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A Java API for Meta-CSP based reasoning
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 * Copyright (c) 2010-2013 Federico Pecora 
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package org.metacsp.examples.meta;

import java.util.logging.Level;

import org.metacsp.framework.Constraint;
import org.metacsp.framework.ConstraintNetwork;
import org.metacsp.meta.simplePlanner.ProactivePlanningDomain;
import org.metacsp.meta.simplePlanner.SimpleDomain;
import org.metacsp.meta.simplePlanner.SimpleDomain.markings;
import org.metacsp.meta.simplePlanner.SimplePlanner;
import org.metacsp.multi.activity.SymbolicVariableActivity;
import org.metacsp.multi.activity.ActivityNetworkSolver;
import org.metacsp.multi.allenInterval.AllenIntervalConstraint;
import org.metacsp.time.APSPSolver;
import org.metacsp.time.Bounds;
import org.metacsp.utility.logging.MetaCSPLogging;
import org.metacsp.utility.timelinePlotting.TimelinePublisher;
import org.metacsp.utility.timelinePlotting.TimelineVisualizer;

public class TestCausalPlanning {	
	
	public static void main(String[] args) {

		//Create planner
		SimplePlanner planner = new SimplePlanner(0,6000,0);
		MetaCSPLogging.setLevel(planner.getClass(), Level.FINEST);

		//ProactivePlanningDomain.parseDomain(planner, "domains/testCausalPlanningDomain.ddl");
		SimpleDomain.parseDomain(planner, "domains/testCausalPlanningDomain.ddl", SimpleDomain.class);
		MetaCSPLogging.setLevel(ProactivePlanningDomain.class, Level.FINEST);
		
		// This is a pointer toward the ground constraint network of the planner
		ActivityNetworkSolver groundSolver = (ActivityNetworkSolver)planner.getConstraintSolvers()[0];

		// INITIAL AND GOAL STATE DEFS
		SymbolicVariableActivity one = (SymbolicVariableActivity)groundSolver.createVariable("Robot");
		one.setSymbolicDomain("At(?to)");
		// ... this is a goal (i.e., an activity to justify through the meta-constraint)
		one.setMarking(markings.UNJUSTIFIED);
		//.. let's also give it a minimum duration
		AllenIntervalConstraint durationOne = new AllenIntervalConstraint(AllenIntervalConstraint.Type.Duration, new Bounds(7,APSPSolver.INF));
		durationOne.setFrom(one);
		durationOne.setTo(one);
		
		groundSolver.addConstraints(new Constraint[] {durationOne});
		
//		// We can also specify that goals should be related in time somehow...		
//		AllenIntervalConstraint after = new AllenIntervalConstraint(AllenIntervalConstraint.Type.After, AllenIntervalConstraint.Type.After.getDefaultBounds());
//		after.setFrom(one);
//		after.setTo(two);
//		groundSolver.addConstraint(after);
		
		//Initial Condition
		SymbolicVariableActivity init1 = (SymbolicVariableActivity)groundSolver.createVariable("Robot");
		init1.setSymbolicDomain("At(?from)");
		init1.setMarking(markings.JUSTIFIED);
		AllenIntervalConstraint durationInit1 = new AllenIntervalConstraint(AllenIntervalConstraint.Type.Duration, new Bounds(1300,APSPSolver.INF));
		durationInit1.setFrom(init1);
		durationInit1.setTo(init1);

		groundSolver.addConstraints(durationInit1);
		
		planner.backtrack();
		
		//TimelinePublisher tp = new TimelinePublisher((ActivityNetworkSolver)planner.getConstraintSolvers()[0], new Bounds(0,60000), true, "Robot", "LocalizationService", "RFIDReader", "LaserScanner");
		TimelinePublisher tp = new TimelinePublisher(planner.getConstraintSolvers()[0].getConstraintNetwork(), new Bounds(0,60000), true, "Robot", "LocalizationService", "RFIDReader", "LaserScanner");
		TimelineVisualizer tv = new TimelineVisualizer(tp);
		tp.publish(true, false);
		
		ConstraintNetwork.draw(groundSolver.getConstraintNetwork());

	}
	
	

}