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main.c
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/*
* THIS SOURCE CODE IS SUPPLIED ``AS IS'' WITHOUT WARRANTY OF ANY KIND,
* AND ITS AUTHOR AND THE JOURNAL OF ARTIFICIAL INTELLIGENCE RESEARCH
* (JAIR) AND JAIR'S PUBLISHERS AND DISTRIBUTORS, DISCLAIM ANY AND ALL
* WARRANTIES, INCLUDING BUT NOT LIMITED TO ANY IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, AND
* ANY WARRANTIES OR NON INFRINGEMENT. THE USER ASSUMES ALL LIABILITY AND
* RESPONSIBILITY FOR USE OF THIS SOURCE CODE, AND NEITHER THE AUTHOR NOR
* JAIR, NOR JAIR'S PUBLISHERS AND DISTRIBUTORS, WILL BE LIABLE FOR
* DAMAGES OF ANY KIND RESULTING FROM ITS USE. Without limiting the
* generality of the foregoing, neither the author, nor JAIR, nor JAIR's
* publishers and distributors, warrant that the Source Code will be
* error-free, will operate without interruption, or will meet the needs
* of the user.
*/
/*********************************************************************
* File: main.c
* Description: The main routine for the FastForward Planner.
*
* Author: Joerg Hoffmann 2000
*
*********************************************************************/
#include "ff.h"
#include "memory.h"
#include "output.h"
#include "parse.h"
#include "inst_pre.h"
#include "inst_easy.h"
#include "inst_hard.h"
#include "inst_final.h"
/*
* ----------------------------- GLOBAL VARIABLES ----------------------------
*/
/*******************
* GENERAL HELPERS *
*******************/
/* don't let this run across a memory limit... avoid workstation killing
*/
long gmemory = 0;
/* ultra clean: collect the requirements.
*/
Bool gtyping = FALSE;
Bool gnegative_preconditions = FALSE;
Bool gdisjunctive_preconditions = FALSE;
Bool gequality = FALSE;
Bool gexistential_preconditions = FALSE;
Bool guniversal_preconditions = FALSE;
Bool gquantified_preconditions = FALSE;
Bool gconditional_effects = FALSE;
Bool gadl = FALSE;
/* used to time the different stages of the planner
*/
float gtempl_time = 0, greach_time = 0, grelev_time = 0, gconn_time = 0;
float gsearch_time = 0;
/* the command line inputs
*/
struct _command_line gcmd_line;
/* number of states that got heuristically evaluated
*/
int gevaluated_states = 0;
/* maximal depth of breadth first search
*/
int gmax_search_depth = 0;
/***********
* PARSING *
***********/
/* used for pddl parsing, flex only allows global variables
*/
int gbracket_count;
char *gproblem_name;
/* The current input line number
*/
int lineno = 1;
/* The current input filename
*/
char *gact_filename;
/* The pddl domain name
*/
char *gdomain_name = NULL;
/* loaded, uninstantiated operators
*/
PlOperator *gloaded_ops = NULL;
/* stores initials as fact_list
*/
PlNode *gorig_initial_facts = NULL;
/* not yet preprocessed goal facts
*/
PlNode *gorig_goal_facts = NULL;
/* axioms as in UCPOP before being changed to ops
*/
PlOperator *gloaded_axioms = NULL;
/* the types, as defined in the domain file
*/
TypedList *gparse_types = NULL;
/* the constants, as defined in domain file
*/
TypedList *gparse_constants = NULL;
/* the predicates and their arg types, as defined in the domain file
*/
TypedListList *gparse_predicates = NULL;
/* the objects, declared in the problem file
*/
TypedList *gparse_objects = NULL;
/* connection to instantiation ( except ops, goal, initial )
*/
/* all typed objects
*/
FactList *gorig_constant_list = NULL;
/* the predicates and their types
*/
FactList *gpredicates_and_types = NULL;
/*****************
* INSTANTIATING *
*****************/
/* global arrays of constant names,
* type names (with their constants),
* predicate names,
* predicate aritys,
* defined types of predicate args
*/
Token gconstants[MAX_CONSTANTS];
int gnum_constants = 0;
Token gtype_names[MAX_TYPES];
int gtype_consts[MAX_TYPES][MAX_TYPE];
Bool gis_member[MAX_CONSTANTS][MAX_TYPES];
int gmember_nr[MAX_CONSTANTS][MAX_TYPES];/* nr of object within a type */
int gtype_size[MAX_TYPES];
int gnum_types = 0;
Token gpredicates[MAX_PREDICATES];
int garity[MAX_PREDICATES];
int gpredicates_args_type[MAX_PREDICATES][MAX_ARITY];
int gnum_predicates = 0;
int gnegated_predicate_to[MAX_PREDICATES];
/* the domain in integer (Fact) representation
*/
Operator_pointer goperators[MAX_OPERATORS];
int gnum_operators = 0;
Fact *gfull_initial;
int gnum_full_initial = 0;
WffNode *ggoal = NULL;
/* stores inertia - information: is any occurence of the predicate
* added / deleted in the uninstantiated ops ?
*/
Bool gis_added[MAX_PREDICATES];
Bool gis_deleted[MAX_PREDICATES];
/* splitted initial state:
* initial non static facts,
* initial static facts, divided into predicates
* (will be two dimensional array, allocated directly before need)
*/
Facts *ginitial = NULL;
int gnum_initial = 0;
Fact **ginitial_predicate;
int *gnum_initial_predicate;
/* the type numbers corresponding to any unary inertia
*/
int gtype_to_predicate[MAX_PREDICATES];
int gpredicate_to_type[MAX_TYPES];
/* (ordered) numbers of types that new type is intersection of
*/
TypeArray gintersected_types[MAX_TYPES];
int gnum_intersected_types[MAX_TYPES];
/* splitted domain: hard n easy ops
*/
Operator_pointer *ghard_operators;
int gnum_hard_operators;
NormOperator_pointer *geasy_operators;
int gnum_easy_operators;
/* so called Templates for easy ops: possible inertia constrained
* instantiation constants
*/
EasyTemplate *geasy_templates;
int gnum_easy_templates;
/* first step for hard ops: create mixed operators, with conjunctive
* precondition and arbitrary effects
*/
MixedOperator *ghard_mixed_operators;
int gnum_hard_mixed_operators;
/* hard ''templates'' : pseudo actions
*/
PseudoAction_pointer *ghard_templates;
int gnum_hard_templates;
/* store the final "relevant facts"
*/
Fact grelevant_facts[MAX_RELEVANT_FACTS];
int gnum_relevant_facts = 0;
int gnum_pp_facts = 0;
/* the final actions and problem representation
*/
Action *gactions;
int gnum_actions;
State ginitial_state;
State ggoal_state;
/**********************
* CONNECTIVITY GRAPH *
**********************/
/* one ops (actions) array ...
*/
OpConn *gop_conn;
int gnum_op_conn;
/* one effects array ...
*/
EfConn *gef_conn;
int gnum_ef_conn;
/* one facts array.
*/
FtConn *gft_conn;
int gnum_ft_conn;
/*******************
* SEARCHING NEEDS *
*******************/
/* the goal state, divided into subsets
*/
State *ggoal_agenda;
int gnum_goal_agenda;
/* byproduct of fixpoint: applicable actions
*/
int *gA;
int gnum_A;
/* communication from extract 1.P. to search engines:
* 1P action choice
*/
int *gH;
int gnum_H;
/* the effects that are considered true in relaxed plan
*/
int *gin_plan_E;
int gnum_in_plan_E;
/* always stores (current) serial plan
*/
int gplan_ops[MAX_PLAN_LENGTH];
int gnum_plan_ops = 0;
/* stores the states that the current plan goes through
* ( for knowing where new agenda entry starts from )
*/
State gplan_states[MAX_PLAN_LENGTH + 1];
/*
* ----------------------------- HEADERS FOR PARSING ----------------------------
* ( fns defined in the scan-* files )
*/
void get_fct_file_name( char *filename );
void load_ops_file( char *filename );
void load_fct_file( char *filename );
void output_grounded_SIMPLEADL_task( void );
void output_grounded_STRIPS_task( void );
void fprint_Fact( FILE *out, Fact *f );
void fprint_ft_name( FILE *out, int index );
void fprint_op_name( FILE *out, int index );
void fprint_bernhards_encoding( FILE *ops, int op, Bool conds );
void fprint_all_possibilities( FILE *ops, int op );
void recursive_fprint_all_possibilities( FILE *ops, int op,
int *ncEs, int nnc,
int *cEs, int nc,
int curr_ce );
void figure_out_negated_facts( void );
/*
* ----------------------------- MAIN ROUTINE ----------------------------
*/
struct tms lstart, lend;
int main( int argc, char *argv[] )
{
/* resulting name for ops file
*/
char ops_file[MAX_LENGTH] = "";
/* same for fct file
*/
char fct_file[MAX_LENGTH] = "";
struct tms start, end;
times ( &lstart );
gcmd_line.display_info = 0;
/* command line treatment
*/
if ( argc == 1 || ( argc == 2 && *++argv[0] == '?' ) ) {
ff_usage();
exit( 1 );
}
if ( !process_command_line( argc, argv ) ) {
ff_usage();
exit( 1 );
}
/* make file names
*/
/* one input name missing
*/
if ( !gcmd_line.ops_file_name ||
!gcmd_line.fct_file_name ) {
ff_usage();
exit( 1 );
}
/* add path info, complete file names will be stored in
* ops_file and fct_file
*/
sprintf(ops_file, "%s%s", gcmd_line.path, gcmd_line.ops_file_name);
sprintf(fct_file, "%s%s", gcmd_line.path, gcmd_line.fct_file_name);
/* parse the input files
*/
/* start parse & instantiation timing
*/
times( &start );
/* domain file (ops)
*/
if ( gcmd_line.display_info >= 1 ) {
printf("\nff: parsing domain file");
}
/* it is important for the pddl language to define the domain before
* reading the problem
*/
load_ops_file( ops_file );
/* problem file (facts)
*/
if ( gcmd_line.display_info >= 1 ) {
printf(" ... done.\nff: parsing problem file");
}
load_fct_file( fct_file );
if ( gcmd_line.display_info >= 1 ) {
printf(" ... done.\n\n");
}
if ( gexistential_preconditions &&
guniversal_preconditions ) {
gquantified_preconditions = TRUE;
}
if ( gtyping &&
gnegative_preconditions &&
gdisjunctive_preconditions &&
gequality &&
gquantified_preconditions &&
gconditional_effects ) {
gadl = TRUE;
}
/* This is needed to get all types.
*/
build_orig_constant_list();
/* last step of parsing: see if it's an ADL domain!
*/
if ( !make_adl_domain() ) {
printf("\nff: this is not an ADL problem!");
printf("\n can't be handled by this version.\n\n");
exit( 1 );
}
if ( 0 ) {
printf("\nafter make adl"); fflush(stdout);
}
/* now instantiate operators;
*/
/**************************
* first do PREPROCESSING *
**************************/
/* start by collecting all strings and thereby encoding
* the domain in integers.
*/
encode_domain_in_integers();
if ( 0 ) {
printf("\nafter encode"); fflush(stdout);
}
/* inertia preprocessing, first step:
* - collect inertia information
* - split initial state into
* _ arrays for individual predicates
* - arrays for all static relations
* - array containing non - static relations
*/
do_inertia_preprocessing_step_1();
if ( 0 ) {
printf("\nafter inertia1"); fflush(stdout);
}
/* normalize all PL1 formulae in domain description:
* (goal, preconds and effect conditions)
* - simplify formula
* - expand quantifiers
* - NOTs down
*/
normalize_all_wffs();
if ( 0 ) {
printf("\nafter normalize"); fflush(stdout);
}
/* translate negative preconds: introduce symmetric new predicate
* NOT-p(..) (e.g., not-in(?ob) in briefcaseworld)
*/
translate_negative_preconds();
if ( 0 ) {
printf("\nafter negations"); fflush(stdout);
}
/* split domain in easy (disjunction of conjunctive preconds)
* and hard (non DNF preconds) part, to apply
* different instantiation algorithms
*/
split_domain();
if ( 0 ) {
printf("\nafter split"); fflush(stdout);
}
/***********************************************
* PREPROCESSING FINISHED *
* *
* NOW MULTIPLY PARAMETERS IN EFFECTIVE MANNER *
***********************************************/
build_easy_action_templates();
if ( 0 ) {
printf("\nafter easy templates"); fflush(stdout);
}
build_hard_action_templates();
if ( 0 ) {
printf("\nafter hard templates"); fflush(stdout);
}
times( &end );
TIME( gtempl_time );
times( &start );
/* perform reachability analysis in terms of relaxed
* fixpoint
*/
perform_reachability_analysis();
times( &end );
TIME( greach_time );
times( &start );
/* collect the relevant facts and build final domain
* and problem representations.
*/
collect_relevant_facts();
times( &end );
TIME( grelev_time );
times( &start );
/* now build globally accessable connectivity graph
*/
build_connectivity_graph();
times( &end );
TIME( gconn_time );
if ( gcmd_line.strips ) {
printf("\n\nputting out grounded STRIPS task, %d facts\ninto ``domain.pddl'' and ``facts.pddl''", gnum_ft_conn);
if ( gcmd_line.bernhard ) {
printf("\nencoding of conditional effects:\naccording to Bernhard Nebel, polynomial, increase in plan length");
} else {
printf("\nencoding of conditional effects:\naccording to Gazen/Knoblock, exponential, NO increase in plan length");
}
fflush( stdout );
output_grounded_STRIPS_task();
} else {
printf("\n\nputting out grounded SIMPLE-ADL task\ninto ``domain.pddl'' and ``facts.pddl''\n\n");
fflush( stdout );
output_grounded_SIMPLEADL_task();
}
printf("\n\n");
exit( 0 );
}
void output_grounded_SIMPLEADL_task( void )
{
FILE *fts, *ops;
int i, j, k, ef;
if ( (fts = fopen( "facts.pddl", "w")) == NULL ) {
printf("\n\nCannot open file facts.pddl.\n\n");
exit( 1 );
}
fprintf(fts, "(define (problem grounded-SIMPLE-ADL-%s)\n", gproblem_name);
fprintf(fts, "(:domain grounded-SIMPLE-ADL-%s)\n", gdomain_name);
if ( ginitial_state.num_F > 0 ) {
fprintf(fts, "(:init\n");
for ( i = 0; i < ginitial_state.num_F; i++ ) {
fprintf(fts, "(");
fprint_ft_name(fts, ginitial_state.F[i]);
fprintf(fts, ")\n");
}
fprintf(fts, ")\n");
}
fprintf(fts, "(:goal\n");
fprintf(fts, "(and\n");
for ( i = 0; i < ggoal_state.num_F; i++ ) {
fprintf(fts, "(");
fprint_ft_name(fts, ggoal_state.F[i]);
fprintf(fts, ")\n");
}
fprintf(fts, ")\n");
fprintf(fts, ")\n");
fprintf(fts, ")\n");
fclose( fts);
if ( (ops = fopen( "domain.pddl", "w")) == NULL ) {
printf("\n\nCannot open file domain.pddl.\n\n");
exit( 1 );
}
fprintf(ops, "(define (domain grounded-SIMPLE-ADL-%s)\n", gdomain_name);
fprintf(ops, "(:requirements\n");
fprintf(ops, ":strips\n");
if ( gconditional_effects ) {
fprintf(ops, ":conditional-effects\n");
}
fprintf(ops, ")\n");
fprintf(ops, "(:predicates\n");
for ( i = 0; i < gnum_ft_conn; i++ ) {
fprintf(ops, "(");
fprint_ft_name(ops, i);
fprintf(ops, ")\n");
}
fprintf(ops, ")\n");
for ( i = 0; i < gnum_op_conn; i++ ) {
fprintf(ops, "(:action ");
fprint_op_name( ops, i);
fprintf(ops, "\n");
fprintf(ops, ":parameters ()\n");
if ( gop_conn[i].num_P > 0 ) {
fprintf(ops, ":precondition\n");
fprintf(ops, "(and\n");
for ( j = 0; j < gop_conn[i].num_P; j++ ) {
fprintf(ops, "(");
fprint_ft_name(ops, gop_conn[i].P[j]);
fprintf(ops, ")\n");
}
fprintf(ops,")\n");
}
fprintf(ops, ":effect\n");
fprintf(ops, "(and\n");
for ( j = 0; j < gop_conn[i].num_E; j++ ) {
ef = gop_conn[i].E[j];
if ( gef_conn[ef].num_PC > 0 ) {
fprintf(ops, "(when\n");
fprintf(ops, "(and\n");
for ( k = 0; k < gef_conn[ef].num_PC; k++ ) {
fprintf(ops, "(");
fprint_ft_name(ops, gef_conn[ef].PC[k]);
fprintf(ops, ")\n");
}
fprintf(ops, ")\n");
fprintf(ops, "(and\n");
}
for ( k = 0; k < gef_conn[ef].num_A; k++ ) {
fprintf(ops, "(");
fprint_ft_name(ops, gef_conn[ef].A[k]);
fprintf(ops, ")\n");
}
for ( k = 0; k < gef_conn[ef].num_D; k++ ) {
fprintf(ops, "(not (");
fprint_ft_name(ops, gef_conn[ef].D[k]);
fprintf(ops, "))\n");
}
if ( gef_conn[ef].num_PC > 0 ) {
fprintf(ops, ")\n");
fprintf(ops, ")\n");
}
}
fprintf(ops, ")\n");
fprintf(ops, ")\n");
}
fprintf(ops, ")\n");
fclose( ops);
}
void output_grounded_STRIPS_task( void )
{
FILE *fts, *ops;
int i, j, ef, num = 0, numcs, maxcs;
figure_out_negated_facts();
if ( (ops = fopen( "domain.pddl", "w")) == NULL ) {
printf("\n\nCannot open file domain.pddl.\n\n");
exit( 1 );
}
fprintf(ops, "(define (domain grounded-STRIPS-%s)\n", gdomain_name);
fprintf(ops, "(:requirements\n");
fprintf(ops, ":strips\n");
fprintf(ops, ")\n");
fprintf(ops, "(:predicates\n");
for ( i = 0; i < gnum_ft_conn; i++ ) {
fprintf(ops, "(");
fprint_ft_name(ops, i);
fprintf(ops, ")\n");
}
if ( gcmd_line.bernhard ) {
/* insert the artificial facts to control cond eff application
* phases: one do-op per op with cond effs, one do-normal
* if there is at least one such op.
* all normal ops require do-normal, all artificial ops require do-op
* for the respective op.
*/
maxcs = -1;
for ( i = 0; i < gnum_op_conn; i++ ) {
numcs = 0;
for ( j = 0; j < gop_conn[i].num_E; j++ ) {
ef = gop_conn[i].E[j];
if ( gef_conn[ef].num_PC > 0 ) {
numcs++;
}
}
if ( numcs == 0 ) {
continue;
}
num++;
fprintf(ops, "(do-");
fprint_op_name(ops, i);
fprintf(ops, "-condeffs)\n");
if ( numcs > maxcs ) {
maxcs = numcs;
}
}
if ( num > 0 ) {
fprintf(ops, "(do-normal)\n");
}
if ( maxcs > 0 ) {
for ( i = 0; i < maxcs; i++ ) {
fprintf(ops, "(done-%d)\n", i);
}
}
}
fprintf(ops, ")\n");
for ( i = 0; i < gnum_op_conn; i++ ) {
if ( !gcmd_line.bernhard ) {
fprint_all_possibilities( ops, i );
} else {
fprint_bernhards_encoding( ops, i, (num>0) );
}
}
fprintf(ops, ")\n");
fclose( ops);
if ( (fts = fopen( "facts.pddl", "w")) == NULL ) {
printf("\n\nCannot open file facts.pddl.\n\n");
exit( 1 );
}
fprintf(fts, "(define (problem grounded-STRIPS-%s)\n", gproblem_name);
fprintf(fts, "(:domain grounded-STRIPS-%s)\n", gdomain_name);
if ( ginitial_state.num_F > 0 ) {
fprintf(fts, "(:init\n");
if ( num > 0 ) {/* can only happen if Bernhard */
fprintf(fts, "(do-normal)\n");
}
for ( i = 0; i < ginitial_state.num_F; i++ ) {
fprintf(fts, "(");
fprint_ft_name(fts, ginitial_state.F[i]);
fprintf(fts, ")\n");
}
fprintf(fts, ")\n");
}
fprintf(fts, "(:goal\n");
fprintf(fts, "(and\n");
if ( num > 0 ) {/* can only happen if Bernhard */
fprintf(ops, "(do-normal)\n");
}
for ( i = 0; i < ggoal_state.num_F; i++ ) {
fprintf(fts, "(");
fprint_ft_name(fts, ggoal_state.F[i]);
fprintf(fts, ")\n");
}
fprintf(fts, ")\n");
fprintf(fts, ")\n");
fprintf(fts, ")\n");
fclose( fts);
}
void fprint_bernhards_encoding( FILE *ops, int op, Bool conds )
{
int i, j, ef, ft, ft_;
int *cEs, *ncEs, nc, nnc;
int *add, *del, na, nd, ccc;
add = ( int * ) calloc( 1000, sizeof( int ) );
del = ( int * ) calloc( 1000, sizeof( int ) );
/* remember the cond and uncond efs.
*/
cEs = ( int * ) calloc( gop_conn[op].num_E, sizeof( int ) );
ncEs = ( int * ) calloc( gop_conn[op].num_E, sizeof( int ) );
nc = 0;
nnc = 0;
for ( i = 0; i < gop_conn[op].num_E; i++ ) {
ef = gop_conn[op].E[i];
if ( gef_conn[ef].num_PC > 0 ) {
cEs[nc++] = ef;
} else {
ncEs[nnc++] = ef;
}
}
/* first, the normal action. all uncond effs.
*/
fprintf(ops, "(:action ");
fprint_op_name( ops, op );
fprintf(ops, "\n");
fprintf(ops, ":parameters ()\n");
fprintf(ops, ":precondition\n");
fprintf(ops, "(and\n");
if ( conds ) {
fprintf(ops, "(do-normal)\n");
}
for ( i = 0; i < gop_conn[op].num_P; i++ ) {
fprintf(ops, "(");
fprint_ft_name(ops, gop_conn[op].P[i]);
fprintf(ops, ")\n");
}
fprintf(ops,")\n");
fprintf(ops, ":effect\n");
fprintf(ops, "(and\n");
if ( nc > 0 ) {
fprintf(ops, "(not (do-normal))\n");
fprintf(ops, "(do-");
fprint_op_name(ops, op);
fprintf(ops, "-condeffs)\n");
}
na = 0;
for ( ef = 0; ef < nnc; ef++ ) {
for ( i = 0; i < gef_conn[ncEs[ef]].num_A; i++ ) {
for ( j = 0; j < na; j++ ) {