mahler/build/planner/types.d.ts

A automated task composer and HTN based planner for building autonomous system agents

import type { Operation } from '../operation';
import type { Target } from '../target';
import type { Instruction, Method } from '../task';
import type { PlanNode } from './node';
/**
 * Stats about the planning process
 */
export interface PlanningStats {
    /**
     * Number of iterations (tasks tested) in total
     */
    iterations: number;
    /**
     * Maximum search depth
     */
    maxDepth: number;
    /**
     * Total search time in ms
     */
    time: number;
}
export type PlanningEvent<TState> = {
    /**
     * Planning has started
     */
    event: 'start';
    /**
     * The target state to reach
     */
    target: Target<TState>;
} | {
    /**
     * Search expansion started
     */
    event: 'find-next';
    /**
     * The last node in the plan
     */
    prev: PlanNode<TState> | null;
    /**
     * The current state at this planning stage
     */
    state: TState;
    /**
     * The current search depth
     */
    depth: number;
    /**
     * List of pending operations
     */
    operations: Array<Operation<TState, any>>;
} | {
    /**
     * An instruction was chosen
     */
    event: 'try-instruction';
    /**
     * The caller instruction
     */
    parent: Method<TState> | undefined;
    /**
     * The previous node in the plan
     */
    prev: PlanNode<TState> | null;
    /**
     * The instruction chosen
     */
    instruction: Instruction<TState>;
    /**
     * What is the operation for which the instruction
     * was chosen
     */
    operation: Operation<TState, any>;
    /**
     * The current state at this planning state. If the instruction
     * is a method, the current state may evolve as the method is unwrapped
     */
    state: TState;
} | {
    event: 'backtrack-method';
    method: Method<TState>;
    state: TState;
} | {
    /**
     * No more operations remain to be tested
     */
    event: 'found';
    /**
     * The last node added to the plan
     */
    prev: PlanNode<TState> | null;
} | {
    /**
     * A plan was found
     */
    event: 'success';
    /**
     * The start node of the plan
     */
    start: PlanNode<TState> | null;
} | {
    /**
     * Failed to find a plan
     */
    event: 'failed';
};
export declare class PlanningError extends Error {
    event: "error";
    constructor(reason: string, cause?: unknown);
}
export declare const ConditionNotMet: PlanningError;
export declare const LoopDetected: PlanningError;
export declare const MethodExpansionEmpty: PlanningError;
export declare const SearchFailed: PlanningError;
export declare class Aborted extends PlanningError {
    stats: PlanningStats;
    constructor(cause: unknown, stats: PlanningStats);
}
export type Trace<TState> = (e: PlanningEvent<TState> | PlanningError) => void;
export interface PlannerConfig<TState> {
    /**
     * A function used by the planner to debug the search
     * for a plan. It defaults to a noop.
     */
    trace: Trace<TState>;
    /**
     * Max search depth before giving up. Defaults to 1000.
     *
     * While the planner implements loop detection, depending on the task
     * implementation, there still can be cases where the planner can keep adding
     * the same action in an infinite loop. This parameter allows to stop the
     * search after a certain number of iterations to avoid this.
     */
    maxSearchDepth: number;
}