From 221c388cf1f722d5193d2911b9f3404bfc62eef7 Mon Sep 17 00:00:00 2001
From: Arthur Bit-Monnot <abitmonnot@laas.fr>
Date: Sat, 15 Jun 2024 14:45:06 +0200
Subject: [PATCH] feat(up): Declare support of undefined initial values.

---
 planning/grpc/api/src/unified_planning.proto |  7 +++++--
 planning/grpc/api/src/unified_planning.rs    | 11 +++++++++--
 planning/unified/plugin/up_aries/solver.py   |  8 +++++++-
 3 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/planning/grpc/api/src/unified_planning.proto b/planning/grpc/api/src/unified_planning.proto
index 99085ebb..53ba202a 100644
--- a/planning/grpc/api/src/unified_planning.proto
+++ b/planning/grpc/api/src/unified_planning.proto
@@ -116,7 +116,6 @@ message Fluent {
     // If non-empty, then any state variable using this fluent that is not explicitly given a value in the initial state
     // will be assumed to have this default value.
     // This allows mimicking the closed world assumption by setting a "false" default value to predicates.
-    // Note that in the initial state of the problem message, it is assumed that all default values are set.
     Expression default_value = 4;
 }
 
@@ -539,7 +538,8 @@ message Problem {
     // features: ACTION_BASED
     repeated Action actions = 6;
 
-    // Initial state, including default values of state variables.
+    // Explicit assignments to state variables in the initial state.
+    // State variables not assigned there and will take the default value of their fluent, if any.
     repeated Assignment initial_state = 7;
 
     // Facts and effects that are expected to occur strictly later than the initial state.
@@ -663,6 +663,9 @@ enum Feature {
     TASK_ORDER_TOTAL = 35;
     TASK_ORDER_PARTIAL = 36;
     TASK_ORDER_TEMPORAL = 37;
+    // INITIAL_STATE
+    UNDEFINED_INITIAL_NUMERIC = 68;
+    UNDEFINED_INITIAL_SYMBOLIC = 69;
 }
 
 // =================== Plan ================
diff --git a/planning/grpc/api/src/unified_planning.rs b/planning/grpc/api/src/unified_planning.rs
index 59cf43ca..b6ebf024 100644
--- a/planning/grpc/api/src/unified_planning.rs
+++ b/planning/grpc/api/src/unified_planning.rs
@@ -90,7 +90,6 @@ pub struct Fluent {
     /// If non-empty, then any state variable using this fluent that is not explicitly given a value in the initial state
     /// will be assumed to have this default value.
     /// This allows mimicking the closed world assumption by setting a "false" default value to predicates.
-    /// Note that in the initial state of the problem message, it is assumed that all default values are set.
     #[prost(message, optional, tag = "4")]
     pub default_value: ::core::option::Option<Expression>,
 }
@@ -690,7 +689,8 @@ pub struct Problem {
     /// features: ACTION_BASED
     #[prost(message, repeated, tag = "6")]
     pub actions: ::prost::alloc::vec::Vec<Action>,
-    /// Initial state, including default values of state variables.
+    /// Explicit assignments to state variables in the initial state.
+    /// State variables not assigned there and will take the default value of their fluent, if any.
     #[prost(message, repeated, tag = "7")]
     pub initial_state: ::prost::alloc::vec::Vec<Assignment>,
     /// Facts and effects that are expected to occur strictly later than the initial state.
@@ -1270,6 +1270,9 @@ pub enum Feature {
     TaskOrderTotal = 35,
     TaskOrderPartial = 36,
     TaskOrderTemporal = 37,
+    /// INITIAL_STATE
+    UndefinedInitialNumeric = 68,
+    UndefinedInitialSymbolic = 69,
 }
 impl Feature {
     /// String value of the enum field names used in the ProtoBuf definition.
@@ -1354,6 +1357,8 @@ impl Feature {
             Feature::TaskOrderTotal => "TASK_ORDER_TOTAL",
             Feature::TaskOrderPartial => "TASK_ORDER_PARTIAL",
             Feature::TaskOrderTemporal => "TASK_ORDER_TEMPORAL",
+            Feature::UndefinedInitialNumeric => "UNDEFINED_INITIAL_NUMERIC",
+            Feature::UndefinedInitialSymbolic => "UNDEFINED_INITIAL_SYMBOLIC",
         }
     }
     /// Creates an enum from field names used in the ProtoBuf definition.
@@ -1437,6 +1442,8 @@ impl Feature {
             "TASK_ORDER_TOTAL" => Some(Self::TaskOrderTotal),
             "TASK_ORDER_PARTIAL" => Some(Self::TaskOrderPartial),
             "TASK_ORDER_TEMPORAL" => Some(Self::TaskOrderTemporal),
+            "UNDEFINED_INITIAL_NUMERIC" => Some(Self::UndefinedInitialNumeric),
+            "UNDEFINED_INITIAL_SYMBOLIC" => Some(Self::UndefinedInitialSymbolic),
             _ => None,
         }
     }
diff --git a/planning/unified/plugin/up_aries/solver.py b/planning/unified/plugin/up_aries/solver.py
index 15d8783a..bdd1ccde 100644
--- a/planning/unified/plugin/up_aries/solver.py
+++ b/planning/unified/plugin/up_aries/solver.py
@@ -128,6 +128,9 @@
         "TASK_ORDER_TOTAL",
         "TASK_ORDER_PARTIAL",
         # "TASK_ORDER_TEMPORAL",
+        # INITIAL_STATE
+        "UNDEFINED_INITIAL_NUMERIC",
+        "UNDEFINED_INITIAL_SYMBOLIC",
     },
     version=2
 )
@@ -218,6 +221,9 @@
         "TASK_ORDER_TOTAL",
         "TASK_ORDER_PARTIAL",
         "TASK_ORDER_TEMPORAL",
+        # INITIAL_STATE
+        "UNDEFINED_INITIAL_NUMERIC",
+        "UNDEFINED_INITIAL_SYMBOLIC",
     },
     version=2
 )
@@ -424,7 +430,7 @@ def name(self) -> str:
         return "aries-val"
 
     def _validate(
-        self, problem: "up.model.AbstractProblem", plan: "up.plans.Plan"
+            self, problem: "up.model.AbstractProblem", plan: "up.plans.Plan"
     ) -> "up.engines.results.ValidationResult":
         # start a gRPC server in its own process
         # Note: when the `server` object is garbage collected, the process will be killed