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Correct behavior for multi-task HTN methods.

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Add tasks to the left of the deque, not the right.

Not symptomatic yet since we don't actually have any multi-task methods
currently.
This commit is contained in:
Dan Albert 2021-07-14 18:34:33 -07:00
parent 72c181a399
commit 56b17dfbcf
1 changed files with 8 additions and 6 deletions
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14
game/htn.py
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@ -1,7 +1,7 @@
from __future__ import annotations
from abc import ABC, abstractmethod
from collections import Iterator, deque
from collections import Iterator, deque, Sequence
from dataclasses import dataclass
from typing import Any, Generic, Optional, TypeVar
@ -18,7 +18,7 @@ class Task(Generic[WorldStateT]):
pass
Method = list[Task[WorldStateT]]
Method = Sequence[Task[WorldStateT]]
class PrimitiveTask(Task[WorldStateT], Generic[WorldStateT], ABC):
@ -104,18 +104,20 @@ class Planner(Generic[WorldStateT, PrimitiveTaskT]):
methods = planning_state.methods
try:
method = next(methods)
# Push the current node back onto the stack so that we resume
# handling this task when we pop back to this state.
resume_tasks: deque[Task[WorldStateT]] = deque([task])
resume_tasks.extend(planning_state.tasks_to_process)
history.push(
PlanningState(
planning_state.state.clone(),
# Push the current node back onto the stack so that we
# resume handling this task when we pop back to this state.
planning_state.tasks_to_process + deque([task]),
resume_tasks,
planning_state.plan,
methods,
)
)
planning_state.methods = None
planning_state.tasks_to_process.extend(method)
planning_state.tasks_to_process.extendleft(reversed(method))
except StopIteration:
try:
planning_state = history.pop()