diff --git a/csp/csp/csp.rkt b/csp/csp/csp.rkt index 2f222df9..21858619 100644 --- a/csp/csp/csp.rkt +++ b/csp/csp/csp.rkt @@ -177,7 +177,9 @@ (define/contract (terminating-at arcs name) ((listof $arc?) $var-name? . -> . (listof $arc?)) (for/list ([arc (in-list arcs)] - #:when (eq? name (second ($constraint-names ($arc-constraint arc))))) + #:when (and + (memq name ($constraint-names ($arc-constraint arc))) + (not (eq? name ($arc-name arc))))) arc)) (define/contract (constraint-assigned? csp constraint) diff --git a/csp/csp/hacs-test-workbench.rkt b/csp/csp/hacs-test-workbench.rkt index e8a05ca8..dfc19d45 100644 --- a/csp/csp/hacs-test-workbench.rkt +++ b/csp/csp/hacs-test-workbench.rkt @@ -6,26 +6,33 @@ (current-order-values shuffle) (current-random #true) -;; queens problem -;; place queens on chessboard so they do not intersect - -(define board-size 8) - -(define queens (make-csp)) -(define qs (for/list ([q board-size]) (string->symbol (format "q~a" q)))) -(define rows (range (length qs))) -(add-vars! queens qs rows) -(define (q-col q) (string->number (string-trim (symbol->string q) "q"))) -(for* ([qs (in-combinations qs 2)]) - (match-define (list qa qb) qs) - (match-define (list qa-col qb-col) (map q-col qs)) - (add-constraint! queens - (λ (qa-row qb-row) - (not (= (abs (- qa-row qb-row)) (abs (- (q-col qa) (q-col qb)))))) ; same diag? - (list qa qb)) - (add-constraint! queens (negate =) (list qa qb))) - -(current-multithreaded #t) -(time-avg 10 (solve queens)) -(parameterize ([current-solver min-conflicts-solver]) - (time-avg 10 (solve queens))) \ No newline at end of file +(define (word-value . xs) + (for/sum ([(x idx) (in-indexed (reverse xs))]) + (* x (expt 10 idx)))) + + +(define smm (make-csp)) + +(define vs '(s e n d m o r y)) +(add-vars! smm vs (λ () (range 10))) + +(add-constraint! smm positive? '(s)) +(add-constraint! smm positive? '(m)) +(add-constraint! smm (λ (d e y) (= (modulo (+ d e) 10) y)) '(d e y)) +(add-constraint! smm (λ (n d r e y) + (= (modulo (+ (word-value n d) (word-value r e)) 100) + (word-value e y))) '(n d r e y)) +(add-constraint! smm (λ (e n d o r y) + (= (modulo (+ (word-value e n d) (word-value o r e)) 1000) (word-value n e y))) '(e n d o r y)) +(add-constraint! smm (λ (s e n d m o r y) + (= (+ (word-value s e n d) (word-value m o r e)) + (word-value m o n e y))) '(s e n d m o r y)) +(add-pairwise-constraint! smm alldiff= '(s e n d m o r y)) +(parameterize ([current-select-variable mrv-degree-hybrid] + [current-node-consistency make-nodes-consistent]) ; todo: why is plain mrv so bad on this problem? + (time-named (solve smm))) + +nassns +nfchecks +nchecks + diff --git a/csp/csp/hacs-test.rkt b/csp/csp/hacs-test.rkt index 47e48d61..15997254 100644 --- a/csp/csp/hacs-test.rkt +++ b/csp/csp/hacs-test.rkt @@ -5,6 +5,8 @@ (current-select-variable mrv-degree-hybrid) (current-order-values shuffle) (current-random #true) +(current-node-consistency #f) +(current-arity-reduction #t) (check-equal? (first-unassigned-variable (csp (list (var 'a (range 3)) (var 'b (range 3))) null)) (var 'a (range 3))) @@ -287,7 +289,7 @@ ((nationality-4 . spaniard) (color-4 . ivory) (drink-4 . orange-juice) (smoke-4 . luckystrike) (pet-4 . dogs)))) (module+ main - (when-debug + (begin (define-syntax n (λ (stx) #'10)) (time-avg n (void (solve quarters))) (time-avg n (void (solve* xsum))) diff --git a/csp/csp/hacs.rkt b/csp/csp/hacs.rkt index d5a10afb..89e12a90 100644 --- a/csp/csp/hacs.rkt +++ b/csp/csp/hacs.rkt @@ -4,7 +4,7 @@ (define-syntax when-debug (let () - (define debug #f) + (define debug #t) (if debug (make-rename-transformer #'begin) (λ (stx) (syntax-case stx () @@ -16,24 +16,23 @@ (if (null? argss) (yield (reverse acc)) (for ([arg (car argss)]) - (loop (cdr argss) (cons arg acc)))))))) + (loop (cdr argss) (cons arg acc)))))))) -(struct csp (vars constraints [assignments #:auto] [checks #:auto]) - #:mutable #:transparent #:auto-value 0) +(struct csp (vars constraints) #:mutable #:transparent) (define constraints csp-constraints) (define vars csp-vars) (define-syntax-rule (in-constraints csp) (in-list (csp-constraints csp))) (define-syntax-rule (in-vars csp) (in-list (vars csp))) -(define-syntax-rule (in-variable-names csp) (in-list (map var-name (vars csp)))) +(define-syntax-rule (in-var-names csp) (in-list (map var-name (vars csp)))) (struct constraint (names proc) #:transparent #:property prop:procedure (λ (const prob) (unless (csp? prob) - (raise-argument-error 'constraint-proc "csp" prob)) + (raise-argument-error 'constraint "csp" prob)) ;; apply proc in many-to-many style (for/and ([args (in-cartesian (map (λ (name) (find-domain prob name)) (constraint-names const)))]) - (apply (constraint-proc const) args)))) + (apply (constraint-proc const) args)))) (define name? symbol?) @@ -92,15 +91,15 @@ ((csp? procedure? (listof (listof name?))) ((or/c #false name?)) . ->* . void?) (set-csp-constraints! prob (append (constraints prob) (for/list ([names (in-list namess)]) - (for ([name (in-list names)]) - (check-name-in-csp! 'add-constraints! prob name)) - (make-constraint names (if proc-name - (procedure-rename proc proc-name) - proc)))))) + (for ([name (in-list names)]) + (check-name-in-csp! 'add-constraints! prob name)) + (make-constraint names (if proc-name + (procedure-rename proc proc-name) + proc)))))) -(define/contract (add-pairwise-constraint! prob proc var-names [proc-name #false]) +(define/contract (add-pairwise-constraint! prob proc names [proc-name #false]) ((csp? procedure? (listof name?)) (name?) . ->* . void?) - (add-constraints! prob proc (combinations var-names 2) proc-name)) + (add-constraints! prob proc (combinations names 2) proc-name)) (define/contract (add-constraint! prob proc names [proc-name #false]) ((csp? procedure? (listof name?)) (name?) . ->* . void?) @@ -120,6 +119,8 @@ (define current-random (make-parameter #t)) (define current-decompose (make-parameter #t)) (define current-thread-count (make-parameter 4)) +(define current-node-consistency (make-parameter #f)) +(define current-arity-reduction (make-parameter #t)) (define/contract (check-name-in-csp! caller prob name) (symbol? csp? name? . -> . void?) @@ -132,7 +133,7 @@ (check-name-in-csp! 'find-var prob name) (for/first ([vr (in-vars prob)] #:when (eq? name (var-name vr))) - vr)) + vr)) (define/contract (find-domain prob name) (csp? name? . -> . (listof any/c)) @@ -145,7 +146,7 @@ (csp? name? . -> . any/c) (for/or ([vr (in-vars prob)] #:when (assigned-var? vr)) - (eq? name (var-name vr)))) + (eq? name (var-name vr)))) (define/contract (reduce-function-arity proc pattern) (procedure? (listof any/c) . -> . procedure?) @@ -177,31 +178,27 @@ (ormap assigned? (constraint-names constraint))) (make-csp (vars prob) (for/list ([const (in-constraints prob)]) - (cond - ;; no point reducing 2-arity functions because they will be consumed by forward checking - [(and (or (not minimum-arity) (<= minimum-arity (constraint-arity const))) - (partially-assigned? const)) - (match-define (constraint cnames proc) const) - ;; pattern is mix of values and boxed symbols (indicating variables to persist) - ;; use boxes here as cheap way to distinguish id symbols from value symbols - (define reduce-arity-pattern (for/list ([cname (in-list cnames)]) - (if (assigned? cname) - (first (find-domain prob cname)) - (box cname)))) - (constraint (filter-not assigned? cnames) - (reduce-function-arity proc reduce-arity-pattern))] - [else const])))) + (cond + ;; no point reducing 2-arity functions because they will be consumed by forward checking + [(and (or (not minimum-arity) (<= minimum-arity (constraint-arity const))) + (partially-assigned? const)) + (match-define (constraint cnames proc) const) + ;; pattern is mix of values and boxed symbols (indicating variables to persist) + ;; use boxes here as cheap way to distinguish id symbols from value symbols + (define arity-reduction-pattern (for/list ([cname (in-list cnames)]) + (if (assigned? cname) + (first (find-domain prob cname)) + (box cname)))) + (constraint (filter-not assigned? cnames) + (reduce-function-arity proc arity-reduction-pattern))] + [else const])))) (define nassns 0) - -(define (reset-assns!) (set! nassns 0)) - (define nfchecks 0) - -(define (reset-nfcs!) (set! nfchecks 0)) - (define nchecks 0) +(define (reset-nassns!) (set! nassns 0)) +(define (reset-nfchecks!) (set! nfchecks 0)) (define (reset-nchecks!) (set! nchecks 0)) (define/contract (assign-val prob name val) @@ -209,9 +206,9 @@ (when-debug (set! nassns (add1 nassns))) (make-csp (for/list ([vr (in-vars prob)]) - (if (eq? name (var-name vr)) - (assigned-var name (list val)) - vr)) + (if (eq? name (var-name vr)) + (assigned-var name (list val)) + vr)) (constraints prob))) (define/contract (unassigned-vars prob) @@ -236,7 +233,7 @@ (csp? var? . -> . natural?) (for/sum ([const (in-constraints prob)] #:when (memq (var-name var) (constraint-names const))) - 1)) + 1)) (define/contract (domain-length var) (var? . -> . natural?) @@ -259,7 +256,7 @@ (random-pick (for/list ([uv (in-list mrv-uvars)] [degree (in-list degrees)] #:when (= max-degree degree)) - uv))])])) + uv))])])) (define first-domain-value values) @@ -271,44 +268,122 @@ [cnames (in-value (constraint-names const))] #:when (and (= (length names) (length cnames)) (for/and ([name (in-list names)]) - (memq name cnames)))) - const)) + (memq name cnames)))) + const)) +(define (one-arity? const) (= 1 (constraint-arity const))) (define (two-arity? const) (= 2 (constraint-arity const))) (define (constraint-relates? const name) (memq name (constraint-names const))) +(struct arc (name const) #:transparent) + +(define/contract (two-arity-constraints->arcs constraints) + ((listof (and/c constraint? two-arity?)) . -> . (listof arc?)) + (for*/list ([const (in-list constraints)] + [name (in-list (constraint-names const))]) + (arc name const))) + +(require sugar/debug) +(define/contract (reduce-domain prob ark) + (csp? arc? . -> . csp?) + (match-define (arc name (constraint names constraint-proc)) ark) + (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 (find-domain prob other-name))]) + (proc val other-val))) + (make-csp + (for/list ([vr (in-vars prob)]) + (cond + [(assigned-var? vr) vr] + [(eq? name (var-name vr)) + (var name (match (filter satisfies-arc? (domain vr)) + [(? empty?) (backtrack!)] + [vals vals]))] + [else vr])) + (constraints prob))) + +(define/contract (terminating-at? arcs name) + ((listof arc?) name? . -> . (listof arc?)) + (for/list ([arc (in-list arcs)] + #:when (and + (memq name (constraint-names (arc-const arc))) + (not (eq? name (arc-name arc))))) + arc)) + +(define/contract (ac-3 prob . _) + ((csp?) (any/c) . ->* . csp?) + ;; csp is arc-consistent if every pair of variables (x y) + ;; has values in their domain that satisfy every binary constraint + (define starting-arcs (two-arity-constraints->arcs (filter two-arity? (constraints prob)))) + (for/fold ([prob prob] + [arcs starting-arcs] + #:result (prune-singleton-constraints prob)) + ([i (in-naturals)] + #:break (empty? arcs)) + (length starting-arcs) + (match-define (cons (arc name proc) other-arcs) arcs) + (length other-arcs) + (define reduced-csp (reduce-domain prob (arc name proc))) + (values reduced-csp (if (= (length (find-domain prob name)) (length (find-domain 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 (forward-check-var prob ref-name vr) + (csp? name? var? . -> . var?) + (cond + ;; don't check against assigned vars, or the reference var + ;; (which is probably assigned but maybe not) + [(assigned-var? vr) vr] + [(eq? (var-name vr) ref-name) vr] + [else + (match-define (var name vals) vr) + (match ((constraints prob) . relating-only . (list ref-name name)) + [(? empty?) vr] + [constraints + (define new-vals + (for/list ([val (in-list vals)] + #:when (for/and ([const (in-list constraints)]) + (let ([proc (constraint-proc const)] + [ref-val (first (find-domain prob ref-name))]) + (if (eq? name (first (constraint-names const))) + (proc val ref-val) + (proc ref-val val))))) + val)) + (checked-variable name new-vals (cons ref-name (match vr + [(checked-variable _ _ history) history] + [else null])))])])) + +(define/contract (prune-singleton-constraints prob [ref-name #false]) + ((csp?) ((or/c #false name?)) . ->* . csp?) + (define singleton-var-names (for/list ([vr (in-vars prob)] + #:when (singleton-var? vr)) + (var-name vr))) + (make-csp + (vars prob) + (for/list ([const (in-constraints prob)] + #:unless (and (two-arity? const) + (or (not ref-name) (constraint-relates? const ref-name)) + (for/and ([cname (in-list (constraint-names const))]) + (memq cname singleton-var-names)))) + const))) + (define/contract (forward-check prob ref-name) (csp? name? . -> . csp?) - (define aval (first (find-domain prob ref-name))) - (define (check-var vr) - (match vr - ;; don't check against assigned vars, or the reference var - ;; (which is probably assigned but maybe not) - [(? (λ (x) (or (assigned-var? x) (eq? (var-name x) ref-name)))) vr] - [(var name vals) - (match ((constraints prob) . relating-only . (list ref-name name)) - [(? empty?) vr] - [constraints - (define new-vals - (for/list ([val (in-list vals)] - #:when (for/and ([const (in-list constraints)]) - (let ([proc (constraint-proc const)]) - (if (eq? name (first (constraint-names const))) - (proc val aval) - (proc aval val))))) - val)) - (checked-variable name new-vals (cons ref-name (match vr - [(checked-variable _ _ history) history] - [else null])))])])) - (define checked-vars (map check-var (vars prob))) + (define checked-vars (map (λ (vr) (forward-check-var prob ref-name vr)) (vars prob))) (when-debug (set! nfchecks (+ (length checked-vars) nchecks))) ;; conflict-set will be empty if there are no empty domains (as we would hope) (define conflict-set (for*/list ([cvr (in-list checked-vars)] #:when (empty? (domain cvr)) [name (in-list (history cvr))]) - name)) + name)) ;; for conflict-directed backjumping it's essential to forward-check ALL vars ;; (even after an empty domain is generated) and combine their conflicts ;; so we can discover the *most recent past var* that could be the culprit. @@ -318,27 +393,21 @@ (backtrack! conflict-set)) ;; Discard constraints that have produced singleton domains ;; (they have no further use) - (define nonsingleton-constraints - (for/list ([const (in-constraints prob)] - #:unless (and (two-arity? const) - (constraint-relates? const ref-name) - (let ([other-name (first (remq ref-name (constraint-names const)))]) - (singleton-var? (find-var prob other-name))))) - const)) - (make-csp checked-vars nonsingleton-constraints)) + (prune-singleton-constraints (make-csp checked-vars (constraints prob)) ref-name)) (define/contract (constraint-checkable? const names) (constraint? (listof name?) . -> . any/c) ;; constraint is checkable if all constraint names ;; are in target list of names. (for/and ([cname (in-list (constraint-names const))]) - (memq cname names))) + (memq cname names))) (define/contract (constraint-arity const) (constraint? . -> . natural?) (length (constraint-names const))) -(define (singleton-var? var) +(define/contract (singleton-var? var) + (var? . -> . boolean?) (= 1 (domain-length var))) (define/contract (check-constraints prob [mandatory-names #f] #:conflicts [conflict-count? #f]) @@ -348,44 +417,43 @@ ;; we also want to use "singleton" vars (that is, vars that have been reduced to a single domain value by forward checking) (define singleton-varnames (for/list ([vr (in-vars prob)] #:when (singleton-var? vr)) - (var-name vr))) + (var-name vr))) (define-values (checkable-consts other-consts) (partition (λ (const) (and (constraint-checkable? const singleton-varnames) (or (not mandatory-names) (for/and ([name (in-list mandatory-names)]) - (constraint-relates? const name))))) + (constraint-relates? const name))))) (constraints prob))) (cond [conflict-count? (define conflict-count (for/sum ([constraint (in-list checkable-consts)] #:unless (constraint prob)) - 1)) + 1)) (when-debug (set! nchecks (+ conflict-count nchecks))) conflict-count] [else (for ([(constraint idx) (in-indexed checkable-consts)] #:unless (constraint prob)) - (when-debug (set! nchecks (+ (add1 idx) nchecks))) - (backtrack!)) + (when-debug (set! nchecks (+ (add1 idx) nchecks))) + (backtrack!)) ;; discard checked constraints, since they have no further reason to live (make-csp (vars prob) other-consts)])) (define/contract (make-nodes-consistent prob) (csp? . -> . csp?) - ;; todo: why does this function slow down searches? - (make-csp - (for/list ([vr (in-vars prob)]) - (match-define (var name vals) vr) - (define procs (for*/list ([const (in-constraints prob)] - [cnames (in-value (constraint-names const))] - #:when (and (= 1 (length cnames)) (eq? name (car cnames)))) - (constraint-proc const))) - (var name - (for*/fold ([vals vals]) - ([proc (in-list procs)]) - (filter proc vals)))) - (constraints prob))) + (define-values (unary-constraints other-constraints) + (partition one-arity? (constraints prob))) + (if (empty? unary-constraints) + prob + (make-csp + (for/list ([vr (in-vars prob)]) + (match-define (var name vals) vr) + (var name (for/fold ([vals vals]) + ([const (in-list unary-constraints)] + #:when (constraint-relates? const name)) + (filter (constraint-proc const) vals)))) + other-constraints))) (define/contract (backtracking-solver prob @@ -395,7 +463,8 @@ #:inference [inference (or (current-inference) no-inference)]) ((csp?) (#:select-variable procedure? #:order-values procedure? #:inference procedure?) . ->* . generator?) (generator () - (let loop ([prob prob]) + (define reduce-arity-proc (if (current-arity-reduction) reduce-constraint-arity values)) + (let loop ([prob ((if (current-node-consistency) make-nodes-consistent values) prob)]) (match (select-unassigned-variable prob) [#false (yield prob)] [(var name domain) @@ -410,7 +479,7 @@ (let* ([prob (assign-val prob name val)] ;; reduce constraints before inference, ;; to create more forward-checkable (binary) constraints - [prob (reduce-constraint-arity prob)] + [prob (reduce-arity-proc prob)] [prob (inference prob name)] [prob (check-constraints prob)]) (loop prob))) @@ -421,7 +490,7 @@ (define (assign-random-vals prob) (for/fold ([new-csp prob]) - ([name (in-variable-names prob)]) + ([name (in-var-names prob)]) (assign-val new-csp name (random-pick (find-domain prob name))))) (define (make-min-conflcts-thread prob-start thread-count max-steps [main-thread (current-thread)]) @@ -443,9 +512,9 @@ ((csp?) (integer?) . ->* . generator?) (generator () (for ([thread-count (or (current-thread-count) 1)]) ; todo: what is ideal thread count? - (make-min-conflcts-thread prob thread-count max-steps)) + (make-min-conflcts-thread prob thread-count max-steps)) (for ([i (in-naturals)]) - (yield (thread-receive))))) + (yield (thread-receive))))) (define/contract (optimal-stop-min proc xs) (procedure? (listof any/c) . -> . any/c) @@ -453,15 +522,15 @@ (define threshold (argmin proc sample)) (or (for/first ([candidate (in-list candidates)] #:when (<= (proc candidate) threshold)) - candidate) + candidate) (last candidates))) (define/contract (conflicted-variable-names prob) (csp? . -> . (listof name?)) ;; Return a list of variables in current assignment that are conflicted - (for/list ([name (in-variable-names prob)] + (for/list ([name (in-var-names prob)] #:when (positive? (nconflicts prob name))) - name)) + name)) (define/contract (min-conflicts-value prob name vals) (csp? name? (listof any/c) . -> . any/c) @@ -470,7 +539,7 @@ #:cache-keys? #true)) (for/first ([val (in-list vals-by-conflict)] #:unless (equal? val (first (find-domain prob name)))) ;; but change the value - val)) + val)) (define no-value-sig (gensym)) @@ -484,8 +553,8 @@ (define/contract (csp->assocs prob) (csp? . -> . (listof (cons/c name? any/c))) (for/list ([vr (in-vars prob)]) - (match vr - [(var name (list val)) (cons name val)]))) + (match vr + [(var name (list val)) (cons name val)]))) (define/contract (combine-csps probs) ((listof csp?) . -> . csp?) @@ -499,11 +568,11 @@ (make-csp (for/list ([vr (in-vars prob)] #:when (memq (var-name vr) names)) - vr) + vr) (for/list ([const (in-constraints prob)] #:when (for/and ([cname (in-list (constraint-names const))]) - (memq cname names))) - const))) + (memq cname names))) + const))) (define/contract (solve* prob #:finish-proc [finish-proc csp->assocs] @@ -511,22 +580,22 @@ #:limit [max-solutions +inf.0]) ((csp?) (#:finish-proc procedure? #:solver procedure? #:limit natural?) . ->* . (listof any/c)) - (when-debug (reset-assns!) (reset-nfcs!) (reset-nchecks!)) + (when-debug (reset-nassns!) (reset-nfchecks!) (reset-nchecks!)) (define subcsps ; decompose into independent csps. `cc` determines "connected components" (if (current-decompose) (for/list ([nodeset (in-list (cc (csp->graph prob)))]) - (extract-subcsp prob nodeset)) + (extract-subcsp prob nodeset)) (list prob))) (define solgens (map solver subcsps)) (define solstreams (for/list ([solgen (in-list solgens)]) - (for/stream ([sol (in-producer solgen (void))]) - sol))) + (for/stream ([sol (in-producer solgen (void))]) + sol))) (for/list ([solution-pieces (in-cartesian solstreams)] [idx (in-range max-solutions)]) - (finish-proc (combine-csps solution-pieces)))) + (finish-proc (combine-csps solution-pieces)))) (define/contract (solve prob #:finish-proc [finish-proc csp->assocs]