{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "vXUqFpLObzhb"
   },
   "source": [
    "# Temporal Planning\n",
    "\n",
    "This python notebook shows how to use the unified planning library to model temporal problems.\n",
    "\n",
    "[![Open In GitHub](https://img.shields.io/badge/see-Github-579aca?logo=github)](https:///github.com/aiplan4eu/unified-planning/blob/master/docs/notebooks/03-temporal-planning.ipynb)\n",
    "[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/aiplan4eu/unified-planning/blob/master/docs/notebooks/03-temporal-planning.ipynb)\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "t8dCcpf7mivV"
   },
   "source": [
    "## Setup\n",
    "\n",
    "We install the unified planning library."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "id": "BoqALxJWdfl8",
    "tags": [
     "remove_from_CI"
    ]
   },
   "outputs": [],
   "source": [
    "!apt install graphviz graphviz-dev\n",
    "%pip install unified-planning[tamer,plot]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "iNHFHxQKnKIp"
   },
   "source": [
    "We are now ready to use the Unified-Planning library!"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "xI2BGgmvdsek"
   },
   "source": [
    "## Demo\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "bu91rHtQ34Wh"
   },
   "source": [
    "In this demo we show how to model a temporal planning problem using the Unified Planning library.\n",
    "\n",
    "Temporal planning extends classical planning introducing durative actions, timed effects and timed goals.\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "xn5l-SVxufFA"
   },
   "source": [
    "We start importing the shortcuts."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "id": "otZVSku3idJC"
   },
   "outputs": [],
   "source": [
    "from unified_planning.shortcuts import *"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "M9DCTuoSu2vh"
   },
   "source": [
    "Now we start to model the MatchCellar problem.\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "5iISKqwryXFT"
   },
   "source": [
    "### Creating the problem"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "nBaUofy3Ko7V"
   },
   "source": [
    "#### Classical part\n",
    "\n",
    "First, we define the `UserTypes` and the `Fluents`."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "id": "e5BWi6wyuqyB"
   },
   "outputs": [],
   "source": [
    "Match = UserType('Match')\n",
    "Fuse = UserType('Fuse')\n",
    "\n",
    "handfree = Fluent('handfree')\n",
    "light = Fluent('light')\n",
    "match_used = Fluent('match_used', BoolType(), m=Match)\n",
    "fuse_mended = Fluent('fuse_mended', BoolType(), f=Fuse)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "aMMtRDVovvuM"
   },
   "source": [
    "We create a `Problem`, we add the fluents to it and we set their initial values."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "id": "vEDxcqkLvm9d"
   },
   "outputs": [],
   "source": [
    "problem = Problem('MatchCellar')\n",
    "\n",
    "problem.add_fluent(handfree)\n",
    "problem.add_fluent(light)\n",
    "problem.add_fluent(match_used, default_initial_value=False)\n",
    "problem.add_fluent(fuse_mended, default_initial_value=False)\n",
    "\n",
    "problem.set_initial_value(light, False)\n",
    "problem.set_initial_value(handfree, True)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "SIA9pRCiwEql"
   },
   "source": [
    "We create the objects and we add them to the problem."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "id": "b1Xnzzq7wOxw"
   },
   "outputs": [],
   "source": [
    "fuses = [Object(f'f{i}', Fuse) for i in range(3)]\n",
    "matches = [Object(f'm{i}', Match) for i in range(3)]\n",
    "\n",
    "problem.add_objects(fuses)\n",
    "problem.add_objects(matches)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "vidUnHLh3gOz"
   },
   "source": [
    "#### Temporal part\n",
    "\n",
    "Now we start with the temporal aspects creating two durative actions.\n",
    "\n",
    "A durative action has a duration, a set of conditions associated to an interval/timing and a set of effects associated to a timing.\n",
    "\n",
    "We define the `light_match` action setting a fixed duration and defining a condition at its start and three effects at its end."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
    "id": "xl8dm2fZ3gpp"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "durative action light_match(Match m) {\n",
      "    duration = [6, 6]\n",
      "    conditions = [\n",
      "      [start]:\n",
      "        (not match_used(m))\n",
      "    ]\n",
      "    effects = [\n",
      "      start:\n",
      "        match_used(m) := true:\n",
      "        light := true:\n",
      "      end:\n",
      "        light := false:\n",
      "    ]\n",
      "    simulated effects = [\n",
      "    ]\n",
      "  }\n"
     ]
    }
   ],
   "source": [
    "light_match = DurativeAction('light_match', m=Match)\n",
    "m = light_match.parameter('m')\n",
    "light_match.set_fixed_duration(6)\n",
    "light_match.add_condition(StartTiming(), Not(match_used(m)))\n",
    "light_match.add_effect(StartTiming(), match_used(m), True)\n",
    "light_match.add_effect(StartTiming(), light, True)\n",
    "light_match.add_effect(EndTiming(), light, False)\n",
    "problem.add_action(light_match)\n",
    "print(light_match)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "mjdfaQw537eI"
   },
   "source": [
    "Defining the `mend_fuse` action we defined also a condition over an interval."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "id": "8NFqgnnlyeAc"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "durative action mend_fuse(Fuse f) {\n",
      "    duration = [5, 5]\n",
      "    conditions = [\n",
      "      [start]:\n",
      "        handfree\n",
      "      [start, end]:\n",
      "        light\n",
      "    ]\n",
      "    effects = [\n",
      "      start:\n",
      "        handfree := false:\n",
      "      end:\n",
      "        fuse_mended(f) := true:\n",
      "        handfree := true:\n",
      "    ]\n",
      "    simulated effects = [\n",
      "    ]\n",
      "  }\n"
     ]
    }
   ],
   "source": [
    "mend_fuse = DurativeAction('mend_fuse', f=Fuse)\n",
    "f = mend_fuse.parameter('f')\n",
    "mend_fuse.set_fixed_duration(5)\n",
    "mend_fuse.add_condition(StartTiming(), handfree)\n",
    "mend_fuse.add_condition(ClosedTimeInterval(StartTiming(), EndTiming()), light)\n",
    "mend_fuse.add_effect(StartTiming(), handfree, False)\n",
    "mend_fuse.add_effect(EndTiming(), fuse_mended(f), True)\n",
    "mend_fuse.add_effect(EndTiming(), handfree, True)\n",
    "problem.add_action(mend_fuse)\n",
    "print(mend_fuse)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "kLDlxvwL39dh"
   },
   "source": [
    "We conclude the modeling defining three goals at the end of the execution."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {
    "id": "S4rT6f0A3qRJ"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "problem name = MatchCellar\n",
      "\n",
      "types = [Match, Fuse]\n",
      "\n",
      "fluents = [\n",
      "  bool handfree\n",
      "  bool light\n",
      "  bool match_used[m=Match]\n",
      "  bool fuse_mended[f=Fuse]\n",
      "]\n",
      "\n",
      "actions = [\n",
      "  durative action light_match(Match m) {\n",
      "    duration = [6, 6]\n",
      "    conditions = [\n",
      "      [start]:\n",
      "        (not match_used(m))\n",
      "    ]\n",
      "    effects = [\n",
      "      start:\n",
      "        match_used(m) := true:\n",
      "        light := true:\n",
      "      end:\n",
      "        light := false:\n",
      "    ]\n",
      "    simulated effects = [\n",
      "    ]\n",
      "  }\n",
      "  durative action mend_fuse(Fuse f) {\n",
      "    duration = [5, 5]\n",
      "    conditions = [\n",
      "      [start]:\n",
      "        handfree\n",
      "      [start, end]:\n",
      "        light\n",
      "    ]\n",
      "    effects = [\n",
      "      start:\n",
      "        handfree := false:\n",
      "      end:\n",
      "        fuse_mended(f) := true:\n",
      "        handfree := true:\n",
      "    ]\n",
      "    simulated effects = [\n",
      "    ]\n",
      "  }\n",
      "]\n",
      "\n",
      "objects = [\n",
      "  Match: [m0, m1, m2]\n",
      "  Fuse: [f0, f1, f2]\n",
      "]\n",
      "\n",
      "initial fluents default = [\n",
      "  bool match_used[m=Match] := false\n",
      "  bool fuse_mended[f=Fuse] := false\n",
      "]\n",
      "\n",
      "initial values = [\n",
      "  light := false\n",
      "  handfree := true\n",
      "]\n",
      "\n",
      "timed goals = [\n",
      "  [end] :\n",
      "    fuse_mended(f0)\n",
      "    fuse_mended(f1)\n",
      "    fuse_mended(f2)\n",
      "]\n",
      "\n",
      "goals = [\n",
      "]\n"
     ]
    }
   ],
   "source": [
    "for f in fuses:\n",
    "  problem.add_timed_goal(EndTiming(), fuse_mended(f))\n",
    "\n",
    "print(problem)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "id": "z3l0y9kaKMII"
   },
   "source": [
    "### Solving the problem\n",
    "\n",
    "The unified_planning can automatically select, among the available planners installed on the system, one that is able to handle the temporal features of the problem."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {
    "id": "frcEeD-oKO2m"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\u001B[96m\u001B[1mNOTE: To disable printing of planning engine credits, add this line to your code: `up.shortcuts.get_environment().credits_stream = None`\n",
      "\u001B[0m\u001B[96m  *** Credits ***\n",
      "\u001B[0m\u001B[96m  * In operation mode `OneshotPlanner` at line 1 of `/tmp/ipykernel_153164/3087807287.py`, \u001B[0m\u001B[96myou are using the following planning engine:\n",
      "\u001B[0m\u001B[96m  * Engine name: Tamer\n",
      "  * Developers:  FBK Tamer Development Team\n",
      "\u001B[0m\u001B[96m  * Description: \u001B[0m\u001B[96mTamer offers the capability to generate a plan for classical, numerical and temporal problems.\n",
      "  *              For those kind of problems tamer also offers the possibility of validating a submitted plan.\u001B[0m\u001B[96m\n",
      "\u001B[0m\u001B[96m\n",
      "\u001B[0mTamer returned:\n",
      "0.0: light_match(m1) [6.0]\n",
      "0.01: mend_fuse(f1) [5.0]\n",
      "6.01: light_match(m2) [6.0]\n",
      "6.02: mend_fuse(f2) [5.0]\n",
      "12.02: light_match(m0) [6.0]\n",
      "12.03: mend_fuse(f0) [5.0]\n"
     ]
    }
   ],
   "source": [
    "with OneshotPlanner(problem_kind=problem.kind) as planner:\n",
    "    result = planner.solve(problem)\n",
    "    plan = result.plan\n",
    "    if plan is not None:\n",
    "        print(f\"{planner.name} returned:\")\n",
    "        for start, action, duration in plan.timed_actions:\n",
    "            print(f\"{float(start)}: {action} [{float(duration)}]\")\n",
    "    else:\n",
    "        print(\"No plan found.\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "from unified_planning.plot import plot_plan\n",
    "\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Ignore the code below, it's used to make this notebook also runnable in the Countinuous Intergation."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# Redefine the plot package methods imported above to print the plot to a temp file\n",
    "# if the exception \"could not locate runnable browser\" is raised. This usually happens\n",
    "# in the Continuous Integration.\n",
    "\n",
    "from inspect import getmembers, isfunction\n",
    "from unified_planning import plot\n",
    "from functools import partial\n",
    "import os, uuid, tempfile as tf\n",
    "\n",
    "# Define the function that will be executed instead\n",
    "def _function(original_function, *args, **kwargs):\n",
    "    try:\n",
    "        original_function(*args, **kwargs)\n",
    "    except Exception as e:\n",
    "        if \"could not locate runnable browser\" in str(e):\n",
    "            original_function(*args, **kwargs,\n",
    "                filename=f\"{os.path.join(tf.gettempdir(), str(uuid.uuid1()))}.png\"\n",
    "            )\n",
    "        else:\n",
    "            raise e\n",
    "\n",
    "# Iterate over all the functions of the plot package\n",
    "for function_name, function in getmembers(plot, isfunction):\n",
    "    # Override the original function with the new one\n",
    "    globals()[function_name] = partial(_function, function)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "if plan is not None:\n",
    "    plot_plan(plan)"
   ]
  }
 ],
 "metadata": {
  "celltoolbar": "Tags",
  "colab": {
   "collapsed_sections": [],
   "name": "Temporal Planning",
   "provenance": []
  },
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.6"
  },
  "vscode": {
   "interpreter": {
    "hash": "fcfc934ecfdac8ddac62d6a80ba8d82faf47dc8d54fd6a313f0c016b85ebec0e"
   }
  }
 },
 "nbformat": 4,
 "nbformat_minor": 1
}