,Statics1,State), 725 clean_temp_nodes. 726 727% make the achieve goal states [se(..),se(..),..] to separate steps 728% remove states that have been achieved by precondition 729% by same them for declobber 730make_to_steps1(Pre,[],[]):-!. 731make_to_steps1(Pre,[se(Sort,Obj,SE)|Post],Steps):- 732 state_achieved([se(Sort,Obj,SE)],Pre,_), 733 make_to_steps1(Pre,Post,Steps),!. 734make_to_steps1(Pre,[se(Sort,Obj,SE)|Post],[step(HP,achieve(se(Sort,Obj,SE)),undefd,[se(Sort,Obj,SE)],unexp)|Steps]):- 735 objects(Sort,Objls),%Sort is primitive 736 gensym_special(hp,HP), 737 make_to_steps1(Pre,Post,Steps),!. 738make_to_steps1(Pre,[se(Sort,Obj,SE)|Post],[step(HP,achieve(se(Sort,Obj,SE)),undefd,[se(Sort,Obj,SE)],unexp)|Steps]):- 739 var(Obj), 740 gensym_special(hp,HP), 741 make_to_steps1(Pre,Post,Steps),!. 742make_to_steps1(Pre,[se(SortN,Obj,SE)|Post],[step(HP,achieve(se(PSort,Obj,SE)),undefd,[se(PSort,Obj,SE)],unexp)|Steps]):- 743 not(var(Obj)), 744 find_prim_sort(SortN,PSortls), 745 member(PSort,PSortls), 746 objects(PSort,Objls), 747 member(Obj,Objls), 748 gensym_special(hp,HP), 749 make_to_steps1(Pre,Post,Steps),!. 750 751 752% get all the states that can achieve the goal state 753get_all_related_goal(Goal):- 754 retractall(goal_related(_)), 755 assert(goal_related(Goal)), 756 get_all_related_goal1(Goal,States), 757 retractall(goal_related(_)), 758 assert(goal_related(States)),!. 759% tell(user),write(States),nl,told,!. 760 761get_all_related_goal1([],States):- 762 setof(State,goal_related(State),States1), 763 set_flatten(States1,[],States),!. 764get_all_related_goal1([se(Sort,Obj,SE)|Rest],States):- 765 produce(se(Sort,Obj,SE1),A,OPre,ST), 766 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 767 retract(goal_related(List)), 768 set_append_e(List,OPre,List1), 769 assert(goal_related(List1)), 770 fail. 771get_all_related_goal1([se(SortN,Obj,SE)|Rest],States):- 772 nonvar(Obj), 773 objects(Sort,Objls), 774 not(not(member(Obj,Objls))), 775 produce(se(Sort,Obj,SE1),A,OPre,ST), 776 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 777 retract(goal_related(List)), 778 set_append_e(List,OPre,List1), 779 assert(goal_related(List1)), 780 fail. 781get_all_related_goal1([se(SortN,Obj,SE)|Rest],States):- 782 var(Obj), 783 find_prim_sort(SortN,Sortls), 784 member(Sort,Sortls), 785 produce(se(Sort,Obj,SE1),A,OPre,ST), 786 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 787 retract(goal_related(List)), 788 set_append_e(List,OPre,List1), 789 assert(goal_related(List1)), 790 fail. 791get_all_related_goal1([se(Sort,Obj,SE)|Rest],States):- 792 get_all_related_goal1(Rest,States). 793 794% find out the difference of Pre and Post0 to expand 795% if only one Obj in Post, don't do check. 796take_out_achieved(Pre,[se(Sort,Obj,SE)],[],[se(Sort,Obj,SE)]):-!. 797take_out_achieved(Pre,[],Post,Post):-!. 798% Pre conditions are all instantiated states 799% only Post conditions have variables 800take_out_achieved(Pre,[se(Sort,Obj,ST)|Post],Post0,Post1):- 801 var(Obj), 802 append(Post0,[se(Sort,Obj,ST)],Post2), 803 take_out_achieved(Pre,Post,Post2,Post1),!. 804take_out_achieved(Pre,[se(Sort,Obj,ST)|Post],Post0,Post1):- 805 member(se(Sort,Obj,ST1),Pre), 806 append_diff(Sort,Obj,ST,ST1,Post0,Post2), 807 list_take(Pre,[se(Sort,Obj,ST1)],Pre2), 808 take_out_achieved(Pre2,Post,Post2,Post1),!. 809 810% append only the different one 811append_diff(Sort,Obj,ST,ST1,Post0,Post0):- 812 not_conflict(Sort,Obj,ST,ST1,STN),!. 813append_diff(Sort,Obj,ST,ST1,Post0,Post1):- 814 append(Post0,[se(Sort,Obj,ST)],Post1),!. 815% --------------------------------------------------- 816 817%1. if an achieve action meets an TN Pre and post meet 818direct_expand_hp(HPid,Tn0,ACH,Pre,Post,Pre1,Statics,Statics):- 819 tn(Tn0,Name,Pre0,Post0,Temp0,Decomp0), 820 state_achieved(Pre0,Pre,State1), 821 state_achieved(Post,Post0,_), 822 state_change(State1,Pre0,Post0,Pre1), 823 statics_consist(Statics), 824% nl,write('step '),write(HPid), 825 incr_op_num, 826 !. 827% write('can be expand by tn '),write(Tn0),nl,!. 828 829%2. if an action's name meets is an operator's, 830% return 831direct_expand_hp(HPid,Name,Name,Pre,Post,State,Statics,Statics1):- 832 operatorC(Name,Pre0,Post0,Cond,Statics0), 833 append_cut(Statics0,Statics,Statics1), 834 statics_consist(Statics11), 835 remove_unneed(Statics11,[],Statics1), 836 post_instant(Post0,Cond,Statics1,Post), 837 state_achieved(Pre0,Pre,State1), 838 state_change(State1,Pre0,Post0,State2), 839 cond_state_change(State2,Cond,State3), 840 state_achieved(Post,State3,State), 841 statics_consist_instance(Statics0), 842% nl,write('step '),write(HPid), 843% write('can be expand by operator '),write(Name),nl, 844 incr_op_num, 845 !. 846 847%2. if an achieve action meets an operator's Pre and post meet, 848% return 849direct_expand_hp(HPid,Name,ACH,Pre,Post,State,Statics,Statics1):- 850 operatorC(Name,Pre0,Post0,Cond,Statics0), 851 append_cut(Statics0,Statics,Statics2), 852 statics_consist(Statics2), 853 remove_unneed(Statics2,[],Statics1), 854 post_instant(Post0,Cond,Statics1,Post), 855 state_achieved(Pre0,Pre,State1), 856 state_change(State1,Pre0,Post0,State2), 857 cond_state_change(State2,Cond,State3), 858 state_achieved(Post,State3,State), 859 statics_consist(Statics1), 860% nl,write('step '),write(HPid), 861% write('can be expand by operator '),write(Name),nl, 862 incr_op_num, 863 !. 864 865%3. if an achieve action meets a method's pre and post, 866% expand it and make it to that TNs 867direct_expand_hp(HPid,TN,ACH,Pre,Post,State1,Statics,Statics1):- 868 methodC(Name,Pre0,Post0,Statics0,Temp0,achieve(ACH0),Dec0), 869 append_cut(Statics0,Statics,Statics2), 870 statics_consist(Statics2), 871 remove_unneed(Statics2,[],Statics1), 872 post_instant(Post0,[],Statics1,Post), 873 state_achieved(Pre0,Pre,Pre1), 874 state_achieved(Post,Post0,Post01), 875 statics_consist(Statics1), 876 apply_method1(HPid,TN,Name,Pre1,Pre0,ACH0,Post01,State1,Statics1,Temp0,Dec0),!. 877 878% apply_method/10: apply method in the HP 879% when the method name's precondition and achieve goals are achieved 880% no extra operators are bring in while expansion 881apply_method(HPid,TN,Name,Pre,Pre0,Post0,State,Statics,Temp,Dec):- 882 make_dec0(HPid,Dec,Temp,Dec0,Temp0), 883 expand_method(Dec0,Pre,Post,Temp0,Temp1,Statics,Statics1,Dec1), 884 state_achieved(Post0,Post,State), 885 statics_consist(Statics), 886% nl,write('step '),write(HPid), 887% write('can be expand by method '),write(Name),nl, 888 incr_op_num, 889 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 890 891make_dec0(HPid,Dec,Temp,Dec0,Temp0):- 892 make_dec01(HPid,1,Dec,Dec0), 893 change_temp(HPid,Temp,[],Temp0),!. 894make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp1,Dec1):- 895 state_achieved(ACH,Pre,_), 896 make_dec01(HPid,1,Dec,Dec1), 897 change_temp(HPid,Temp,[],Temp1). 898make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,[before(STID0,STID1)|Temp1],[step(STID0,achieve(ACH),Pre,ACH,unexp)|Dec1]):- 899 gensym_num(HPid,0,STID0), 900 gensym_num(HPid,1,STID1), 901 make_dec01(HPid,1,Dec,Dec1), 902 change_temp(HPid,Temp,[],Temp1),!. 903 904make_dec01(HPid,_,[],[]):-!. 905make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 906 operatorC(HDec,_,_,_,_), 907 gensym_num(HPid,Num,STID), 908 Num1 is Num + 1, 909 make_dec01(HPid,Num1,TDec,TDec0). 910make_dec01(HPid,Num,[HDec|TDec],[step(STID,HDec,undefd,undefd,unexp)|TDec0]):- 911 methodC(HDec,_,_,_,_,_,_), 912 gensym_num(HPid,Num,STID), 913 Num1 is Num + 1, 914 make_dec01(HPid,Num1,TDec,TDec0). 915 916change_temp(HPid,[],Temp2,Temp2):-!. 917change_temp(HPid,[before(N1,N2)|Temp],Temp2,[before(ST1,ST2)|Temp0]):- 918 gensym_num(HPid,N1,ST1), 919 gensym_num(HPid,N2,ST2), 920 change_temp(HPid,Temp,Temp2,Temp0),!. 921 922% expand_method/8 expand method without bring in any other operators 923% that is: all achieve goals are achieved 924expand_method([],Post,Post,Temp,Temp,Statics,Statics,[]):-!. 925expand_method([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 926 tn(TN,Name,Pre0,Post0,Temp0,Decomp0), 927 state_achieved(Pre0,Pre,State1), 928 state_change(State1,Pre0,Post0,State), 929 statics_consist(Statics), 930% nl,write('step '),write(HPid), 931 incr_op_num, 932% write('can be expand by tn '),write(TN), 933 expand_method(Decomp,State,Post,Temp,Temp1,Statics,Statics1,Decomp1). 934expand_method([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(Name))|Decomp1]):- 935 operatorC(Name,Pre0,Post0,Cond,Statics0), 936 append_cut(Statics0,Statics,Statics2), 937 statics_consist(Statics2), 938 remove_unneed(Statics2,[],Statics21), 939 post_instant(Post0,Cond,Statics21,Post0), 940 state_achieved(Pre0,Pre,State1), 941 state_change(State1,Pre0,Post0,State2), 942 cond_state_change(State2,Cond,State3), 943 state_achieved(Post0,State3,State), 944 statics_consist_instance(Statics0), 945% nl,write('step '),write(HPid), 946% write('can be expand by operator '),write(Name),nl, 947 incr_op_num, 948 expand_method(Decomp,State,Post,Temp,Temp1,Statics21,Statics1,Decomp1). 949expand_method([step(HPid,Name,undefd,undefd,unexp)|Decomp],Pre,Post,Temp,Temp1,Statics,Statics1,[step(HPid,Name,Pre0,Post0,exp(TN))|Decomp1]):- 950 methodC(Name,Pre0,Post0,Statics0,Temp0,ACH,Dec0), 951 append_cut(Statics0,Statics,Statics2), 952 statics_consist(Statics2), 953 remove_unneed(Statics2,[],Statics21), 954 post_instant(Post0,[],Statics21,Post0), 955 state_achieved(Pre0,Pre,State1), 956 statics_consist(Statics21), 957 apply_method(HPid,TN,Name,State1,Pre0,Post0,State,Statics21,Temp0,Dec0), 958 expand_method(Decomp,State,Post,Temp,Temp1,Statics21,Statics1,Decomp1). 959% --------------------end of apply_method/10--------------------- 960 961% apply_method1/11: apply method in the HP 962% when the method name's precondition achieved 963% but need bring in operators while expansion 964apply_method1(HPid,TN,Name,Pre,Pre0,ACH,Post0,State,Statics,Temp,Dec):- 965 make_dec1(HPid,Pre,ACH,Statics,Temp,Dec,Temp2,Dec2), 966 expand_decomp(Dec2,Pre,Post,Temp2,Temp1,Statics,Statics1,Dec1), 967 state_achieved(Post0,Post,State), 968% nl,write('step '),write(HPid), 969% write('can be expand by method '),write(Name),nl, 970 incr_op_num, 971 make_tn(TN,Name,Pre,State,Temp1,Dec1),!. 972 973 974% --------------------end of apply_method1/11--------------------- 975 976% forward search for operators can't directly solved 977fwsearch(TN,ST,State):- 978 retract(solved_node(ST,step(HP,Name,Pre,State,exp(TN)))). 979fwsearch(TN,ST,State):- 980 select_tnode(tp_node(TP,Pre,Post,Statics,Score,Dec)), 981 assert(closed_node(TP,Pre,Post,Statics,Score,Dec)), 982 expand_node(Statics,Statics1,Pre,Post,Dec,[],Dec1), 983 assert_tnode(TP,Pre,Post,Statics1,Score,Dec1), 984 solved_node(_,_),%expand every possible way until find solution 985 fwsearch(TN,ST,State). 986fwsearch(TN,ST,State):- 987 tp_node(TP,Pre,Post,Statics,Score,Dec), 988 fwsearch(TN,ST,State). 989 990clean_temp_nodes:- 991 retractall(current_num(tp,_)), 992 retractall(tp_node(_,_,_,_,_,_)), 993 retractall(closed_node(_,_,_,_,_,_)),!. 994 995% expand all way possible to achieve the Post 996expand_node(Statics,Statics,Pre,Post,[],List,List):- 997 state_achieved(Post,Pre,_),!. 998expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,_,Post0,unexp)|Rest],List,Dec1):- 999 state_achieved(Post0,Pre,_), 1000 expand_node(Statics,Statics1,Pre,Post,Rest,List,Dec1),!. 1001expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,_,Post0,unexp)|Rest],List,Dec1):- 1002 direct_expand_hp(HP,TN,Name,Pre,Post0,State,Statics,Statics2), 1003 append(List,[step(HP,Name,Pre,State,exp(TN))],List2), 1004 remove_achieved_rest(State,Statics2,Rest,Rest1), 1005 make_to_steps(State,Post,Steps,Rest1), 1006 append(Rest1,Steps,Rest2), 1007 expand_node(Statics2,Statics1,State,Post,Rest2,List2,Dec1). 1008expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,_,Post0,unexp)|Rest],List,Dec1):- 1009 apply_op(Statics,Statics1,[step(HP,Name,Pre,Post0,unexp)|Rest],List,Dec1). 1010expand_node(Statics,Statics1,Pre,Post,[step(HP,Name,Pre0,Post0,exp(TN))|TDec],List,Dec1):- 1011 append(List,[step(HP,Name,Pre0,Post0,exp(TN))],List2), 1012 expand_node(Statics,Statics1,Post0,Post,TDec,List2,Dec1),!. 1013 1014remove_achieved_rest(State,Statics,[],[]):-!. 1015remove_achieved_rest(State,Statics,[step(HP,Name,_,Post0,unexp)|Rest],Rest1):- 1016 state_achieved(Post0,State,_), 1017 remove_achieved_rest(State,Statics,Rest,Rest1),!. 1018remove_achieved_rest(State,Statics,[HP|Rest],[HP|Rest1]):- 1019 remove_achieved_rest(State,Statics,Rest,Rest1),!. 1020 1021/* add an operator that can achieve the goal related states*/ 1022% This is only applied when it can't be directly achieved 1023apply_op(Statics,Statics1,[step(HP,Name,Pre,[se(Sort,Obj,SE)],unexp)|Rest],List,Dec):- 1024 produce(se(Sort,Obj,SE1),OP,OPre,ST), 1025 append_cut(Statics,ST,Statics2), 1026 statics_consist(Statics2), 1027 remove_unneed(Statics2,[],Statics1), 1028 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 1029 instantiate(OPre,Statics1), 1030 not(member(step(_,OP,_,_,_),Rest)), 1031 make_to_steps(Pre,OPre,Steps,Rest), 1032 change_head_state(Pre,Steps,Steps1), 1033 append(List,Steps1,List2), 1034 append(List2,[step(HP,OP,undefd,[se(Sort,Obj,SE)],unexp)|Rest],Dec). 1035% tell(user),write('+'),told. 1036apply_op(Statics,Statics1,[step(HP,Name,Pre,[se(SortN,Obj,SE)],unexp)|Rest],List,Dec):- 1037 find_prim_sort(SortN,PSortls), 1038 member(Sort,PSortls), 1039 produce(se(Sort,Obj,SE1),OP,OPre,ST), 1040 append_cut(Statics,ST,Statics2), 1041 statics_consist(Statics2), 1042 remove_unneed(Statics2,[],Statics1), 1043 state_achieved([se(Sort,Obj,SE)],[se(Sort,Obj,SE1)],_), 1044 instantiate(OPre,Statics1), 1045 not(member(step(_,OP,_,_,_),Rest)), 1046 make_to_steps(Pre,OPre,Steps,Rest), 1047 change_head_state(Pre,Steps,Steps1), 1048 append(List,Steps1,List2), 1049 append(List2,[step(HP,OP,undefd,[se(Sort,Obj,SE)],unexp)|Rest],Dec). 1050% tell(user),write('+'),told. 1051 1052% make the achieve goal states [se(..),se(..),..] to separate steps 1053% remove the states that have been achieved by precondition 1054make_to_steps(Pre,[],[],Rest):-!. 1055make_to_steps(Pre,[se(Sort,Obj,SE)|Post],Steps,Rest):- 1056 state_achieved([se(Sort,Obj,SE)],Pre,_), 1057 make_to_steps(Pre,Post,Steps,Rest),!. 1058make_to_steps(Pre,[se(Sort,Obj,SE)|Post],Steps,Rest):- 1059 member(step(_,achieve(se(Sort,Obj,SE)),_,_),Rest), 1060 make_to_steps(Pre,Post,Steps,Rest),!. 1061make_to_steps(Pre,[se(Sort,Obj,SE)|Post],[step(HP,achieve(se(Sort,Obj,SE)),undefd,[se(Sort,Obj,SE)],unexp)|Steps],Rest):- 1062 gensym_special(hp,HP), 1063 make_to_steps(Pre,Post,Steps,Rest),!. 1064 1065change_head_state(Pre,[step(HP,A,undefd,B,unexp)|Steps],[step(HP,A,Pre,B,unexp)|Steps]):-!. 1066 1067% instantiate the object in lhs states 1068instantiate([],Statics). 1069instantiate([se(Sort,Obj,SE)|States],Statics):- 1070 nonvar(Obj), 1071 instantiate(States,Statics),!. 1072instantiate([se(Sort,Obj,SE)|States],Statics):- 1073 ground(SE), 1074 instantiate(States,Statics),!. 1075instantiate([se(Sort,Obj,SE)|States],Statics):- 1076 var(Obj), 1077 get_sort_objects(Sort,Objls), 1078 member(Obj,Objls), 1079 statics_consist_instance(Statics), 1080 instantiate(States,Statics). 1081 1082 1083% select a tp_node with lowest score 1084select_tnode(tp_node(HPid,Pre,Post,Statics,Score,Dec)) :- 1085 retractall(score_list(LS)), 1086 assert(score_list([])), 1087 lowest_score(Score), 1088 retract(tp_node(HPid,Pre,Post,Statics,Score,Dec)),!. 1089% tell(user),nl,write('new level'),nl,told,!. 1090 1091% find the lowest_score of tp_node 1092lowest_score(LScore):- 1093 tp_node(HPid,Pre,Post,Statics,Score,Dec), 1094 retract(score_list(LS)), 1095 assert(score_list([Score|LS])), 1096 fail. 1097lowest_score(LScore):- 1098 retract(score_list(D)), 1099 sort(D,[LScore|SD]). 1100 1101:- style_check(-discontiguous). 1102% assert tp_node if all HP expand, assert solved_node 1103assert_tnode(TP,Pre,Post,Statics,Score1,Dec):- 1104 all_HP_expanded(Dec), 1105 combine_exp_steps2(Dec,OneDec), 1106 assert(solved_node(Statics,OneDec)),!. 1107 1108combine_exp_steps2([OneDec],OneDec):-!. 1109combine_exp_steps2([Dec1,Dec2|Rest],OneDec):- 1110 combine_steps1(Dec1,Dec2,OneDec1), 1111 combine_exp_steps2([OneDec1|Rest],OneDec),!. 1112% else combine the steps of expanded steps 1113% make it to [step(_,...,exp()),step(_,...,unexp)] 1114% that makes possible to find the repeated nodes 1115% also makes possible to make operator chains for later use 1116assert_tnode(TP,Pre,Post,Statics,Score,Dec):- 1117 combine_exp_steps(Dec,ExpDec,UnexpDec), 1118 assert_tnode1(TP,Pre,Post,Statics,Score,ExpDec,UnexpDec),!. 1119 1120:- style_check(+discontiguous). 1121 1122assert_tnode1(TP,Pre,Post,Statics,Score,ExpDec,UnexpDec):- 1123 existing_node(ExpDec,UnexpDec,Statics). 1124assert_tnode1(TP,Pre,Post,Statics,Score,ExpDec,UnexpDec):- 1125 get_score(Score,ExpDec,UnexpDec,Score1), 1126 gensym_special(tp,TP1), 1127 append(ExpDec,UnexpDec,Dec), 1128 assert(tp_node(TP1,Pre,Post,Statics,Score1,Dec)),!. 1129 1130% combine the expanded steps to one 1131combine_exp_steps([step(A,B,C,D,unexp)|Rest],[],[step(A,B,C,D,unexp)|Rest]):-!. 1132combine_exp_steps([step(A,B,C,D,exp(TN)),step(A1,B1,C1,D1,unexp)|Rest],[step(A,B,C,D,exp(TN))],[step(A1,B1,C1,D1,unexp)|Rest]):-!. 1133combine_exp_steps([step(A1,B1,C1,D1,exp(TN1)),step(A2,B2,C2,D2,exp(TN2))|Rest],ExpDec,UnexpDec):- 1134 combine_steps1(step(A1,B1,C1,D1,exp(TN1)),step(A2,B2,C2,D2,exp(TN2)),ExpDec1), 1135 combine_exp_steps([ExpDec1|Rest],ExpDec,UnexpDec),!. 1136 1137combine_steps1(step(HP1,Name1,Pre1,Post1,exp(TN1)),step(HP2,Name2,Pre2,Post2,exp(TN2)),step(HP,achieve(Post2),Pre1,Post2,exp(TN))):- 1138 find_only_changed(Pre1,Post2,[],Pre0,[],Post0), 1139 not(isemptylist(Post0)), 1140 gensym_special(hp,HP), 1141 gensym_special(tn,TN), 1142 assert(tn(TN,achieve(Post0),Pre0,Post0,[before(TN1,TN2)],[step(HP1,Name1,Pre1,Post1,exp(TN1)),step(HP2,Name2,Pre2,Post2,exp(TN2))])),!. 1143 1144% already been. 1145existing_node([step(_,_,Pre,Post,exp(TN))],UnexpDec,Statics):- 1146 tp_node(_,_,_,Statics0,_,[step(_,_,Pre0,Post0,exp(TN0))|Rest]), 1147 append_st(Statics,Statics0,Statics1), 1148 all_equal(Pre,Pre0,Statics1), 1149 all_equal(Post,Post0,Statics1), 1150 existing_node([],UnexpDec,Statics1). 1151existing_node([step(_,_,Pre,Post,exp(TN))],UnexpDec,Statics):- 1152 closed_node(_,_,_,Statics0,_,[step(_,_,Pre0,Post0,exp(TN0))|Rest]), 1153 append_st(Statics,Statics0,Statics1), 1154 all_equal(Pre,Pre0,Statics1), 1155 all_equal(Post,Post0,Statics1), 1156 existing_node([],UnexpDec,Statics1). 1157existing_node([],[step(_,Name,Pre,_,unexp)|Rest],Statics):- 1158 tp_node(_,_,_,Statics0,_,[step(_,Name,Pre0,_,_,unexp)|Rest]), 1159 append_st(Statics,Statics0,Statics1), 1160 all_equal(Pre,Pre0,Statics1). 1161existing_node([],[step(_,Name,Pre,_,unexp)|Rest],Statics):- 1162 closed_node(_,_,_,Statics0,_,[step(_,Name,Pre0,_,_,unexp)|Rest]), 1163 append_st(Statics,Statics0,Statics1), 1164 all_equal(Pre,Pre0,Statics1). 1165 1166 1167 1168 1169all_equal([],[],Statics):- 1170 statics_consist(Statics),!. 1171all_equal([se(Sort,Obj,SE)|Pre],[se(Sort,Obj,SE1)|Pre1],Statics):- 1172 is_achieved(SE,SE1), 1173 all_equal(Pre,Pre1,Statics),!. 1174all_equal([se(Sort,Obj,SE)|Pre],Pre1,Statics):- 1175 member(se(Sort,Obj,SE1),Pre1), 1176 list_take(Pre1,[se(Sort1,Obj1,SE1)],Pre2), 1177 all_equal(Pre,Pre1,Statics),!. 1178 1179get_score(Score,[],UnExpDec,Score1):- 1180 length(UnExpDec,Len), 1181 Score1 is Score+Len,!. 1182get_score(Score,[step(HP,Name,Pre0,Post0,exp(TN))],UnExpDec,Score1):- 1183 goal_related(States), 1184 state_achieved_Num(Post0,States,0,Num), 1185 length(UnExpDec,Len), 1186 Score1 is Score-Num,!. 1187 1188%------------------------------------------- 1189% the number of postcondition achieved 1190% the more the better 1191state_achieved_Num([],Pre0,Num,Num):-!. 1192state_achieved_Num([se(Sort,Obj,SE)|Post],Pre0,N,Num):- 1193 member(se(Sort,Obj,SE0),Pre0), 1194 state_achieved([se(Sort,Obj,SE0)],[se(Sort,Obj,SE)],_), 1195 N1 is N+1, 1196 state_achieved_Num(Post,Pre0,N1,Num),!. 1197state_achieved_Num([se(Sort,Obj,SE)|Post],Pre0,N,Num):- 1198 state_achieved_Num(Post,Pre0,N,Num),!. 1199 1200% the states that can achieve a state 1201% that is: 1202% for a state in the rhs of operator 1203% all the states in the lhs 1204find_relate_state:- 1205 operatorC(A,Pre,Post,Cond,ST), 1206 assert_related_states(A,Pre,Post,Cond,ST), 1207 fail. 1208find_relate_state. 1209 1210assert_related_states(A,Pre,Post,Cond,ST):- 1211 assert_related_states1(A,Pre,Post,ST), 1212 assert_related_states2(A,Pre,Cond,ST). 1213 1214% find relate in nec 1215% the sorts here are primitive 1216assert_related_states1(A,Pre,[],ST):-!. 1217%when prev 1218assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 1219 member_e(se(Sort,Obj,SE),Pre), 1220 assert_related_states1(A,Pre,Post,ST),!. 1221%when nec 1222assert_related_states1(A,Pre,[se(Sort,Obj,SE)|Post],ST):- 1223 assert(produce(se(Sort,Obj,SE),A,Pre,ST)), 1224 assert_related_states1(A,Pre,Post,ST),!. 1225 1226% find relate in conditional 1227% the sorts here are not primitive 1228assert_related_states2(A,Pre,SC,ST):- 1229 make_sc_primitive(SC,PSC), 1230 assert_related_states21(A,Pre,PSC,ST). 1231 1232assert_related_states21(A,Pre,[],ST):-!. 1233assert_related_states21(A,Pre,[sc(Sort,Obj,SE=>SS)|Trans],ST):- 1234 rem_statics([se(Sort,Obj,SE)],[se(Sort,Obj,SER)],St1), 1235 rem_statics([se(Sort,Obj,SS)],[se(Sort,Obj,SSR)],St2), 1236 append_cut(ST,St1,ST1), 1237 append_cut(ST1,St2,ST21), 1238 remove_unneed(ST21,[],ST2), 1239 append_cut(Pre,[se(Sort,Obj,SER)],Pre1), 1240 assert(produce(se(Sort,Obj,SSR),A,Pre1,ST2)), 1241 assert_related_states21(A,Pre,Trans,ST),!. 1242 1243%------------------------------------------- 1244% the number of state change compare with precondition 1245% the less the better 1246pre_changed_Num([],Pre0,Num,Num):-!. 1247pre_changed_Num([se(Sort,Obj,SE)|Pre],Pre0,N,Num):- 1248 state_achieved([se(Sort,Obj,SE)],Pre0,_), 1249 N1 is N+1, 1250 pre_changed_Num(Pre,Pre0,N1,Num),!. 1251pre_changed_Num([se(Sort,Obj,SE)|Pre],Pre0,N,Num):- 1252 pre_changed_Num(Pre,Pre0,N,Num),!. 1253 1254 1255 1256%------------------------------------------- 1257% remove HP1 from the temp list 1258% if HP1<HP2, then all HP3<HP1 => HP3<HP2 1259% if HP2<HP1, then all HP1<HP3 => HP2<HP3 1260remove_temp([],HP1,List,List):-!. 1261remove_temp([before(HP1,HP2)|Temp],HP1,List,Temp1):- 1262 remove_temp_before(List,before(HP1,HP2),List2), 1263 remove_temp(Temp,HP1,List2,Temp1),!. 1264remove_temp([before(HP2,HP1)|Temp],HP1,List,Temp1):- 1265 remove_temp_after(List,before(HP2,HP1),List2), 1266 remove_temp(Temp,HP1,List2,Temp1),!. 1267remove_temp([before(HPX,HPY)|Temp],HP1,List,Temp1):- 1268 remove_temp(Temp,HP1,List,Temp1),!. 1269 1270% if HP1<HP2, remove HP1<HP2, and change all HP3<HP1 => HP3<HP2 1271remove_temp_before([],before(HP1,HP2),[]):-!. 1272remove_temp_before([before(HP1,HP2)|T],before(HP1,HP2),T1):- 1273 remove_temp_before(T,before(HP1,HP2),T1),!. 1274remove_temp_before([before(HP3,HP1)|T],before(HP1,HP2),[before(HP3,HP2)|T1]):- 1275 remove_temp_before(T,before(HP1,HP2),T1),!. 1276remove_temp_before([before(HPX,HPY)|T],before(HP1,HP2),[before(HPX,HPY)|T1]):- 1277 remove_temp_before(T,before(HP1,HP2),T1),!. 1278% if HP2<HP1, remove HP2<HP1, and change all HP1<HP3 => HP2<HP3 1279remove_temp_after([],before(HP1,HP2),[]):-!. 1280remove_temp_after([before(HP2,HP1)|T],before(HP2,HP1),T1):- 1281 remove_temp_after(T,before(HP2,HP1),T1),!. 1282remove_temp_after([before(HP1,HP3)|T],before(HP2,HP1),[before(HP2,HP3)|T1]):- 1283 remove_temp_after(T,before(HP2,HP1),T1),!. 1284remove_temp_after([before(HPX,HPY)|T],before(HP2,HP1),[before(HPX,HPY)|T1]):- 1285 remove_temp_after(T,before(HP2,HP1),T1),!. 1286 1287remove_dec(HPid,[],[]):-!. 1288remove_dec(HPid,[step(HPid,_,_,_,_)|Dec],Dec1):- 1289 remove_dec(HPid,Dec,Dec1),!. 1290remove_dec(HPid,[step(A,B,C,D,F)|Dec],[step(A,B,C,D,F)|Dec1]):- 1291 remove_dec(HPid,Dec,Dec1),!. 1292 1293/******************************************************/ 1294% state2 is achieved by state1(or they are not conflict) 1295% the output state is the combination of the two states 1296state_achieved(undefd,State,State):-!. 1297state_achieved(State1,State2,State3):- 1298 state_achieved1(State1,State2,State3). 1299 1300state_achieved1([],State2,State2). 1301state_achieved1([se(Sort,Obj,ST1)|State1],State2,[se(Sort,Obj,STN)|State]):- 1302 get_sort_objects(Sort,Objls), 1303 member(Obj,Objls), 1304 member(se(Sort,Obj,ST2),State2), 1305 not_conflict(Sort,Obj,ST1,ST2,STN), 1306 list_take(State2,[se(Sort,Obj,ST2)],State21), 1307 state_achieved1(State1,State21,State). 1308state_achieved1([se(Sort1,Obj,ST1)|State1],State2,[se(Sort,Obj,STN)|State]):- 1309 not(objects(Sort1,Objls)), 1310 find_prim_sort(Sort1,Sortls), 1311 member(se(Sort,Obj,ST2),State2), 1312 member(Sort,Sortls), 1313 not_conflict(Sort,Obj,ST1,ST2,STN), 1314 list_take(State2,[se(Sort,Obj,ST2)],State21), 1315 state_achieved1(State1,State21,State). 1316 1317% two states not conflict 1318not_conflict(Sort,Obj,ST,ST1,NewST):- 1319 gsubstate_classes(Sort,Obj,Substateclasses), 1320 member(State0,Substateclasses), 1321 is_achieved(ST,State0), 1322 is_achieved(ST1,State0), 1323 set_append_e(ST,ST1,NewST),!. 1324 1325% all the element in list1 are static or in list2 1326is_achieved([],_):-!. 1327is_achieved([H|T], State) :- 1328 is_statics(H), 1329 is_achieved(T,State),!. 1330is_achieved([H|T], State) :- 1331 member(H,State), 1332 is_achieved(T,State),!. 1333 1334% check if a predicate is statics or not 1335is_statics(ne(A,B)):-!. 1336is_statics(is_of_sort(A,B)):-!. 1337is_statics(is_of_primitive_sort(A,B)):-!. 1338is_statics(Pred):- 1339 functor(Pred,FF,NN), 1340 functor(Pred1,FF,NN), 1341 atomic_invariants(Atom), 1342 member(Pred1,Atom),!. 1343 1344 1345%------------------------------------------- 1346 1347/************ state changes by actions ********/ 1348% if an object's state meet the precondition 1349% it change to the postcondition 1350state_change([],Pre0,Post0,[]):-!. 1351state_change(Pre,[],[],Pre):-!. 1352% if a obj pre achieves action's pre 1353% change the obj's post state with action's post 1354state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,NewSS)|State]):- 1355 member(se(Sort,Obj,SE0),Pre0), 1356 member(se(Sort,Obj,SS0),Post0), 1357 not_conflict(Sort,Obj,SE,SE0,_), 1358 state_change1(SE,SE0,SS0,NewSS), 1359 list_take(Pre0,[se(Sort,Obj,SE0)],Pre1), 1360 list_take(Post0,[se(Sort,Obj,SS0)],Post1), 1361 state_change(Pre,Pre1,Post1,State),!. 1362% if a obj state not defined in action's pre 1363% move it to its post 1364state_change([se(Sort,Obj,SE)|Pre],Pre0,Post0,[se(Sort,Obj,SE)|State]):- 1365 state_change(Pre,Pre0,Post0,State),!. 1366 1367state_change1([],SE0,SS0,SS0):-!. 1368state_change1([HSE|TSE],SE0,SS0,SS1):- 1369 member(HSE,SE0), 1370 state_change1(TSE,SE0,SS0,SS1),!. 1371state_change1([HSE|TSE],SE0,SS0,[HSE|SS1]):- 1372 state_change1(TSE,SE0,SS0,SS1),!. 1373%------------------------------------------- 1374%------------------------------------------- 1375/************ state changes by conditions ********/ 1376% for all the object's state meet the precondition 1377% it change to the postcondition 1378cond_state_change([],Cond,[]):-!. 1379cond_state_change(State,[],State):-!. 1380cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[se(Sort,Obj,NewSS)|State]):- 1381 member(sc(Sort1,Obj,SE0=>SS0),Cond), 1382 statics_consist([is_of_sort(Obj,Sort1),is_of_sort(Obj,Sort)]), 1383 not_conflict(Sort,Obj,SE,SE0,_), 1384 state_change1(SE,SE0,SS0,NewSS), 1385 cond_state_change(Pre,Cond,State),!. 1386cond_state_change([se(Sort,Obj,SE)|Pre],Cond,[se(Sort,Obj,SE)|State]):- 1387 cond_state_change(Pre,Cond,State),!. 1388 1389%------------------------------------------- 1390% check that an action's state change 1391% included changes of the goal states need to be achieved 1392post_changed(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1393 member(se(Sort,Obj,SE0),Post0), 1394 state_achieved([se(Sort,Obj,SE0)],[se(Sort,Obj,SE)],_), 1395 statics_consist(Statics). 1396post_changed(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1397 member(sc(Sort,Obj,SE1=>SS),Cond), 1398 state_achieved([se(Sort,Obj,SS)],[se(Sort,Obj,SE)],_), 1399 statics_consist(Statics). 1400post_changed(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1401 post_changed(Post0,Cond,Statics,Post). 1402 1403all_achieved([],Statics,Post). 1404all_achieved([se(Sort,Obj,SL)|Pre],Statics,Post):- 1405 not(member(se(Sort,Obj,SR),Post)), 1406 all_achieved(Pre,Statics,Post). 1407all_achieved([se(Sort,Obj,SL)|Pre],Statics,Post):- 1408 member(se(Sort,Obj,SR),Post), 1409 is_achieved(SL,SR), 1410 statics_consist_instance(Statics), 1411 all_achieved(Pre,Statics,Post). 1412 1413 1414%------------------------------------------- 1415% instantiate a bit 1416% use action's state change include the postcondition 1417post_instant(Post0,Cond,Statics,[]):-!. 1418post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1419 member(se(Sort,Obj,SE0),Post0), 1420 statics_consist(Statics). 1421post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1422 member(sc(Sort,Obj,SE1=>SS),Cond), 1423 statics_consist(Statics). 1424post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1425 member(sc(Sort0,Obj,SE1=>SS),Cond), 1426 not(objects(Sort0,_)), 1427 subsorts(Sort0,Sortls), 1428 not(not(member(Sort,Sortls))), 1429 statics_consist(Statics). 1430post_instant(Post0,Cond,Statics,[se(Sort,Obj,SE)|Post]):- 1431 post_instant(Post0,Cond,Statics,Post),!. 1432/******************************* NODE ADT *********************/ 1433 1434%node(Name, Precond, Decomps, Temp, Statics) 1435% When inputting new methods etc filter all statics into 1436% static slot 1437 1438make_problem_into_node(I,goal(L,TM,STATS), NN) :- 1439 make_problem_up(L, STEPS), 1440 make_num_hp(TM,Temp), 1441 sort_steps(STEPS,Temp,STEPS1), 1442 make_ss_to_se(I,I_Pre), 1443 NN = node(root,I_Pre,STEPS1 ,Temp, STATS),!. 1444 1445% make problem to steps 1446make_problem_up([],[]):-!. 1447make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,[L1],unexp)|RS]):- 1448 %preconditon here is undefd 1449 make_ss_to_se([L],[L1]), 1450 gensym_special(hp,HP), 1451 make_problem_up(R, RS),!. 1452make_problem_up([achieve(L)|R],[step(HP,achieve(L1),undefd,L1,unexp)|RS]):- 1453 %preconditon here is undefd 1454 make_ss_to_se(L,L1), 1455 gensym_special(hp,HP), 1456 make_problem_up(R, RS),!. 1457make_problem_up([O|R],[step(HP,O,undefd,undefd,unexp)|RS]):- 1458 methodC(O,Pre,Post,Statics1,Temp,ACH,Dec), 1459 gensym_special(hp,HP), 1460 make_problem_up(R, RS),!. 1461make_problem_up([O|R], 1462 [step(HP,O,undefd,undefd,unexp)|RS]):- 1463 operatorC(O,Pre,Post,Cond,Statics1), 1464 gensym_special(hp,HP), 1465 make_problem_up(R, RS),!. 1466 1467make_num_hp([],[]):-!. 1468make_num_hp([before(N1,N2)|TM],[before(H1,H2)|Temp]):- 1469 gensym_num(hp,N1,H1), 1470 gensym_num(hp,N2,H2), 1471 make_num_hp(TM,Temp),!. 1472 1473%**************sort steps********************************* 1474% sort steps by temporal constraints. 1475sort_steps(Steps,[],Steps):-!. 1476sort_steps([Steps|[]],[],[Steps]):-!. 1477sort_steps(Steps,Temp,OrderedST):- 1478 steps_in_temp(Temp,[],ST), 1479 sort_steps1(Temp,ST,OrderedSTID), 1480 sort_steps2(Steps,OrderedSTID,[],OrderedST),!. 1481 1482% find out the steps in temporal constraints. 1483steps_in_temp([],ST,ST):-!. 1484steps_in_temp([before(H1,H2)|TT],List,ST):- 1485 set_append_e(List,[H1,H2],List1), 1486 steps_in_temp(TT,List1,ST),!. 1487 1488% sort the steps_id(hps) by temporal constraints. 1489sort_steps1(Temp,[],[]):-!. 1490sort_steps1(Temp,[HP1|TST],[HPF|OST]):- 1491 earliest_step(HP1,HPF,Temp,TST,TST1), 1492 sort_steps1(Temp,TST1,OST),!. 1493 1494earliest_step(HPF,HPF,Temp,[],[]):-!. 1495earliest_step(HP1,HPF,Temp,[HP2|TST],[HP1|TST1]):- 1496 member(before(HP2,HP1),Temp), 1497 earliest_step(HP2,HPF,Temp,TST,TST1),!. 1498earliest_step(HP1,HPF,Temp,[HP2|TST],[HP2|TST1]):- 1499 earliest_step(HP1,HPF,Temp,TST,TST1),!. 1500 1501% sort the steps, put the unordered steps in the front 1502sort_steps2(OtherST,[],OrderedST1,OrderedST):- 1503 append(OrderedST1,OtherST,OrderedST),!. 1504sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1505 member(step(HP,N,Pre,Post,F),Steps), 1506 append(List,[step(HP,N,Pre,Post,F)],List1), 1507 list_take(Steps,[step(HP,N,Pre,Post,F)],Steps1), 1508 sort_steps2(Steps1,THPS,List1,OrderedST),!. 1509sort_steps2(Steps,[HP|THPS],List,OrderedST):- 1510 sort_steps2(Steps,THPS,List,OrderedST),!. 1511%******************************************************* 1512 1513% replace ss to se 1514make_ss_to_se([],[]):-!. 1515make_ss_to_se([ss(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1516 make_ss_to_se(TPost,TPre),!. 1517make_ss_to_se([se(Sort,Obj,Post)|TPost],[se(Sort,Obj,Post)|TPre]):- 1518 make_ss_to_se(TPost,TPre),!. 1519 1520%******************************************************* 1521% extract_solution(Node,.. 1522% recurvise routine to work down tree and 1523% print out a linearisation of it 1524extract_solution(Node,PHPs,SIZE1) :- 1525 % its the name of a hierarchical op...... 1526 getN_decomp(Node, HPs), 1527 push_to_primitive(HPs,[],PHPs), 1528 pprint(PHPs,1,SIZE), 1529 SIZE1 is SIZE -1,!. 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550/************ change_op_representation ***********/ 1551% make pre and post explicit 1552% filter out statics and put in a new slot 1553change_op_representation :- 1554 method(A,B,C,Stat,T,Dec), 1555 make_ss_to_se(B,B0), 1556 make_se_primitive(B0,B1), 1557 make_sc_primitive(C,C1), 1558 get_preconditions(C1,B1,Pre,Post), 1559 rem_statics(Post, PostR,St1), 1560 rem_statics(Pre, PreR,St2), 1561 append_cut(St1,St2,Statics), 1562 append_cut(Stat,Statics,Statics1), 1563 remove_unneed(Statics1,[],Statics2), 1564 get_achieval(A,Dec,T,Dec1,T1,ACH), 1565 assert(methodC(A,PreR,PostR,Statics2,T1,achieve(ACH),Dec1)), 1566 fail. 1567change_op_representation :- 1568 operator(A,B,C,D), 1569 make_ss_to_se(B,B0), 1570 make_se_primitive(B0,B1), 1571 make_sc_primitive(C,C1), 1572% make_sc_primitive(D,D1), 1573 %can't do that because it narrow the conditional change 1574 get_preconditions(C1,B1,Pre,Post), 1575 rem_statics(Post, PostR,St1), 1576 rem_statics(Pre, PreR,St2), 1577 append_cut(St1,St2,Statics1), 1578 remove_unneed(Statics1,[],Statics), 1579 statics_consist(Statics), 1580 assert(operatorC(A,PreR,PostR,D,Statics)), 1581 fail. 1582change_op_representation:- 1583 retractall(current_num(sm,_)),!. 1584 1585get_preconditions([],Prev,Prev,Prev) :-!. 1586get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From1)|Pre],[se(S,X,To1)|Post]):- 1587 member_e(se(S,X,PSE),Prev), 1588 append(PSE,From,From1), 1589 append(PSE,To,To1), 1590 list_take(Prev,[se(S,X,PSE)],Prev1), 1591 get_preconditions(Rest,Prev1, Pre,Post),!. 1592get_preconditions([sc(S,X,From =>To)|Rest],Prev,[se(S,X,From)|Pre],[se(S,X,To)|Post]):- 1593 get_preconditions(Rest,Prev, Pre,Post),!. 1594get_preconditions([],Prev,Prev,Prev) :-!. 1595 1596% get all achieve goals out 1597get_achieval(A,Dec,T,Dec1,T1,Achieval):- 1598 retractall(current_num(sm,_)), 1599 make_dec(A,Dec,Dec1,T,T1,[],Achieval),!. 1600make_dec(A,[],[],Temp,Temp,Achieval,Achieval):-!. 1601make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1602 HD=..[achieve|Goal], 1603 current_num(sm,Num), 1604 replace_achieval_temp(Temp,Temp0,Num), 1605 make_ss_to_se(Goal,Goal0), 1606 append(Achieval,Goal0,Achieval0), 1607 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1),!. 1608make_dec(A,[HD|TD],TD1,Temp,Temp1,Achieval,Achieval1):- 1609 HD=..[achieve|Goal], 1610 not(current_num(sm,Num)), 1611 replace_achieval_temp(Temp,Temp0,1), 1612 make_ss_to_se(Goal,Goal0), 1613 append(Achieval,Goal0,Achieval0), 1614 make_dec(A,TD,TD1,Temp0,Temp1,Achieval0,Achieval1). 1615make_dec(A,[HD|TD],[HD|TD1],Temp,Temp1,Achieval,Achieval1):- 1616 HD=..[DecName|Goal], 1617 DecName\==achieve, 1618 gensym_special(sm,SM), 1619 current_num(sm,Num), 1620 make_dec(A,TD,TD1,Temp,Temp1,Achieval,Achieval1),!. 1621 1622% get rid of the achievals in temp orders 1623replace_achieval_temp(Temp,Temp1,Num):- 1624 change_all_numbers(Temp,Num,Temp00), 1625 tidy_temp(Temp00,Temp1). 1626 1627change_all_numbers([],Num,[]):-!. 1628change_all_numbers([HTemp|TTemp],Num,[HTemp00|TTemp00]):- 1629 HTemp=..[before|Nums], 1630 change_nums(Nums,Num,Nums1), 1631 HTemp00=..[before|Nums1], 1632 change_all_numbers(TTemp,Num,TTemp00). 1633 1634change_nums([],Num,[]):-!. 1635change_nums([Num1|TN],Num,[Num1|TN1]):- 1636 Num1<Num, 1637 change_nums(TN,Num,TN1),!. 1638change_nums([Num1|TN],Num,[Num2|TN1]):- 1639 Num1>Num, 1640 Num2 is Num1-1, 1641 change_nums(TN,Num,TN1),!. 1642change_nums([Num|TN],Num,[0|TN1]):- 1643 change_nums(TN,Num,TN1),!. 1644 1645% since assumed achieval only happen at first, so only change the after ones 1646tidy_temp(Temp,Temp1):- 1647 member(before(Num,0),Temp), 1648 list_take(Temp,[before(Num,0)],Temp0), 1649 change_laters(Temp0,Num,Temp01), 1650 tidy_temp(Temp01,Temp1). 1651tidy_temp([],[]):-!. 1652tidy_temp([before(0,Num)|Temp],Temp0):- 1653 tidy_temp(Temp,Temp0),!. 1654tidy_temp([before(Num1,Num2)|Temp],[before(Num1,Num2)|Temp0]):- 1655 tidy_temp(Temp,Temp0),!. 1656 1657change_laters([before(0,Num2)|Temp],Num,[before(Num,Num2)|Temp0]):- 1658 change_laters(Temp,Num,Temp0). 1659change_laters([before(Num1,0)|Temp],Num,[before(Num1,0)|Temp0]):- 1660 change_laters(Temp,Num,Temp0). 1661change_laters([before(Num1,Num2)|Temp],Num,[before(Num1,Num2)|Temp0]):- 1662 change_laters(Temp,Num,Temp0). 1663 1664% change the states to primitive states 1665make_se_primitive([],[]). 1666make_se_primitive([se(Sort,Obj,ST)|SE],[se(Sort,Obj,ST)|SE0]):- 1667 find_prim_sort(Sort,[Sort]),!, 1668 make_se_primitive(SE,SE0). 1669make_se_primitive([se(Sort,Obj,ST)|SE],[se(PSort,Obj,ST)|SE0]):- 1670 find_prim_sort(Sort,PSorts), 1671 member(PSort,PSorts), 1672 make_se_primitive(SE,SE0). 1673 1674% change the state changes to primitive states 1675make_sc_primitive([],[]). 1676make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(Sort,Obj,SE1=>SE2)|ST0]):- 1677 find_prim_sort(Sort,[Sort]),!, 1678 make_sc_primitive(ST,ST0). 1679make_sc_primitive([sc(Sort,Obj,SE1=>SE2)|ST],[sc(PSort,Obj,SE1=>SE2)|ST0]):- 1680 find_prim_sort(Sort,PSorts), 1681 member(PSort,PSorts), 1682 make_sc_primitive(ST,ST0). 1683% ------------ end of change operator ---------------------- 1684make_tn(TN,Name,Pre,Post,Temp,Dec):- 1685 gensym_special(tn,TN), 1686 find_only_changed(Pre,Post,[],Pre1,[],Post1), 1687% tell(user),nl,write(tn(TN,Name,Pre1,Post1,Temp,Dec)),nl,told, 1688 assert(tn(TN,Name,Pre1,Post1,Temp,Dec)),!. 1689 1690find_only_changed([],[],Pre,Pre,Post,Post):-!. 1691% just a lazy check if they are in exactly same sequence 1692find_only_changed([se(Sort,Obj,ST)|Pre],[se(Sort,Obj,ST)|Post],Pre0,Pre1,Post0,Post1):- 1693 find_only_changed(Pre,Post,Pre0,Pre1,Post0,Post1),!. 1694find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 1695 member(se(Sort,Obj,ST1),Post), 1696 list_take(Post,[se(Sort,Obj,ST1)],Post2), 1697 append_changed(se(Sort,Obj,ST),se(Sort,Obj,ST1),Pre0,Pre3,Post0,Post3), 1698 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 1699find_only_changed([se(Sort,Obj,ST)|Pre],Post,Pre0,Pre1,Post0,Post1):- 1700 member(se(SortN,Obj,ST1),Post), 1701 list_take(Post,[se(SortN,Obj,ST1)],Post2), 1702 append_changed(se(Sort,Obj,ST),se(SortN,Obj,ST1),Pre0,Pre3,Post0,Post3), 1703 find_only_changed(Pre,Post2,Pre3,Pre1,Post3,Post1),!. 1704% other fail. 1705 1706% append only changed states 1707% not_conflict here means not changed 1708append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre0,Post0,Post0):- 1709 not_conflict(Sort,Obj,ST,ST1,_),!. 1710append_changed(se(Sort,Obj,ST),se(Sort1,Obj,ST1),Pre0,Pre3,Post0,Post3):- 1711 append(Pre0,[se(Sort,Obj,ST)],Pre3), 1712 append(Post0,[se(Sort,Obj,ST1)],Post3),!. 1713 1714 1715 1716%***********print out solution************************** 1717push_to_primitive([],PHPs,PHPs) :-!. 1718push_to_primitive([step(HPID,_,_,_,exp(TN))|HPs],List,PHPs) :- 1719 tn(TN,Name,Pre,Post,Temp,Dec), 1720 push_to_primitive(Dec,List,Dec1), 1721 push_to_primitive(HPs,Dec1,PHPs),!. 1722push_to_primitive([step(HPID,_,_,_,exp(Name))|HPs],List,PHPs):- 1723 append(List,[Name],List1), 1724 push_to_primitive(HPs,List1,PHPs),!. 1725 1726 1727/*********** TEMPORAL AND DECLOBBERING ************/ 1728 1729possibly_before(I,J,Temps) :- 1730 \+ necessarily_before(J,I,Temps), !. 1731 1732necessarily_before(J,I,Temps) :- 1733 member(before(J,I),Temps),!. 1734necessarily_before(J,I,Temps) :- 1735 member(before(J,Z),Temps), 1736 necessarily_before(Z,I,Temps),!. 1737 1738/********** retracting, asserting and reporting nodes *****************/ 1739 1740/***** SOLUTION ******/ 1741select_node(node(Name,Pre,Temp,Decomp,Statics)) :- 1742 retract(node(Name,Pre,Temp,Decomp,Statics)), 1743% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 1744% tell(user), 1745% nl,nl,write(Name),write(' RETRACTED'),nl,nl, 1746% tell(FF), 1747 !. 1748 1749is_of_primitive_sort(X,Y) :- 1750 objects(Y,L),member(X,L). 1751is_of_sort(X,Y) :- 1752 is_of_primitive_sort(X,Y). 1753is_of_sort(X,Y) :- 1754 sorts(Y,SL),member(Z,SL),is_of_sort(X,Z). 1755 1756find_all_upper([],[]). 1757find_all_upper([HVars|TV],[HSorts|TS]):- 1758 uppersorts(HSorts,Upsorts), 1759 member(HVars,Upsorts), 1760 find_all_upper(TV,TS). 1761 1762% find out primitive sorts of a sort. 1763find_prim_sort(Sort,PS):- 1764 subsorts(Sort,Subsorts), 1765 split_prim_noprim(Subsorts,PS,NP),!. 1766 1767% find out the objects of a sort 1768get_sort_objects(Sort,Objs):- 1769 find_prim_sort(Sort,PSorts), 1770 get_objects1(PSorts,Objls), 1771 flatten(Objls,[],Objs),!. 1772 1773get_objects1([],[]):-!. 1774get_objects1([PS1|RS],[Objls1|Objls]):- 1775 objects(PS1,Objls1), 1776 get_objects1(RS,Objls),!. 1777 1778% find subsorts of a sort(include). 1779subsorts(Sort,Subsorts):- 1780 sort_down([Sort],[Sort],Subsorts),!. 1781 1782sort_down([],Subsorts,Subsorts):-!. 1783sort_down([HOpen|TOpen],List,Sortslist):- 1784 sorts(HOpen,Sorts), 1785 append(List,Sorts,List1), 1786 append(TOpen,Sorts,Open1), 1787 sort_down(Open1,List1,Sortslist),!. 1788sort_down([HOpen|TOpen],List,Sortslist):- 1789 sort_down(TOpen,List,Sortslist),!. 1790 1791% find uppersorts of a sort or object(include). 1792uppersorts(Sort,Uppersorts):- 1793 objects(Sort,Objls), 1794 sort_up(Sort,[Sort],Uppersorts),!. 1795uppersorts(Sort,Uppersorts):- 1796 sorts(Sort,Sortls), 1797 sort_up(Sort,[Sort],Uppersorts),!. 1798uppersorts(Obj,Sortls):- 1799 objects(Sort,Objls), 1800 member(Obj, Objls), 1801 sort_up(Sort,[Sort],Sortls),!. 1802 1803sort_up(Sort, List,Sortslist):- 1804 sorts(non_primitive_sorts,NPSorts), 1805 sort_up1(Sort,NPSorts,NPSorts,List,Sortslist),!. 1806 1807sort_up1(Sort,[],NPSorts,Sortslist,Sortslist):-!. 1808sort_up1(Sort,[HNPSorts|TNPSorts],NPSorts,List,Sortslist):- 1809 sorts(HNPSorts,Sorts), 1810 member(Sort,Sorts), 1811 append(List, [HNPSorts], List1), 1812 sort_up(HNPSorts,List1,Sortslist),!. 1813sort_up1(Sort,[HNPSorts|TNPSorts],NPSorts,List,Sortslist):- 1814 sort_up1(Sort,TNPSorts,NPSorts,List,Sortslist),!. 1815 1816% find out primitive sorts from a sorts list. 1817split_prim_noprim([],[],[]):-!. 1818split_prim_noprim([HS|TS],[HS|TP],NP):- 1819 objects(HS,Obj), 1820 split_prim_noprim(TS,TP,NP),!. 1821split_prim_noprim([HS|TS],PS,[HS|NP]):- 1822 split_prim_noprim(TS,PS,NP),!. 1823 1824 1825 1826 1827 1828% check for statics consist and instanciate them 1829statics_consist_instance([]):-!. 1830statics_consist_instance(Statics) :- 1831 get_invariants(Invs), 1832 statics_consist_instance0(Invs,Statics). 1833 1834statics_consist_instance0(Invs,[]):-!. 1835statics_consist_instance0(Invs,[ne_back(A,B)|TStatics]):- 1836 not(A==B), 1837 statics_consist_instance0(Invs,TStatics). 1838statics_consist_instance0(Invs,[ne(A,B)|TStatics]):- 1839 append(TStatics,[ne_back(A,B)],TStatics1), 1840 statics_consist_instance0(Invs,TStatics1),!. 1841statics_consist_instance0(Invs,[is_of_sort(Obj,Sort)|TStatics]):- 1842 is_of_sort(Obj,Sort), 1843 statics_consist_instance0(Invs,TStatics). 1844statics_consist_instance0(Invs,[is_of_primitive_sort(Obj,Sort)|TStatics]):- 1845 is_of_primitive_sort(Obj,Sort), 1846 statics_consist_instance0(Invs,TStatics). 1847statics_consist_instance0(Invs,[Pred|TStatics]):- 1848 member(Pred,Invs), 1849 statics_consist_instance0(Invs,TStatics). 1850 1851% check for statics consist without instanciate them 1852% only instance the variable when there is one choice of from the ground lists 1853statics_consist([]):-!. 1854statics_consist(Statics):- 1855 get_invariants(Invs), 1856 statics_consist1(Invs,Statics),!. 1857 1858statics_consist1(Invs,[]):-!. 1859statics_consist1(Invs,[ne_back(A,B)|TStatics]):- 1860 not(A==B), 1861 statics_consist1(Invs,TStatics),!. 1862statics_consist1(Invs,[ne(A,B)|TStatics]):- 1863 append(TStatics,[ne_back(A,B)],TStatics1), 1864 statics_consist1(Invs,TStatics1),!. 1865statics_consist1(Invs,[is_of_sort(Obj,Sort)|TStatics]):- 1866 get_sort_objects(Sort,Objs), 1867 obj_member(Obj,Objs), 1868 statics_consist1(Invs,TStatics),!. 1869statics_consist1(Invs,[is_of_primitive_sort(Obj,Sort)|TStatics]):- 1870 objects(Sort,Objs), 1871 obj_member(Obj,Objs), 1872 statics_consist1(Invs,TStatics),!. 1873statics_consist1(Invs,[Pred|TStatics]):- 1874 pred_member(Pred,Invs), 1875 statics_consist1(Invs,TStatics),!. 1876 1877/***************** local utils *****************/ 1878 1879/*********** DOMAIN MODEL FUNCTIONS *****************/ 1880get_invariants(Invs) :- 1881 atomic_invariants(Invs),!. 1882 1883rem_statics([ss(S,X,Preds)|Post], [ss(S,X,PredR)|PostR],Rt1) :- 1884 filter_list(Preds, is_a_dynamic_pred,PredR), 1885 filter_list(Preds, is_a_static_pred, R), 1886 rem_statics(Post, PostR,Rt), 1887 append(Rt,[is_of_sort(X,S)|R],Rt1),!. 1888rem_statics([se(S,X,Preds)|Post], [se(S,X,PredR)|PostR],Rt1) :- 1889 filter_list(Preds, is_a_dynamic_pred,PredR), 1890 filter_list(Preds, is_a_static_pred, R), 1891 rem_statics(Post, PostR,Rt), 1892 append(Rt,[is_of_sort(X,S)|R],Rt1),!. 1893rem_statics([], [],[]) :-!. 1894 1895 1896 1897/***************** STATICS ************************/ 1898 1899isemptylist([]):-!. 1900 1901 1902member_cut(X,[X|_]) :- !. 1903member_cut(X,[_|Y]) :- member_cut(X,Y),!. 1904 1905member_e(X,[Y|_]):- 1906 X==Y,!. 1907member_e(X,[Y|L]):- 1908 var(Y), 1909 member_e(X,L),!. 1910member_e(ss(Sort,Obj,SE),[ss(Sort,Obj1,SE)|_]):- 1911 Obj==Obj1,!. 1912member_e(se(Sort,Obj,SE),[se(Sort,Obj1,SE)|_]):- 1913 Obj==Obj1,!. 1914member_e(sc(Sort,Obj,SE1=>SE2),[sc(Sort,Obj1,SE1=>SE2)|_]):- 1915 Obj==Obj1,!. 1916member_e(X,[Y|L]):- member_e(X,L),!. 1917% u_mem in ob_utils is SLOW!?. 1918% this is a fast impl. 1919u_mem_cut(_,[]):-!,fail. 1920u_mem_cut(X,[Y|_]) :- X == Y,!. 1921u_mem_cut(X,[_|L]) :- u_mem_cut(X,L),!. 1922 1923 1924% check if object X is a member of a objects list 1925% 1. if it is not a variable, check if it is in the list 1926% 2. X is a variable, and the list only has one objects, make X as that obj 1927% 3. X is a variable, but the list has more than one objects, leave X unchange 1928obj_member(X,[X|[]]):-!. 1929obj_member(X,List):- 1930 obj_member0(X,List),!. 1931obj_member0(X,[Y|_]):- 1932 var(X),!.%if X is var, but Y not, the leave X as that variable 1933obj_member0(X,[Y|_]):- 1934 X==Y,!. 1935obj_member0(X,[_|Y]) :- obj_member0(X,Y),!. 1936 1937% check if a predicate is a member of a ground predicate list, 1938% 1. when only one predicates found 1939% just used in binding the predicates to a sort without instantiate it 1940% for efficiency, instantiate the variable if the list only have one atom 1941pred_member(ne(A,B),List):- 1942 A\==B,!. 1943pred_member(is_of_sort(A,B),List):- 1944 get_sort_objects(B,Objls), 1945 obj_member(A,Objls),!. 1946pred_member(is_of_primitive_sort(A,B),List):- 1947 objects(B,Objls), 1948 obj_member(A,Objls),!. 1949pred_member(X,List):- 1950 setof(X,member(X,List),Refined), 1951 pred_member0(X,Refined),!. 1952pred_member0(X,[X|[]]):-!. 1953pred_member0(X,Y):- 1954 pred_member1(X,Y),!. 1955pred_member1(X,[Y|_]):- 1956 X=..[H|XLs], 1957 Y=..[H|YLs], 1958 vequal(XLs,YLs),!. 1959pred_member1(X,[_|Y]):- pred_member1(X,Y),!. 1960 1961 1962 1963append_cut([],L,L) :- !. 1964append_cut([H|T],L,[H|Z]) :- append_cut(T,L,Z),!. 1965 1966% remove the constants that no need 1967% instanciate the viables that all ready been bind 1968% ------------------------------------------ 1969append_st(ST1,ST2,ST):- 1970 append_cut(ST1,ST2,ST0), 1971 remove_unneed(ST0,[],ST),!. 1972 1973% remove the constants that no need 1974% instanciate the variables that all ready been bind 1975remove_unneed([],C,C):-!. 1976remove_unneed([A|B], Z, C):- 1977 var(A), 1978 member_e(A,Z), 1979 remove_unneed(B, Z, C),! . 1980remove_unneed([A|B], Z, C):- 1981 var(A), 1982 append(Z,[A],D), 1983 remove_unneed(B, D, C),!. 1984remove_unneed([A|B], Z, C):- 1985 ground(A), 1986 remove_unneed(B, Z, C),!. 1987remove_unneed([A|B], Z, C):- 1988 A=..[ne|Paras], 1989 append(Z,[A],D), 1990 remove_unneed(B, D, C),!. 1991remove_unneed([A|B], Z, C):- 1992 A=..[Pred|Paras], 1993 same_var_member(A,Z), 1994 remove_unneed(B, Z, C),!. 1995remove_unneed([A|B], Z, C):- 1996 append(Z,[A],D), 1997 remove_unneed(B, D, C),!. 1998 1999same_var_member(Pred,[Pred1|List]):- 2000 var(Pred1), 2001 same_var_member(Pred,List),!. 2002same_var_member(Pred,[Pred1|List]):- 2003 Pred==Pred1,!. 2004same_var_member(Pred,[Pred1|List]):- 2005 Pred=..[H|T], 2006 Pred1=..[H|T1], 2007 same_var_member1(T,T1),!. 2008same_var_member(Pred,[Pred1|List]):- 2009 same_var_member(Pred,List),!. 2010 2011same_var_member1([],[]):-!. 2012same_var_member1([H1|T],[H2|T]):- 2013 var(H1), 2014 H1==H2,!. 2015same_var_member1([H|T1],[H|T2]):- 2016 var(T1), 2017 T1==T2,!. 2018same_var_member1([H1|T1],[H2|T2]):- 2019 H1==H2, 2020 same_var_member1(T1,T2),!. 2021 2022 2023% set_append_e: list1 + list2 -> list 2024% no duplicate, no instanciation 2025% ------------------------------------------ 2026set_append_e(A,B,C):- 2027 append_cut(A,B,D), 2028 remove_dup(D,[],C),!. 2029 2030% remove duplicate 2031remove_dup([],C,C):-!. 2032remove_dup([A|B],Z,C) :- 2033 member_e(A, Z), 2034 remove_dup(B, Z, C),! . 2035remove_dup([A|B], Z, C):- 2036 append(Z,[A],D), 2037 remove_dup(B, D, C),!. 2038 2039vequal([],[]):-!. 2040vequal([X|XLs],[Y|YLs]):- 2041 var(X), 2042 vequal(XLs,YLs),!. 2043vequal([X|XLs],[Y|YLs]):- 2044 var(Y), 2045 vequal(XLs,YLs),!. 2046vequal([X|XLs],[Y|YLs]):- 2047 X==Y, 2048 vequal(XLs,YLs),!. 2049 2050 2051% append_st: append two statics 2052 2053/* is X is in the atomic_invariants then by defn its a static. */ 2054is_a_static_pred(X) :- 2055 atomic_invariants( A ), 2056 not( not( member(X,A) )),!. 2057is_a_static_pred(ne(_,_)) :-!. 2058is_a_static_pred(is_of_sort(_,_)) :-!. 2059 2060is_a_dynamic_pred(X) :- 2061 not( is_a_static_pred(X) ),!. 2062 2063/* filter_list(X,condition(args),XO) 2064 2065 XO is reduced list */ 2066 ([X|Rest],Op,[X|Rest1]) :- 2068 Op =.. OL, 2069 append(OL,[X],OL1), 2070 Pred =.. OL1, 2071 call(Pred), 2072 filter_list(Rest,Op,Rest1),!. 2073filter_list([_|Rest],Op,Rest1) :- 2074 filter_list(Rest,Op,Rest1),!. 2075filter_list([],_,[]). 2076 2077 2078 2079% ----------------------utilities--------------------- 2080/* 2081not(X):- \+X. 2082member(X,[X|_]). 2083member(X,[_|L]) :- member(X,L). 2084append([],L,L):-!. 2085append([H|T],L,[H|Z]) :- append(T,L,Z),!. 2086 */ 2087 2088file_exists(Filename):-exists_file(Filename). 2089 2090% subtract(A,B,C): subtract B from A 2091% ------------------------------------- 2092subtract([],_,[]):-!. 2093subtract([A|B],C,D) :- 2094 member(A,C), 2095 subtract(B,C,D),!. 2096subtract([A|B],C,[A|D]) :- 2097 subtract(B,C,D),!. 2098 2099/* arg1 - arg2 = arg3 */ 2100 2101list_take(R,[E|R1],R2):- 2102 remove_el(R,E,RR), 2103 list_take(RR,R1,R2),!. 2104list_take(R,[_|R1],R2):- 2105 list_take(R,R1,R2),!. 2106list_take(A,[],A) :- !. 2107 2108 % remove_el: list * el -> list-el 2109% ---------------------------------- 2110remove_el([],_,[]) :- ! . 2111remove_el([A|B],A,B) :- ! . 2112remove_el([A|B],C,[A|D]) :- 2113 remove_el(B,C,D) . 2114 2115/* generate symbol predicate (from file futile)*/ 2116 2117gensym_special(Root,Atom) :- 2118 getnum(Root,Num), 2119 name(Root,Name1), 2120 name(Num,Name2), 2121 append(Name1,Name2,Name), 2122 name(Atom,Name). 2123 2124getnum(Root,Num) :- 2125 retract(current_num(Root,Num1)),!, 2126 Num is Num1+1, 2127 asserta(current_num(Root,Num)). 2128 2129getnum(Root,1) :- asserta(current_num(Root,1)). 2130 2131 2132/************ end of change_op_representation ***********/ 2133 2134gensym_num(Root,Num,Atom):- 2135 name(Root,Name), 2136 name(Num,Name1), 2137 append(Name,Name1,Name2), 2138 name(Atom,Name2),!. 2139 2140 2141%******************************************************* 2142pprint([],SIZE,SIZE):-!. 2143pprint([HS|TS],Size0,SIZE):- 2144 list(HS), 2145 pprint(HS,Size0,Size1), 2146 pprint(TS,Size1,SIZE),!. 2147pprint([HS|TS],Size0,SIZE):- 2148% write('step '),write(Size0),write(': '), 2149% write(HS),nl, 2150 Size1 is Size0+1, 2151 pprint(TS,Size1,SIZE),!. 2152 2153 2154% list of lists -> list 2155 2156flatten([HO|TO], List, O_List):- 2157 append(HO, List, List_tmp), 2158 flatten(TO, List_tmp, O_List),!. 2159flatten([H|TO], List,O_List):- 2160 append([H], List, List_tmp), 2161 flatten(TO, List_tmp, O_List). 2162flatten([], [HList|T], O_List):- 2163 HList = [], 2164 flatten(T, [], O_List). 2165flatten([], [HList|T], O_List):- 2166 list(HList), 2167 flatten([HList|T],[], O_List),!. 2168flatten([], L,L):-!. 2169 2170% flatten with no duplicate 2171set_flatten([HO|TO], List, O_List):- 2172 set_append_e(HO, List, List_tmp), 2173 set_flatten(TO, List_tmp, O_List),!. 2174set_flatten([H|TO], List,O_List):- 2175 set_append_e([H], List, List_tmp), 2176 set_flatten(TO, List_tmp, O_List). 2177set_flatten([], [HList|T], O_List):- 2178 HList = [], 2179 set_flatten(T, [], O_List). 2180set_flatten([], [HList|T], O_List):- 2181 list(HList), 2182 set_flatten([HList|T],[], O_List),!. 2183set_flatten([], L,L):-!. 2184 2185% list: [el1,el2, ...] --> bool 2186% ----------------------------- 2187list(A) :- 2188 var(A) , 2189 ! , 2190 fail . 2191list(A) :- 2192 functor(A,'.',_). 2193% ***********************for multy tasks***************** 2194:- assert(time_taken(0)). 2195:- assert(soln_size(0)). 2196:- assert(plan_used(0)). 2197 2198solve(N,FN):- 2199 N < FN, 2200 tell(user), 2201 nl,write('task '), write(N),write(': '),nl, 2202 solution_file(F), 2203 tell(F), 2204 nl,write('task '), write(N),write(': '),nl, 2205 solve(N), 2206 Ni is N+1, 2207 solve(Ni,FN). 2208solve(FN,FN):- 2209 tell(user),nl,write('task '), 2210 write(FN),write(': '),nl, 2211 solution_file(F), 2212 tell(F), 2213 nl,write('task '), 2214 write(FN),write(': '),nl, 2215 solve(FN), 2216 retractall(sum(_)), 2217 assert(sum(0)), 2218 sum_time(CP), 2219 retractall(sum(_)), 2220 assert(sum(0)), 2221 sum_size(SIZE), 2222 TIM is CP /1000, 2223 retractall(sum(_)), 2224 assert(sum(0)), 2225 sum_plan(PLAN), 2226 retractall(time_taken(_)), 2227 retractall(soln_size(_)), 2228 retractall(plan_used(_)), 2229 nl,write('total time '),write(TIM),write(' seconds'), 2230 nl,write('total size '),write(SIZE), 2231 nl,write('plan used '),write(PLAN), 2232 nl, 2233 told. 2234 2235sum_time(TIM):- 2236 time_taken(CP), 2237 retract(sum(N)), 2238 N1 is N +CP, 2239 assert(sum(N1)), 2240 fail. 2241sum_time(TIM):- 2242 sum(TIM). 2243sum_size(SIZE):- 2244 soln_size(S), 2245 retract(sum(N)), 2246 N1 is N +S, 2247 assert(sum(N1)), 2248 fail. 2249sum_size(SIZE):- 2250 sum(SIZE). 2251 2252 2253sum_plan(Plan):- 2254 plan_used(PL), 2255 retract(sum(N)), 2256 N1 is N +PL, 2257 assert(sum(N1)), 2258 fail. 2259sum_plan(Plan):- 2260 sum(Plan). 2261 2262 2263%ground the hierarchy structure of HTN planning domain 2264ground_hierarchy:- 2265 ground_predicates, 2266 ground_substate_class,!. 2267 2268% grounding predicates to object level 2269% assert in prolog database as gpredicates(Pred,GPredls) 2270ground_predicates:- 2271 predicates(Preds), 2272 grounding_preds(Preds), 2273 collect_grounded_pred,!. 2274 2275grounding_preds([]). 2276% if it is statics, only choose within atomic_invariants 2277grounding_preds([HPred|TP]):- 2278 functor(HPred,FF,NN), 2279 functor(APred,FF,NN), 2280 atomic_invariants(Atom), 2281 member(APred,Atom), 2282 ground_all_var_atom(HPred), 2283 grounding_preds(TP). 2284% else, combine all the objects 2285grounding_preds([HPred|TP]):- 2286 functor(HPred,FF,NN), 2287 functor(GPred,FF,NN), 2288 ground_all_var(GPred,HPred), 2289 grounding_preds(TP). 2290 2291% collect all the grounded predicates together 2292collect_grounded_pred:- 2293 gpred(Pred,_), 2294 setof(GPred,gpred(Pred,GPred),GPredls), 2295 retractall(gpred(Pred,_)), 2296 assert(gpredicates(Pred,GPredls)), 2297 fail. 2298collect_grounded_pred. 2299 2300% grounding substate_class to primary sort level 2301% assert in prolog database as gsubstate_class(Sort,Obj,States) 2302ground_substate_class:- 2303 substate_classes(Sort,Obj,Substate), 2304 find_prim_sort(Sort,PS), 2305 assert_subclass(PS,Obj,Substate), 2306 fail. 2307ground_substate_class:- 2308 collect_grounded_substates. 2309 2310assert_subclass([],Obj,Substate). 2311assert_subclass([HS|TS],Obj,Substate):- 2312 assert(gsstates(HS,Obj,Substate)), 2313 assert_subclass(TS,Obj,Substate). 2314 2315collect_grounded_substates:- 2316 gsstates(Sort,Obj,_), 2317 setof(SStates,gsstates(Sort,Obj,SStates),GSStates), 2318 retractall(gsstates(Sort,Obj,_)), 2319 all_combined(GSStates,GSStates0), 2320 assert(gsubstate_classes(Sort,Obj,GSStates0)), 2321 fail. 2322collect_grounded_substates. 2323 2324all_combined(SStates,CSStates):- 2325 xprod(SStates,CSStates1), 2326 flat_interal(CSStates1,CSStates),!. 2327 2328flat_interal([],[]):-!. 2329flat_interal([HSS1|TSS1],[HSS|TSS]):- 2330 flatten(HSS1,[],HSS), 2331 flat_interal(TSS1,TSS),!. 2332 2333ground_all_var_atom(HPred):- 2334 functor(HPred,FF,NN), 2335 functor(GPred,FF,NN), 2336 functor(APred,FF,NN), 2337 atomic_invariants(Atom), 2338 member(APred,Atom), 2339 GPred=..[Name|Vars], 2340 APred=..[Name|Sorts], 2341 ground_all_var_atom0(Vars,Sorts), 2342 assert_gpred(GPred), 2343 fail. 2344ground_all_var_atom(HPred). 2345 2346ground_all_var_atom0([],[]). 2347ground_all_var_atom0([HVars|TV],[HSorts|TS]):- 2348 subsorts(HSorts,Subsorts), 2349 split_prim_noprim(Subsorts,PSorts,NPSorts), 2350 member(LS,PSorts), 2351 objects(LS,Objls), 2352 member(HVars,Objls), 2353 ground_all_var_atom0(TV,TS). 2354ground_all_var_atom0([HVar|TV],[HASorts|TS]):- 2355 objects(Sorts,Objls), 2356 member(HASorts,Objls), 2357 HVar=HASorts, 2358 ground_all_var_atom0(TV,TS). 2359 2360ground_all_var(GPred,HPred):- 2361 GPred=..[Name|Vars], 2362 HPred=..[Name|Sorts], 2363 ground_all_var0(Vars,Sorts), 2364 not(inconsistent_constraint([GPred])), 2365 assert_gpred(GPred), 2366 fail. 2367ground_all_var(GPred,HPred). 2368 2369ground_all_var0([],[]). 2370ground_all_var0([HVars|TV],[HSorts|TS]):- 2371 objects(HSorts,Objls), 2372 member(HVars,Objls), 2373 ground_all_var0(TV,TS). 2374ground_all_var0([HVars|TV],[HSorts|TS]):- 2375 subsorts(HSorts,Subsorts), 2376 split_prim_noprim(Subsorts,PSorts,NPSorts), 2377 member(LS,PSorts), 2378 objects(LS,Objls), 2379 member(HVars,Objls), 2380 ground_all_var0(TV,TS). 2381 2382% assert grounded predicates with related upper level predicates 2383 2384assert_gpred(GPred):- 2385 functor(GPred,FF,NN), 2386 functor(UPred,FF,NN), 2387 assert_gpred0(GPred,UPred),!. 2388 2389assert_gpred0(GPred,UPred):- 2390 GPred=..[Name|PSorts], 2391 UPred=..[Name|Vars], 2392 get_obj_sort(Vars,PSorts), 2393 assert(gpred(UPred,GPred)), 2394 fail. 2395assert_gpred0(GPred,UPred). 2396 2397get_obj_sort([],[]):-!. 2398get_obj_sort([HVars|TV],[HObj|TS]):- 2399 objects(HVars,Objls), 2400 member(HObj,Objls), 2401 get_obj_sort(TV,TS),!. 2402 2403delete_all_nodes :- 2404 retractall(node(_,_,_,_,_)), 2405 retractall(final_node(_)), 2406 retractall(tp_node(_,_,_,_,_,_)), 2407 retractall(closed_node(_,_,_,_,_,_)), 2408 retractall(solved_node(_,_,_)). 2409delete_all_nodes :- !. 2410 2411 2412% xprod: list * list --> (list X list) 2413% ----------------------------------- 2414xprod(A,B,C) :- 2415 xprod([A,B],C) . 2416 2417xprod([],[]). 2418xprod(A,E) :- 2419 xprod(A,B,C,D) , 2420 F =..[^,C,D] , 2421 call(setof(B,F,E)) . 2422 2423xprod([X],[A],A,member(A,X)) . 2424xprod([X,Y],[A,B],C,(D,E)) :- 2425 C =..[^,A,B] , 2426 D =..[member,A,X] , 2427 E =..[member,B,Y] . 2428xprod([X|Y],[A|E],D,(F,G)) :- 2429 D =..[^,A,C] , 2430 F =..[member,A,X] , 2431 xprod(Y,E,C,G). 2432 2433 2434:- include(translog4_domain). 2435:- include(translog4_ops). 2436%:- include(translog4_ops2). 2437%:- include(translog4_ops3). 2438:- include(translog4_problems). 2439 2440:- fixup_exports.