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repeated_states.c
executable file
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repeated_states.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: repeated_states.c
*
* Description: recognises seen states. quite complicated.
*
* Author: Joerg Hoffmann 2002
*
*********************************************************************/
#include "ff.h"
#include "output.h"
#include "memory.h"
#include "relax.h"
#include "state_transitions.h"
#include "repeated_states.h"
#include "search.h"
/***********************************************************
* LOCAL GLOBALS *
***********************************************************/
/* memory (hash table) for states that are already members
* of the breadth - first search space in EHC
*/
EhcHashEntry_pointer lehc_hash_entry[EHC_HASH_SIZE];
int lnum_ehc_hash_entry[EHC_HASH_SIZE];
int lchanged_ehc_entrys[EHC_HASH_SIZE];
int lnum_changed_ehc_entrys;
Bool lchanged_ehc_entry[EHC_HASH_SIZE];
/* memory (hash table) for states that are already members
* of the best first search space
*/
BfsHashEntry_pointer lbfs_hash_entry[BFS_HASH_SIZE];
/* the clauses to be communicated to the SAT solver for
* determining fact progress. indexed by nr (S1 | S2) / cl nr / lit nr
*/
TimedLiteral ***lrs_clauses;
int **lrs_clause_length;
int *lrs_num_clauses;
int *lrs_endtime;
/* array; maps 1|2 (ie 0|1) / ft / time triple to its number in CNF encoding.
*/
int ***lrs_codes;
/* inverse mapping, to undo changes in table.
*/
int *lrs_cn, *lrs_cf, *lrs_ct, lrs_num_c;
/* hitting set -- in CNF construction for noops in presence of non-unary antecedents.
*/
int *lrs_hitting_set;
int lrs_num_hitting_set;
/* for naive DP implementation
*/
int **lrs_dp_clauses;
int *lrs_dp_clause_length;
int lrs_dp_num_clauses;
int *lrs_assigned;
/* stores the current DP decisions including unit propagations.
*/
int *lrs_decision_stack;
int lrs_num_decision_stack;
/* for each possible ft code, a pointer to connected dynamic list
* of member elements, ie the clauses in which it participates,
* positive and negative.
*/
MemberList_pointer *lrs_pos_c_in_clause_start;
MemberList_pointer *lrs_pos_c_in_clause_end;
MemberList_pointer *lrs_neg_c_in_clause_start;
MemberList_pointer *lrs_neg_c_in_clause_end;
void initialize_repeated_states( void )
{
int i, j;
for ( i = 0; i < EHC_HASH_SIZE; i++ ) {
lehc_hash_entry[i] = NULL;
lnum_ehc_hash_entry[i] = 0;
lchanged_ehc_entry[i] = FALSE;
}
lnum_changed_ehc_entrys = 0;
for ( i = 0; i < BFS_HASH_SIZE; i++ ) {
lbfs_hash_entry[i] = NULL;
}
lrs_clauses = ( TimedLiteral *** ) calloc( 2, sizeof( TimedLiteral ** ) );
lrs_clauses[0] = ( TimedLiteral ** ) calloc( gmax_rs_clauses, sizeof( TimedLiteral * ) );
lrs_clauses[1] = ( TimedLiteral ** ) calloc( gmax_rs_clauses, sizeof( TimedLiteral * ) );
lrs_clause_length = ( int ** ) calloc( 2, sizeof( int * ) );
lrs_clause_length[0] = ( int * ) calloc( gmax_rs_clauses, sizeof( int ) );
lrs_clause_length[1] = ( int * ) calloc( gmax_rs_clauses, sizeof( int ) );
lrs_dp_clauses = ( int ** ) calloc( gmax_rs_clauses, sizeof( int * ) );
lrs_dp_clause_length = ( int * ) calloc( gmax_rs_clauses, sizeof( int ) );
for ( i = 0; i < gmax_rs_clauses; i++ ) {
lrs_clauses[0][i] = ( TimedLiteral * ) calloc( gmax_literals, sizeof( TimedLiteral ) );
lrs_clause_length[0][i] = 0;
lrs_clauses[1][i] = ( TimedLiteral * ) calloc( gmax_literals, sizeof( TimedLiteral ) );
lrs_clause_length[1][i] = 0;
lrs_dp_clauses[i] = ( int * ) calloc( gmax_literals, sizeof( int ) );
lrs_dp_clause_length[i] = 0;
}
lrs_num_clauses = ( int * ) calloc( 2, sizeof( int ) );
lrs_num_clauses[0] = 0;
lrs_num_clauses[1] = 0;
lrs_dp_num_clauses = 0;
lrs_endtime = ( int * ) calloc( 2, sizeof( int ) );
lrs_endtime[0] = -1;
lrs_endtime[1] = -1;
lrs_codes = ( int *** ) calloc( 2, sizeof( int ** ) );
lrs_codes[0] = ( int ** ) calloc( MAX_PLAN_LENGTH + 1, sizeof( int * ) );
lrs_codes[1] = ( int ** ) calloc( MAX_PLAN_LENGTH + 1, sizeof( int * ) );
for ( i = 0; i <= MAX_PLAN_LENGTH; i++ ) {
lrs_codes[0][i] = ( int * ) calloc( gnum_ft_conn, sizeof( int ) );
lrs_codes[1][i] = ( int * ) calloc( gnum_ft_conn, sizeof( int ) );
for ( j = 0; j < gnum_ft_conn; j++ ) {
lrs_codes[0][i][j] = -1;
lrs_codes[1][i][j] = -1;
}
}
lrs_cn = ( int * ) calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( int ) );
lrs_cf = ( int * ) calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( int ) );
lrs_ct = ( int * ) calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( int ) );
lrs_hitting_set = ( int * ) calloc( gnum_ft_conn, sizeof( int ) );
lrs_assigned = ( int * ) calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( int ) );
for ( i = 0; i < (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1; i++ ) {
lrs_assigned[i] = -1;
}
lrs_decision_stack = ( int * ) calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2, sizeof( int ) );
lrs_pos_c_in_clause_start = ( MemberList_pointer * )
calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( MemberList_pointer ) );
lrs_pos_c_in_clause_end = ( MemberList_pointer * )
calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( MemberList_pointer ) );
lrs_neg_c_in_clause_start = ( MemberList_pointer * )
calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( MemberList_pointer ) );
lrs_neg_c_in_clause_end = ( MemberList_pointer * )
calloc( (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2 + 1, sizeof( MemberList_pointer ) );
for ( i = 0; i <= (1 + MAX_PLAN_LENGTH) * gmax_CNFU * 2; i++ ) {
lrs_pos_c_in_clause_start[i] = NULL;
lrs_neg_c_in_clause_start[i] = NULL;
lrs_pos_c_in_clause_end[i] = NULL;
lrs_neg_c_in_clause_end[i] = NULL;
}
}
/*********************************************************
* HASHING ALGORITHM FOR RECOGNIZING DOMINATED STATES IN *
* EHC BREADTH FIRST SEARCH *
*********************************************************/
void hash_ehc_node( EhcNode *n )
{
int i, Fsum, Usum, index;
EhcHashEntry *h, *prev = NULL;
Fsum = state_Fsum( &(n->S) );
Usum = state_Usum( &(n->S) );
index = (Fsum + Usum) & EHC_HASH_BITS;
h = lehc_hash_entry[index];
if ( !h ) {
h = new_EhcHashEntry();
h->Fsum = Fsum;
h->Usum = Usum;
h->ehc_node = n;
lehc_hash_entry[index] = h;
lnum_ehc_hash_entry[index]++;
if ( !lchanged_ehc_entry[index] ) {
lchanged_ehc_entrys[lnum_changed_ehc_entrys++] = index;
lchanged_ehc_entry[index] = TRUE;
}
return;
}
i = 0;
while ( h ) {
if ( i == lnum_ehc_hash_entry[index] ) {
break;
}
i++;
prev = h;
h = h->next;
}
if ( h ) {
/* current list end is still in allocated list of hash entrys
*/
h->Fsum = Fsum;
h->Usum = Usum;
h->ehc_node = n;
lnum_ehc_hash_entry[index]++;
if ( !lchanged_ehc_entry[index] ) {
lchanged_ehc_entrys[lnum_changed_ehc_entrys++] = index;
lchanged_ehc_entry[index] = TRUE;
}
return;
}
/* allocated list ended; connect a new hash entry to it.
*/
h = new_EhcHashEntry();
h->Fsum = Fsum;
h->Usum = Usum;
h->ehc_node = n;
prev->next = h;
lnum_ehc_hash_entry[index]++;
if ( !lchanged_ehc_entry[index] ) {
lchanged_ehc_entrys[lnum_changed_ehc_entrys++] = index;
lchanged_ehc_entry[index] = TRUE;
}
return;
}
Bool ehc_state_hashed( State *S, EhcNode *father, int op )
{
int i, Usum, Fsum, index;
EhcHashEntry *h;
times( &end );
TIME( gsearch_time );
times( &start );
Fsum = state_Fsum( S );
Usum = state_Usum( S );
index = (Fsum + Usum) & EHC_HASH_BITS;
h = lehc_hash_entry[index];
for ( i = 0; i < lnum_ehc_hash_entry[index]; i++ ) {
if ( h->Fsum < Fsum ) {
h = h->next;
continue;
}
if ( h->Fsum + h->Usum < Fsum + Usum ) {
h = h->next;
continue;
}
if ( dominates_state( &(h->ehc_node->S), S,
h->ehc_node, father,
NULL, NULL,
op ) ) {
times( &end );
TIME( grs_time );
times( &start );
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n----------------------ehc domination hit!!!");
}
return TRUE;
}
h = h->next;
}
times( &end );
TIME( grs_time );
times( &start );
return FALSE;
}
/* does S1 dominate S2?, resp. is S1 the same as S2?
*/
Bool dominates_state( State *S1, State *S2,
EhcNode *S1ehcnode, EhcNode *S2ehcfather,
BfsNode *S1bfsnode, BfsNode *S2bfsfather,
int op )
{
int i, j;
grs_comps++;
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n\n---------------------------------------------hash table hit S1");
print_state( *S1 );
printf("\n---------------------------------------------S2");
print_state( *S2 );
}
if ( gdomination_valid ) {
/* S2.F \subseteq S1.F?
*/
if ( S2->num_F > S1->num_F ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------|S2.F| > |S1.F|");
}
return FALSE;
}
for ( i = 0; i < S2->num_F; i++ ) {
for ( j = 0; j < S1->num_F; j++ ) {
if ( S1->F[j] == S2->F[i] ) {
break;
}
}
if ( j == S1->num_F ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------S2.F !sub S1.F: ");
print_ft_name( S2->F[i] );
}
return FALSE;
}
}
/* S2.U \subseteq S1.F \cup S1.U?
*/
if ( S2->num_U > S1->num_F + S1->num_U ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------|S2.U| > |S1.F|+|S1.U|");
}
return FALSE;
}
for ( i = 0; i < S2->num_U; i++ ) {
for ( j = 0; j < S1->num_F; j++ ) {
if ( S1->F[j] == S2->U[i] ) {
break;
}
}
if ( j == S1->num_F ) {
for ( j = 0; j < S1->num_U; j++ ) {
if ( S1->U[j] == S2->U[i] ) {
break;
}
}
if ( j == S1->num_U ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------S2.U !sub S1.F cup S1.U: ");
print_ft_name( S2->U[i] );
}
return FALSE;
}
}
}
/* S2.U \subseteq S1.F? --> yes, don't need to check!
*/
for ( i = 0; i < S2->num_U; i++ ) {
for ( j = 0; j < S1->num_F; j++ ) {
if ( S1->F[j] == S2->U[i] ) {
break;
}
}
if ( j == S1->num_F ) {
break;
}
}
if ( i == S2->num_U ) {
return TRUE;
}
} else {
/* S2.F == S1.F?
*/
if ( S2->num_F != S1->num_F ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------|S2.F| != |S1.F|");
}
return FALSE;
}
for ( i = 0; i < S2->num_F; i++ ) {
for ( j = 0; j < S1->num_F; j++ ) {
if ( S1->F[j] == S2->F[i] ) {
break;
}
}
if ( j == S1->num_F ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------S2.F != S1.F: ");
print_ft_name( S2->F[i] );
}
return FALSE;
}
}
/* S2.U == S1.U?
*/
if ( S2->num_U != S1->num_U ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------|S2.U| != |S1.U|");
}
return FALSE;
}
for ( i = 0; i < S2->num_U; i++ ) {
for ( j = 0; j < S1->num_U; j++ ) {
if ( S1->U[j] == S2->U[i] ) {
break;
}
}
if ( j == S1->num_U ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------S2.U != S1.U: ");
print_ft_name( S2->U[i] );
}
return FALSE;
}
}
}
grs_conf_comps++;
return dominates_conformant( S1, S2, S1ehcnode, S2ehcfather, S1bfsnode, S2bfsfather, op );
}
int state_Fsum( State *S )
{
int i, sum = 0;
for ( i = 0; i < S->num_F; i++ ) {
sum += gft_conn[S->F[i]].rand;
}
return sum;
}
int state_Usum( State *S )
{
int i, sum = 0;
for ( i = 0; i < S->num_U; i++ ) {
sum += gft_conn[S->U[i]].rand;
}
return sum;
}
void reset_ehc_hash_entrys( void )
{
int i;
for ( i = 0; i < lnum_changed_ehc_entrys; i++ ) {
lnum_ehc_hash_entry[lchanged_ehc_entrys[i]] = 0;
lchanged_ehc_entry[lchanged_ehc_entrys[i]] = FALSE;
}
lnum_changed_ehc_entrys = 0;
}
Bool dominates_conformant( State *S1, State *S2,
EhcNode *S1ehcnode, EhcNode *S2ehcfather,
BfsNode *S1bfsnode, BfsNode *S2bfsfather,
int op )
{
int i, j, ft, m, ff;
int ft_S1_code, ft_S2_code;
Bool sat;
Bool CNF_built = FALSE;
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n----------------------------------checking conformant domination");
}
/* for all facts in S2.U, check whether they are better off/true in the same cases as in S1
*/
for ( i = 0; i < S2->num_U; i++ ) {
ft = S2->U[i];
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-------posibly progressed/different ft %d", ft);
print_ft_name( ft );
}
if ( !gft_conn[ft].srelevant ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf(" is not solution relevant!");
}
continue;
}
if ( gdomination_valid ) {
for ( j = 0; j < S1->num_U; j++ ) {
if ( ft == S1->U[j] ) break;
}
if ( j == S1->num_U ) {
/* with pre-check, we got ft in S1.F and thus no need to check it.
*/
if ( gcmd_line.P && gcmd_line.debug ) {
printf(" is true in S1.F!");
}
continue;
}
}
if ( !CNF_built ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\n-----------------building domination CNF");fflush(stdout);
}
build_domination_CNF( S1, S2, S1ehcnode, S2ehcfather, S1bfsnode, S2bfsfather, op );
CNF_built = TRUE;
}
ff = ft;
if ( gft_conn[ff].CNF ) {
m = 1;
} else {
m = -1;
ff = gft_conn[ff].negation;
}
ft_S1_code = lrs_codes[0][lrs_endtime[0]][ff];
ft_S2_code = lrs_codes[1][lrs_endtime[1]][ff];
if ( gcmd_line.P && gcmd_line.debug >= 3 ) {
printf("\nft has code %d in S1 at time %d", ft_S1_code, lrs_endtime[0]);
printf("\nft has code %d in S2 at time %d", ft_S2_code, lrs_endtime[1]);fflush(stdout);
}
if ( ft_S2_code == -1 ) {
if ( lrs_endtime[1] == 0 ) {
printf("\nS2 endtime is 0??\n\n");
exit( 1 );
}
printf("\n(S2) U ft not encoded at time %d??\n\n", lrs_endtime[1]);
exit( 1 );
}
if ( ft_S1_code == -1 ) {
if ( lrs_endtime[0] > 0 ) {
printf("\n(S1) U ft not encoded at time %d??\n\n", lrs_endtime[0]);
exit( 1 );
}
if ( gcmd_line.debug >= 2 ) {
printf("\nwarning: ft ");
print_ft_name( ft );
printf(" not encoded at S1 time 0. assuming independency so no domination.");
}
/* this can (?) only happen if ft is neither encoded by S2 at time 0,
* meaning (?) it does not participate even in its noop...
*
* inserting a clause wouldn't make sense, ie yield results "sat" anyway
* so this here seems to be the right answer.
*/
return FALSE;
}
/* ok, here we go. add the new clauses and go for it.
*/
lrs_num_decision_stack = 0;
lrs_decision_stack[lrs_num_decision_stack++] = m * (-1) * ft_S1_code;
lrs_decision_stack[lrs_num_decision_stack++] = m * ft_S2_code;
if ( gcmd_line.P && gcmd_line.debug >= 4 ) {
printf("\n----------clauses :\n");
print_rs_encoded_clauses();
}
times( &end );
TIME( grs_time );
times( &start );
grs_sat_calls++;
sat = rs_dp_CNF();
times( &end );
TIME( grs_sat_time );
times( &start );
if ( sat ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\nsat 1! no domination!");
}
return FALSE;
}
if ( !gdomination_valid ) {
/* second test to ensure equality
*/
lrs_num_decision_stack = 0;
lrs_decision_stack[lrs_num_decision_stack++] = m * ft_S1_code;
lrs_decision_stack[lrs_num_decision_stack++] = m * (-1) * ft_S2_code;
if ( gcmd_line.P && gcmd_line.debug >= 4 ) {
printf("\n----------clauses :\n");
print_rs_encoded_clauses();
}
times( &end );
TIME( grs_time );
times( &start );
grs_sat_calls++;
sat = rs_dp_CNF();
times( &end );
TIME( grs_sat_time );
times( &start );
if ( sat ) {
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\nsat 2! no domination!");
}
return FALSE;
}
}
if ( gcmd_line.P && gcmd_line.debug ) {
printf("\nunsat! no improvement on this ft!");
}
} /* S2-> U */
grs_hits++;
return TRUE;
}
void build_domination_CNF( State *S1, State *S2,
EhcNode *S1ehcnode, EhcNode *S2ehcfather,
BfsNode *S1bfsnode, BfsNode *S2bfsfather,
int op )
{
build_one_part_of_domCNF( 0, S1,
S1ehcnode ? S1ehcnode->father : NULL,
S1bfsnode ? S1bfsnode->father : NULL,
S1ehcnode ? S1ehcnode->op : S1bfsnode->op );
build_one_part_of_domCNF( 1, S2, S2ehcfather, S2bfsfather, op );
encode_domCNF();
}
void build_one_part_of_domCNF( int nr, State *S, EhcNode *ehcdad, BfsNode *bfsdad, int op )
{
static Bool fc = TRUE;
static State_pointer *path;
static int *path_op;
static Bool *Ft, *Ut, *Ftpp, *Utpp;
int i, j, num_path, n, t, time, ef, k, ft, num_path_op, m, ff;
EhcNode *iehc;
BfsNode *ibfs;
if ( fc ) {
path = ( State_pointer * ) calloc( MAX_PLAN_LENGTH + 1, sizeof( State_pointer ) );
path_op = ( int * ) calloc( MAX_PLAN_LENGTH + 1, sizeof( int ) );
Ft = ( Bool * ) calloc( gnum_ft_conn, sizeof( Bool ) );
Ut = ( Bool * ) calloc( gnum_ft_conn, sizeof( Bool ) );
Ftpp = ( Bool * ) calloc( gnum_ft_conn, sizeof( Bool ) );
Utpp = ( Bool * ) calloc( gnum_ft_conn, sizeof( Bool ) );
for ( i = 0; i < gnum_ft_conn; i++ ) {
Ft[i] = FALSE;
Ut[i] = FALSE;
Ftpp[i] = FALSE;
Utpp[i] = FALSE;
}
fc = FALSE;
}
/* first, erase old CNF
*/
for ( i = 0; i < lrs_num_clauses[nr]; i++ ) {
lrs_clause_length[nr][i] = 0;
}
lrs_num_clauses[nr] = 0;
/* now, collect the path to S
*/
if ( gcmd_line.P && gcmd_line.debug >= 2 ) {
printf("\n\n-------------------------------------rs path for nr %d", nr);fflush(stdout);
}
num_path = MAX_PLAN_LENGTH;
path[num_path--] = S;
if ( gcmd_line.P && gcmd_line.debug >= 3 ) {
printf("\n-----state %d", num_path+1); print_state( *path[num_path+1] );fflush(stdout);
}
/* DEBUGGING
*/
num_path_op = MAX_PLAN_LENGTH;
if ( gcmd_line.P && gcmd_line.debug >= 2 ) {
if ( op >= 0 ) {
path_op[num_path_op--] = op;
printf("\n-----final op (%d) %d", op, num_path_op+1); fflush(stdout);
print_op_name( path_op[num_path_op+1] );fflush(stdout);
}
}
if ( ehcdad ) {
for ( iehc = ehcdad; iehc->father; iehc = iehc->father ) {
if ( num_path == 0 ) {
printf("\n\nincrease MAX_PLAN_LENGTH! currently %d\n\n",
MAX_PLAN_LENGTH);
exit( 1 );
}
path[num_path--] = &(iehc->S);
if ( gcmd_line.P && gcmd_line.debug >= 3 ) {
printf("\n-----state %d", num_path+1); print_state( *path[num_path+1] );fflush(stdout);
}
if ( gcmd_line.P && gcmd_line.debug >= 2 ) {
path_op[num_path_op--] = iehc->op;
printf("\n-----op %d", num_path_op+1); print_op_name( path_op[num_path_op+1] );fflush(stdout);
}
}
for ( i = gnum_plan_ops; i >= 0; i-- ) {
if ( num_path == 0 ) {
printf("\n\nincrease MAX_PLAN_LENGTH! currently %d\n\n",
MAX_PLAN_LENGTH);
exit( 1 );
}
path[num_path--] = &(gplan_states[i]);
if ( gcmd_line.P && gcmd_line.debug >= 3 ) {
printf("\n-----state %d", num_path+1); print_state( *path[num_path+1] );fflush(stdout);
}
if ( gcmd_line.P && gcmd_line.debug >= 2 && i >= 1 ) {
path_op[num_path_op--] = gplan_ops[i-1];
printf("\n-----op %d", num_path_op+1); print_op_name( path_op[num_path_op+1] );fflush(stdout);
}
}
} else {
for ( ibfs = bfsdad; ibfs; ibfs = ibfs->father ) {
if ( num_path == 0 ) {
printf("\n\nincrease MAX_PLAN_LENGTH! currently %d\n\n",
MAX_PLAN_LENGTH);
exit( 1 );
}
path[num_path--] = &(ibfs->S);
if ( gcmd_line.P && gcmd_line.debug >= 3 ) {
printf("\n-----state %d", num_path+1); print_state( *path[num_path+1] );fflush(stdout);
}
if ( gcmd_line.P && gcmd_line.debug >= 2 && ibfs->father ) {
path_op[num_path_op--] = ibfs->op;
printf("\n-----op %d", num_path_op+1); print_op_name( path_op[num_path_op+1] );fflush(stdout);
}
}
}
if ( gcmd_line.P && gcmd_line.debug >= 2 ) {
printf("\n\n-------------------------------------adding clauses");fflush(stdout);
}
/* now compute the CNF; start with the initial clauses.
*
* we need this only in one of our two CNFs. let's say the 1st one.
*/
if ( nr == 0 ) {
for ( i = 0; i < gnum_initial_or; i++ ) {
if ( lrs_num_clauses[nr] == gmax_rs_clauses ) {
printf("\n\ntoo many rs clauses? %d\n\n", lrs_dp_num_clauses);
exit( 1 );
}
for ( j = 0; j < ginitial_or_length[i]; j++ ) {
ff = ginitial_or[i][j];
if ( gft_conn[ff].CNF ) {
m = 1;
} else {
m = -1;
ff = gft_conn[ff].negation;
}
lrs_clauses[nr][lrs_num_clauses[nr]][lrs_clause_length[nr][lrs_num_clauses[nr]]].literal =
m * (1 + ff);
lrs_clauses[nr][lrs_num_clauses[nr]][lrs_clause_length[nr][lrs_num_clauses[nr]]].time = 0;
lrs_clause_length[nr][lrs_num_clauses[nr]]++;
}
lrs_num_clauses[nr]++;
if ( gcmd_line.P && gcmd_line.debug >= 3 ) {
printf("\ninitial OR clause"); print_rs_clause( nr, lrs_num_clauses[nr]-1 );
fflush(stdout);
}
}
}
/* now, the path implications (up to the end state, need no distinction
* with last step here)
*/
for ( t = num_path + 1; t < MAX_PLAN_LENGTH; t++ ) {
time = t - (num_path + 1);
for ( i = 0; i < path[t]->num_F; i++ ) {
Ft[path[t]->F[i]] = TRUE;
}
for ( i = 0; i < path[t]->num_U; i++ ) {
Ut[path[t]->U[i]] = TRUE;
}
for ( i = 0; i < path[t+1]->num_F; i++ ) {
Ftpp[path[t+1]->F[i]] = TRUE;
}
for ( i = 0; i < path[t+1]->num_U; i++ ) {
Utpp[path[t+1]->U[i]] = TRUE;
}
for ( i = 0; i < path[t+1]->num_unknown_E; i++ ) {
ef = path[t+1]->unknown_E[i];
for ( j = 0; j < gef_conn[ef].num_A; j++ ) {
if ( !gft_conn[gef_conn[ef].A[j]].CNF ) continue;
if ( Ftpp[gef_conn[ef].A[j]] ) continue;
if ( lrs_num_clauses[nr] == gmax_rs_clauses ) {
printf("\n\ntoo many rs clauses? %d\n\n", lrs_dp_num_clauses);
exit( 1 );
}
n = lrs_num_clauses[nr];
for ( k = 0; k < gef_conn[ef].num_C; k++ ) {
if ( Ft[gef_conn[ef].C[k]] ) continue;
/* DEBUGGING; REMOVE LATER
*/
if ( !Ut[gef_conn[ef].C[k]] ) {
printf("\nunknown ef cond neither F nor U in domCNF gen\n\n");
exit(1);
}
ff = gef_conn[ef].C[k];
if ( gft_conn[ff].CNF ) {
m = 1;
} else {
m = -1;
ff = gft_conn[ff].negation;
}
lrs_clauses[nr][n][lrs_clause_length[nr][n]].literal =
m * (-1) * (1 + ff);
lrs_clauses[nr][n][lrs_clause_length[nr][n]++].time =
time;
}
lrs_clauses[nr][n][lrs_clause_length[nr][n]].literal =
1 + gef_conn[ef].A[j];
lrs_clauses[nr][n][lrs_clause_length[nr][n]++].time =
time + 1;
lrs_num_clauses[nr]++;
if ( gcmd_line.P && gcmd_line.debug >= 3 ) {
printf("\nunknown add eff clause"); print_rs_clause( nr, lrs_num_clauses[nr]-1 );
}
}
for ( j = 0; j < gef_conn[ef].num_D; j++ ) {
if ( !gft_conn[gef_conn[ef].D[j]].CNF ) continue;
if ( !Ftpp[gef_conn[ef].D[j]] && !Utpp[gef_conn[ef].D[j]] ) continue;
n = lrs_num_clauses[nr];
if ( lrs_num_clauses[nr] == gmax_rs_clauses ) {
printf("\n\ntoo many rs clauses? %d\n\n", lrs_dp_num_clauses);
exit( 1 );