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Goal space explorer. Not linking to this page just yet - want to put …
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…some fuctionality in place for pruning obviously bad branches first. Invariants..
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@sdcondon
sdcondon committed Mar 15, 2023
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210 changes: 168 additions & 42 deletions src/SCClassicalPlanning.Documentation/Pages/lab/GoalSpaceExplorer.razor
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@page "/lab/goal-space-explorer"

@using SCClassicalPlanning
@using SCClassicalPlanning.ExampleDomains.AsCode;
@using SCClassicalPlanning;
@using SCClassicalPlanning.ExampleDomains.AsPDDL;
@using SCClassicalPlanning.Planning.StateAndGoalSpace;
@using SCClassicalPlanning.ProblemCreation;
@using System.ComponentModel.DataAnnotations;

<h3>Goal Space Explorer - Blocks World</h3>

<p>
Yes, this is ugly and raw.
The author is more of a back-end guy, for now.
Will likely improve on it gradually whenever the mood takes me.
Who knows, might even add some pretty graph visualisation stuff at some point.
Anyway, below is a list of all edges on the currently explored path from the end goal of the problem.
Explore an edge (adding it to the end of the current path) by clicking on the action to regress.
NB: so far, our treatment of goal spaces is not lifted - which can result in combinatorial explosion. And we don't yet prune unsatisifiable goals via invariants knowledge.
So goal space exploration isn't actually massively useful..
It's interesting though, so there.
<a href="#" @onclick="@(() => { PathToCurrentNode.Clear(); })" @onclick:preventDefault="true" @onclick:stopPropagation="true">[Reset]</a>
</p>

<ul>
<li>
<b>End Goal:</b> @Problem.Goal
<ul>
@foreach (var edge in RootNode.Edges)
<h3>Goal Space Explorer</h3>

<div class="alert alert-primary" role="alert">
<p>
This page is an interactive demonstration of (PDDL parsing and) the goal space representation types found in the <a href="https://github.com/sdcondon/SCClassicalPlanning/tree/main/src/SCClassicalPlanning/Planning/StateAndGoalSpace">SCClassicalPlanning.Planning.StateAndGoalSpace</a> namespace.
It runs entirely in your browser.
Notes:
</p>
<ul>
<li>
Use the buttons at the top of the form to populate it with example domain and problem definitions,
using a minimal version of <a href="https://www.google.com/search?q=planning+domain+definition+language">PDDL</a>.
</li>
<li>
Some guidance for defining problems as PDDL will be added to the getting started page at some point before v1.
For now, consult the presets and Internet resources about PDDL.
Note that we use an absolutely minimal version of the earliest public version of PDDL (1.2).
Absolutely no extensions are supported - not even typing.
Yet.
</li>
<li>
Once the problem definition has been submitted, a representation of the goal of the problem will appear below the form.
You can explore the goal space by clicking on the action to regress.
</li>
<li>
The source code for this page can be found <a href="https://github.com/sdcondon/SCClassicalPlanning/blob/main/src/SCClassicalPlanning.Documentation/Pages/lab/GoalSpaceExplorer.razor">here</a>.
</li>
</ul>
</div>

<EditForm Model=@formData OnSubmit=@HandleFormSubmission style="font-family: monospace">
<DataAnnotationsValidator />
<div class="form-group">
<label>Presets</label>
<div>
@foreach (var kvp in Presets)
{
<li><a href="#" @onclick="@(() => { PathToCurrentNode.Clear(); PathToCurrentNode.AddLast(edge); })" @onclick:preventDefault="true" @onclick:stopPropagation="true">@edge.ToString()</a></li>
<button @onclick="@(() => formData = kvp.Value.Invoke())">@kvp.Key</button>
@(" ")
}
</ul>
</li>
</div>
</div>
<div class="form-group">
<label for="domainPddlTextArea">Domain PDDL</label>
<InputTextArea class="form-control small" id="domainPddlTextArea" @bind-Value=formData.DomainPDDL rows="12" />
<ValidationMessage For="@(() => formData.DomainPDDL)" />
</div>
<div class="form-group">
<label for="problemPddlTextArea">Problem PDDL</label>
<InputTextArea class="form-control small" id="factsTextArea" @bind-Value=formData.ProblemPDDL rows="12" />
<ValidationMessage For="@(() => formData.ProblemPDDL)" />
</div>
<div class="form-group mt-2">
<button type="submit" class="btn btn-primary">Submit / Reset</button>
</div>
</EditForm>

@foreach (var edge in PathToCurrentNode)
@{
void RenderListItem(LinkedListNode<GoalSpaceEdge>? lastPathNode, GoalSpaceNode goalNode, GoalSpaceEdge? nextExploredEdge)
{
<li>
<b>Action: @edge.ToString()</b>
<br/><b>New Goal:</b> @edge.To.Goal
<li>
@if (goalNode.Goal.IsSatisfiedBy(problem.InitialState))
{
<b>INITIAL STATE SATISFIES THIS! </b>
}
@{
// richer formatting functionality could make this more succinct, which would be nice..
var goalElements = goalNode.Goal.Elements
.OrderBy(e => e.Predicate.Symbol.ToString())
.ThenBy(e => string.Join(",", e.Predicate.Arguments.Select(a => a.ToString())));
}
@string.Join(" ∧ ", goalElements);

<ul>
@foreach (var nextEdge in edge.To.Edges)
@foreach (var edge in goalNode.Edges)
{
<li><a href="#" @onclick="@(() => ExploreEdge(edge, nextEdge))" @onclick:preventDefault="true" @onclick:stopPropagation="true">@nextEdge.ToString()</a></li>
<li>
<!-- yeah, should be a button not an anchor, but all of bootstrap's classes make it look rubbish.. -->
<!-- disclaimer: the author doesn't consider themselves a front-end dev.. -->
<a href="#"
role="button"
style="@(edge.Equals(nextExploredEdge) ? "font-weight:bold" : "")"
@onclick="@(() => ExploreEdge(lastPathNode, edge))"
@onclick:preventDefault>@edge.ToString()</a>
</li>
}
</ul>
</li>
}
</ul>

if (parseError != null)
{
<div class="alert alert-danger mt-4" role="alert">
<h3>Query Failed</h3>
<p>
Sorry, this demo isn't perfect.
In particular, the input validation is a little lacklustre.
It'll hopefully improve gradually over time.
In case it helps, here's the details of the exception that was thrown:
</p>
<p><pre>@(parseError.ToString())</pre></p>
</div>
}
else if (problem != null)
{
<ol class="mt-4">
@{
RenderListItem(null, new GoalSpaceNode(problem, problem.Goal), path.First?.Value);
}

@for (var n = path.First; n != null; n = n.Next)
{
RenderListItem(n, n.Value.To, n.Next?.Value);
}
</ol>
}
}

@code {
private readonly LinkedList<GoalSpaceEdge> PathToCurrentNode = new();
private static Dictionary<string, Func<FormData>> Presets = new()
{
["[Empty]"] = () => new(
domainPddl: string.Empty,
problemPddl: string.Empty),

["Blocks World"] = () => new(
domainPddl: BlocksWorld.DomainPDDL,
problemPddl: BlocksWorld.ExampleProblemPDDL),

["Air Cargo"] = () => new(
domainPddl: AirCargo.DomainPDDL,
problemPddl: AirCargo.ExampleProblemPDDL),
};

[Parameter]
public Problem Problem { get; set; } = BlocksWorld.ExampleProblem;
private FormData formData = Presets["Blocks World"].Invoke();

public GoalSpaceNode RootNode => new(Problem, Problem.Goal);
private Exception? parseError = null; // TODO: should be done via form validation instead.. tidy me!
private Problem? problem = null;
private LinkedList<GoalSpaceEdge> path = new();

private void HandleFormSubmission(EditContext editContext)
{
try
{
problem = null;
parseError = null;
path.Clear();
problem = PddlParser.ParseProblem(formData.ProblemPDDL, formData.DomainPDDL);
}
catch (Exception e)
{
parseError = e;
}
}

public void ExploreEdge(GoalSpaceEdge priorEdge, GoalSpaceEdge edge)
private void ExploreEdge(LinkedListNode<GoalSpaceEdge>? lastPathNode, GoalSpaceEdge edge)
{
var currentLLNode = PathToCurrentNode.Find(priorEdge);
if (currentLLNode != null)
if (lastPathNode != null)
{
while (currentLLNode.Next != null)
// huh, weird - i thought .net linked lists could just be chopped.
// turns out we have to remove nodes one at a time.
while (lastPathNode.Next != null)
{
PathToCurrentNode.Remove(currentLLNode.Next);
path.Remove(lastPathNode.Next);
}
}
else
{
path.Clear();
}

path.AddLast(edge);
}

private class FormData
{
public FormData(string domainPddl, string problemPddl)
{
this.DomainPDDL = domainPddl;
this.ProblemPDDL = problemPddl;
}

public string DomainPDDL { get; set; }

PathToCurrentNode.AddLast(edge);
public string ProblemPDDL { get; set; }
}
}

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