void add_to_ehc_space( State *S, int op, EhcNode *father, int new_goal ) {
/* see if state is already a part of this search space */
if ( ehc_state_hashed( S ) ) {
return;
}
if ( !lehc_current_end ) {
lehc_current_end = new_EhcNode();
lehc_space_end->next = lehc_current_end;
lehc_space_end = lehc_current_end;
}
copy_source_to_dest( &(lehc_current_end->S), S );
lehc_current_end->op = op;
lehc_current_end->father = father;
if ( !father ) {
lehc_current_end->depth = 1;
} else {
lehc_current_end->depth = father->depth + 1;
}
lehc_current_end->new_goal = new_goal;
hash_ehc_node( lehc_current_end );
lehc_current_end = lehc_current_end->next;
}
/*************************************************
* FUNCTIONS FOR BREADTH FIRST SEARCH IN H SPACE *
*************************************************/
Bool search_for_better_state_for_multiple_purpose ( State *S, int h, State *S_, int *h_ ) {
static Bool first_call_for_multiple_purpose = TRUE;
static State S__;
int i, h__, depth = 0, g;
EhcNode *tmp;
if ( first_call_for_multiple_purpose ) {
make_state( &S__, gnum_ft_conn );
S__.max_F = gnum_ft_conn;
first_call_for_multiple_purpose = FALSE;
}
/* don't hash states, but search nodes.
* this way, don't need to keep states twice in memory */
tmp = new_EhcNode();
copy_source_to_dest( &(tmp->S), S);
hash_ehc_node( tmp );
lehc_current_end = lehc_space_head->next;
for ( i = 0; i < gnum_H; i++ ) {
int k;
Bool found = FALSE;
for(k = 0; k < gnum_IV; k++){
if(same_state(&gInvActs[k].state, S) && gH[i] == gInvActs[k].act){
found = TRUE;
break;
}
}
if(found) continue;
if(is_D_action(gop_conn[gH[i]].action->name)) continue;
g = result_to_dest( &S__, S, gH[i] );
add_to_ehc_space( &S__, gH[i], NULL, g );
}
for ( i = 0; i < gnum_H; i++ ) {
int k;
Bool found = FALSE;
for(k = 0; k < gnum_IV; k++){
if(same_state(&gInvActs[k].state, S) && gH[i] == gInvActs[k].act){
found = TRUE;
break;
}
}
if(found) continue;
if(!is_D_action(gop_conn[gH[i]].action->name)) continue;
/* D_cation, not in the gH */
g = result_to_dest( &S__, S, gH[i] );
add_to_ehc_space( &S__, gH[i], NULL, g );
}
lehc_current_start = lehc_space_head->next;
while ( TRUE ) {
if ( lehc_current_start == lehc_current_end ) {
reset_ehc_hash_entrys();
free( tmp );
return FALSE;
}
if ( lehc_current_start->depth > depth ) {
depth = lehc_current_start->depth;
if ( depth > gmax_search_depth ) {
gmax_search_depth = depth;
}
printf("[%d]", depth);
fflush( stdout );
}
h__ = expand_first_node( h );
if ( LESS( h__, h ) ) {
break;
}
}
reset_ehc_hash_entrys();
free( tmp );
extract_plan_fragment( S );
source_to_dest( S_, &(lehc_current_start->S) );
*h_ = h__;
return TRUE;
}
Bool do_enforced_hill_climbing( State *start, State *end ) {
static Bool first_call = TRUE;
static State S, S_;
int i, h, h_;
if ( first_call ) {
/* on first call, initialize plan hash table, search space, search hash table */
for ( i = 0; i < PLAN_HASH_SIZE; i++ ) {
lplan_hash_entry[i] = NULL;
}
/* on subsequent calls, the start is already hashed, as it's the end of the previous calls */
hash_plan_state( start, 0 );
lehc_space_head = new_EhcNode();
lehc_space_end = lehc_space_head;
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;
make_state( &S, gnum_ft_conn );
S.max_F = gnum_ft_conn;
make_state( &S_, gnum_ft_conn );
S_.max_F = gnum_ft_conn;
make_state( &lcurrent_goals, gnum_ft_conn );
lcurrent_goals.max_F = gnum_ft_conn;
first_call = FALSE;
}
/* start enforced Hill-climbing */
source_to_dest( &lcurrent_goals, end );
source_to_dest( &S, start );
/*seems get a heuristic*/
h = get_1P_and_H( &S, &lcurrent_goals );
if ( h == INFINITY ) {
return FALSE;
}
if ( h == 0 ) {
return TRUE;
}
printf("\n\nCueing down from goal distance: %4d into depth", h);
while ( h != 0 ) {
if ( !search_for_better_state( &S, h, &S_, &h_ ) ) {
return FALSE;
}
/*
* modified by Jason Huang: return ealier
*/
if(is_solved_state( &S_ )) {
printf("\nstate have seen. h = %d. return\n", h);
return TRUE;
}
source_to_dest( &S, &S_ );
h = h_;
printf("\n %4d ", h);
}
return TRUE;
}
Bool search_for_better_state( State *S, int h, State *S_, int *h_ )
{
static Bool first_call = TRUE;
static State S__;
int i, h__, depth = 0;
EhcNode *tmp;
if ( first_call ) {
make_state( &S__, gnum_ft_conn );
first_call = FALSE;
}
/* don't hash states, but search nodes.
* this way, don't need to keep states twice in memory
*/
tmp = new_EhcNode();
copy_source_to_dest( &(tmp->S), S);
hash_ehc_node( tmp );
lehc_current_end = lehc_space_head->next;
for ( i = 0; i < gnum_H; i++ ) {
/* see result-to-dest params explanation at fn header
*/
if ( !result_to_dest( &S__, tmp, NULL, gH[i] ) ) continue;
add_to_ehc_space( &S__, gH[i], tmp );
}
lehc_current_start = lehc_space_head->next;
while ( TRUE ) {
if ( lehc_current_start == lehc_current_end ) {
reset_ehc_hash_entrys();
free( tmp );
return FALSE;
}
if ( lehc_current_start->depth > depth ) {
depth = lehc_current_start->depth;
if ( depth > gmax_search_depth ) {
gmax_search_depth = depth;
}
printf("[%d]", depth);
fflush( stdout );
/* HACK: if this is going to more than 15, then most likely this is just a stupid
* effect of helpful actions pruning, and we won't get anywhere anyway.
*/
if ( depth > 15 ) {
reset_ehc_hash_entrys();
free( tmp );
return FALSE;
}
}
h__ = expand_first_node( h );
if ( LESS( h__, h ) ) {
break;
}
}
reset_ehc_hash_entrys();
free( tmp );
extract_plan_fragment( S );
source_to_dest( S_, &(lehc_current_start->S) );
*h_ = h__;
return TRUE;
}
Bool do_enforced_hill_climbing( State *start, State *end )
{
static Bool first_call = TRUE;
static State S, S_;
int i, h, h_;
if ( first_call ) {
/* on first call, initialize plan hash table, search space, search hash table
*/
for ( i = 0; i < PLAN_HASH_SIZE; i++ ) {
lplan_hash_entry[i] = NULL;
}
lehc_space_head = new_EhcNode();
lehc_space_end = lehc_space_head;
make_state( &S, gnum_ft_conn );
make_state( &S_, gnum_ft_conn );
make_state( &lscurrent_goals, gnum_ft_conn );
first_call = FALSE;
}
/* start enforced Hill-climbing
*/
source_to_dest( &lscurrent_goals, end );
source_to_dest( &S, start );
h = get_1P_and_H( &S, &lscurrent_goals, NULL, NULL, -1 );
if ( h == INFINITY ) {
return FALSE;
}
if ( h == 0 ) {
return TRUE;
}
printf("\n\nCueing down from goal distance: %4d into depth ", h);
fflush(stdout);
while ( h != 0 ) {
if ( !search_for_better_state( &S, h, &S_, &h_ ) ) {
/* printf("\nswitch to no H %4d ", h); */
/* get_A(&S); */
/* for ( i = 0; i < gnum_H; i++ ) { */
/* gop_conn[gH[i]].is_in_H = FALSE; */
/* } */
/* for ( i = 0; i < gnum_A; i++ ) { */
/* gH[i] = gA[i]; */
/* gop_conn[gH[i]].is_in_H = TRUE; */
/* } */
/* gnum_H = gnum_A; */
/* gcmd_line.help = FALSE; */
/* if ( !search_for_better_state( &S, h, &S_, &h_ ) ) { */
for ( i = 0; i < gnum_clauses; i++ ) {
gclause_length[i] = 0;
}
gnum_fixed_clauses = 0;
gnum_clauses = 0;
for ( i = 1; i <= gnum_fixed_c; i++ ) {
gcodes[gct[i]][gcf[i]] = -1;
}
gnum_fixed_c = 0;
extend_fixed_clauses_base( 0, 0 );
extend_fixed_clauses_base_encoding( 0 );
return FALSE;
/* } else { */
/* gcmd_line.help = TRUE; */
/* } */
}
source_to_dest( &S, &S_ );
h = h_;
printf("\n %4d ", h);
fflush(stdout);
}
return TRUE;
}
Bool search_for_better_state( State *S, int h, State *S_, int *h_ )
{
static Bool first_call = TRUE;
static State S__;
int i, h__, depth = 0, g;
EhcNode *tmp;
if ( first_call ) {
make_state( &S__, gnum_ft_conn );
S__.max_F = gnum_ft_conn;
first_call = FALSE;
}
/* don't hash states, but search nodes.
* this way, don't need to keep states twice in memory
*/
tmp = new_EhcNode();
copy_source_to_dest( &(tmp->S), S);
hash_ehc_node( tmp );
lehc_current_end = lehc_space_head->next;
for ( i = 0; i < gnum_H; i++ ) {
g = result_to_dest( &S__, S, gH[i] );
add_to_ehc_space( &S__, gH[i], NULL, g );
}
lehc_current_start = lehc_space_head->next;
while ( TRUE ) {
if ( lehc_current_start == lehc_current_end ) {
reset_ehc_hash_entrys();
free( tmp );
return FALSE;
}
if ( lehc_current_start->depth > depth ) {
depth = lehc_current_start->depth;
if ( depth > gmax_search_depth ) {
gmax_search_depth = depth;
}
printf("[%d]", depth);
fflush( stdout );
}
h__ = expand_first_node( h );
if ( LESS( h__, h ) ) {
break;
}
}
reset_ehc_hash_entrys();
free( tmp );
extract_plan_fragment( S );
source_to_dest( S_, &(lehc_current_start->S) );
*h_ = h__;
return TRUE;
}
