/************************************************************************
* Strathclyde Planning Group,
* Department of Computer and Information Sciences,
* University of Strathclyde, Glasgow, UK
* http://planning.cis.strath.ac.uk/
*
* Copyright 2007, Keith Halsey
* Copyright 2008, Andrew Coles and Amanda Smith
*
* (Questions/bug reports now to be sent to Andrew Coles)
*
* This file is part of JavaFF.
*
* JavaFF is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 2 of the License, or
* (at your option) any later version.
*
* JavaFF is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with JavaFF. If not, see <http://www.gnu.org/licenses/>.
*
************************************************************************/
// WARNING - This State does deal with Metric Invariants
package javaff.planning;
import javaff.data.GroundCondition;
import javaff.data.TotalOrderPlan;
import javaff.data.Metric;
import javaff.data.Action;
import javaff.data.strips.InstantAction;
import javaff.data.temporal.DurativeAction;
import javaff.data.temporal.StartInstantAction;
import javaff.data.temporal.SplitInstantAction;
import javaff.scheduling.SchedulabilityChecker;
import javaff.scheduling.VelosoSchedulabilityChecker;
import java.util.Set;
import java.util.HashSet;
import java.util.List;
import java.util.ArrayList;
import java.util.Iterator;
import java.util.Map;
import java.util.Hashtable;
//import java.math.BigDecimal;
public class TemporalMetricState extends MetricState
{
public Set openActions; //Set of (DurativeActions)
public List invariants; //Set of Propositions (Propositions)
public SchedulabilityChecker checker;
protected TemporalMetricState(Set a, Set f, GroundCondition g, Map funcs, TotalOrderPlan p, Metric m, Set oAc, List i)
{
super(a,f,g,funcs,p,m);
openActions = oAc;
invariants = i;
}
public TemporalMetricState(Set a, Set f, GroundCondition g, Map funcs, Metric m)
{
super(a,f,g, funcs, m);
openActions = new HashSet();
invariants = new ArrayList();
checker = new VelosoSchedulabilityChecker();
}
public boolean goalReached()
{
return (openActions.isEmpty() && super.goalReached());
}
public boolean checkAvailability(Action a)
{
List rList = new ArrayList(invariants);
if (a instanceof SplitInstantAction)
{
SplitInstantAction da = (SplitInstantAction) a;
Iterator iit = da.parent.invariant.getConditionalPropositions().iterator();
while (iit.hasNext())
{
rList.remove(iit.next());
}
}
rList.retainAll(a.getDeletePropositions());
if (!rList.isEmpty()) return false;
SchedulabilityChecker c = (VelosoSchedulabilityChecker) checker.clone(); //This should have to be cloned here and below
boolean result = c.addAction((InstantAction)a, this);
if (result && a instanceof StartInstantAction)
{
TemporalMetricState dupli = (TemporalMetricState) this.clone();
dupli.apply(a);
result = c.addAction(((StartInstantAction)a).getSibling(), dupli);
}
return result;
}
public Object clone()
{
Set nf = (Set) ((HashSet) facts).clone();
TotalOrderPlan p = (TotalOrderPlan) plan.clone();
Map nfuncs = (Map) ((Hashtable) funcValues).clone();
Set oA = (Set) ((HashSet)openActions).clone();
List i = (List) ((ArrayList)invariants).clone();
Set na = (Set) ((HashSet) actions).clone();
TemporalMetricState ts = new TemporalMetricState(na, nf, goal, nfuncs, p, metric, oA, i);
ts.setRPG(RPG);
// ts.setFilter(filter);
ts.checker = (VelosoSchedulabilityChecker) checker.clone();
return ts;
}
public State apply(Action a) // return a cloned copy
{
TemporalMetricState s = (TemporalMetricState) super.apply(a);
if (a instanceof SplitInstantAction)
{
SplitInstantAction sia = (SplitInstantAction) a;
sia.applySplit(s);
}
s.checker.addAction((InstantAction)a, s);
return s;
}
//public BigDecimal getGValue()
//{
//return super.getGValue().subtract(new BigDecimal(openActions.size()));
//}
}