-
Notifications
You must be signed in to change notification settings - Fork 1
/
ff.h
executable file
·1484 lines (750 loc) · 19.9 KB
/
ff.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* 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: ff.h
* Description: Types and structures for the FastForward planner.
*
* --------- ADL VERSION v 1.0 --------------
*
* Author: Joerg Hoffmann 2000
* Contact: hoffmann@informatik.uni-freiburg.de
*
*********************************************************************/
#ifndef __FF_H
#define __FF_H
#include <stdlib.h>
#include <stdio.h>
#include <strings.h>
#include <ctype.h>
#include <sys/types.h>
#include <sys/timeb.h>
#include <sys/times.h>
/*
* ------------------------------------ DEFINES ----------------------------
*/
/***********************
* MEANINGLESS HELPERS *
***********************/
/* strcmp returns 0 if two strings are equal, which is not nice */
#define SAME 0
/****************
* PARSING ETC. *
****************/
/* various defines used in parsing
*/
#define HIDDEN_STR "#"
#define AXIOM_STR "AXIOM"
#define NAME_STR "name\0"
#define VARIABLE_STR "variable\0"
#define STANDARD_TYPE "OBJECT\0"
#define EITHER_STR "EITHER"
/***************************
* SOME ARBITRARY SETTINGS *
***************************/
/* maximal string length
*/
#define MAX_LENGTH 256
/* marks border between connected items
*/
#define CONNECTOR "~"
/* first size of goals_at array in 1P extraction
*/
#define RELAXED_STEPS_DEFAULT 25
/* size of hash table for repeated states checking
* during EHC breadth first search
*/
#define EHC_HASH_SIZE 8192
#define EHC_HASH_BITS 8191
/* size of hash table for repeated states checking
* in plan construction
*/
#define PLAN_HASH_SIZE 1024
#define PLAN_HASH_BITS 1023
/* size of hash table for repeated states checking
* during BFS search
*/
#define BFS_HASH_SIZE 65536
#define BFS_HASH_BITS 65535
/* cut random values of facts off modulo this value,
* to make state sums fit into a single integer
*/
#define BIG_INT 1500000
/************************
* INSTANTIATION LIMITS *
************************/
#define MAX_CONSTANTS 2000
#define MAX_PREDICATES 5000 // 50
#define MAX_TYPES 50
#define MAX_ARITY 5
#define MAX_VARS 15
#define MAX_TYPE 2000
#define MAX_OPERATORS 5000 // 50
/* in DNF: AND with OR - sons - collect 'hitting set':
* one son of each OR node.
*
* this here is initial max number of such son s that can be collected
* (grows dynamically, if required)
*/
#define MAX_HITTING_SET_DEFAULT 1000
#define MAX_TYPE_INTERSECTIONS 10
#define MAX_RELEVANT_FACTS 100000
/******************************************
* DOMAIN STRUCTURE AND SEARCHING LIMITS *
******************************************/
#define MAX_PLAN_LENGTH 2000
/****************
* CODE DEFINES *
****************/
/* not a real 'code' define; used in relax and search to encode
* infinite level number / plan length
*/
#ifndef INFINITY
#define INFINITY -1
#endif
/* define boolean types if not allready defined
*/
#ifndef Bool
typedef unsigned char Bool;
#ifndef TRUE /* we assume that FALSE is also not defined */
#define TRUE 1
#define FALSE 0
#endif /* TRUE */
#endif /* Bool */
/* code a param number into a negative number and vice versa
*/
#define ENCODE_VAR( val ) (val * (-1)) - 1
#define DECODE_VAR( val ) (val + 1) * (-1)
#define GET_CONSTANT( val, pointer ) ( val >= 0 ) ? val : pointer->inst_table[DECODE_VAR( val )]
/* Check allocated memory
*/
#define CHECK_PTR(p) if (NULL == (p)) { \
fprintf(stdout, "\n\aNO MEMORY in file %s:%d\n\n", __FILE__, __LINE__); \
exit(1);}
/* add elapsed time from main local time vars to specified val
*/
#define TIME( val ) val += ( float ) ( ( end.tms_utime - start.tms_utime + \
end.tms_stime - start.tms_stime ) / 100.0 )
/*
* ------------------------------ DATA STRUCTURES ----------------------------
*/
/*******************
* GENERAL HELPERS *
*******************/
/* all command switches
*/
struct _command_line {
char path[MAX_LENGTH];
char ops_file_name[MAX_LENGTH];
char fct_file_name[MAX_LENGTH];
int display_info;
int debug;
};
typedef char *Token;
/***********
* PARSING *
***********/
/* A list of strings
*/
typedef struct _TokenList {
char *item;
struct _TokenList *next;
} TokenList;
/* list of string lists
*/
typedef struct _FactList {
TokenList *item;
struct _FactList *next;
} FactList;
/* structure to store typed-list-of <name>/<variable>,
* as they are declared in PDDL files
*/
typedef struct _TypedList {
char *name;
/* each item in this list is the name of a type which
* our type is the union of (EITHER - types ...)
*
* usually, this will default to a single-item TokenList.
*/
TokenList *type;
/* after first sweep, this will contain the number in type table
*/
int n;
struct _TypedList *next;
} TypedList;
/* only needed to parse in the predicates and their arg
* definitions
*/
typedef struct _TypedListList {
char *predicate;
TypedList *args;
struct _TypedListList *next;
} TypedListList;
/* This type indicates whether a node in the pddl tree stands for
* an atomic expression, a junctor or a quantor.
*/
typedef enum _Connective{TRU,
FAL,
ATOM,
NOT,
AND,
OR,
ALL,
EX,
WHEN} Connective;
/*
* This is a node in the tree to parse PDDL files
*/
typedef struct _PlNode {
/* type of the node
*/
Connective connective;
/* only for parsing: the var args in quantifiers
*/
TypedList *parse_vars;
/* AND, OR, NOT, WHEN => NULL
* ALL, EX => the quantified variable with its type
* ATOM => the atom as predicate->param1->param2->...
*/
TokenList *atom;
/* (a) for AND, OR this is the list of sons(a AND b AND c...),
* (b) for the rest this is the son, e.g. a subtree that is negated
* (c) for WHEN, the first son is the condition and the next son
* is the effect
*/
struct _PlNode *sons;
/* if you have a list of sons, they are connected by next
*/
struct _PlNode *next;
} PlNode;
/*
* This resembles an uninstantiated PDDL operator
*/
typedef struct _PlOperator {
char *name;
Bool axiom;
/* only important for PDDL where :VARS may be added to the param list
* which must be hidden when writing the plan to an output file
*/
int number_of_real_params;
/* the params, as they are declared in domain file
*/
TypedList *parse_params;
/* params is a list of variable/type pairs, such that:
* factlist->item = [variable] -> [type]
*/
FactList *params;
PlNode *preconds;
PlNode *effects;
struct _PlOperator *next;
} PlOperator;
/*****************
* INSTANTIATION *
*****************/
/* helpers
*/
typedef int TypeArray[MAX_TYPE_INTERSECTIONS];
typedef int *int_pointer;
/* first step structures: parsing & preprocessing
*/
typedef struct _Fact {
int predicate, args[MAX_ARITY];
} Fact;
typedef struct _Facts {
Fact *fact;
struct _Facts *next;
} Facts;
typedef struct _WffNode {
Connective connective;
/* in ALL/EX s
*/
int var, var_type;
char *var_name;
/* in AND/OR s
*/
struct _WffNode *sons;
/* sons are doubly connected linear list
*/
struct _WffNode *next;
struct _WffNode *prev;
/* in ATOMs
*/
Fact *fact;
/* after translation: mark NOT-p s for efficiency
*/
int NOT_p;
/* in ALL/EX/NOT
*/
struct _WffNode *son;
/* for expansion speedup
*/
Bool visited;
/* no WHEN s here... use Pl Connectives anyway for simplicity
*/
} WffNode, *WffNode_pointer;
typedef struct _Literal {
Bool negated;
Fact fact;
struct _Literal *next;
struct _Literal *prev;
} Literal;
typedef struct _Effect {
int num_vars, var_types[MAX_VARS];
char *var_names[MAX_VARS];
WffNode *conditions;
Literal *effects;
struct _Effect *next;
struct _Effect *prev;
} Effect;
typedef struct _Operator {
char *name, *var_names[MAX_VARS];
int number_of_real_params;
Bool axiom;
int stratum;
int num_vars, var_types[MAX_VARS];
Bool removed[MAX_VARS];
WffNode *preconds;
Effect *effects;
Bool hard;
} Operator, *Operator_pointer;
/* second step: structures that keep already normalized
* operators
*/
typedef struct _NormEffect {
int num_vars, var_types[MAX_VARS];
int inst_table[MAX_VARS];
Fact *conditions;
int num_conditions;
Fact *adds;
int num_adds;
Fact *dels;
int num_dels;
struct _NormEffect *prev;
struct _NormEffect *next;
} NormEffect;
typedef struct _NormOperator {
Operator *operator;
int num_vars, var_types[MAX_VARS];
int inst_table[MAX_VARS];
int removed_vars[MAX_VARS], num_removed_vars, type_removed_vars[MAX_VARS];
Fact *preconds;
int num_preconds;
NormEffect *effects;
Bool out;
} NormOperator, *NormOperator_pointer;
/* minimal info for a fully instantiated easy operator;
* yields one action when expanded
*/
typedef struct _EasyTemplate {
NormOperator *op;
int inst_table[MAX_VARS];
struct _EasyTemplate *prev;
struct _EasyTemplate *next;
} EasyTemplate;
/* structures for hard ops
*/
/* intermediate step: structure for keeping hard ops
* with normalized precondition, but arbitrary
* effect conditions
*/
typedef struct _MixedOperator {
Operator *operator;
int inst_table[MAX_VARS];
Fact *preconds;
int num_preconds;
Effect *effects;
struct _MixedOperator *next;
} MixedOperator;
/* last hard step: everything is action - like, except that
* facts are not yet integer coded
*/
typedef struct _PseudoActionEffect {
Fact *conditions;
int num_conditions;
Fact *adds;
int num_adds;
Fact *dels;
int num_dels;
struct _PseudoActionEffect *next;
} PseudoActionEffect;
typedef struct _PseudoAction {
Operator *operator;
int inst_table[MAX_VARS];
Fact *preconds;
int num_preconds;
PseudoActionEffect *effects;
int num_effects;
} PseudoAction, *PseudoAction_pointer;
/* final domain representation structure
*/
typedef struct _ActionEffect {
int *conditions;
int num_conditions;
int *adds;
int num_adds;
int *dels;
int num_dels;
} ActionEffect;
typedef struct _Action {
NormOperator *norm_operator;
PseudoAction *pseudo_action;
Bool axiom;
int stratum;
char *name;
int num_name_vars;
int name_inst_table[MAX_VARS];
int inst_table[MAX_VARS];
int *preconds;
int num_preconds;
ActionEffect *effects;
int num_effects;
struct _Action *next;
} Action;
/*****************************************************
* BASIC OP AND FT STRUCTURES FOR CONNECTIVITY GRAPH *
*****************************************************/
typedef struct _OpConn {
/* to get name
*/
Action *action;
Bool axiom;
int stratum;
/* effects
*/
int *E;
int num_E;
/* member for applicable actions extraction
*/
Bool is_in_axA;
Bool is_in_naxA;
/* members for 1Ph - H(S) extraction
*/
int is_used;
Bool is_in_H;
} OpConn;
typedef struct _EfConn {
int op;
/* op preconds + conds
*/
int *PC;
int num_PC;
int *A;
int num_A;
int *D;
int num_D;
/* implied effects
*/
int *I;
int num_I;
Bool removed;
/* members for relaxed fixpoint computation
*/
int level;
Bool in_E;
int num_active_PCs;
Bool ch;
/* in search: which ef is ``in plan''
*/
Bool in_plan;
} EfConn;
typedef struct _FtConn {
/* effects it is union conds, pres element of
*/
int *PC;
int num_PC;
/* efs that add or del it
*/
int *A;
int num_A;
int *D;
int num_D;
/* members for orderings preprocessing
*/
int *False;
int num_False;
/* members for relaxed fixpoint computation
*/
int level;
Bool in_F;
/* for faster get_A implementation: either
* only the axioms or only the non-axioms
*
* ax effects it is union conds, pres element of
*/
int *axPC;
int num_axPC;
int *naxPC;
int num_naxPC;
/* members for 1Ph extraction
*/
int is_goal;
int is_true;
Bool ch;
/* search
*/
int rand;/* for hashing */
Bool is_global_goal;/* fast goal add finding */
Bool axiom_add;
Bool axiom_del;
} FtConn;
/****************************
* STRUCTURES FOR SEARCHING *
****************************/
typedef struct _State {
int *F;
int num_F;
int max_F;
} State, *State_pointer;