Development mirror of Jussi Rintanen’s planner Madagascar https://research.ics.aalto.fi/software/sat/madagascar/
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/* 2012 (C) Jussi Rintanen, jrintanen.jr@gmail.com */
#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include "interface.h"
#include "main.h"
#include "asyntax.h"
#include "tables.h"
#include "ordintsets.h"
#include "operators.h"
#define IPC 1
#define FIELD 35
/* Print atoms true in a state. */
void printstate(satinstance sati,int *state) {
int i;
for(i=0;i<sati->nOfSVars;i++) {
if(state[i]) { printf(" "); printatomi(i); }
}
}
/* Print a tabular representation of the values of state variables and
operators at different time points. */
void printplanT(satinstance sati) {
int i,j,len;
for(j=0;j<FIELD;j++) printf("_");
for(j=0;j<sati->nOfTPoints;j++) printf("%i",j%10);
printf("\n");
for(i=0;i<nOfAtoms;i++) {
len = printatomi(i);
for(j=0;j<FIELD-len;j++) printf("_");
for(j=0;j<sati->nOfTPoints;j++) {
switch(varvalue(sati,TVAR(i,j))) {
case 0: printf("."); break;
case 1: printf("T"); break;
default: printf(" "); break;
}
}
printf("\n");
}
for(i=0;i<nOfActions;i++) {
len = printactionname(i);
for(j=0;j<FIELD-len;j++) printf("_");
for(j=0;j<sati->nOfTPoints-1;j++) {
switch(varvalue(sati,TACT(i,j))) {
case 0: printf("."); break;
case 1: printf("T"); break;
default: printf(" "); break;
}
}
printf("\n");
}
}
/* Print a tabular representation of the values of state variables
at different time points. */
void printplanV(satinstance sati) {
int i,j,len;
for(j=0;j<FIELD;j++) printf("_");
for(j=0;j<sati->nOfTPoints;j++) printf("%i",j%10);
printf("\n");
for(i=0;i<nOfAtoms;i++) {
len = printatomi(i);
for(j=0;j<FIELD-len;j++) printf("_");
for(j=0;j<sati->nOfTPoints;j++) {
switch(varvalue(sati,TVAR(i,j))) {
case 0: printf("."); break;
case 1: printf("T"); break;
default: printf(" "); break;
}
}
printf("\n");
}
}
/* Print the plan as a sequence of operators.
(Test also that the plan actually is a solution to the planning problem.)
*/
void copystate(satinstance sati,int *s1,int *s2) {
int i;
for(i=0;i<sati->nOfSVars;i++) s2[i] = s1[i];
}
#define MAXSTEPSIZE 50000
void fprintplan(FILE *f,satinstance sati) {
int pactions[MAXSTEPSIZE];
int sactions[MAXSTEPSIZE];
int substepcnt;
int pcnt,toprint,round,naf,cnt;
int t,i,j,actionsinplan;
int state0[sati->nOfSVars],state1[sati->nOfSVars];
int print_t;
int cost;
#ifdef IPC
int print_a;
#endif
cost = 0;
actionsinplan = 0;
print_t = 0;
#ifdef IPC
print_a = 0;
#endif
for(i=0;i<sati->nOfSVars;i++) state0[i] = varvalue(sati,i);
copystate(sati,state0,state1);
for(t=0;t<sati->nOfTPoints-1;t++) {
/* Get action indices to pactions. */
pcnt = 0; /* How many actions in the current time point. */
#ifdef DEBUG
fprintf(f,"Actions at STEP %i: ",t);
#endif
for(i=0;i<nOfActions;i++) {
if(vartruep(sati,TACT(i,t))) {
pactions[pcnt++] = i;
if(pcnt >= MAXSTEPSIZE) {
fprintf(stderr,"ERROR: max. step size %i exceeded. Recompile with increased MAXSTEPSIZE.\n",MAXSTEPSIZE);
}
#ifdef DEBUG
fprintactionname(f,i);
#endif
actionsinplan += 1;
cost += actions[i].cost;
}
}
#ifdef DEBUG
printf("\n");
#endif
toprint = pcnt;
round = 0;
/* Find actions that don't affect any of the remaining actions. */
while(toprint) {
copystate(sati,state0,state1);
cnt = 0;
substepcnt = 0; /* Number of actions currently in the substep */
for(i=0;i<pcnt;i++) {
if(pactions[i] == -1) continue;
naf = 0;
for(j=0;j<pcnt;j++) {
if(j==i) continue;
if(pactions[j] == -1) continue;
if(opaffectsinstate(state1,pactions[i],pactions[j])) {
#ifdef DEBUG
printactionname(pactions[i]);
printf(" %i affects %i ",pactions[i],pactions[j]);
printactionname(pactions[j]);
printf("\n");
#endif
naf = 1;
break;
} else {
#ifdef DEBUG
printactionname(pactions[i]);
printf(" %i does NOT affect %i ",pactions[i],pactions[j]);
printactionname(pactions[j]);
printf("\n");
#endif
}
}
if(!naf) {
toprint -= 1;
cnt += 1;
sactions[substepcnt++] = i;
}
}
/* Print the current substep. */
if(!flagIPCplans) {
if(toprint == 0 && round == 0) {
fprintf(f,"STEP %i:",t);
} else {
fprintf(f,"STEP %i.%i:",t,round);
}
}
for(j=0;j<substepcnt;j++) {
if(flagIPCplans) {
#ifdef IPC
fprintf(f,"%d : ",print_a++);
#else
fprintf(f,"%d : ",print_t);
#endif
fprintactionnameIPC(f,pactions[sactions[j]]);
fprintf(f,"\n");
} else {
fprintf(f," ");
fprintactionname(f,pactions[sactions[j]]);
}
if(!execute(pactions[sactions[j]],state0,state1)) {
fprintf(stderr,"ERROR: plan not executable!\n");
exit(1);
}
pactions[sactions[j]] = -1;
}
if(cnt == 0) {
fprintf(stderr,"ERROR: no actions in current round (%i)!\n",pcnt);
exit(1);
}
copystate(sati,state1,state0);
print_t += 1;
if(!flagIPCplans) {
fprintf(f,"\n");
}
round += 1;
}
}
/* Test that the goal is indeed true in the resulting final state. */
if(!ptruep(goal,state1)) {
printfma(goal);
printf("ERROR: goal not reached by the plan.\n");
exit(1);
}
// printf("TERMINAL STATE:"); printstate(sati,state1); printf("\n");
printf("%i actions in the plan.\n",actionsinplan);
if(cost) printf("Cost of the plan is %i.\n",cost);
}
/* Print a literal in the textual form. */
void printUvar(int i) {
if(i < nOfAtoms) {
printatomi(i);
} else if(i < nOfAtoms+nOfActions) {
printactionname(i-nOfAtoms);
} else {
printf("AUX%i",i-nOfAtoms-nOfActions);
}
}
void printUlits(int *ptr) {
while(*ptr != -1) {
if(*ptr & 1) printf(" -"); else printf(" ");
printUvar(VAR(*ptr));
ptr = ptr + 1;
}
}
void printTlit(satinstance sati,int l) {
if(l&1) printf("-");
if(planFrontend) {
printf("%i:",VAR(l));
printUvar(tvarvar(sati,VAR(l)));
printf("@%i",tvartime(sati,VAR(l)));
} else {
printf("%i",VAR(l)+1);
}
}