#include "state_equation_constraints.h"

#include "../lp/lp_solver.h"
#include "../plugins/plugin.h"
#include "../task_utils/task_properties.h"
#include "../utils/logging.h"
#include "../utils/markup.h"

#include <limits>

using namespace std;

namespace operator_counting {
StateEquationConstraints::StateEquationConstraints(
    utils::Verbosity verbosity)
    : log(utils::get_log_for_verbosity(verbosity)) {
}

static void add_indices_to_constraint(lp::LPConstraint &constraint,
                                      const set<int> &indices,
                                      double coefficient) {
    for (int index : indices) {
        constraint.insert(index, coefficient);
    }
}

void StateEquationConstraints::build_propositions(const TaskProxy &task_proxy) {
    VariablesProxy vars = task_proxy.get_variables();
    propositions.reserve(vars.size());
    for (VariableProxy var : vars) {
        propositions.push_back(vector<Proposition>(var.get_domain_size()));
    }
    OperatorsProxy ops = task_proxy.get_operators();
    for (size_t op_id = 0; op_id < ops.size(); ++op_id) {
        const OperatorProxy &op = ops[op_id];
        vector<int> precondition(vars.size(), -1);
        for (FactProxy condition : op.get_preconditions()) {
            int pre_var_id = condition.get_variable().get_id();
            precondition[pre_var_id] = condition.get_value();
        }
        for (EffectProxy effect_proxy : op.get_effects()) {
            FactProxy effect = effect_proxy.get_fact();
            int var = effect.get_variable().get_id();
            int pre = precondition[var];
            int post = effect.get_value();
            assert(post != -1);
            assert(pre != post);

            if (pre != -1) {
                propositions[var][post].always_produced_by.insert(op_id);
                propositions[var][pre].always_consumed_by.insert(op_id);
            } else {
                propositions[var][post].sometimes_produced_by.insert(op_id);
            }
        }
    }
}

void StateEquationConstraints::add_constraints(
    named_vector::NamedVector<lp::LPConstraint> &constraints, double infinity) {
    for (vector<Proposition> &var_propositions : propositions) {
        for (Proposition &prop : var_propositions) {
            lp::LPConstraint constraint(-infinity, infinity);
            add_indices_to_constraint(constraint, prop.always_produced_by, 1.0);
            add_indices_to_constraint(constraint, prop.sometimes_produced_by, 1.0);
            add_indices_to_constraint(constraint, prop.always_consumed_by, -1.0);
            if (!constraint.empty()) {
                prop.constraint_index = constraints.size();
                constraints.push_back(constraint);
            }
        }
    }
}

void StateEquationConstraints::initialize_constraints(
    const shared_ptr<AbstractTask> &task, lp::LinearProgram &lp) {
    if (log.is_at_least_normal()) {
        log << "Initializing constraints from state equation." << endl;
    }
    TaskProxy task_proxy(*task);
    task_properties::verify_no_axioms(task_proxy);
    task_properties::verify_no_conditional_effects(task_proxy);
    build_propositions(task_proxy);
    add_constraints(lp.get_constraints(), lp.get_infinity());

    // Initialize goal state.
    VariablesProxy variables = task_proxy.get_variables();
    goal_state = vector<int>(variables.size(), numeric_limits<int>::max());
    for (FactProxy goal : task_proxy.get_goals()) {
        goal_state[goal.get_variable().get_id()] = goal.get_value();
    }
}

bool StateEquationConstraints::update_constraints(const State &state,
                                                  lp::LPSolver &lp_solver) {
    // Compute the bounds for the rows in the LP.
    for (size_t var = 0; var < propositions.size(); ++var) {
        int num_values = propositions[var].size();
        for (int value = 0; value < num_values; ++value) {
            const Proposition &prop = propositions[var][value];
            // Set row bounds.
            if (prop.constraint_index >= 0) {
                double lower_bound = 0;
                /* If we consider the current value of var, there must be an
                   additional consumer. */
                if (state[var].get_value() == value) {
                    --lower_bound;
                }
                /* If we consider the goal value of var, there must be an
                   additional producer. */
                if (goal_state[var] == value) {
                    ++lower_bound;
                }
                lp_solver.set_constraint_lower_bound(
                    prop.constraint_index, lower_bound);
            }
        }
    }
    return false;
}

class StateEquationConstraintsFeature
    : public plugins::TypedFeature<ConstraintGenerator, StateEquationConstraints> {
public:
    StateEquationConstraintsFeature() : TypedFeature("state_equation_constraints") {
        document_title("State equation constraints");
        document_synopsis(
            "For each fact, a permanent constraint is added that considers the net "
            "change of the fact, i.e., the total number of times the fact is added "
            "minus the total number of times is removed. The bounds of each "
            "constraint depend on the current state and the goal state and are "
            "updated in each state. For details, see" + utils::format_conference_reference(
                {"Menkes van den Briel", "J. Benton", "Subbarao Kambhampati",
                 "Thomas Vossen"},
                "An LP-based heuristic for optimal planning",
                "http://link.springer.com/chapter/10.1007/978-3-540-74970-7_46",
                "Proceedings of the Thirteenth International Conference on"
                " Principles and Practice of Constraint Programming (CP 2007)",
                "651-665",
                "Springer-Verlag",
                "2007") + utils::format_conference_reference(
                {"Blai Bonet"},
                "An admissible heuristic for SAS+ planning obtained from the"
                " state equation",
                "http://ijcai.org/papers13/Papers/IJCAI13-335.pdf",
                "Proceedings of the Twenty-Third International Joint"
                " Conference on Artificial Intelligence (IJCAI 2013)",
                "2268-2274",
                "AAAI Press",
                "2013") + utils::format_conference_reference(
                {"Florian Pommerening", "Gabriele Roeger", "Malte Helmert",
                 "Blai Bonet"},
                "LP-based Heuristics for Cost-optimal Planning",
                "http://www.aaai.org/ocs/index.php/ICAPS/ICAPS14/paper/view/7892/8031",
                "Proceedings of the Twenty-Fourth International Conference"
                " on Automated Planning and Scheduling (ICAPS 2014)",
                "226-234",
                "AAAI Press",
                "2014"));

        utils::add_log_options_to_feature(*this);
    }

    virtual shared_ptr<StateEquationConstraints> create_component(
        const plugins::Options &opts,
        const utils::Context &) const override {
        return plugins::make_shared_from_arg_tuples<StateEquationConstraints>(
            utils::get_log_arguments_from_options(opts));
    }
};


static plugins::FeaturePlugin<StateEquationConstraintsFeature> _plugin;
}
