void add_to_bfs_space( State *S, int op, BfsNode *father )
{
static int max_d = 0;
BfsNode *tmp, *i;
int h, num;
/* see if state is already a part of this search space
*/
if ( op >= 0 ) {/* intial state has op -1 */
if ( gcmd_line.dominating && bfs_state_hashed( S, father, op ) ) {
return;
}
}
if ( gcmd_line.A && gcmd_line.debug ) {
num = 0;
for ( i = father; i; i = i->father ) {
num++;
}
if ( num > max_d ) {
max_d = num;
printf("\ndepth: %d", num);
}
}
h = get_1P( S, &ggoal_state, NULL, father, op );
if ( h == INFINITY ) {
return;
}
for ( i = lbfs_space_head; i->next; i = i->next ) {
if ( gcmd_line.breadth_bfs ) {
if ( i->next->h > h ) break;/* stop only when next one is strictly worse */
} else {
if ( i->next->h >= h ) break;/* stop already when next one is equally good */
}
}
tmp = new_BfsNode();
copy_source_to_dest( &(tmp->S), S );
tmp->op = op;
tmp->h = h;
tmp->father = father;
tmp->next = i->next;
tmp->prev = i;
i->next = tmp;
if ( tmp->next ) {
tmp->next->prev = tmp;
}
if ( gcmd_line.dominating ) {
hash_bfs_node( tmp );
}
}
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;
}
/*add the state S into hash table*/
PlanHashEntry *hash_plan_state( State *S, int step ) {
int sum, index;
PlanHashEntry *h, *tmp;
sum = state_sum( S );
index = sum & PLAN_HASH_BITS;
for ( h = lplan_hash_entry[index]; h; h = h->next ) {
if ( h->sum != sum ) continue;
if ( same_state( S, &(h->S) ) ) break;
}
/*found the same state in the hash table*/
if ( h ) {
if ( h->step != -1 ) {
printf("\n\n[error]:reencountering a state that is already in plan! debug me\n\n");
exit( 1 );
}
h->step = step;
return h;
}
/* not found the same state in hash table*/
/* h points to the last one*/
/* jovi: comments by jovi, seems it is not necessary
* This is for addding a nes state
*/
for ( h = lplan_hash_entry[index]; h && h->next; h = h->next ) ;
tmp = new_PlanHashEntry();
tmp->sum = sum;
copy_source_to_dest( &(tmp->S), S );
tmp->step = step;
if ( h ) {
h->next = tmp;
} else {
lplan_hash_entry[index] = tmp;
}
return tmp;
}
PlanHashEntry *hash_plan_state( State *S, int step )
{
int sum, index;
PlanHashEntry *h, *tmp;
sum = state_sum( S );
index = sum & PLAN_HASH_BITS;
for ( h = lplan_hash_entry[index]; h; h = h->next ) {
if ( h->sum != sum ) continue;
if ( same_state( S, &(h->S) ) ) break;
}
if ( h ) {
if ( h->step != -1 ) {
printf("\n\nreencountering a state that is already in plan! debug me\n\n");
exit( 1 );
}
h->step = step;
return h;
}
for ( h = lplan_hash_entry[index]; h && h->next; h = h->next );
tmp = new_PlanHashEntry();
tmp->sum = sum;
copy_source_to_dest( &(tmp->S), S );
tmp->step = step;
if ( h ) {
h->next = tmp;
} else {
lplan_hash_entry[index] = tmp;
}
return tmp;
}
/*************************************************
* 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;
}
void manual_control( void )
{
static Bool fc = TRUE;
static State S;
int i, j, h, choice;
BfsNode *tmp, *curr;
if ( fc ) {
make_state( &S, gnum_ft_conn );
fc = FALSE;
}
tmp = new_BfsNode();
copy_source_to_dest( &(tmp->S), &ginitial_state );
tmp->op = -1;
curr = tmp;
if ( gcmd_line.dominating ) {
hash_bfs_node( curr );
}
while ( TRUE ) {
if ( !curr ) break;
h = get_1P_and_H( &(curr->S), &ggoal_state, NULL, curr->father, curr->op );
get_A( &(curr->S) );
while ( TRUE ) {
printf("\n\n\n-------------state h = %d", h);
if ( h > 0 ) printf(" (resp. %d actions)", h - 1);
printf(", info level %d, %d applicable actions", gcmd_line.debug, gnum_A);
if ( gcmd_line.debug >= 1 ) {
print_state( curr->S );
}
if ( 0 ) {
printf("\nH:");
for ( i = 0; i < gnum_H; i++ ) {
printf(" ");
print_op_name( gH[i] );
}
}
printf("\n");
for ( i = 0; i < gnum_A; i++ ) {
printf("\n%3d ", i);
for ( j = 0; j < gnum_H; j++ ) {
if ( gA[i] == gH[j] ) break;
}
if ( j < gnum_H ) {
printf("H: ");
} else {
printf(" : ");
}
print_op_name( gA[i] );
}
printf("\n\n -1: retract last choice");
printf("\n -2: set info level");
printf("\n\nchoice: "); scanf("%d", &choice);
if ( choice >= -2 && choice < gnum_A ) break;
}
if ( choice >= 0 ) {
if ( !result_to_dest( &S, NULL, curr, gA[choice] ) ) {
printf("\naction not applicable!");
continue;
}
if ( gcmd_line.dominating && bfs_state_hashed( &S, curr, gA[choice] ) ) {
printf("\nthis state is dominated!\n\n");
}
tmp = new_BfsNode();
copy_source_to_dest( &(tmp->S), &S );
tmp->father = curr;
tmp->op = gA[choice];
curr = tmp;
if ( gcmd_line.dominating ) {
hash_bfs_node( curr );
}
continue;
}
if ( choice == -1 ) {
curr = curr->father;
continue;
}
printf("\nlevel : "); scanf("%d", &gcmd_line.debug);
}
}
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 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;
}
