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chore: refactor and fix soft (sub)tasks support
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@nrealus
nrealus committed Jan 28, 2025
1 parent 213969c commit 0f7b111
Showing 1 changed file with 69 additions and 37 deletions.
106 changes: 69 additions & 37 deletions planning/planning/src/parsing/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -198,22 +198,17 @@ pub fn pddl_to_chronicles(dom: &pddl::Domain, prob: &pddl::Problem) -> Result<Pb
let mut templates = Vec::new();

if let Some(ref task_network) = &prob.task_network {
let mut new_templates = Vec::new();
read_task_network(
init_container,
task_network,
&as_model_atom_no_borrow,
&mut init_ch,
None,
Some(&mut new_templates),
&mut context,
)?;
for t in task_network.ordered_tasks.iter().chain(&task_network.unordered_tasks) {
if !t.soft {
continue;
}
let cont = Container::Template(templates.len());
let template = read_chronicle_template(cont, &pddl::Method::new_noop_for(t.clone()), &mut context)?;
templates.push(template);
}
templates.extend(new_templates);
}

let init_ch = ChronicleInstance {
Expand Down Expand Up @@ -629,7 +624,7 @@ fn read_chronicle_template(
}

if let Some(tn) = pddl.task_network() {
read_task_network(c, tn, &as_chronicle_atom_no_borrow, &mut ch, Some(&mut params), context)?
read_task_network(c, tn, &as_chronicle_atom_no_borrow, &mut ch, Some(&mut params), None, context)?
}

let template = ChronicleTemplate {
Expand Down Expand Up @@ -758,10 +753,12 @@ fn read_task_network(
as_chronicle_atom: &impl Fn(&sexpr::SAtom, &Ctx) -> Result<SAtom>,
chronicle: &mut Chronicle,
mut new_variables: Option<&mut Vec<Variable>>,
mut new_templates: Option<&mut Vec<ChronicleTemplate>>,
context: &mut Ctx,
) -> Result<()> {
// stores the start/end timepoints of each named task
let mut named_task: HashMap<String, (FAtom, FAtom)> = HashMap::new();
// stores the start/end timepoints of each named task,
// and, if it's soft, the presence literal of its noop method chronicle template.
let mut named_task: HashMap<String, (FAtom, FAtom, Option<Lit>)> = HashMap::new();
let top_type: Sym = OBJECT_TYPE.into();
let presence = chronicle.presence;
let mut local_params = Vec::new();
Expand Down Expand Up @@ -796,7 +793,11 @@ fn read_task_network(

// creates a new subtask. This will create new variables for the start and end
// timepoints of the task and push the `new_variables` vector, if any.
let mut make_subtask = |t: &pddl::Task, task_id: u32| -> Result<SubTask> {
//
// additionally, if the task is soft, creates (and pushes to `new_templates`)
// an empty / noop method chronicle template for this task.
// also, returns the presence literal of that chronicle template.
let mut make_subtask = |t: &pddl::Task, task_id: u32, context: &mut Ctx| -> Result<(SubTask, Option<Lit>)> {
let id = t.id.as_ref().map(|id| id.canonical_string());
// get the name + parameters of the task
let mut task_name = Vec::with_capacity(t.arguments.len() + 1);
Expand Down Expand Up @@ -827,57 +828,88 @@ fn read_task_network(
}
let start = FAtom::from(start);
let end = FAtom::from(end);
let m_soft_noop_template_presence = if t.soft {
if let Some(ref mut new_templates) = new_templates {
new_templates.push(read_chronicle_template(c, &pddl::Method::noop_for(t.clone()), context)?);
Some(new_templates.last().unwrap().chronicle.presence)
} else {
panic!("To deal with soft / preferred tasks, need to create empty / noop method chronicle templates for them.");
}
} else {
None
};
if let Some(name) = id.as_ref() {
named_task.insert(name.clone(), (start, end));
named_task.insert(name.clone(), (start, end, m_soft_noop_template_presence));
}
Ok(SubTask {
let subtask = SubTask {
id,
start,
end,
task_name,
})
};
Ok((subtask, m_soft_noop_template_presence))
};
let mut task_id = 0;
for t in &tn.unordered_tasks {
let t = make_subtask(t, task_id)?;
let (t, _) = make_subtask(t, task_id, context)?;
chronicle.subtasks.push(t);
task_id += 1;
}

// parse all ordered tasks, adding precedence constraints between subsequent ones
let mut previous_end = None;
let mut previous_m_soft_noop_template_presence: Option<Lit> = None;
for t in &tn.ordered_tasks {
let t = make_subtask(t, task_id)?;
let (t, m_soft_noop_template_presence) = make_subtask(t, task_id, context)?;

if let Some(previous_end) = previous_end {
chronicle.constraints.push(Constraint::lt(previous_end, t.start))
// FIXME when the subtask is soft and is not decomposed (i.e. decomposed by
// BUG an empty method), this constraint must NOT be enforced !!...
//
// CAN'T be a `reified_lt`. (because it's "iff" !!
// and the vars t.start etc could be used elsewhere too ?... could they ?)
// -> *must* be an "implied" !
let value = match (previous_m_soft_noop_template_presence, m_soft_noop_template_presence) {
(None, None) => Lit::TRUE,
(None, Some(value)) => !value,
(Some(value), None) => !value,
(Some(value1), Some(value2)) => {
let value = context.model.state.new_optional_var(0, 1, presence).geq(1);
chronicle.constraints.push(Constraint {
variables: vec![value1.into(), value2.into()],
tpe: constraints::ConstraintType::Or,
value: Some(value),
});
!value
},
};
chronicle.constraints.push(Constraint::reified_lt(previous_end, t.start, value));
}
previous_m_soft_noop_template_presence = m_soft_noop_template_presence;
previous_end = Some(t.end);
chronicle.subtasks.push(t);
task_id += 1;
}
for ord in &tn.orderings {
let first_end = named_task
let first = named_task
.get(ord.first_task_id.canonical_str())
.ok_or_else(|| ord.first_task_id.invalid("Unknown task id"))?
.1;
let second_start = named_task
.ok_or_else(|| ord.first_task_id.invalid("Unknown task id"))?;
let second = named_task
.get(ord.second_task_id.canonical_str())
.ok_or_else(|| ord.second_task_id.invalid("Unknown task id"))?
.0;
chronicle.constraints.push(Constraint::lt(first_end, second_start));
// FIXME when the subtask is soft and is not decomposed (i.e. decomposed by
// BUG an empty method), this constraint must NOT be enforced !!...
//
// CAN'T be a `reified_lt`. (because it's "iff" !!
// and the vars t.start etc could be used elsewhere too ?... could they ?)
// -> *must* be an "implied" !
.ok_or_else(|| ord.second_task_id.invalid("Unknown task id"))?;

let (first_end, first_m_soft_noop_template_presence) = (first.1, first.2);
let (second_start, second_m_soft_noop_template_presence) = (second.0, second.2);

let value = match (first_m_soft_noop_template_presence, second_m_soft_noop_template_presence) {
(None, None) => Lit::TRUE,
(None, Some(value)) => !value,
(Some(value), None) => !value,
(Some(value1), Some(value2)) => {
let value = context.model.state.new_optional_var(0, 1, presence).geq(1);
chronicle.constraints.push(Constraint {
variables: vec![value1.into(), value2.into()],
tpe: constraints::ConstraintType::Or,
value: Some(value),
});
!value
},
};
chronicle.constraints.push(Constraint::reified_lt(first_end, second_start, value));
}
for constr in &tn.constraints {
read_task_network_constraint(
Expand Down

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