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fix(interpreted functions): work in progress - readability
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Samuel Gobbi committed Oct 22, 2024
1 parent ff2f7ca commit 9fac559
Showing 1 changed file with 67 additions and 45 deletions.
112 changes: 67 additions & 45 deletions unified_planning/engines/compilers/interpreted_functions_remover.py
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Original file line number Diff line number Diff line change
Expand Up @@ -272,6 +272,9 @@ def _compile(
actions_list: list = list()
actions_list.clear()
actions_list.append(temp_a)
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --
# make lists of fluents, types and objects to add at the end?
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --
while len(interpreted_functions_queue) > 0:
IF_to_handle_now = interpreted_functions_queue.pop()
print(
Expand Down Expand Up @@ -313,15 +316,7 @@ def _compile(
# action_for_known_values = (partially_elaborated_action.clone())

# maybe can use new_problem but not sure
print("need name, retType and signature")
print(
"placeholder name"
) # might not be necessary - just for naming purposes
print(
placeholder_function_name
) # might not be necessary - just for naming purposes
print("retType")
print(IF_to_handle_now.interpreted_function().return_type)

# input for placeholder is always one value, that might represent more than one input parameter for the original function
# function_placeholder = Fluent (placeholder_function_name)
# ---------------------------------------
Expand All @@ -343,9 +338,6 @@ def _compile(
compressed_input_name = "O"
argcounter_for_name = 0
while argcounter_for_name < len(IF_to_handle_now.args):
# print (IF_to_handle_now.arg(argcounter_for_name))
# compressed_input_name = compressed_input_name + IF_to_handle_now.arg(argcounter_for_name)
# print (known_value.arg(argcounter_for_name).constant_value())
compressed_input_name = (
compressed_input_name
+ "_"
Expand All @@ -357,40 +349,34 @@ def _compile(
)
argcounter_for_name = argcounter_for_name + 1

print(
"placeholder name before double checking"
) # not sure double checking is necessary - the fluents have to be added only at the end I think
print(compressed_input_name)
# print("placeholder name before double checking") # not sure double checking is necessary - the fluents have to be added only at the end I think
# print(compressed_input_name)
known_value_object = Object(
compressed_input_name,
kNum_for_interpreted_functions,
)
print("known value object we just created")
print(known_value_object)
argcounter = 0
known_values_precondition = None
imply_precondition = None
while argcounter < len(known_value.args):

if known_values_precondition is None:
known_values_precondition = self._Equals_or_Iff(
known_value.arg(argcounter),
IF_to_handle_now.arg(argcounter),
known_value.arg(argcounter),
action_for_known_values,
)
else:
temp_precondition = self._Equals_or_Iff(
known_value.arg(argcounter),
IF_to_handle_now.arg(argcounter),
known_value.arg(argcounter),
action_for_known_values,
)
known_values_precondition = action_for_known_values.environment.expression_manager.And(
known_values_precondition, temp_precondition
)

argcounter = argcounter + 1
print("known_values_precondition")
print(known_values_precondition)
# known_values_precondition implies that the value of the new action parameter is O_*knownvalue*
action_parameter = action_for_known_values.parameter(
action_parameter_name
Expand All @@ -401,45 +387,45 @@ def _compile(
action_parameter, known_value_object
),
)
print("imply precondition")
print(imply_precondition)
known_values_imply_list.append(imply_precondition)
known_values_precondition_list.append(
known_values_precondition
)
print(
"printing elaborated lists ------------------------------"
)
print("preconditions for known values")
for printp in known_values_precondition_list:
print(printp)
print("implications for known values")
for printi in known_values_imply_list:
print(printi)
# end of for known_value in better knowledge
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --
# for each known value we still have to add the special fluent assignment
# e.g. f_funx (O_11_1) = funx(11, 1)

# after having the special fluent assignment things done,
# we can substitute the instance of the IF
# e.g. funx (ione, itwo)
# with the new special fluent with the action parameter
# e.g. f_funx (P_f_funx_ione_itwo)
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --
# -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO -- TODO --

# print("preconditions for known values")
# for printp in known_values_precondition_list:
# print(printp)
# print("implications for known values")
# for printi in known_values_imply_list:
# print(printi)
for p in known_values_imply_list:
action_for_known_values.add_precondition(p)
Or_condition = None
for (
p
) in known_values_precondition_list: # we have to Or these
if Or_condition is None:
print("or condition is none")
print(Or_condition)
Or_condition = p
print("now it is ")
print(Or_condition)
else:
print("or condition is not none, it's already")
print(Or_condition)
print("let's add another or")
Or_condition = action_for_known_values.environment.expression_manager.Or(
Or_condition, p
)
print(Or_condition)
action_for_known_values.add_precondition(Or_condition)
print(
"end printing elaborated lists --------------------------"
)

# handle known values with usertype and object

Expand Down Expand Up @@ -508,9 +494,45 @@ def _compile(
else:
print("we have no info about this IF")
print(IF_to_handle_now)
print(
"/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\"
)
print(
"\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/"
)
print(
"/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\"
)
print(
"\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/"
)
print(
"/\\ /\\"
)
print(
"\\/ \\/"
)
print("done!")
print("final list of actions:")
print(actions_list)

print(
"/\\ /\\"
)
print(
"\\/ \\/"
)
print(
"/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\"
)
print(
"\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/"
)
print(
"/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\"
)
print(
"\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/\\/"
)
# old implementation will be removed
# vvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvvv
if len(all_ifs_in_instantaneous_action) != 0:
Expand Down

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