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model.py
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import sys
import os
from unified_planning.grpc.proto_writer import ProtobufWriter
import unified_planning.shortcuts as up
from unified_planning.model.scheduling.scheduling_problem import SchedulingProblem
from unified_planning.model.scheduling.activity import Activity
from unified_planning.plans import Schedule
from parser import *
def serialize_problem(pb: up.Problem, filename: str):
writer = ProtobufWriter()
msg = writer.convert(pb)
os.makedirs(os.path.dirname(filename), exist_ok=True)
with open(filename, "wb") as file:
file.write(msg.SerializeToString())
def solve_problem(pb: SchedulingProblem, timeout:float|None) -> Schedule: # type: ignore
with up.OneshotPlanner(name="aries") as planner:
result = planner.solve( # type: ignore
pb,
timeout=timeout,
output_stream=sys.stdout,
)
plan = result.plan
return plan
class BelugaModelOptSched:
def __init__(
self,
pb_def: BelugaProblemDef,
name: str,
num_available_swaps_margin: int,
ref_plan_def: BelugaPlanDef | None,
):
# # #
self.pb: SchedulingProblem
self._activities_uid_counter: int = 0
# # #
self.side_type: up.Type
self.side_beluga: up.Object
self.side_production: up.Object
self.side_opposite: up.Fluent
# # #
self.jig_type: up.Type
self.jig_subtypes: dict[str, up.Type]
self.jig_objects: dict[str, up.Object] = {}
self.jig_size: up.Fluent
self.jig_size_empty: up.Fluent
self.jig_is_empty: up.Fluent
# # #
self.part_location_type: up.Type
# # #
self.rack_type: up.Type
self.rack_free_space: up.Fluent
self.rack_size: up.Fluent
self.rack_objects: dict[str, up.Object] = {}
# # #
self.beluga_type: up.Type
self.beluga_objects: dict[str, up.Object] = {}
self.beluga_current: up.Fluent
self.beluga_next: up.Fluent
# # #
self.hangar_type: up.Type
self.hangar_free: up.Fluent
self.hangar_objects: dict[str, up.Object] = {}
# # #
self.production_line_type: up.Type
self.production_line_objects: dict[str, up.Object] = {}
# # #
self.trailer_type: up.Type
self.trailer_available: up.Fluent
self.trailer_side: up.Fluent
self.trailer_free: up.Fluent
self.trailer_objects: dict[str, up.Object] = {}
# # #
self.next_: up.Fluent
self.at: up.Fluent
self.pos: up.Fluent
# # #
self.num_flights: int
self.all_proceeds_to_next_flight: list[tuple[str, Activity]] = []
self.all_unloads_w_putdowns: dict[tuple[str, str, int], tuple[Activity, Activity]] = {}
self.all_loads_w_pickups: dict[tuple[str, str, int], tuple[Activity, Activity]] = {}
self.all_delivers_w_pickups: dict[tuple[str, str, int], tuple[Activity, Activity]] = {}
self.all_gets_w_putdowns: dict[str, tuple[Activity, Activity]] = {}
self.all_swap_pickups_n_putdowns: dict[int, tuple[Activity, Activity]] = {}
self.all_putdowns: list[Activity] = []
self.all_pickups: list[Activity] = []
# # #
self.num_used_swaps: up.Parameter
# # #
self.properties: dict[PropId, up.Parameter] = {}
# # #
self.pb_def = pb_def
self.num_flights = len(pb_def.flights)
self.num_available_swaps = num_available_swaps_margin
self.pb = SchedulingProblem(name)
self._make_types_and_fluents_and_initial_values()
# # #
self._add_proceeds()
self._add_flights_unloads_w_opt_putdowns()
self._add_flights_loads_w_pickups()
self._add_pls_deliveries_w_pickups_and_retrievals_w_opt_putdowns()
# if ref_plan_def is not None:
# # num_swaps_used_in_ref_plan = self._get_number_of_swaps_in_reference_plan(ref_plan_def)
# # self.num_available_swaps = num_swaps_used_in_ref_plan + num_available_swaps_margin
self._add_swaps()
self._add_trailers_initial_jigs_opt_putdowns()
self._add_hangars_initial_jigs_retrievals_w_opt_putdowns()
self._add_opt_pickup_for_each_jig_last_non_swap()
# # #
for (j_name, flight_name, i), (unload_a, _) in self.all_unloads_w_putdowns.items():
pres_val = up.TRUE()
for prop_id, (jj, bb, ii) in self.pb_def.props_unload_beluga:
if (j_name == jj and flight_name == bb and i == ii):
self.properties[prop_id] = self.pb.add_variable(f"{'hard_' if prop_id in self.pb_def.props_ids_hard_list else ''}prop_{prop_id}_unload_{j_name}_{flight_name}_{i}", up.BoolType())
pres_val = self.properties[prop_id]
break
self.pb.add_constraint(up.Iff(unload_a.present, pres_val))
for (j_or_j_type_name, flight_name, i), (load_a, _) in self.all_loads_w_pickups.items():
pres_val = up.TRUE()
for prop_id, (jj, bb, ii) in self.pb_def.props_load_beluga:
if (j_or_j_type_name == jj and flight_name == bb and i == ii):
self.properties[prop_id] = self.pb.add_variable(f"{'hard_' if prop_id in self.pb_def.props_ids_hard_list else ''}prop_{prop_id}_load_{j_or_j_type_name}_{flight_name}_{i}", up.BoolType())
pres_val = self.properties[prop_id]
break
self.pb.add_constraint(up.Iff(load_a.present, pres_val))
for (j_name, pl_name, i), (deliver_a, _) in self.all_delivers_w_pickups.items():
pres_val = up.TRUE()
for prop_id, (jj, pl, ii) in self.pb_def.props_deliver_to_production_line:
if (j_name == jj and pl_name == pl and i == ii):
self.properties[prop_id] = self.pb.add_variable(f"{'hard_' if prop_id in self.pb_def.props_ids_hard_list else ''}prop_{prop_id}_deliver_{j_name}_{pl_name}_{i}", up.BoolType())
pres_val = self.properties[prop_id]
break
self.pb.add_constraint(up.Iff(deliver_a.present, pres_val))
assert all(prop_id in self.properties for (prop_id, _) in self.pb_def.props_unload_beluga)
assert all(prop_id in self.properties for (prop_id, _) in self.pb_def.props_load_beluga)
assert all(prop_id in self.properties for (prop_id, _) in self.pb_def.props_deliver_to_production_line)
for (prop_id, rack_name) in self.pb_def.props_rack_always_empty:
self._reify_prop_rack_always_empty(rack_name, prop_id)
if self.pb_def.prop_at_least_one_rack_always_empty is not None:
self._reify_prop_at_least_one_rack_always_empty(self.pb_def.prop_at_least_one_rack_always_empty)
for (prop_id, (jig_name, rs)) in self.pb_def.props_jig_always_placed_on_rack_size_leq:
self._reify_prop_jig_always_placed_on_rack_shorter_or_same_size_as(jig_name, rs, prop_id)
for (prop_id, ns) in self.pb_def.props_num_swaps_used_leq:
self._reify_prop_num_swaps_used_leq_val(ns, prop_id)
for (prop_id, (jig_name, rack_name)) in self.pb_def.props_jig_never_on_rack:
self._reify_prop_jig_never_on_rack(jig_name, rack_name, prop_id)
for (prop_id, (jig_name, rack_name)) in self.pb_def.props_jig_only_if_ever_on_rack:
self._reify_prop_jig_only_if_ever_on_rack(jig_name, rack_name, prop_id)
for (prop_id, (jig1_name, pl1_name, jig2_name, pl2_name)) in self.pb_def.props_jig_to_production_line_order:
self._reify_prop_jig_to_production_line_order(jig1_name, pl1_name, jig2_name, pl2_name, prop_id)
for (prop_id, (jig1_name, rack1_name, jig2_name, rack2_name)) in self.pb_def.props_jig_to_rack_order:
self._reify_prop_jig_to_rack_order(jig1_name, rack1_name, jig2_name, rack2_name, prop_id)
for (prop_id, (jig_name, pl_name, flight_name)) in self.pb_def.props_jig_to_production_line_before_flight:
self._reify_prop_jig_to_production_line_before_flight(jig_name, pl_name, flight_name, prop_id)
for v in self.pb.base_variables:
if v.name.startswith("hard_prop_"):
self.pb.add_constraint(v)
def solve_with_properties(
self,
prop_ids: list[PropId],
num_swaps_to_use: int | None=None,
timeout:float|None=None,
) -> tuple[Schedule, list[dict[str, str]]]:
pb = self.pb.clone()
if num_swaps_to_use is not None:
pb.add_constraint(up.Equals(self.num_used_swaps, num_swaps_to_use)) # or also GE ? LE ? -> All have different pros/cons (depending on the situation, too...!..?)
for prop_id in prop_ids:
pb.add_constraint(self.properties[prop_id])
## prop_ids_yes = ["id00","id01","id02","id03","id04","id05","id06","id07","id08","id09","id10"]
# prop_ids_yes = ["id00","id01","id02","id03","id04","id06","id07","id08","id10"]
# prop_ids_no = ["id05","id09"]
## prop_ids_yes = ["id01","id02","id03","id04","id05","id06","id07"]
## prop_ids_no = ["id00"]
# for prop_id in prop_ids_yes:
# pb.add_constraint(self.properties[prop_id])
# for prop_id in prop_ids_no:
# pb.add_constraint(up.Not(self.properties[prop_id]))
pl = solve_problem(pb, timeout)
pl_as_json = []
if pl is not None:
for a in pl.activities:
if a.name.startswith("unload_beluga"):
aa = {
"name": a.name[:a.name.find(self._get_activity_uid_prefix())],
"j": pl.assignment[a.get_parameter("j")].object().name,
"b": pl.assignment[a.get_parameter("b")].object().name,
"t": pl.assignment[a.get_parameter("t")].object().name,
}
elif a.name.startswith("load_beluga"):
aa = {
"name": a.name[:a.name.find(self._get_activity_uid_prefix())],
"j": pl.assignment[a.get_parameter("j")].object().name,
"b": pl.assignment[a.get_parameter("b")].object().name,
"t": pl.assignment[a.get_parameter("t")].object().name,
}
elif a.name.startswith("put_down_rack"):
aa = {
"name": a.name[:a.name.find(self._get_activity_uid_prefix())],
"j": pl.assignment[a.get_parameter("j")].object().name,
"t": pl.assignment[a.get_parameter("t")].object().name,
"r": pl.assignment[a.get_parameter("r")].object().name,
"s": pl.assignment[a.get_parameter("s")].object().name,
}
elif a.name.startswith("pick_up_rack"):
aa = {
"name": a.name[:a.name.find(self._get_activity_uid_prefix())],
"j": pl.assignment[a.get_parameter("j")].object().name,
"t": pl.assignment[a.get_parameter("t")].object().name,
"r": pl.assignment[a.get_parameter("r")].object().name,
"s": pl.assignment[a.get_parameter("s")].object().name,
}
elif a.name.startswith("deliver_to_hangar"):
aa = {
"name": a.name[:a.name.find(self._get_activity_uid_prefix())],
"j": pl.assignment[a.get_parameter("j")].object().name,
"h": pl.assignment[a.get_parameter("h")].object().name,
"t": pl.assignment[a.get_parameter("t")].object().name,
"pl": pl.assignment[a.get_parameter("pl")].object().name,
}
elif a.name.startswith("get_from_hangar"):
aa = {
"name": a.name[:a.name.find(self._get_activity_uid_prefix())],
"j": pl.assignment[a.get_parameter("j")].object().name,
"h": pl.assignment[a.get_parameter("h")].object().name,
"t": pl.assignment[a.get_parameter("t")].object().name,
}
elif a.name.startswith("switch_to_next_beluga"):
aa = {
"name": a.name[:a.name.find(self._get_activity_uid_prefix())],
}
else:
assert False
pl_as_json.append(aa)
return (pl, pl_as_json)
def _make_types_and_fluents_and_initial_values(self):
self.side_type = up.UserType("Side")
self.side_beluga = self.pb.add_object("bside", self.side_type)
self.side_production = self.pb.add_object("fside", self.side_type)
self.side_opposite = self.pb.add_fluent("opposite", self.side_type, s=self.side_type)
self.pb.set_initial_value(self.side_opposite(self.side_beluga), self.side_production)
self.pb.set_initial_value(self.side_opposite(self.side_production), self.side_beluga)
# # #
self.jig_type = up.UserType("JigType")
self.jig_subtypes = {}
for jt in self.pb_def.jig_types:
sub_type = up.UserType(jt.name, self.jig_type)
self.jig_subtypes[jt.name] = sub_type
self.jig_size = self.pb.add_fluent("jig_size", up.IntType(0, 1000), j=self.jig_type)
self.jig_size_empty = self.pb.add_fluent("jig_size_empty", up.IntType(0, 1000), j=self.jig_type)
self.jig_is_empty = self.pb.add_fluent("jig_is_empty", up.BoolType(), j=self.jig_type)
for jig in self.pb_def.jigs:
jig_obj = self.pb.add_object(jig.name, self.jig_subtypes[jig.type])
tpe = self.pb_def.get_jig_type(jig.type)
self.pb.set_initial_value(self.jig_size(jig_obj), tpe.size_empty if jig.empty else tpe.size_loaded)
self.pb.set_initial_value(self.jig_size_empty(jig_obj), tpe.size_empty)
self.pb.set_initial_value(self.jig_is_empty(jig_obj), up.Bool(jig.empty))
self.jig_objects[jig.name] = jig_obj
# # #
self.part_location_type = up.UserType("PartLoc")
# # #
self.rack_type = up.UserType("Rack", father=self.part_location_type)
self.rack_free_space = self.pb.add_fluent("rack_free_space", up.IntType(0, 1000), r=self.rack_type)
self.rack_size = self.pb.add_fluent("rack_size", up.IntType(0, 1000), rack=self.rack_type)
# # #
self.beluga_type = up.UserType("Beluga", self.part_location_type)
self.beluga_current = self.pb.add_fluent("current_beluga", self.beluga_type)
self.beluga_next = self.pb.add_fluent("next_beluga", self.beluga_type, b=self.beluga_type)
prev = None
for i, beluga in enumerate(self.pb_def.flights):
beluga_obj = self.pb.add_object(beluga.name, self.beluga_type)
self.beluga_objects[beluga.name] = beluga_obj
if i > 0:
self.pb.set_initial_value(self.beluga_next(prev), beluga_obj)
else:
self.pb.set_initial_value(self.beluga_current(), beluga_obj)
prev = beluga_obj
# # #
self.hangar_type = up.UserType("Hangar", father=self.part_location_type)
self.hangar_free = self.pb.add_fluent("free_hangar", up.BoolType(), h=self.hangar_type)
for hangar in self.pb_def.hangars:
hangar_obj = self.pb.add_object(hangar.name, self.hangar_type)
self.pb.set_initial_value(self.hangar_free(hangar_obj), True)
self.hangar_objects[hangar.name] = hangar_obj
if hangar.jig is not None:
jig = self.pb_def.get_jig(hangar.jig)
jig_obj = self.jig_objects[hangar.jig]
self.pb.set_initial_value(self.at(jig_obj), hangar_obj)
# # #
self.production_line_type = up.UserType("ProductionLine", self.part_location_type)
for production_line in self.pb_def.production_lines:
production_line_obj = self.pb.add_object(production_line.name, self.production_line_type)
self.production_line_objects[production_line.name] = production_line_obj
# # #
self.trailer_type = up.UserType("Trailer", self.part_location_type)
self.trailer_available = up.Fluent("available", up.BoolType(), t=self.trailer_type)
self.pb.add_fluent(self.trailer_available, default_initial_value=True)
self.trailer_side = self.pb.add_fluent("trailer_side", self.side_type, trailer=self.trailer_type)
num_trailers_beluga = len(self.pb_def.trailers_beluga)
num_trailers_production = len(self.pb_def.trailers_factory)
self.trailer_free = self.pb.add_fluent("free_trailers", up.IntType(0,max(num_trailers_beluga, num_trailers_production)), side=self.side_type)
self.pb.set_initial_value(self.trailer_free(self.side_beluga), num_trailers_beluga)
self.pb.set_initial_value(self.trailer_free(self.side_production), num_trailers_production)
for trailer in self.pb_def.trailers_beluga:
trailer_obj = self.pb.add_object(trailer.name, self.trailer_type)
self.pb.set_initial_value(self.trailer_side(trailer_obj), self.side_beluga)
self.trailer_objects[trailer.name] = trailer_obj
if trailer.jig is not None:
jig = self.pb_def.get_jig(trailer.jig)
jig_obj = self.jig_objects[trailer.jig]
self.pb.set_initial_value(self.at(jig_obj), trailer_obj)
for trailer in self.pb_def.trailers_factory:
trailer_obj = self.pb.add_object(trailer.name, self.trailer_type)
self.pb.set_initial_value(self.trailer_side(trailer_obj), self.side_production)
self.trailer_objects[trailer.name] = trailer_obj
if trailer.jig is not None:
jig = self.pb_def.get_jig(trailer.jig)
jig_obj = self.jig_objects[trailer.jig]
self.pb.set_initial_value(self.at(jig_obj), trailer_obj)
# # #
self.at = self.pb.add_fluent("at", self.part_location_type, p=self.jig_type)
self.next_ = up.Fluent("next", up.IntType(), r=self.rack_type, s=self.side_type)
self.pb.add_fluent(self.next_, default_initial_value=0)
self.pos = self.pb.add_fluent("pos", up.IntType(), p=self.jig_type, s=self.side_type)
# # #
for rack in self.pb_def.racks:
rack_obj = self.pb.add_object(rack.name, self.rack_type)
self.rack_objects[rack.name] = rack_obj
num_pieces = len(rack.jigs)
occupied_space = 0
for k, jig_name in enumerate(rack.jigs):
jig = self.pb_def.get_jig(jig_name)
pb_def_jig_type = self.pb_def.get_jig_type(jig.type)
jig_size_val = pb_def_jig_type.size_empty if jig.empty else pb_def_jig_type.size_loaded
occupied_space += jig_size_val
jig_obj = self.jig_objects[jig_name]
self.pb.set_initial_value(self.pos(jig_obj, self.side_beluga), k)
self.pb.set_initial_value(self.pos(jig_obj, self.side_production), -k)
self.pb.set_initial_value(self.at(jig_obj), rack_obj)
self.pb.set_initial_value(self.rack_free_space(rack_obj), rack.size - occupied_space)
self.pb.set_initial_value(self.next_(rack_obj, self.side_production), -num_pieces+1)
self.pb.set_initial_value(self.rack_size(rack_obj), rack.size)
# # #
for beluga in self.pb_def.flights:
beluga_obj = self.beluga_objects[beluga.name]
for _, jig_name in beluga.incoming.items():
jig_obj = self.jig_objects[jig_name]
self.pb.set_initial_value(self.at(jig_obj), beluga_obj)
def _load_to_trailer(self, a: Activity, jig, trailer, side):
a.add_condition(up.StartTiming(), up.Equals(self.trailer_side(trailer), side))
a.add_condition(up.StartTiming(), self.trailer_available(trailer))
a.add_effect(up.EndTiming(), self.trailer_available(trailer), False)
a.add_effect(up.EndTiming(), self.at(jig), trailer)
def _unload_from_trailer(self, a: Activity, jig, trailer, side):
a.add_condition(up.StartTiming(), up.Equals(self.trailer_side(trailer), side))
a.add_condition(up.StartTiming(), up.Not(self.trailer_available(trailer))) # actually not needed ?
a.add_effect(up.EndTiming(), self.trailer_available(trailer), True)
a.add_condition(up.StartTiming(), up.Equals(self.at(jig), trailer))
def _to_rack(self, a: Activity, jig, rack, side, oside):
a.add_decrease_effect(up.EndTiming(), self.rack_free_space(rack), self.jig_size(jig))
a.add_decrease_effect(up.EndTiming(), self.next_(rack, side), 1)
a.add_effect(up.EndTiming(), self.pos(jig, side), self.next_(rack, side)-1)
a.add_effect(up.EndTiming(), self.pos(jig, oside), -self.next_(rack, side)+1)
a.add_effect(up.EndTiming(), self.at(jig), rack)
a.add_condition(up.StartTiming(), up.Equals(oside, self.side_opposite(side)))
def _from_rack(self, a: Activity, jig, rack, side, oside):
a.add_increase_effect(up.EndTiming(), self.rack_free_space(rack), self.jig_size(jig))
a.add_condition(up.StartTiming(), up.Equals(self.next_(rack, side), self.pos(jig, side)))
a.add_increase_effect(up.EndTiming(), self.next_(rack, side), 1)
a.add_condition(up.StartTiming(), up.Equals(self.at(jig), rack))
a.add_condition(up.StartTiming(), up.Equals(oside, self.side_opposite(side)))
def _get_activity_uid_prefix(self) -> str:
return "_uid"
def _new_activity_uid(self) -> str:
res = "_uid"+str(self._activities_uid_counter)
self._activities_uid_counter += 1
return res
def _make_new_unload_activity(self) -> Activity:
unload_jig_from_beluga_to_trailer = self.pb.add_activity("unload_beluga"+self._new_activity_uid(), optional=True)
unload_jig_from_beluga_to_trailer.add_parameter("j", self.jig_type)
unload_jig_from_beluga_to_trailer.add_parameter("b", self.beluga_type)
unload_jig_from_beluga_to_trailer.add_parameter("t", self.trailer_type)
self._load_to_trailer(
unload_jig_from_beluga_to_trailer,
unload_jig_from_beluga_to_trailer.j,
unload_jig_from_beluga_to_trailer.t,
self.side_beluga,
)
unload_jig_from_beluga_to_trailer.add_condition(
up.StartTiming(),
up.Equals(
self.at(unload_jig_from_beluga_to_trailer.j),
unload_jig_from_beluga_to_trailer.b,
),
)
return unload_jig_from_beluga_to_trailer
def _make_new_load_activity(self) -> Activity:
load_jig_from_trailer_to_beluga = self.pb.add_activity("load_beluga"+self._new_activity_uid(), optional=True)
load_jig_from_trailer_to_beluga.add_parameter("j", self.jig_type)
load_jig_from_trailer_to_beluga.add_parameter("b", self.beluga_type)
load_jig_from_trailer_to_beluga.add_parameter("t", self.trailer_type)
self._unload_from_trailer(
load_jig_from_trailer_to_beluga,
load_jig_from_trailer_to_beluga.j,
load_jig_from_trailer_to_beluga.t,
self.side_beluga,
)
load_jig_from_trailer_to_beluga.add_effect(
up.EndTiming(),
self.at(load_jig_from_trailer_to_beluga.j),
load_jig_from_trailer_to_beluga.b,
)
load_jig_from_trailer_to_beluga.add_condition(
up.StartTiming(),
self.jig_is_empty(load_jig_from_trailer_to_beluga.j),
)
return load_jig_from_trailer_to_beluga
def _make_new_put_down_activity(self) -> Activity:
putdown_jig_on_rack = self.pb.add_activity("put_down_rack"+self._new_activity_uid(), optional=True)
putdown_jig_on_rack.add_parameter("j", self.jig_type)
putdown_jig_on_rack.add_parameter("t", self.trailer_type)
putdown_jig_on_rack.add_parameter("r", self.rack_type)
putdown_jig_on_rack.add_parameter("s", self.side_type)
putdown_jig_on_rack.add_parameter("os", self.side_type)
putdown_jig_on_rack.add_parameter("rs", up.IntType(0, 1000))
putdown_jig_on_rack.add_parameter("d", up.IntType(0, 1000))
self._unload_from_trailer(
putdown_jig_on_rack,
putdown_jig_on_rack.j,
putdown_jig_on_rack.t,
putdown_jig_on_rack.s,
)
self._to_rack(
putdown_jig_on_rack,
putdown_jig_on_rack.j,
putdown_jig_on_rack.r,
putdown_jig_on_rack.s,
putdown_jig_on_rack.os,
)
putdown_jig_on_rack.add_condition(
up.StartTiming(),
up.Equals(self.rack_size(putdown_jig_on_rack.r), putdown_jig_on_rack.rs),
)
return putdown_jig_on_rack
def _make_new_pick_up_activity(self) -> Activity:
pickup_jig_from_rack = self.pb.add_activity("pick_up_rack"+self._new_activity_uid(), optional=True)
pickup_jig_from_rack.add_parameter("j", self.jig_type)
pickup_jig_from_rack.add_parameter("t", self.trailer_type)
pickup_jig_from_rack.add_parameter("r", self.rack_type)
pickup_jig_from_rack.add_parameter("s", self.side_type)
pickup_jig_from_rack.add_parameter("os", self.side_type)
self._from_rack(
pickup_jig_from_rack,
pickup_jig_from_rack.j,
pickup_jig_from_rack.r,
pickup_jig_from_rack.s,
pickup_jig_from_rack.os,
)
self._load_to_trailer(
pickup_jig_from_rack,
pickup_jig_from_rack.j,
pickup_jig_from_rack.t,
pickup_jig_from_rack.s,
)
return pickup_jig_from_rack
def _make_new_deliver_jig_to_hangar_activity(self) -> Activity:
deliver_jig_to_hangar = self.pb.add_activity("deliver_to_hangar"+self._new_activity_uid(), optional=True)
deliver_jig_to_hangar.add_parameter("j", self.jig_type)
deliver_jig_to_hangar.add_parameter("h", self.hangar_type)
deliver_jig_to_hangar.add_parameter("t", self.trailer_type)
deliver_jig_to_hangar.add_parameter("pl", self.production_line_type)
self._unload_from_trailer(
deliver_jig_to_hangar,
deliver_jig_to_hangar.j,
deliver_jig_to_hangar.t,
self.side_production,
)
deliver_jig_to_hangar.add_condition(up.StartTiming(), self.hangar_free(deliver_jig_to_hangar.h))
deliver_jig_to_hangar.add_effect(up.EndTiming(), self.hangar_free(deliver_jig_to_hangar.h), False)
deliver_jig_to_hangar.add_effect(
up.EndTiming(),
self.at(deliver_jig_to_hangar.j),
deliver_jig_to_hangar.h,
)
deliver_jig_to_hangar.add_effect(
up.EndTiming(),
self.jig_size(deliver_jig_to_hangar.j),
self.jig_size_empty(deliver_jig_to_hangar.j),
)
deliver_jig_to_hangar.add_effect(
up.EndTiming(),
self.jig_is_empty(deliver_jig_to_hangar.j),
up.TRUE(),
)
return deliver_jig_to_hangar
def _make_new_get_jig_from_hangar_activity(self) -> Activity:
get_jig_from_hangar = self.pb.add_activity("get_from_hangar"+self._new_activity_uid(), optional=True)
get_jig_from_hangar.add_parameter("j", self.jig_type)
get_jig_from_hangar.add_parameter("h", self.hangar_type)
get_jig_from_hangar.add_parameter("t", self.trailer_type)
self._load_to_trailer(
get_jig_from_hangar,
get_jig_from_hangar.j,
get_jig_from_hangar.t,
self.side_production
)
get_jig_from_hangar.add_effect(up.EndTiming(), self.hangar_free(get_jig_from_hangar.h), True)
get_jig_from_hangar.add_condition(
up.StartTiming(),
up.Equals(self.at(get_jig_from_hangar.j), get_jig_from_hangar.h),
)
return get_jig_from_hangar
def _make_new_proceed_to_next_flight_activity(self) -> Activity:
# proceed_to_next_flight = self.pb.add_activity("switch_to_next_beluga"+self._new_activity_uid(), optional=True)
proceed_to_next_flight = self.pb.add_activity("switch_to_next_beluga"+self._new_activity_uid(), optional=False)
proceed_to_next_flight.add_parameter("b", self.beluga_type)
proceed_to_next_flight.add_condition(
up.StartTiming(),
up.Equals(self.beluga_next(self.beluga_current()), proceed_to_next_flight.b)
)
proceed_to_next_flight.add_effect(up.EndTiming(), self.beluga_current(), proceed_to_next_flight.b)
return proceed_to_next_flight
def _make_new_swap_subactivities(self) -> tuple[Activity, Activity]:
pickup = self._make_new_pick_up_activity()
putdown = self._make_new_put_down_activity()
self.pb.add_constraint(up.Equals(pickup.j, putdown.j), scope=[pickup.present, putdown.present])
self.pb.add_constraint(up.Equals(pickup.t, putdown.t), scope=[pickup.present, putdown.present])
self.pb.add_constraint(up.Equals(pickup.s, putdown.s), scope=[pickup.present, putdown.present])
self.pb.add_constraint(up.Equals(pickup.os, putdown.os), scope=[pickup.present, putdown.present])
self.pb.add_constraint(up.LT(pickup.end, putdown.start), scope=[pickup.present, putdown.present])
self.pb.add_constraint(up.Implies(putdown.present, pickup.present))
return (pickup, putdown)
def _add_proceeds(self):
for flight in self.pb_def.flights[1:]:
proceed_a = self._make_new_proceed_to_next_flight_activity()
proceed_a.add_constraint(up.Equals(proceed_a.b, self.beluga_objects[flight.name]))
# self.pb.add_constraint(proceed_a.present)
for (_, earlier_proceed_a) in self.all_proceeds_to_next_flight:
self.pb.add_constraint(up.LT(earlier_proceed_a.end, proceed_a.start), scope=[earlier_proceed_a.present, proceed_a.present])
self.all_proceeds_to_next_flight.append((flight.name, proceed_a))
def _add_flights_unloads_w_opt_putdowns(self):
earlier_unloads = [] # Put outside of loop ? *A priori*, see no difference in the model's "behavior" / conflicts computed ...
for flight_index in range(self.num_flights):
beluga_name = self.pb_def.flights[flight_index].name
incoming_jigs = self.pb_def.flights[flight_index].incoming
for i, jig_name in sorted(incoming_jigs.items()):
unload_a = self._make_new_unload_activity()
unload_a.add_constraint(up.Equals(unload_a.j, self.jig_objects[jig_name]))
unload_a.add_constraint(up.Equals(unload_a.b, self.beluga_objects[beluga_name]))
putdown_a = self._make_new_put_down_activity()
putdown_a.add_constraint(up.Equals(putdown_a.j, self.jig_objects[jig_name]))
putdown_a.add_constraint(up.Equals(putdown_a.s, self.side_beluga))
# self.pb.add_constraint(up.Iff(unload_a.present, putdown_a.present))
self.pb.add_constraint(up.Implies(putdown_a.present, unload_a.present)) # "helper" constraint
# self.pb.add_constraint(up.And(putdown_a.present, up.LT(unload_a.end, putdown_a.start)), scope=[unload_a.present])
self.pb.add_constraint(up.LT(unload_a.end, putdown_a.start), scope=[unload_a.present, putdown_a.present])
# for k in range(1, flight_index):
# (_, prev_proceed) = self.all_proceeds_to_next_flight[k-1]
# self.pb.add_constraint(up.LT(prev_proceed.end, unload_a.start), scope=[unload_a.present, prev_proceed.present])
# for k in range(flight_index, self.num_flights-1):
# (_, next_proceed) = self.all_proceeds_to_next_flight[k]
# self.pb.add_constraint(up.LT(unload_a.end, next_proceed.start), scope=[unload_a.present, next_proceed.present])
if flight_index > 0:
(_, prev_proceed) = self.all_proceeds_to_next_flight[flight_index-1]
self.pb.add_constraint(up.LT(prev_proceed.end, unload_a.start), scope=[unload_a.present, prev_proceed.present])
if flight_index < self.num_flights-1:
(_, next_proceed) = self.all_proceeds_to_next_flight[flight_index]
self.pb.add_constraint(up.LT(unload_a.end, next_proceed.start), scope=[unload_a.present, next_proceed.present])
for earlier_unload_a in earlier_unloads:
self.pb.add_constraint(up.LT(earlier_unload_a.end, unload_a.start), scope=[unload_a.present, earlier_unload_a.present])
# self.pb.add_constraint(up.And(earlier_unload_a.present, up.LT(earlier_unload_a.end, unload_a.start)), scope=[unload_a.present])
self.all_unloads_w_putdowns[(jig_name, beluga_name, i)] = (unload_a, putdown_a)
self.all_putdowns.append(putdown_a)
earlier_unloads.append(unload_a)
def _add_flights_loads_w_pickups(self):
earlier_loads = [] # Put outside of loop ? *A priori*, see no difference in the model's "behavior" / conflicts computed ...
for flight_index in range(self.num_flights):
beluga_name = self.pb_def.flights[flight_index].name
outgoing_jigs = self.pb_def.flights[flight_index].outgoing
for i, jig_or_jig_type_name in sorted(outgoing_jigs.items()):
pickup_a = self._make_new_pick_up_activity()
if jig_or_jig_type_name.startswith("jig"):
concrete_jig = jig_or_jig_type_name
aux_jig_var_or_obj = self.jig_objects[concrete_jig]
else:
concrete_jig = None
assert jig_or_jig_type_name.startswith("type")
aux_jig_var_or_obj = self.pb.add_variable(f"_aux_jig_{pickup_a.name}", self.jig_subtypes[jig_or_jig_type_name])
pickup_a.add_constraint(up.Equals(pickup_a.j, aux_jig_var_or_obj))
pickup_a.add_constraint(up.Equals(pickup_a.s, self.side_beluga))
load_a = self._make_new_load_activity()
load_a.add_constraint(up.Equals(load_a.j, aux_jig_var_or_obj))
load_a.add_constraint(up.Equals(load_a.b, self.beluga_objects[beluga_name]))
self.pb.add_constraint(up.Iff(load_a.present, pickup_a.present))
# self.pb.add_constraint(up.Implies(load_a.present, pickup_a.present))
# self.pb.add_constraint(up.And(pickup_a.present, up.LT(pickup_a.end, load_a.start)), scope=[load_a.present])
self.pb.add_constraint(up.LT(pickup_a.end, load_a.start), scope=[load_a.present, pickup_a.present])
# for k in range(1, flight_index):
# (_, prev_proceed) = self.all_proceeds_to_next_flight[k-1]
# self.pb.add_constraint(up.LT(prev_proceed.end, load_a.start), scope=[load_a.present, prev_proceed.present])
# for k in range(flight_index, self.num_flights-1):
# (_, next_proceed) = self.all_proceeds_to_next_flight[k]
# self.pb.add_constraint(up.LT(load_a.end, next_proceed.start), scope=[load_a.present, next_proceed.present])
if flight_index > 0:
(_, prev_proceed) = self.all_proceeds_to_next_flight[flight_index-1]
self.pb.add_constraint(up.LT(prev_proceed.end, load_a.start), scope=[load_a.present, prev_proceed.present])
if flight_index < self.num_flights-1:
(_, next_proceed) = self.all_proceeds_to_next_flight[flight_index]
self.pb.add_constraint(up.LT(load_a.end, next_proceed.start), scope=[load_a.present, next_proceed.present])
for earlier_load_a in earlier_loads:
self.pb.add_constraint(up.LT(earlier_load_a.end, load_a.start), scope=[load_a.present, earlier_load_a.present])
# self.pb.add_constraint(up.And(earlier_load_a.present, up.LT(earlier_load_a.end, load_a.start)), scope=[load_a.present])
self.all_loads_w_pickups[(jig_or_jig_type_name, beluga_name, i)] = (load_a, pickup_a)
self.all_pickups.append(pickup_a)
earlier_loads.append(load_a)
def _add_pls_deliveries_w_pickups_and_retrievals_w_opt_putdowns(self):
earlier_delivers = []
for production_line in self.pb_def.production_lines:
for i, jig_name in sorted(production_line.schedule.items()):
# pickup + deliver
pickup_a = self._make_new_pick_up_activity()
pickup_a.add_constraint(up.Equals(pickup_a.j, self.jig_objects[jig_name]))
pickup_a.add_constraint(up.Equals(pickup_a.s, self.side_production))
deliver_a = self._make_new_deliver_jig_to_hangar_activity()
deliver_a.add_constraint(up.Equals(deliver_a.j, self.jig_objects[jig_name]))
deliver_a.add_constraint(up.Equals(deliver_a.pl, self.production_line_objects[production_line.name]))
# self.pb.add_constraint(up.Iff(deliver_a.present, pickup_a.present))
self.pb.add_constraint(up.Implies(deliver_a.present, pickup_a.present))
# self.pb.add_constraint(up.And(pickup_a.present, up.LT(pickup_a.end, deliver_a.start)), scope=[deliver_a.present])
self.pb.add_constraint(up.LT(pickup_a.end, deliver_a.start), scope=[deliver_a.present, pickup_a.present])
for earlier_deliver_a in earlier_delivers:
self.pb.add_constraint(up.LT(earlier_deliver_a.end, deliver_a.start), scope=[earlier_deliver_a.present, deliver_a.present])
# self.pb.add_constraint(up.And(earlier_deliver_a.present, up.LT(earlier_deliver_a.end, deliver_a.start)), scope=[deliver_a.present])
self.all_delivers_w_pickups[(jig_name, production_line.name, i)] = (deliver_a, pickup_a)
self.all_pickups.append(pickup_a)
earlier_delivers.append(deliver_a)
# get + putdown
get_a = self._make_new_get_jig_from_hangar_activity()
get_a.add_constraint(up.Equals(get_a.j, self.jig_objects[jig_name]))
self.pb.add_constraint(up.Equals(get_a.h, deliver_a.h), scope=[get_a.present, deliver_a.present])
self.pb.add_constraint(up.LT(deliver_a.end, get_a.start), scope=[deliver_a.present, get_a.present])
putdown_a = self._make_new_put_down_activity()
putdown_a.add_constraint(up.Equals(putdown_a.j, self.jig_objects[jig_name]))
putdown_a.add_constraint(up.Equals(putdown_a.s, self.side_production))
self.pb.add_constraint(up.LT(get_a.end, putdown_a.start), scope=[get_a.present, putdown_a.present])
self.pb.add_constraint(up.Implies(putdown_a.present, get_a.present))
self.all_gets_w_putdowns[jig_name] = (get_a, putdown_a)
self.all_putdowns.append(putdown_a)
def _add_swaps(self):
"""Adding a limited number of allowed swaps to the task network. Uniquely identifiable because of their ids' ordering"""
self.num_used_swaps = self.pb.add_variable("num_used_swaps", up.IntType(0, self.num_available_swaps))
prev_pickup_a = None
for i in range(self.num_available_swaps):
pickup_a, putdown_a = self._make_new_swap_subactivities()
self.pb.add_constraint(up.Iff(up.LT(i, self.num_used_swaps), pickup_a.present))
# self.pb.add_constraint(up.Implies(putdown_a.present, pickup_a.present))
self.pb.add_constraint(up.Iff(putdown_a.present, pickup_a.present))
if prev_pickup_a is not None:
self.pb.add_constraint(up.LT(prev_pickup_a.start, pickup_a.start), scope=[prev_pickup_a.present, pickup_a.present])
self.pb.add_constraint(up.Implies(pickup_a.present, prev_pickup_a.present))
prev_pickup_a = pickup_a
self.all_swap_pickups_n_putdowns[i] = (pickup_a, putdown_a)
self.all_putdowns.append(putdown_a)
def _add_trailers_initial_jigs_opt_putdowns(self):
# TODO: force these to be before all actions on these jigs (for performance)
for trailer_b in self.pb_def.trailers_beluga:
if trailer_b.jig is None:
continue
putdown_a = self._make_new_put_down_activity()
putdown_a.add_constraint(up.Equals(putdown_a.j, self.jig_objects[trailer_b.jig]))
putdown_a.add_constraint(up.Equals(putdown_a.s, self.side_beluga))
self.all_putdowns.append(putdown_a)
for trailer_f in self.pb_def.trailers_factory:
if trailer_f.jig is None:
continue
putdown_a = self._make_new_put_down_activity()
putdown_a.add_constraint(up.Equals(putdown_a.j, self.jig_objects[trailer_f.jig]))
putdown_a.add_constraint(up.Equals(putdown_a.s, self.side_production))
self.all_putdowns.append(putdown_a)
def _add_hangars_initial_jigs_retrievals_w_opt_putdowns(self):
# TODO: force these to be before all actions on these jigs (for performance)
for hangar in self.pb_def.hangars:
if hangar.jig is None:
continue
get_a = self._make_new_get_jig_from_hangar_activity()
get_a.add_constraint(up.Equals(get_a.j, self.jig_objects[hangar.jig]))
get_a.add_constraint(up.Equals(get_a.h, self.hangar_objects[hangar.name]))
putdown_a = self._make_new_put_down_activity()
putdown_a.add_constraint(up.Equals(putdown_a.j, self.jig_objects[hangar.jig]))
putdown_a.add_constraint(up.Equals(putdown_a.s, self.side_production))
self.pb.add_constraint(up.LT(get_a.end, putdown_a.start), scope=[get_a.present, putdown_a.present])
self.pb.add_constraint(up.Implies(putdown_a.present, get_a.present))
self.all_putdowns.append(putdown_a)
def _add_opt_pickup_for_each_jig_last_non_swap(self):
for _, jig_obj in self.jig_objects.items():
pickup_a = self._make_new_pick_up_activity()
pickup_a.add_constraint(up.Equals(pickup_a.j, jig_obj))
self.all_pickups.append(pickup_a)
def _reify_prop_rack_always_empty(
self,
rack_name: str,
prop_id: PropId | None,
) -> up.Parameter:
reif_name = f"{'hard_' if prop_id in self.pb_def.props_ids_hard_list else ''}prop_{prop_id}_{rack_name}_always_empty" if prop_id is not None else f"{rack_name}_always_empty"
if self.pb.has_name(reif_name):
r_always_empty = self.pb.get_variable(reif_name)
else:
r_always_empty = self.pb.add_variable(reif_name, up.BoolType())
terms = []
rack_initially_empty = up.Bool(
self.pb.explicit_initial_values[self.rack_free_space(self.rack_objects[rack_name])]
== self.pb.explicit_initial_values[self.rack_size(self.rack_objects[rack_name])]
)
terms += [rack_initially_empty]
#terms += [up.Implies(putdown.present, up.Not(up.Equals(putdown.get_parameter("r"), self.rack_objects[rack_name])))
# for (_, putdown) in self.all_unloads_w_putdowns.values()]
#terms += [up.Implies(putdown.present, up.Not(up.Equals(putdown.get_parameter("r"), self.rack_objects[rack_name])))
# for (_, putdown) in self.all_gets_w_putdowns.values()]
#terms += [up.Implies(putdown.present, up.Not(up.Equals(putdown.get_parameter("r"), self.rack_objects[rack_name])))
# for (_, putdown) in self.all_swap_pickups_n_putdowns.values()]
terms += [up.Implies(putdown.present, up.Not(up.Equals(putdown.get_parameter("r"), self.rack_objects[rack_name])))
for putdown in self.all_putdowns]
self.pb.add_constraint(up.Iff(r_always_empty, up.And(terms)))
return r_always_empty
def _reify_prop_at_least_one_rack_always_empty(
self,
prop_id: PropId | None,
) -> up.Parameter:
"""
Ideally (for performance) this should be called after all `_reify_prop_rack_always_empty` have been called.
Note that this property concerns *all* racks, not just the ones specified in "rack always empty" properties !
"""
reif_name = f"{'hard_' if prop_id in self.pb_def.props_ids_hard_list else ''}prop_{prop_id}_at_least_one_rack_always_empty" if prop_id is not None else f"at_least_one_rack_always_empty"
if self.pb.has_name(reif_name):
at_least_one_rack_always_empty = self.pb.get_variable(reif_name)
else:
at_least_one_rack_always_empty = self.pb.add_variable(reif_name, up.BoolType())
terms = []
for _r in self.pb_def.racks:
rack_name = _r.name
found_among_props_rack_always_empty = False
for (pid, rn) in self.pb_def.props_rack_always_empty:
if rn == rack_name:
terms += [self._reify_prop_rack_always_empty(rack_name, pid)]
found_among_props_rack_always_empty = True
break
if not found_among_props_rack_always_empty:
terms += [self._reify_prop_rack_always_empty(rack_name, None)]
self.pb.add_constraint(up.Iff(at_least_one_rack_always_empty, up.Or(terms)))
return at_least_one_rack_always_empty
def _reify_prop_jig_always_placed_on_rack_shorter_or_same_size_as(
self,
jig_name: str,
max_allowed_rack_size: int,
prop_id: PropId | None,
) -> up.Parameter:
reif_name = f"{'hard_' if prop_id in self.pb_def.props_ids_hard_list else ''}prop_{prop_id}_{jig_name}_always_placed_on_rack_shorter_or_same_size_as" if prop_id is not None else f"{jig_name}_always_placed_on_rack_shorter_or_same_size_as"
if self.pb.has_name(reif_name):
jig_always_placed_on_rack_shorter_or_same_size_as = self.pb.get_variable(reif_name)
else:
jig_always_placed_on_rack_shorter_or_same_size_as = self.pb.add_variable(reif_name, up.BoolType())
terms = []
_temp = self.pb.explicit_initial_values.get(self.at(self.jig_objects[jig_name]), None)
if _temp is not None and _temp.object() in self.rack_objects.values(): # (if initially at a rack, and not a beluga for example)
rack_jig_is_initially_at = _temp.object()
else:
rack_jig_is_initially_at = None
if rack_jig_is_initially_at is not None:
assert self.rack_size(rack_jig_is_initially_at) in self.pb.explicit_initial_values
terms += [up.LE(self.pb.explicit_initial_values[self.rack_size(rack_jig_is_initially_at)], max_allowed_rack_size)]
#terms += [up.Implies(putdown.present, up.LE(putdown.get_parameter("rs"), max_allowed_rack_size))
# for (_, putdown) in self.all_unloads_w_putdowns.values()]
#terms += [up.Implies(putdown.present, up.LE(putdown.get_parameter("rs"), max_allowed_rack_size))
# for (_, putdown) in self.all_gets_w_putdowns.values()]
#terms += [up.Implies(putdown.present, up.LE(putdown.get_parameter("rs"), max_allowed_rack_size))
# for (_, putdown) in self.all_swap_pickups_n_putdowns.values()]
terms += [up.Implies(putdown.present, up.LE(putdown.get_parameter("rs"), max_allowed_rack_size))
for putdown in self.all_putdowns]
self.pb.add_constraint(up.Iff(jig_always_placed_on_rack_shorter_or_same_size_as, up.And(terms)))
return jig_always_placed_on_rack_shorter_or_same_size_as
def _reify_prop_num_swaps_used_leq_val(
self,
val: int,