typesetting/csp/csp.rkt

#lang debug racket
(require racket/generator sugar/debug)
(provide (all-defined-out))
(struct $csp ([vars #:mutable]
              [constraints #:mutable]) #:transparent)

(define (make-csp) ($csp null null))
(define debug (make-parameter #false))

(define (in-cartesian argss)
  (in-generator (let loop ([argss argss][acc empty])
                  (if (null? argss)
                      (yield (reverse acc))
                      (for ([arg (in-list (car argss))])
                        (loop (cdr argss) (cons arg acc)))))))

(struct $var (name vals) #:transparent)
(define $var-name? symbol?)
(struct $constraint (names proc) #:transparent
  #:property prop:procedure
  (λ (constraint csp)
    (unless ($csp? csp)
      (raise-argument-error '$constraint-proc "$csp" csp))
    ;; apply proc in many-to-many style
    (for/and ([args (in-cartesian (map (λ (cname) ($csp-vals csp cname)) ($constraint-names constraint)))])
      (apply ($constraint-proc constraint) args))))

(define/contract (check-name-in-csp! caller csp name)
  (symbol? $csp? $var-name? . -> . void?)
  (define names (map $var-name ($csp-vars csp)))
  (unless (memq name names)
    (raise-argument-error caller (format "one of these existing csp var names: ~v" names) name)))

(define (nary-constraint? constraint n)
  (= n (constraint-arity constraint)))

(define/contract (unary-constraint? constraint)
  ($constraint? . -> . boolean?)
  (nary-constraint? constraint 1))

(define/contract (binary-constraint? constraint)
  ($constraint? . -> . boolean?)
  (nary-constraint? constraint 2))

(define/contract (add-vars! csp names-or-procedure [vals-or-procedure empty])
  (($csp? (or/c (listof $var-name?) procedure?)) ((or/c (listof any/c) procedure?)) . ->* . void?)
  (for/fold ([vars ($csp-vars csp)]
             #:result (set-$csp-vars! csp vars))
            ([name (in-list (if (procedure? names-or-procedure)
                                (names-or-procedure)
                                names-or-procedure))])
    (when (memq name (map $var-name vars))
      (raise-argument-error 'add-vars! "var that doesn't already exist" name))
    (append vars (list ($var name (if (procedure? vals-or-procedure)
                                      (vals-or-procedure)
                                      vals-or-procedure))))))

(define/contract (add-var! csp name [vals-or-procedure empty])
  (($csp? $var-name?) ((or/c (listof any/c) procedure?)) . ->* . void?)
  (add-vars! csp (list name) vals-or-procedure))

(define/contract (add-constraints! csp proc namess [proc-name #false])
  (($csp? procedure? (listof (listof $var-name?))) ((or/c #false $var-name?)) . ->* . void?)
  (set-$csp-constraints! csp (append ($csp-constraints csp) 
                                     (for/list ([names (in-list namess)])
                                       (for ([name (in-list names)])
                                         (check-name-in-csp! 'add-constraints! csp name))
                                       ($constraint names (if proc-name
                                                              (procedure-rename proc proc-name)
                                                              proc))))))

(define/contract (add-pairwise-constraint! csp proc var-names [proc-name #false])
  (($csp? procedure? (listof $var-name?)) ($var-name?) . ->* . void?)
  (add-constraints! csp proc (combinations var-names 2) proc-name))

(define/contract (add-constraint! csp proc var-names [proc-name #false])
  (($csp? procedure? (listof $var-name?)) ($var-name?) . ->* . void?)
  (add-constraints! csp proc (list var-names) proc-name))

(define/contract (no-solutions? csp)
  ($csp? . -> . boolean?)
  (zero? (state-count csp)))

(struct inconsistency-signal () #:transparent)

(define/contract (apply-unary-constraint csp constraint)
  ($csp? unary-constraint? . -> . $csp?)
  (define (update-csp-vars name vals)
    (for/list ([var (in-list ($csp-vars csp))])
      (if (eq? ($var-name var) name)
          ($var name vals)
          var)))    
  (match-define ($constraint (list name) proc) constraint)
  (match (if (promise? proc)
             (force proc)
             (filter proc ($csp-vals csp name)))
    [(list) (raise (inconsistency-signal))]
    [(list assigned-val) (make-nodes-consistent
                          (remove-assigned-constraints
                           (reduce-constraint-arity
                            (validate-assignments
                             (make-arcs-consistent
                              ($csp
                               (update-csp-vars name (list assigned-val))
                               ($csp-constraints csp)) #:mac name)))))]
    [(list new-vals ...) ($csp (update-csp-vars name new-vals)
                               ;; once the constraint is applied, it can go away
                               ;; ps this is not the same as an "assigned" constraint
                               ;; because the var may still have multiple values
                               (remove constraint ($csp-constraints csp)))]))

(define/contract (make-nodes-consistent csp)
  ($csp? . -> . $csp?)
  (for/fold ([csp csp])
            ([constraint (in-list ($csp-constraints csp))]
             #:when (unary-constraint? constraint))
    (apply-unary-constraint csp constraint)))

(define/contract ($csp-vals csp name)
  ($csp? $var-name? . -> . (listof any/c))
  (check-name-in-csp! '$csp-vals csp name)
  (for/first ([var (in-list ($csp-vars csp))]
              #:when (eq? name ($var-name var)))
    ($var-vals var)))

(struct $arc (name constraint) #:transparent)

(define/contract (reduce-domains-by-arc csp arc)
  ($csp? $arc? . -> . $csp?)
  (match-define ($arc name ($constraint names constraint-proc)) arc)
  (match-define (list other-name) (remove name names))
  (define proc (if (eq? name (first names)) ; name is on left
                   constraint-proc ; so val stays on left
                   (λ (val other-val) (constraint-proc other-val val)))) ; otherwise reverse arg order
  (define (satisfies-arc? val)
    (for/or ([other-val (in-list ($csp-vals csp other-name))])
      (proc val other-val)))
  (apply-unary-constraint csp ($constraint (list name)
                                           (procedure-rename
                                            satisfies-arc?
                                            (string->symbol (format "~a-arc-to-~a" (object-name proc)  other-name))))))

(define/contract (binary-constraints->arcs constraints)
  ((listof binary-constraint?) . -> . (listof $arc?))
  (for*/list ([constraint (in-list constraints)]
              [name (in-list ($constraint-names constraint))])
    ($arc name constraint)))

(define/contract (terminating-at arcs name)
  ((listof $arc?) $var-name? . -> . (listof $arc?))
  (for/list ([arc (in-list arcs)]
             #:when (eq? name (second ($constraint-names ($arc-constraint arc)))))
    arc))

(define/contract (constraint-assigned? csp constraint)
  ($csp? $constraint? . -> . any/c)
  (for/and ([name (in-list ($constraint-names constraint))])
    (memq name (map $var-name (assigned-vars csp)))))

(define/contract (remove-assigned-constraints csp [arity #false])
  (($csp?) ((or/c #false exact-nonnegative-integer?)) . ->* . $csp?)
  ($csp
   ($csp-vars csp)
   (for/list ([constraint (in-list ($csp-constraints csp))]
              #:unless (and (if arity (= arity (constraint-arity constraint)) #true)
                            (constraint-assigned? csp constraint)))
     constraint)))

(define/contract (make-arcs-consistent csp #:mac [mac-name #f])
  (($csp?) (#:mac (or/c $var-name? #f)) . ->* . $csp?)
  ;; csp is arc-consistent if every pair of variables (x y)
  ;; has values in their domain that satisfy every binary constraint
  ;; AC-3 as described by AIMA @ 265
  (define (mac-condition? arc)
    (and
     (constraint-contains-name? ($arc-constraint arc) mac-name)
     (memq ($arc-name arc) (map $var-name (unassigned-vars csp))))) 
  (define starting-arcs
    (for/list ([arc (in-list (binary-constraints->arcs (filter binary-constraint? ($csp-constraints csp))))]
               #:when ((if mac-name mac-condition? values) arc))
      arc))
  (for/fold ([csp csp]
             [arcs starting-arcs]
             #:result csp)
            ([i (in-naturals)]
             #:break (empty? arcs))
    (match-define (cons arc other-arcs) arcs)
    (match-define ($arc name _) arc)
    (define reduced-csp (reduce-domains-by-arc csp arc))
    (values reduced-csp (if (= (length ($csp-vals csp name)) (length ($csp-vals reduced-csp name)))
                            ;; revision did not reduce the domain, so keep going
                            other-arcs
                            ;; revision reduced the domain, so supplement the list of arcs
                            (remove-duplicates (append (starting-arcs . terminating-at . name) other-arcs))))))

(define/contract (var-assigned? var)
  ($var? . -> . boolean?)
  (= 1 (remaining-values var)))

(define/contract (solution-complete? csp)
  ($csp? . -> . boolean?)
  (and (andmap var-assigned? ($csp-vars csp)) (empty? ($csp-constraints csp))))

(define (assigned-helper csp) (partition var-assigned? ($csp-vars csp)))

(define/contract (unassigned-vars csp)
  ($csp? . -> . (listof $var?))
  (match-define-values (assigned unassigned) (assigned-helper csp))
  unassigned)

(define/contract (assigned-vars csp)
  ($csp? . -> . (listof $var?))
  (match-define-values (assigned unassigned) (assigned-helper csp))
  assigned)

(define/contract (constraint-arity constraint)
  ($constraint? . -> . exact-nonnegative-integer?)
  (length ($constraint-names constraint)))

(define/contract (var-degree csp var)
  ($csp? $var? . -> . exact-nonnegative-integer?)
  (for/sum ([constraint (in-list ($csp-constraints csp))]
            #:when (constraint-contains-name? constraint ($var-name var)))
    1))

(define/contract (select-unassigned-var csp)
  ($csp? . -> . (or/c #f $var?))
  (match (unassigned-vars csp)
    [(list) #f]
    [(list uvars ...)
     ;; minimum remaining values (MRV) rule
     (define mrv-arg (argmin remaining-values uvars))
     (match (filter (λ (var) (= (remaining-values mrv-arg) (remaining-values var))) uvars)
       [(list winning-uvar) winning-uvar] 
       [(list mrv-uvars ...)
        ;; use degree as tiebreaker for mrv
        (define max-degree-arg (argmax (λ (var) (var-degree csp var)) mrv-uvars))
        ;; use random tiebreaker for degree
        (first (shuffle (filter (λ (var) (= (var-degree csp max-degree-arg) (var-degree csp var))) mrv-uvars)))])]))

(define/contract (order-domain-values vals)
  ((listof any/c) . -> . (listof any/c))
  ;; todo: least constraining value sort
  vals)

(define/contract (constraint-contains-name? constraint name)
  ($constraint? $var-name? . -> . boolean?)
  (and (memq name ($constraint-names constraint)) #true))

(define/contract (validate-assignments csp)
  ($csp? . -> . $csp?)
  (define assigned-constraints (filter (λ (c) (constraint-assigned? csp c)) ($csp-constraints csp)))
  (for ([constraint (in-list (sort assigned-constraints < #:key constraint-arity))]
        #:unless (constraint csp))
    (raise (inconsistency-signal)))
  csp)

(define/contract (assign-val csp name val)
  ($csp? $var-name? any/c . -> . $csp?)
  (define assignment-constraint ($constraint (list name) (delay (list val))))
  (apply-unary-constraint csp assignment-constraint))

(define (reduce-arity proc pattern)
  (unless (match (procedure-arity proc)
            [(arity-at-least val) (<= val (length pattern))]
            [(? number? val) (= val (length pattern))])
    #R proc
    (raise-argument-error 'reduce-arity (format "list of length ~a, same as procedure arity" (procedure-arity proc)) pattern))
  (define reduced-arity-name (string->symbol (format "reduced-arity-~a" (object-name proc))))
  (define-values (id-names vals) (partition symbol? pattern))
  (define new-arity (length id-names))
  (procedure-rename
   (λ xs
     (unless (= (length xs) new-arity)
       (apply raise-arity-error reduced-arity-name new-arity xs))
     (apply proc (for/fold ([acc empty]
                            [xs xs]
                            [vals vals]
                            #:result (reverse acc))
                           ([pat-item (in-list pattern)])
                   (if (symbol? pat-item)
                       (values (cons (car xs) acc) (cdr xs) vals)
                       (values (cons (car vals) acc) xs (cdr vals))))))
   reduced-arity-name))

(define/contract (assigned-name? csp name)
  ($csp? $var-name? . -> . boolean?)
  (and (memq name (map $var-name (assigned-vars csp))) #true))

(define/contract (reduce-constraint-arity csp [minimum-arity #false])
  (($csp?) ((or/c #false exact-nonnegative-integer?)) . ->* . $csp?)
  (let ([assigned-name? (curry assigned-name? csp)])
    (define (partially-assigned? constraint)
      (ormap assigned-name? ($constraint-names constraint)))
    ($csp ($csp-vars csp)
          (for/list ([constraint (in-list ($csp-constraints csp))])
            (cond
              [(and (if minimum-arity (<= minimum-arity (constraint-arity constraint)) #true)
                    (partially-assigned? constraint))
               (match-define ($constraint cnames proc) constraint)
               ($constraint (filter-not assigned-name? cnames)
                            ;; pattern is mix of values and symbols (indicating variables to persist)
                            (let ([reduce-arity-pattern (for/list ([cname (in-list cnames)])
                                                          (if (assigned-name? cname)
                                                              ($csp-ref csp cname)
                                                              cname))])
                              (reduce-arity proc reduce-arity-pattern)))]
              [else constraint])))))

(define/contract (in-solutions csp)
  ($csp? . -> . sequence?)
  ;; as described by AIMA @ 271
  (in-generator (let ((max-places (processor-count))) 
                  (let backtrack ([csp (make-arcs-consistent (make-nodes-consistent csp))])
                    (match (select-unassigned-var csp)
                      [#f (yield csp)]
                      [($var name vals)
                       (for ([val (in-list (order-domain-values vals))])
                         (with-handlers ([inconsistency-signal? void])
                           (backtrack (assign-val csp name val))))])))))

(define/contract (solve* csp [finish-proc values][solution-limit +inf.0])
  (($csp?) (procedure? integer?) . ->* . (non-empty-listof any/c))
  (define solutions
    (for/list ([solution (in-solutions csp)]
               [idx (in-range solution-limit)])
      (finish-proc solution)))
  (unless (pair? solutions) (raise (inconsistency-signal)))
  solutions)

(define/contract (solve csp [finish-proc values])
  (($csp?) (procedure?) . ->* . any/c)
  (first (solve* csp finish-proc 1)))

(define ($csp-ref csp name) (first ($csp-vals csp name)))

(define/contract (alldiff . xs)
  (any/c any/c . -> . boolean?)
  (= (length (remove-duplicates xs)) (length xs)))

(define/contract (alldiff= x y)
  (any/c any/c . -> . boolean?)
  (not (= x y)))

(define/contract (remaining-values var)
  ($var? . -> . exact-nonnegative-integer?)
  (length ($var-vals var)))

(define/contract (state-count csp)
  ($csp? . -> . exact-nonnegative-integer?)
  (for/product ([var (in-list ($csp-vars csp))])
    (remaining-values var)))