#|------------------------------------------------------------------------
the world... bedroom through to hall through to kitchen, lockable doors
climable table in kitchen, climable chair in hall, climable bed in bedroom
lockable cupboard in bedroom
------------------------------------------------------------------------|#


(defparameter *world1*
  '((connects bedroom hall bedroom-door)    (connects hall bedroom bedroom-door)
    (connects hall kitchen kitchen-door)    (connects kitchen hall kitchen-door)
    (in bedroom-door bedroom)    (in bedroom-door hall)
    (in kitchen-door kitchen)    (in kitchen-door hall)     
    (unlocks bdrm-key bedroom-door)
    (unlocks ktchn-key kitchen-door)
    (in table kitchen)           (climable table)
    (in chair hall)              (climable chair)
    (in cupboard bedroom)        (unlocks cpbd-key cupboard)
    ))

(defparameter *s1*
  '((in R hall)(has R ktchn-key)
    (locked bedroom-door)  (closed bedroom-door)
    (locked kitchen-door)  (closed kitchen-door)
    ))



(defparameter *mops2*
  '((move-room
     (txt . (R moves from ?rm1 to ?rm2))
     (pre . ((in R ?rm1) (connects ?rm1 ?rm2 ?door) (open ?door)))
     (del . ((in R ?rm1)))
     (add . ((in R ?rm2)))
     )
    (open
     (txt . (R opens ?x))
     (pre . ((in R ?rm)(in ?x ?rm)(closed ?x)(unlocked ?x)))
     (del . ((closed ?x)))
     (add . ((open ?x)))
     )
    (closed
     (txt . (R closes ?x))
     (pre . ((in R ?rm)(in ?x ?rm)(open ?x)))
     (del . ((open ?x)))
     (add . ((closed ?x)))
     )
    (unlock
     (txt . (R unlocks ?x))
     (pre . ((in R ?rm)(in ?x ?rm)(locked ?x)(unlocks ?key ?x)(has R ?key)))
     (del . ((locked ?x)))
     (add . ((unlocked ?x)))
     )
    (lock
     (txt . (R locks ?x))
     (pre . ((in R ?rm)(in ?x ?rm)(unlocked ?x)(unlocks ?key ?x)(has R ?key)))
     (del . ((unlocked ?x)))
     (add . ((locked ?x)))
     )
    ))

#|------------------------------------------------------------------------
 example call explicitly combining world kn & state description

> (ops-search ($+ *world1* *s1*) '((in R kitchen)) *mops2*)
(((unlocks cpbd-key cupboard) (in cupboard bedroom) (climable chair)
  (in chair hall) (climable table) (in table kitchen)
  (unlocks ktchn-key kitchen-door) (unlocks bdrm-key bedroom-door)
  (in kitchen-door hall) (in kitchen-door kitchen)
  ...)
 ((path (R unlocks kitchen-door)) (unlocked kitchen-door)
  (closed kitchen-door) (closed bedroom-door) (locked bedroom-door)
  (has R ktchn-key) (in R hall) (connects bedroom hall bedroom-door)
  (connects hall bedroom bedroom-door) (connects hall kitchen kitchen-door)
  ...)
 ((path (R unlocks kitchen-door) (R opens kitchen-door)) (open kitchen-door)
  (unlocks cpbd-key cupboard) (in cupboard bedroom) (climable chair)
  (in chair hall) (climable table) (in table kitchen)
   (unlocks ktchn-key kitchen-door) (unlocks bdrm-key bedroom-door)
   ...)
 ((path (R unlocks kitchen-door) (R opens kitchen-door)
   (R moves from hall to kitchen))
  (in R kitchen) (unlocked kitchen-door) (closed bedroom-door)
  (locked bedroom-door) (has R ktchn-key)
  (connects bedroom hall bedroom-door) (connects hall bedroom bedroom-door)
  (connects hall kitchen kitchen-door) (connects kitchen hall kitchen-door)
  ...))

alternative call using world kn explicitly
> (ops-search *s1* '((in R kitchen)) *mops2* :world *world1*)
(((in R hall) (has R ktchn-key) (locked bedroom-door) (closed bedroom-door)
  (locked kitchen-door) (closed kitchen-door))
 ((path (R unlocks kitchen-door)) (unlocked kitchen-door)
  (closed kitchen-door) (closed bedroom-door) (locked bedroom-door)
  (has R ktchn-key) (in R hall))
 ((path (R unlocks kitchen-door)
        (R opens kitchen-door))
  (open kitchen-door) (in R hall) (has R ktchn-key) (locked bedroom-door)
  (closed bedroom-door) (unlocked kitchen-door))
 ((path (R unlocks kitchen-door)
        (R opens kitchen-door)
        (R moves from hall to kitchen))
  (in R kitchen) (unlocked kitchen-door) (closed bedroom-door)
  (locked bedroom-door) (has R ktchn-key) (open kitchen-door)))
------------------------------------------------------------------------|#


(defparameter *world2*
  '((connects bedroom hall bedroom-door)
    (connects hall kitchen kitchen-door)
    (unlocks bdrm-key bedroom-door)
    (unlocks ktchn-key kitchen-door)
    (in table kitchen)           (climable table)
    (in chair hall)              (climable chair)
    (in cupboard bedroom)        (unlocks cpbd-key cupboard)
    ))


(defparameter *s2*
  '((in R hall)(has R ktchn-key)
    (locked bedroom-door)
    (locked kitchen-door)
    ))

;(Rule ?n ??pre => ??post)

(defparameter rules
  '((Rule 1 (connects ?rm1 ?rm2 ?door) => (connects ?rm2 ?rm1 ?door))
    (Rule 2 (connects ?rm1 ?rm2 ?door) => (in ?door ?rm1))
    (Rule 3 (locked ?x) => (closed ?x))
    ))

#|------------------------------------------------------------------------
> (forevery ('((connects ?rm1 ?rm2 ?door)) *world2*)
                       #?((connects ?rm2 ?rm1 ?door)
                          (in ?door ?rm1) (in ?door ?rm2)))
(((connects hall bedroom bedroom-door) (in bedroom-door bedroom)
  (in bedroom-door hall))
 ((connects kitchen hall kitchen-door) (in kitchen-door hall)
  (in kitchen-door kitchen)))

> (fwd-chain rules *world2*)
((in kitchen-door kitchen) (in bedroom-door hall) (in bedroom-door bedroom)
 (in kitchen-door hall) (connects kitchen hall kitchen-door)
 (connects hall bedroom bedroom-door) (connects bedroom hall bedroom-door)
 (connects hall kitchen kitchen-door) (unlocks bdrm-key bedroom-door)
 (unlocks ktchn-key kitchen-door) ...)

> (ops-search (fwd-chain rules *s2*) '((in R kitchen)) *mops2*
                             :world (fwd-chain rules *world2*))
(((closed kitchen-door) (closed bedroom-door) (in R hall) (has R ktchn-key)
  (locked bedroom-door) (locked kitchen-door))
 ((path (R unlocks kitchen-door)) (unlocked kitchen-door)
  (locked bedroom-door) (has R ktchn-key) (in R hall) (closed bedroom-door)
  (closed kitchen-door))
 ((path (R unlocks kitchen-door) (R opens kitchen-door)) (open kitchen-door)
  (closed bedroom-door) (in R hall) (has R ktchn-key) (locked bedroom-door)
  (unlocked kitchen-door))
 ((path (R unlocks kitchen-door) (R opens kitchen-door)
   (R moves from hall to kitchen))
  (in R kitchen) (unlocked kitchen-door) (locked bedroom-door)
  (has R ktchn-key) (closed bedroom-door) (open kitchen-door)))
------------------------------------------------------------------------|#

(defun op-search2 (start goal world ops)
  (ops-search (fwd-chain rules start) goal ops
              :world (fwd-chain rules world)))

#|------------------------------------------------------------------------
> (op-search2 *s2* '((in R kitchen)) *world2* *mops2*)
(((closed kitchen-door) (closed bedroom-door) (in R hall) (has R ktchn-key)
  (locked bedroom-door) (locked kitchen-door))
 ((path (R unlocks kitchen-door)) (unlocked kitchen-door) (locked bedroom-door)
  (has R ktchn-key) (in R hall) (closed bedroom-door) (closed kitchen-door))
 ((path (R unlocks kitchen-door) (R opens kitchen-door)) (open kitchen-door)
  (closed bedroom-door) (in R hall) (has R ktchn-key) (locked bedroom-door)
  (unlocked kitchen-door))
 ((path (R unlocks kitchen-door) (R opens kitchen-door) (R moves from hall to kitchen))
  (in R kitchen) (unlocked kitchen-door) (locked bedroom-door) (has R ktchn-key)
  (closed bedroom-door) (open kitchen-door)))
------------------------------------------------------------------------|#