Merge pull request #98 from plaans/release01

Release 0.1

planning/grpc/api/src/unified_planning.proto

@@ -165,6 +165,9 @@ message EffectExpression {
     // If the effect is unconditional, the effect is set to the constant 'true' value.
     // features: CONDITIONAL_EFFECT
     Expression condition = 4;
+
+    // The variables that quantify this effect
+    repeated Expression forall = 5;
 }
 
 // Representation of an effect that allows qualifying the effect expression, e.g., to make it a conditional effect.
@@ -380,6 +383,50 @@ message Hierarchy {
     TaskNetwork initial_task_network = 3;
 }
 
+// ============= Scheduling =======================
+
+// Activity in a scheduling problem.
+message Activity {
+    // Name of the activity that must uniquely identify it.
+    string name = 1;
+
+    // Typed and named parameters of the activity.
+    repeated Parameter parameters = 2;
+
+    // Duration of the activity
+    Duration duration = 3;
+
+    // Conjunction of conditions that must hold if the activity is present.
+    repeated Condition conditions = 4;
+
+    // Conjunction of effects that this activity produces.
+    repeated Effect effects = 5;
+
+    // Conjunction of static constraints that must hold if the activity is present.
+    repeated Expression constraints = 6;
+}
+
+// Extension of `Problem` for scheduling
+message SchedulingExtension {
+    // All potential activities of the scheduling problem.
+    repeated Activity activities = 1;
+
+    // All variables in the base problem
+    repeated Parameter variables = 2;
+
+    // All constraints in the base problem.
+    repeated Expression constraints = 5;
+}
+
+message Schedule {
+    // Name of the activities that appear in the solution
+    repeated string activities = 1;
+
+    // Assignment of all variables and activity parameters and timepoints
+    // that appear in the solution.
+    map<string, Atom> variable_assignments = 2;
+}
+
 
 
 // ============== Problem =========================
@@ -481,7 +528,6 @@ message Metric {
     repeated TimedGoalWithWeight timed_goals = 6;
 }
 
-// features: ACTION_BASED
 message Problem {
     string domain_name = 1;
     string problem_name = 2;
@@ -490,6 +536,7 @@ message Problem {
     repeated ObjectDeclaration objects = 5;
 
     // List of actions in the domain.
+    // features: ACTION_BASED
     repeated Action actions = 6;
 
     // Initial state, including default values of state variables.
@@ -508,11 +555,14 @@ message Problem {
     // The plan quality metrics
     repeated Metric metrics = 11;
 
-
     // If the problem is hierarchical, defines the tasks and methods as well as the initial task network.
-    // features: hierarchical
+    // features: HIERARCHICAL
     Hierarchy hierarchy = 12;
 
+    // Scheduling-specific extension of the problem.
+    // features: SCHEDULING
+    SchedulingExtension scheduling_extension = 17;
+
     // Trajectory constraints of the planning problem.
     repeated Expression trajectory_constraints = 13;
 
@@ -532,6 +582,7 @@ enum Feature {
     // PROBLEM_CLASS
     ACTION_BASED = 0;
     HIERARCHICAL = 26;
+    SCHEDULING = 56;
     // PROBLEM_TYPE
     SIMPLE_NUMERIC_PLANNING = 30;
     GENERAL_NUMERIC_PLANNING = 31;
@@ -563,8 +614,11 @@ enum Feature {
     DECREASE_EFFECTS = 16;
     STATIC_FLUENTS_IN_BOOLEAN_ASSIGNMENTS = 41;
     STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS = 42;
+    STATIC_FLUENTS_IN_OBJECT_ASSIGNMENTS = 57;
     FLUENTS_IN_BOOLEAN_ASSIGNMENTS = 43;
     FLUENTS_IN_NUMERIC_ASSIGNMENTS = 44;
+    FLUENTS_IN_OBJECT_ASSIGNMENTS = 58;
+    FORALL_EFFECTS = 59;
     // TYPING
     FLAT_TYPING = 17;
     HIERARCHICAL_TYPING = 18;
@@ -622,7 +676,6 @@ message ActionInstance {
     // End time of the action. The default 0 value is OK in the case of non-temporal planning
     // feature: [DURATIVE_ACTIONS]
     Real end_time = 5;
-
 }
 
 message MethodInstance {
@@ -644,18 +697,22 @@ message PlanHierarchy {
 
     // Instances of all methods used in the plan.
     repeated MethodInstance methods = 2;
-
 }
 
 message Plan {
     // An ordered sequence of actions that appear in the plan.
     // The order of the actions in the list must be compatible with the partial order of the start times.
     // In case of non-temporal planning, this allows having all start time at 0 and only rely on the order in this sequence.
+    // features: ACTION_BASED
     repeated ActionInstance actions = 1;
 
     // When the plan is hierarchical, this object provides the decomposition of hte root tasks into the actions of the plan
     // feature: HIERARCHY
     PlanHierarchy hierarchy = 2;
+
+    // Solution representation of a scheduling problem.
+    // feature: SCHEDULING
+    Schedule schedule = 3;
 }
 
 

planning/grpc/api/src/unified_planning.rs

@@ -124,6 +124,9 @@ pub struct EffectExpression {
     /// features: CONDITIONAL_EFFECT
     #[prost(message, optional, tag = "4")]
     pub condition: ::core::option::Option<Expression>,
+    /// The variables that quantify this effect
+    #[prost(message, repeated, tag = "5")]
+    pub forall: ::prost::alloc::vec::Vec<Expression>,
 }
 /// Nested message and enum types in `EffectExpression`.
 pub mod effect_expression {
@@ -452,6 +455,57 @@ pub struct Hierarchy {
     #[prost(message, optional, tag = "3")]
     pub initial_task_network: ::core::option::Option<TaskNetwork>,
 }
+/// Activity in a scheduling problem.
+#[allow(clippy::derive_partial_eq_without_eq)]
+#[derive(Clone, PartialEq, ::prost::Message)]
+pub struct Activity {
+    /// Name of the activity that must uniquely identify it.
+    #[prost(string, tag = "1")]
+    pub name: ::prost::alloc::string::String,
+    /// Typed and named parameters of the activity.
+    #[prost(message, repeated, tag = "2")]
+    pub parameters: ::prost::alloc::vec::Vec<Parameter>,
+    /// Duration of the activity
+    #[prost(message, optional, tag = "3")]
+    pub duration: ::core::option::Option<Duration>,
+    /// Conjunction of conditions that must hold if the activity is present.
+    #[prost(message, repeated, tag = "4")]
+    pub conditions: ::prost::alloc::vec::Vec<Condition>,
+    /// Conjunction of effects that this activity produces.
+    #[prost(message, repeated, tag = "5")]
+    pub effects: ::prost::alloc::vec::Vec<Effect>,
+    /// Conjunction of static constraints that must hold if the activity is present.
+    #[prost(message, repeated, tag = "6")]
+    pub constraints: ::prost::alloc::vec::Vec<Expression>,
+}
+/// Extension of `Problem` for scheduling
+#[allow(clippy::derive_partial_eq_without_eq)]
+#[derive(Clone, PartialEq, ::prost::Message)]
+pub struct SchedulingExtension {
+    /// All potential activities of the scheduling problem.
+    #[prost(message, repeated, tag = "1")]
+    pub activities: ::prost::alloc::vec::Vec<Activity>,
+    /// All variables in the base problem
+    #[prost(message, repeated, tag = "2")]
+    pub variables: ::prost::alloc::vec::Vec<Parameter>,
+    /// All constraints in the base problem.
+    #[prost(message, repeated, tag = "5")]
+    pub constraints: ::prost::alloc::vec::Vec<Expression>,
+}
+#[allow(clippy::derive_partial_eq_without_eq)]
+#[derive(Clone, PartialEq, ::prost::Message)]
+pub struct Schedule {
+    /// Name of the activities that appear in the solution
+    #[prost(string, repeated, tag = "1")]
+    pub activities: ::prost::alloc::vec::Vec<::prost::alloc::string::String>,
+    /// Assignment of all variables and activity parameters and timepoints
+    /// that appear in the solution.
+    #[prost(map = "string, message", tag = "2")]
+    pub variable_assignments: ::std::collections::HashMap<
+        ::prost::alloc::string::String,
+        Atom,
+    >,
+}
 /// A Goal is currently an expression that must hold either:
 /// - in the final state,
 /// - over a specific temporal interval (under the `timed_goals` features)
@@ -619,7 +673,6 @@ pub mod metric {
         }
     }
 }
-/// features: ACTION_BASED
 #[allow(clippy::derive_partial_eq_without_eq)]
 #[derive(Clone, PartialEq, ::prost::Message)]
 pub struct Problem {
@@ -634,6 +687,7 @@ pub struct Problem {
     #[prost(message, repeated, tag = "5")]
     pub objects: ::prost::alloc::vec::Vec<ObjectDeclaration>,
     /// List of actions in the domain.
+    /// features: ACTION_BASED
     #[prost(message, repeated, tag = "6")]
     pub actions: ::prost::alloc::vec::Vec<Action>,
     /// Initial state, including default values of state variables.
@@ -653,9 +707,13 @@ pub struct Problem {
     #[prost(message, repeated, tag = "11")]
     pub metrics: ::prost::alloc::vec::Vec<Metric>,
     /// If the problem is hierarchical, defines the tasks and methods as well as the initial task network.
-    /// features: hierarchical
+    /// features: HIERARCHICAL
     #[prost(message, optional, tag = "12")]
     pub hierarchy: ::core::option::Option<Hierarchy>,
+    /// Scheduling-specific extension of the problem.
+    /// features: SCHEDULING
+    #[prost(message, optional, tag = "17")]
+    pub scheduling_extension: ::core::option::Option<SchedulingExtension>,
     /// Trajectory constraints of the planning problem.
     #[prost(message, repeated, tag = "13")]
     pub trajectory_constraints: ::prost::alloc::vec::Vec<Expression>,
@@ -729,12 +787,17 @@ pub struct Plan {
     /// An ordered sequence of actions that appear in the plan.
     /// The order of the actions in the list must be compatible with the partial order of the start times.
     /// In case of non-temporal planning, this allows having all start time at 0 and only rely on the order in this sequence.
+    /// features: ACTION_BASED
     #[prost(message, repeated, tag = "1")]
     pub actions: ::prost::alloc::vec::Vec<ActionInstance>,
     /// When the plan is hierarchical, this object provides the decomposition of hte root tasks into the actions of the plan
     /// feature: HIERARCHY
     #[prost(message, optional, tag = "2")]
     pub hierarchy: ::core::option::Option<PlanHierarchy>,
+    /// Solution representation of a scheduling problem.
+    /// feature: SCHEDULING
+    #[prost(message, optional, tag = "3")]
+    pub schedule: ::core::option::Option<Schedule>,
 }
 #[allow(clippy::derive_partial_eq_without_eq)]
 #[derive(Clone, PartialEq, ::prost::Message)]
@@ -1114,6 +1177,7 @@ pub enum Feature {
     /// PROBLEM_CLASS
     ActionBased = 0,
     Hierarchical = 26,
+    Scheduling = 56,
     /// PROBLEM_TYPE
     SimpleNumericPlanning = 30,
     GeneralNumericPlanning = 31,
@@ -1145,8 +1209,11 @@ pub enum Feature {
     DecreaseEffects = 16,
     StaticFluentsInBooleanAssignments = 41,
     StaticFluentsInNumericAssignments = 42,
+    StaticFluentsInObjectAssignments = 57,
     FluentsInBooleanAssignments = 43,
     FluentsInNumericAssignments = 44,
+    FluentsInObjectAssignments = 58,
+    ForallEffects = 59,
     /// TYPING
     FlatTyping = 17,
     HierarchicalTyping = 18,
@@ -1192,6 +1259,7 @@ impl Feature {
         match self {
             Feature::ActionBased => "ACTION_BASED",
             Feature::Hierarchical => "HIERARCHICAL",
+            Feature::Scheduling => "SCHEDULING",
             Feature::SimpleNumericPlanning => "SIMPLE_NUMERIC_PLANNING",
             Feature::GeneralNumericPlanning => "GENERAL_NUMERIC_PLANNING",
             Feature::ContinuousTime => "CONTINUOUS_TIME",
@@ -1223,8 +1291,13 @@ impl Feature {
             Feature::StaticFluentsInNumericAssignments => {
                 "STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS"
             }
+            Feature::StaticFluentsInObjectAssignments => {
+                "STATIC_FLUENTS_IN_OBJECT_ASSIGNMENTS"
+            }
             Feature::FluentsInBooleanAssignments => "FLUENTS_IN_BOOLEAN_ASSIGNMENTS",
             Feature::FluentsInNumericAssignments => "FLUENTS_IN_NUMERIC_ASSIGNMENTS",
+            Feature::FluentsInObjectAssignments => "FLUENTS_IN_OBJECT_ASSIGNMENTS",
+            Feature::ForallEffects => "FORALL_EFFECTS",
             Feature::FlatTyping => "FLAT_TYPING",
             Feature::HierarchicalTyping => "HIERARCHICAL_TYPING",
             Feature::NumericFluents => "NUMERIC_FLUENTS",
@@ -1259,6 +1332,7 @@ impl Feature {
         match value {
             "ACTION_BASED" => Some(Self::ActionBased),
             "HIERARCHICAL" => Some(Self::Hierarchical),
+            "SCHEDULING" => Some(Self::Scheduling),
             "SIMPLE_NUMERIC_PLANNING" => Some(Self::SimpleNumericPlanning),
             "GENERAL_NUMERIC_PLANNING" => Some(Self::GeneralNumericPlanning),
             "CONTINUOUS_TIME" => Some(Self::ContinuousTime),
@@ -1290,8 +1364,13 @@ impl Feature {
             "STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS" => {
                 Some(Self::StaticFluentsInNumericAssignments)
             }
+            "STATIC_FLUENTS_IN_OBJECT_ASSIGNMENTS" => {
+                Some(Self::StaticFluentsInObjectAssignments)
+            }
             "FLUENTS_IN_BOOLEAN_ASSIGNMENTS" => Some(Self::FluentsInBooleanAssignments),
             "FLUENTS_IN_NUMERIC_ASSIGNMENTS" => Some(Self::FluentsInNumericAssignments),
+            "FLUENTS_IN_OBJECT_ASSIGNMENTS" => Some(Self::FluentsInObjectAssignments),
+            "FORALL_EFFECTS" => Some(Self::ForallEffects),
             "FLAT_TYPING" => Some(Self::FlatTyping),
             "HIERARCHICAL_TYPING" => Some(Self::HierarchicalTyping),
             "NUMERIC_FLUENTS" => Some(Self::NumericFluents),

planning/grpc/server/src/serialize.rs

@@ -125,7 +125,11 @@ pub fn serialize_plan(
     } else {
         None
     };
-    Ok(up::Plan { actions, hierarchy })
+    Ok(up::Plan {
+        actions,
+        hierarchy,
+        schedule: None,
+    })
 }
 
 fn rational_to_real(r: num_rational::Rational64) -> up::Real {

planning/unified/plugin/up_aries/solver.py

@@ -74,10 +74,13 @@
     # "CONDITIONAL_EFFECTS",
     # "INCREASE_EFFECTS",
     # "DECREASE_EFFECTS",
+    # "FORALL_EFFECTS",
     "STATIC_FLUENTS_IN_BOOLEAN_ASSIGNMENTS",
     "STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS",
+    "STATIC_FLUENTS_IN_OBJECT_ASSIGNMENTS",
     "FLUENTS_IN_BOOLEAN_ASSIGNMENTS",
     "FLUENTS_IN_NUMERIC_ASSIGNMENTS",
+    "FLUENTS_IN_OBJECT_ASSIGNMENTS",
     # TYPING
     "FLAT_TYPING",
     "HIERARCHICAL_TYPING",
@@ -139,10 +142,13 @@
     "CONDITIONAL_EFFECTS",
     "INCREASE_EFFECTS",
     "DECREASE_EFFECTS",
+    # "FORALL_EFFECTS",
     "STATIC_FLUENTS_IN_BOOLEAN_ASSIGNMENTS",
     "STATIC_FLUENTS_IN_NUMERIC_ASSIGNMENTS",
+    "STATIC_FLUENTS_IN_OBJECT_ASSIGNMENTS",
     "FLUENTS_IN_BOOLEAN_ASSIGNMENTS",
     "FLUENTS_IN_NUMERIC_ASSIGNMENTS",
+    "FLUENTS_IN_OBJECT_ASSIGNMENTS",
     # TYPING
     "FLAT_TYPING",
     "HIERARCHICAL_TYPING",
@@ -225,13 +231,12 @@ def _compile(self) -> str:
             aries_build_cmd = "cargo build --profile ci --bin up-server"
             print(f"Compiling Aries ({aries_path}) ...")
             with open(os.devnull, "w", encoding="utf-8") as stdout:
-                build = subprocess.Popen(
+                subprocess.run(
                     aries_build_cmd,
                     shell=True,
                     cwd=aries_path,
                     stdout=stdout,
                 )
-                build.wait()
             _ARIES_PREVIOUSLY_COMPILED = True
         return aries_exe.as_posix()