#! /bin/bash

#############################################################################
#                     Propositional ReliefWork Domain                       #
#############################################################################
#	Copyright (C) 2006 by Muhammad Abdul Hakim Newton mahnewton@gmail.com	#
#	                                                                     	#
#	This program is free software; you can redistribute it and/or modify	#
#	it under the terms of the GNU General Public License as published by	#
#	the Free Software Foundation; either version 2 of the License, or     	#
#	(at your option) any later version.                                   	#
#	                                                                      	#
#	This program is distributed in the hope that it will be useful,       	#
#	but WITHOUT ANY WARRANTY; without even the implied warranty of        	#
#	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         	#
#	GNU General Public License for more details.                          	#
#	                                                                      	#
#	You should have received a copy of the GNU General Public License     	#
#	along with this program; if not, write to the                         	#
#	Free Software Foundation, Inc.,                                       	#
#	59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             	#
#############################################################################


#	global variables
declare PROGRAM=$0		#	program name
declare -i COUNT=$#		#	parameter count
declare DOMAIN=$(basename $0 | sed -r s/\.[[:alnum:]_-]+$//)	#	domain and file names are same
declare OPTION=$1		#	generate the domain (-d) or a problem (-p) or usage ()

#	global functions
declare -f explain
declare -f domain
declare -f problem

#	explain usage and game rules
function explain
{
	echo
	echo "Usage for domain:"
	echo "	$PROGRAM -d [ey|en]"
	echo "		ey	:	use object equality (default)"
	echo "		en	:	do not use object equality"
	echo "Usage for problem:"
	echo "	$PROGRAM -p #victim [#seed]"
	echo "		#victim	:	number of flood victims (>= 3)"
	echo "		#seed	:	optional seed for random number generation" 
	echo "Description:"
	echo "	> The propositional ReliefWork represents a relief work in a flood affected area."
	echo "	> Victims might need relief packs, shelter, or ambulance service."
	echo "	> There are a relief camp, a patrol boat, a pickup boat and an ambulance boat."
	echo "	> A victim may be known to the patrol team or another victim."
	echo "	> The patrol boat attends every victim not previously attended."
	echo "	> The patrol boat gives packs to, or calls the pickup or the ambulance boat for victims."
	echo "	> The pickup boat picks shelterless victims and takes to the camp shelter."
	echo "	> The ambulance boat takes victims needing emergency treatment to the camp hospital."
	echo
	return 2
}


#	generate the domain
function domain
{
	echo 
	echo "(define"
	echo "	(domain $DOMAIN)"
	echo "	(:requirements"
	if [[ -z $EQUALITY || $EQUALITY == "ey" ]]
	then
		echo "		:strips :typing :equality"
	else
		echo "		:strips :typing"
	fi
	echo "	)"
	echo "	(:types"
	echo "		victim boat pack seat"
	echo "	)"
	echo "	(:constants"
	echo "		patrol pickup ambulance - boat"
	echo "		camp - victim"				#	dummy victim
	echo "		pack1 pack2 pack3 - pack"	#	the patrol boat can have only 3 packs on board
	echo "		seat1 seat2 - seat"			#	the pickup boat has only two seats
	echo "	)"
	echo "	(:predicates"
	echo "		(know-about ?v1 ?v2 - victim)"
	echo "		(unattended ?v - victim)"
	echo "		(attended ?v - victim)"
	echo "		(need-reliefpack ?v - victim)"
	echo "		(got-reliefpack ?v - victim)"
	echo "		(need-ambulance ?v - victim)"
	echo "		(ambulance-called ?v - victim)"
	echo "		(on-ambulance ?v - victim)"
	echo "		(hospitalized ?v - victim)"
	echo "		(need-shelter ?v - victim)"
	echo "		(pickup-called ?v - victim)"
	echo "		(picked-up ?v - victim ?s - seat)"
	echo "		(got-shelter ?v - victim)"
	echo "		(boat-at ?b - boat ?v - victim)"
	echo "		(reliefpack-full ?p - pack)"
	echo "		(reliefpack-empty ?p - pack)"
	echo "		(pickup-empty ?s - seat)"
	echo "		(ambulance-empty)"
	echo "	)"
	echo "	(:action take-pack"
	echo "		:parameters (?p - pack)"
	echo "		:precondition"
	echo "			(and"
	echo "				(boat-at patrol camp)"
	echo "				(reliefpack-empty ?p)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (reliefpack-empty ?p))"
	echo "				(reliefpack-full ?p)"
	echo "			)"
	echo "	)"
	echo "	(:action inform-patrol"
	echo "		:parameters (?v1 ?v2 - victim)"
	echo "		:precondition"
	echo "			(and"
	if [[ -z $EQUALITY || $EQUALITY == "ey" ]]
	then
		echo "				(not (= ?v1 ?v2))"
	fi
	echo "				(boat-at patrol ?v1)"
	echo "				(know-about ?v1 ?v2)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (know-about ?v1 ?v2))"
	echo "				(unattended ?v2)"
	echo "			)"
	echo "	)"
	echo "	(:action give-pack"
	echo "		:parameters (?v - victim ?p - pack)"
	echo "		:precondition"
	echo "			(and"
	echo "				(boat-at patrol ?v)"
	echo "				(unattended ?v)"
	echo "				(need-reliefpack ?v)"
	echo "				(reliefpack-full ?p)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (unattended ?v))"
	echo "				(not (need-reliefpack ?v))"
	echo "				(attended ?v)"
	echo "				(got-reliefpack ?v)"
	echo "				(not (reliefpack-full ?p))"
	echo "				(reliefpack-empty ?p)"
	echo "			)"
	echo "	)"
	echo "	(:action move-patrol"
	echo "		:parameters (?v1 ?v2 - victim)"
	echo "		:precondition"
	echo "			(and"
	if [[ -z $EQUALITY || $EQUALITY == "ey" ]]
	then
		echo "				(not (= ?v1 ?v2))"
	fi
	echo "				(attended ?v1)"
	echo "				(boat-at patrol ?v1)"
	echo "				(unattended ?v2)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (boat-at patrol ?v1))"
	echo "				(boat-at patrol ?v2)"
	echo "			)"
	echo "	)"
	echo "	(:action call-pickup"
	echo "		:parameters (?v - victim)"
	echo "		:precondition"
	echo "			(and"
	echo "				(boat-at patrol ?v)"
	echo "				(unattended ?v)"
	echo "				(need-shelter ?v)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (unattended ?v))"
	echo "				(not (need-shelter ?v))"
	echo "				(attended ?v)"
	echo "				(pickup-called ?v)"
	echo "			)"
	echo "	)"
	echo "	(:action move-pickup"
	echo "		:parameters (?v1 ?v2 - victim)"
	echo "		:precondition"
	echo "			(and"
	if [[ -z $EQUALITY || $EQUALITY == "ey" ]]
	then
		echo "				(not (= ?v1 ?v2))"
	fi
	echo "				(boat-at pickup ?v1)"
	echo "				(pickup-called ?v2)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (boat-at pickup ?v1))"
	echo "				(boat-at pickup ?v2)"
	echo "			)"
	echo "	)"
	echo "	(:action pickup-victim"
	echo "		:parameters (?v - victim ?s - seat)"
	echo "		:precondition"
	echo "			(and"
	echo "				(pickup-called ?v)"
	echo "				(boat-at pickup ?v)"
	echo "				(pickup-empty ?s)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (pickup-called ?v))"
	echo "				(not (pickup-empty ?s))"
	echo "				(picked-up ?v ?s)"
	echo "			)"
	echo "	)"
	echo "	(:action dropoff-victim"
	echo "		:parameters (?v - victim ?s - seat)"
	echo "		:precondition"
	echo "			(and"
	echo "				(picked-up ?v ?s)"
	echo "				(boat-at pickup camp)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (picked-up ?v ?s))"
	echo "				(got-shelter ?v)"
	echo "				(pickup-empty ?s)"
	echo "			)"
	echo "	)"
	echo "	(:action call-ambulance"
	echo "		:parameters (?v - victim)"
	echo "		:precondition"
	echo "			(and"
	echo "				(boat-at patrol ?v)"
	echo "				(unattended ?v)"
	echo "				(need-ambulance ?v)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (need-ambulance ?v))"
	echo "				(ambulance-called ?v)"
	echo "			)"
	echo "	)"
	echo "	(:action move-ambulance"
	echo "		:parameters (?v1 ?v2 - victim)"
	echo "		:precondition"
	echo "			(and"
	if [[ -z $EQUALITY || $EQUALITY == "ey" ]]
	then
		echo "				(not (= ?v1 ?v2))"
	fi
	echo "				(boat-at ambulance ?v1)"
	echo "				(ambulance-called ?v2)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (boat-at ambulance ?v1))"
	echo "				(boat-at ambulance ?v2)"
	echo "			)"
	echo "	)"
	echo "	(:action receive-victim"
	echo "		:parameters (?v - victim)"
	echo "		:precondition"
	echo "			(and"
	echo "				(boat-at patrol ?v)"
	echo "				(ambulance-called ?v)"
	echo "				(boat-at ambulance ?v)"
	echo "				(unattended ?v)"
	echo "				(ambulance-empty)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (ambulance-called ?v))"
	echo "				(on-ambulance ?v)"
	echo "				(not (unattended ?v))"
	echo "				(attended ?v)"
	echo "				(not (ambulance-empty))"
	echo "			)"
	echo "	)"
	echo "	(:action hospitalize-victim"
	echo "		:parameters (?v - victim)"
	echo "		:precondition"
	echo "			(and"
	echo "				(boat-at ambulance camp)"
	echo "				(on-ambulance ?v)"
	echo "			)"
	echo "		:effect"
	echo "			(and"
	echo "				(not (on-ambulance ?v))"
	echo "				(hospitalized ?v)"
	echo "				(ambulance-empty)"
	echo "			)"
	echo "	)"
	echo ")"
	echo
	return 0
}

function problem
{
	if (( SEED != 0 ))		#	if a seed is provided, use that 
	then
		RANDOM=$SEED
	fi
	echo
	echo "(define"
	echo "	(problem $DOMAIN-$VICTIM)"
	echo "	(:domain $DOMAIN)"
	echo "	(:objects"
	for (( i = 0; i < VICTIM; i++ ))
	do
		echo "		v$i"				#	victims
	done
	echo "			- victim"
	echo "	)"
	echo "	(:init"
	declare -i NEEDRELIEFPACK=0
	declare -i NEEDSHELTER=0
	declare -i NEEDAMBULANCE=0
	declare -a VICTIMNEED
	for (( i = 0; i < VICTIM; i++ ))	#	distribute victims over the need categories
	do
		if (( RANDOM % 3 == 0))
		then
			VICTIMNEED[$i]="ambulance"
			NEEDAMBULANCE=$((NEEDAMBULANCE + 1))
		elif (( RANDOM % 2 == 0))
		then
			VICTIMNEED[$i]="shelter"
			NEEDSHELTER=$((NEEDSHELTER + 1))
		else
			VICTIMNEED[$i]="reliefpack"
			NEEDRELIEFPACK=$((NEEDRELIEFPACK + 1))
		fi
	done
	while (( NEEDRELIEFPACK == 0 || NEEDSHELTER == 0 || NEEDAMBULANCE == 0 ))
	do									#	each need caterogy must have some victims	
		j=$((RANDOM % VICTIM))			#	select a random victim
		case ${VICTIMNEED[$j]} in		#	his category will be changed
			("ambulance")
				NEEDAMBULANCE=$((NEEDAMBULANCE - 1))
				;;
			("shelter")
				NEEDSHELTER=$((NEEDSHELTER - 1))
				;;
			("needpack")
				NEEDRELIEFPACK=$((NEEDRELIEFPACK - 1))
				;;
		esac
		if [[ $NEEDAMBULANCE -eq 0 ]]	#	make this the category of the selected victim
		then
			VICTIMNEED[$j]="ambulance"
			NEEDAMBULANCE=$((NEEDAMBULANCE + 1))
		elif [[ $NEEDSHELTER -eq 0 ]]		#	make this the category of the selected victim
		then
			VICTIMNEED[$j]="shelter"
			NEEDSHELTER=$((NEEDSHELTER + 1))
		elif [[ $NEEDRELIEFPACK -eq 0 ]]		#	make this the category of the selected victim
		then
			VICTIMNEED[$j]="reliefpack"
			NEEDRELIEFPACK=$((NEEDRELIEFPACK + 1))
		fi
	done
	for (( i = 0; i < VICTIM; i++ ))	#	pddl output
	do
		case ${VICTIMNEED[$i]} in
			("ambulance")
				echo "		(need-ambulance v$i)"
				;;
			("shelter")
				echo "		(need-shelter v$i)"
				;;
			("reliefpack")
				echo "		(need-reliefpack v$i)"
				;;
		esac
	done
	declare -a KNOWNBY
	for (( i = 0; i < VICTIM; i++ ))	#	initially every body knows himself only
	do
		KNOWNBY[$i]=$i
	done
	for (( i = 0; i < VICTIM; i++ ))
	do
		if (( RANDOM % 3 != 0 ))		#	change a victims known-by to another victim who is not known to others		
		then
			j=$(( RANDOM % VICTIM ))
			if [[ KNOWNBY[$j] -eq $j ]]
			then
				KNOWNBY[$i]=$j
			fi
		fi
	done
	for (( i = 0; i < VICTIM; i++ ))
	do
		if [[ ${KNOWNBY[$i]} -eq $i ]]
		then
			echo "		(unattended v$i)"		#	a victim not known to others must raise his need himself 
		else
			echo "		(know-about v${KNOWNBY[$i]} v$i)"
		fi 
	done
	echo "		(reliefpack-empty pack1)"
	echo "		(reliefpack-empty pack2)"
	echo "		(reliefpack-empty pack3)"
	echo "		(pickup-empty seat1)"
	echo "		(pickup-empty seat2)"
	echo "		(ambulance-empty)"
	echo "		(boat-at patrol camp)"
	echo "		(boat-at pickup camp)"
	echo "		(boat-at ambulance camp)"
	echo "		(unattended camp)"			#	to ensure move operations work
	echo "		(attended camp)"			#	to ensure move operations work
	echo "		(pickup-called camp)"		#	to ensure move operations work
	echo "		(ambulance-called camp)"	#	to ensure move operations work
	echo "	)"
	echo "	(:goal"
	echo "		(and"
	for (( i = 0; i < VICTIM; i++ ))
	do
		case ${VICTIMNEED[$i]} in
			("ambulance")
				echo "			(hospitalized v$i)"
				;;
			("shelter")
				echo "			(got-shelter v$i)"
				;;
			("reliefpack")
				echo "			(got-reliefpack v$i)"
				;;
		esac
	done
	echo "		)"
	echo "	)"
	echo ")"
	echo
	return 0
}



#	main body

if [[ $OPTION == "-p" ]] 
then
	declare -i VICTIM=$2		#	number of places
	declare -i SEED=$3		#	optional seed for random number generation
	if (( ($COUNT == 2 || $COUNT == 3) && $VICTIM >= 3)) 
	then
		problem
	else
		echo
		echo "	Error in parameter count or parameter values."
		echo
		explain
	fi
elif [[ $OPTION == "-d" ]]
then
	declare EQUALITY=$2		#	optional equality (ey) no-equality (en)
	if [[ $COUNT -eq 1 || $COUNT -eq 2 && $EQUALITY == e[yn] ]] 
	then
		domain
	else
		echo
		echo "	Error in parameter count or parameter values."
		echo
		explain
	fi
else
	explain
fi
exit $?