From 135852b74b697ac7dd20efa11070ac1f8448896f Mon Sep 17 00:00:00 2001
From: Brandon Rozek <brozek@brandonrozek.com>
Date: Thu, 2 Nov 2023 17:11:12 -0400
Subject: [PATCH] Moved search algorithms to folder

---
 .../rairlab/planner/ContextNormPlanner.java   |  1 +
 .../java/org/rairlab/planner/GoalTracker.java |  1 +
 .../java/org/rairlab/planner/Py4JServer.java  | 37 +++++++------------
 .../planner/{ => search}/AStarPlanner.java    |  7 +++-
 .../{ => search}/BreadthFirstPlanner.java     |  6 ++-
 .../{ => search}/DepthFirstPlanner.java       |  4 +-
 .../rairlab/planner/utils/LearningSystem.java |  2 +-
 .../org/rairlab/planner/utils/Runner.java     |  2 +-
 .../org/rairlab/planner/utils/Sandbox.java    |  3 +-
 9 files changed, 33 insertions(+), 30 deletions(-)
 rename src/main/java/org/rairlab/planner/{ => search}/AStarPlanner.java (96%)
 rename src/main/java/org/rairlab/planner/{ => search}/BreadthFirstPlanner.java (92%)
 rename src/main/java/org/rairlab/planner/{ => search}/DepthFirstPlanner.java (99%)

diff --git a/src/main/java/org/rairlab/planner/ContextNormPlanner.java b/src/main/java/org/rairlab/planner/ContextNormPlanner.java
index 2563284..5c4556e 100644
--- a/src/main/java/org/rairlab/planner/ContextNormPlanner.java
+++ b/src/main/java/org/rairlab/planner/ContextNormPlanner.java
@@ -2,6 +2,7 @@ package org.rairlab.planner;
 
 import org.rairlab.planner.utils.PlanningProblem;
 import org.rairlab.shadow.prover.representations.formula.Formula;
+import org.rairlab.planner.search.DepthFirstPlanner;
 
 import java.util.Optional;
 import java.util.Set;
diff --git a/src/main/java/org/rairlab/planner/GoalTracker.java b/src/main/java/org/rairlab/planner/GoalTracker.java
index 257a4fa..d87eb75 100644
--- a/src/main/java/org/rairlab/planner/GoalTracker.java
+++ b/src/main/java/org/rairlab/planner/GoalTracker.java
@@ -4,6 +4,7 @@ import org.rairlab.planner.utils.PlanningProblem;
 import org.rairlab.shadow.prover.representations.formula.Formula;
 import org.rairlab.shadow.prover.utils.CollectionUtils;
 import org.rairlab.shadow.prover.utils.Sets;
+import org.rairlab.planner.search.DepthFirstPlanner;
 
 import java.util.Comparator;
 import java.util.Optional;
diff --git a/src/main/java/org/rairlab/planner/Py4JServer.java b/src/main/java/org/rairlab/planner/Py4JServer.java
index 959c526..c937fef 100644
--- a/src/main/java/org/rairlab/planner/Py4JServer.java
+++ b/src/main/java/org/rairlab/planner/Py4JServer.java
@@ -1,11 +1,9 @@
 package org.rairlab.planner;
 
 import org.rairlab.planner.utils.PlanningProblem;
-import org.rairlab.shadow.prover.core.ccprovers.CognitiveCalculusProver;
-import org.rairlab.shadow.prover.core.proof.Justification;
-import org.rairlab.shadow.prover.representations.formula.Formula;
-import org.rairlab.shadow.prover.utils.Problem;
-import org.rairlab.shadow.prover.utils.ProblemReader;
+import org.rairlab.planner.heuristics.ConstantHeuristic;
+import org.rairlab.planner.search.AStarPlanner;
+
 import org.rairlab.shadow.prover.utils.Reader;
 import py4j.GatewayServer;
 
@@ -14,24 +12,20 @@ import java.net.Inet4Address;
 import java.net.InetAddress;
 import java.net.UnknownHostException;
 import java.util.*;
-import java.util.stream.Collectors;
 
 
 public final class Py4JServer {
 
-
-    private DepthFirstPlanner depthFirstPlanner;
+    private AStarPlanner astarplanner;
 
 
     public Py4JServer(){
-
-        depthFirstPlanner = new DepthFirstPlanner();
-
+        astarplanner = new AStarPlanner();
     }
 
 
-    public Planner getPlanner(){
-        return depthFirstPlanner;
+    public AStarPlanner getPlanner(){
+        return astarplanner;
     }
 
     public static void main(String[] args) throws UnknownHostException {
@@ -49,29 +43,26 @@ public final class Py4JServer {
 
     }
 
-    public ArrayList newEmptyList(){
-
-        return new ArrayList();
-    }
-
     public String proveFromDescription(String fileString){
         try {
 
             List<PlanningProblem> planningProblemList = (PlanningProblem.readFromFile(new ByteArrayInputStream(fileString.getBytes())));
 
-            Planner depthFirstPlanner = new DepthFirstPlanner();
+            AStarPlanner astarplanner = new AStarPlanner();
 
             PlanningProblem planningProblem = planningProblemList.get(0);
 
 
-            Optional<Set<Plan>> optionalPlans = depthFirstPlanner.plan(
+            Set<Plan> plans = astarplanner.plan(
                     planningProblem.getBackground(),
                     planningProblem.getActions(),
                     planningProblem.getStart(),
-                    planningProblem.getGoal());
+                    planningProblem.getGoal(),
+                    ConstantHeuristic::h
+            );
 
-            if(optionalPlans.isPresent()) {
-                return optionalPlans.get().toString();
+            if(plans.size() > 0) {
+                return plans.toString();
             }
             else {
                 return "FAILED";
diff --git a/src/main/java/org/rairlab/planner/AStarPlanner.java b/src/main/java/org/rairlab/planner/search/AStarPlanner.java
similarity index 96%
rename from src/main/java/org/rairlab/planner/AStarPlanner.java
rename to src/main/java/org/rairlab/planner/search/AStarPlanner.java
index 38b299b..ec79e63 100644
--- a/src/main/java/org/rairlab/planner/AStarPlanner.java
+++ b/src/main/java/org/rairlab/planner/search/AStarPlanner.java
@@ -1,7 +1,12 @@
-package org.rairlab.planner;
+package org.rairlab.planner.search;
 
 import org.rairlab.shadow.prover.representations.formula.Formula;
 
+import org.rairlab.planner.State;
+import org.rairlab.planner.Action;
+import org.rairlab.planner.Plan;
+import org.rairlab.planner.Operations;
+
 import java.util.*;
 import java.util.function.Function;
 import java.util.stream.Collectors;
diff --git a/src/main/java/org/rairlab/planner/BreadthFirstPlanner.java b/src/main/java/org/rairlab/planner/search/BreadthFirstPlanner.java
similarity index 92%
rename from src/main/java/org/rairlab/planner/BreadthFirstPlanner.java
rename to src/main/java/org/rairlab/planner/search/BreadthFirstPlanner.java
index b2c32d6..d230a12 100644
--- a/src/main/java/org/rairlab/planner/BreadthFirstPlanner.java
+++ b/src/main/java/org/rairlab/planner/search/BreadthFirstPlanner.java
@@ -1,7 +1,11 @@
-package org.rairlab.planner;
+package org.rairlab.planner.search;
 
 import org.rairlab.shadow.prover.representations.formula.Formula;
+
 import org.rairlab.planner.Action;
+import org.rairlab.planner.State;
+import org.rairlab.planner.Plan;
+
 
 import java.util.*;
 
diff --git a/src/main/java/org/rairlab/planner/DepthFirstPlanner.java b/src/main/java/org/rairlab/planner/search/DepthFirstPlanner.java
similarity index 99%
rename from src/main/java/org/rairlab/planner/DepthFirstPlanner.java
rename to src/main/java/org/rairlab/planner/search/DepthFirstPlanner.java
index 6d96c74..7c7f52c 100644
--- a/src/main/java/org/rairlab/planner/DepthFirstPlanner.java
+++ b/src/main/java/org/rairlab/planner/search/DepthFirstPlanner.java
@@ -1,8 +1,10 @@
-package org.rairlab.planner;
+package org.rairlab.planner.search;
 
 import org.rairlab.planner.utils.Commons;
 import org.rairlab.planner.utils.PlanningProblem;
 import org.rairlab.planner.utils.Visualizer;
+import org.rairlab.planner.*;
+
 import org.rairlab.shadow.prover.core.proof.Justification;
 import org.rairlab.shadow.prover.representations.formula.Formula;
 import org.rairlab.shadow.prover.utils.CollectionUtils;
diff --git a/src/main/java/org/rairlab/planner/utils/LearningSystem.java b/src/main/java/org/rairlab/planner/utils/LearningSystem.java
index d796990..0c16c98 100644
--- a/src/main/java/org/rairlab/planner/utils/LearningSystem.java
+++ b/src/main/java/org/rairlab/planner/utils/LearningSystem.java
@@ -1,7 +1,7 @@
 package org.rairlab.planner.utils;
 
 import com.diogonunes.jcdp.color.ColoredPrinter;
-import org.rairlab.planner.DepthFirstPlanner;
+import org.rairlab.planner.search.DepthFirstPlanner;
 import org.rairlab.planner.GoalTracker;
 import org.rairlab.planner.Plan;
 import org.rairlab.planner.Planner;
diff --git a/src/main/java/org/rairlab/planner/utils/Runner.java b/src/main/java/org/rairlab/planner/utils/Runner.java
index 9f0d65d..c540233 100644
--- a/src/main/java/org/rairlab/planner/utils/Runner.java
+++ b/src/main/java/org/rairlab/planner/utils/Runner.java
@@ -1,6 +1,6 @@
 package org.rairlab.planner.utils;
 
-import org.rairlab.planner.AStarPlanner;
+import org.rairlab.planner.search.AStarPlanner;
 import org.rairlab.planner.Plan;
 import org.rairlab.planner.heuristics.ConstantHeuristic;
 import org.rairlab.shadow.prover.utils.Reader;
diff --git a/src/main/java/org/rairlab/planner/utils/Sandbox.java b/src/main/java/org/rairlab/planner/utils/Sandbox.java
index 3818e56..c6e28d5 100644
--- a/src/main/java/org/rairlab/planner/utils/Sandbox.java
+++ b/src/main/java/org/rairlab/planner/utils/Sandbox.java
@@ -3,13 +3,12 @@ package org.rairlab.planner.utils;
 import com.diogonunes.jcdp.color.ColoredPrinter;
 import com.diogonunes.jcdp.color.api.Ansi;
 import org.rairlab.planner.*;
-import org.rairlab.shadow.prover.representations.formula.Predicate;
+import org.rairlab.planner.search.DepthFirstPlanner;
 
 import java.util.Comparator;
 import java.util.List;
 import java.util.stream.Collectors;
 
-import static org.rairlab.shadow.prover.utils.Reader.readFormulaFromString;
 
 /**
  * Created by naveensundarg on 12/22/17.