rairlab/Spectra
1
0
Fork 0
mirror of https://github.com/RAIRLab/Spectra.git synced 2024-11-08 18:50:35 -05:00
Code Issues Projects Releases Packages Wiki Activity

working version of the muri demo

Browse source
This commit is contained in:
Naveen Sundar Govindarajulu 2017-01-15 22:13:40 -05:00
parent f3ddd342c6
commit c9201bc0b2
11 changed files with 290 additions and 155 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

25
src/main/java/edu/rpi/rair/Goal.java
View file

@ -8,31 +8,31 @@ import java.util.concurrent.atomic.AtomicInteger;
public class Goal {
private final State goalState;
private final int priority;
private final double priority;
private final String name;
private static final AtomicInteger nameCounter;
static {
nameCounter = new AtomicInteger(0);
}
private Goal(State goalState, int priority) {
private Goal(State goalState, double priority) {
this.goalState = goalState;
this.priority = priority;
this.name = "G" + nameCounter.incrementAndGet();
}
private Goal(State goalState, int priority, String name) {
private Goal(State goalState, double priority, String name) {
this.goalState = goalState;
this.priority = priority;
this.name = name;
}
public static Goal makeGoal(State goalState, int priority){
public static Goal makeGoal(State goalState, double priority){
return new Goal(goalState, priority);
}
public static Goal makeGoal(State goalState, int priority, String name){
public static Goal makeGoal(State goalState, double priority, String name){
return new Goal(goalState, priority, name);
@ -43,7 +43,7 @@ public class Goal {
return goalState;
}
public int getPriority() {
public double getPriority() {
return priority;
}
@ -67,14 +67,19 @@ public class Goal {
Goal goal = (Goal) o;
if (priority != goal.priority) return false;
return goalState.equals(goal.goalState);
if (Double.compare(goal.priority, priority) != 0) return false;
if (goalState != null ? !goalState.equals(goal.goalState) : goal.goalState != null) return false;
return name != null ? name.equals(goal.name) : goal.name == null;
}
@Override
public int hashCode() {
int result = goalState.hashCode();
result = 31 * result + priority;
int result;
long temp;
result = goalState != null ? goalState.hashCode() : 0;
temp = Double.doubleToLongBits(priority);
result = 31 * result + (int) (temp ^ (temp >>> 32));
result = 31 * result + (name != null ? name.hashCode() : 0);
return result;
}
}

28
src/main/java/edu/rpi/rair/GoalTracker.java
View file

@ -32,7 +32,7 @@ public class GoalTracker {
}
public boolean adoptGoal(Goal goal) {
public Optional<Plan> adoptGoal(Goal goal) {
@ -40,7 +40,7 @@ public class GoalTracker {
if (!possiblePlans.isPresent()) {
return false;
return Optional.empty();
} else if (possiblePlans.get().isEmpty()) {
@ -50,14 +50,16 @@ public class GoalTracker {
Set<Plan> plans = possiblePlans.get();
Optional<Plan> noConflictPlan = plans.stream().filter(plan -> plan.noConflicts(currentGoals)).findAny();
if (plans.stream().anyMatch(plan -> plan.noConflicts(currentGoals))) {
if (noConflictPlan.isPresent()) {
/*
* If there is any plan without any goal conflicts, then adopt the goal.
*/
currentGoals.add(goal);
return true;
return noConflictPlan;
} else {
@ -70,32 +72,34 @@ public class GoalTracker {
*/
boolean feasiblePlanExists = false;
int bestPriorityGap = 0;
double bestPriorityGap = 0;
Set<Goal> bestRemovalCandidates = null;
Plan feasiblePlan = null;
for (Plan plan : plans) {
Set<Goal> conflictingGoals = plan.getConflictingGoals(currentGoals);
int conflictSum = conflictingGoals.stream().mapToInt(Goal::getPriority).sum();
int gap = goal.getPriority() - conflictSum;
double conflictSum = conflictingGoals.stream().mapToDouble(Goal::getPriority).sum();
double gap = goal.getPriority() - conflictSum;
if(gap > 0 && gap > bestPriorityGap ){
feasiblePlanExists = true;
bestPriorityGap = gap;
feasiblePlan = plan;
bestRemovalCandidates= conflictingGoals;
}
}
if(feasiblePlanExists){
if(feasiblePlan!=null){
currentGoals.removeAll(bestRemovalCandidates);
currentGoals.add(goal);
return true;
return Optional.of(feasiblePlan);
}
else {
return false;
return Optional.empty();
}
@ -107,5 +111,7 @@ public class GoalTracker {
}
public Set<Goal> getCurrentGoals() {
return currentGoals;
}
}

2
src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java
View file

@ -66,7 +66,7 @@ public class GoalTrackingProblem {
String name = entry.getKey().toString();
Map<?, ?> goalSpec = (Map<?,?>)entry.getValue();
int priority = Math.toIntExact((Long) goalSpec.get(PRIORITY));
double priority = ((Double) goalSpec.get(PRIORITY));
Set<Formula> stateFormulae = PlanningProblem.readFrom((List<?>) goalSpec.get(STATE));
goals.add(Goal.makeGoal(State.initializeWith(stateFormulae), priority, name));

126
src/main/java/edu/rpi/rair/utils/RunDemo.java
View file

@ -3,17 +3,24 @@ package edu.rpi.rair.utils;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.Goal;
import edu.rpi.rair.GoalTracker;
import edu.rpi.rair.Plan;
import edu.rpi.rair.Planner;
import java.util.List;
import java.util.Optional;
import java.util.stream.Collectors;
/**
* Created by naveensundarg on 1/15/17.
*/
public class RunDemo {
public static void main(String[] args) throws Reader.ParsingException {
static ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
public static void main(String[] args) throws Reader.ParsingException {
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_tracking_tests.clj")));
@ -25,31 +32,104 @@ public class RunDemo {
goalTrackingProblem.getPlanningProblem().getActions());
ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
cp.println("Adding goal G1");
cp.clear();
boolean res1 = goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1"));
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
cp.println("Adding goal G2");
cp.clear();
goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G2"));
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
cp.println("Adding goal G3");
cp.clear();
goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G3"));
Goal g1 = goalTrackingProblem.getGoalNamed("G1");
Goal g2 = goalTrackingProblem.getGoalNamed("G2");
Goal g3 = goalTrackingProblem.getGoalNamed("G3");
Goal g4 = goalTrackingProblem.getGoalNamed("G4");
Goal g5 = goalTrackingProblem.getGoalNamed("G5");
tryAndAddGoal(g1, goalTracker);
tryAndAddGoal(g2, goalTracker);
tryAndAddGoal(g3, goalTracker);
tryAndAddGoal(g4, goalTracker);
tryAndAddGoal(g5, goalTracker);
}
static void tryAndAddGoal(Goal g, GoalTracker goalTracker) {
System.out.println("========================");
printInfo("Trying to Add Goal:", g.getName());
Optional<Plan> possibleGoalPlan = goalTracker.adoptGoal(g);
if (possibleGoalPlan.isPresent()) {
printSuccess("Successfully added:" , g.getName());
printDebug1("Current Goals:" , goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
Plan plan = possibleGoalPlan.get();
printDebug2("Plan:" , plan.getActions().isEmpty()? "No plan needed. Already satisfied." : plan.getActions().toString() );
} else {
printFailure("Could not add " + g.getName());
printDebug1("Current Goals: " , goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
}
}
static void printInfo(String header, String message) {
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
cp.print(header);
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print(message);
cp.println("");
cp.clear();
}
static void printSuccess(String header, String message) {
cp.setForegroundColor(Ansi.FColor.BLACK);
cp.setBackgroundColor(Ansi.BColor.GREEN); //setting format
cp.print(header);
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print(message);
cp.println("");
cp.clear();
}
static void printDebug1(String header, String message) {
cp.setForegroundColor(Ansi.FColor.BLACK);
cp.setBackgroundColor(Ansi.BColor.YELLOW); //setting format
cp.print(header);
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print(message);
cp.println("");
cp.clear();
}
static void printDebug2(String header, String message) {
cp.setForegroundColor(Ansi.FColor.BLACK);
cp.setBackgroundColor(Ansi.BColor.MAGENTA); //setting format
cp.print(header);
cp.clear();
cp.print(" ");
cp.setAttribute(Ansi.Attribute.BOLD);
cp.print(message);
cp.println("");
cp.clear();
}
static void printFailure(String message) {
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.RED); //setting format
cp.print(message);
cp.clear();
cp.println("");
cp.clear();
}
}

27
src/main/resources/edu/rpi/rair/completeness_problems.clj
View file

@ -127,7 +127,9 @@
(in prisoner room1)
(open (door room2))
(not (open (door room1)))]
:goal [(interrogates commander prisoner)]
:actions
[(define-action open-door [?room]
{:preconditions [(not (open (door ?room)))]
@ -135,7 +137,8 @@
:deletions [(not (open (door ?room)))]})
(define-action accompany[?person ?room1 ?room2]
(define-action accompany [?person ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room1)
(in self ?room1)
@ -144,17 +147,18 @@
:additions [(in ?person ?room2)
(in self ?room2)]
:deletions [(in ?person ?room1)
(in self ?room1)]})
(define-action request-move [?person ?room2 ?room1]
(define-action move [?person ?room2 ?room1]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room2)
(not (= ?person prisoner))
(open (door ?room1))
(open (door ?room2))]
:additions [(in ?person ?room1)]
:deletions [(in ?person ?room2)]})
(define-action get-interrogated [?room]
@ -162,23 +166,20 @@
(in prisoner ?room)]
:additions [(interrogates commander prisoner)]
:deletions []})
]
:expected-plans (
:expected-plans ([(open-door room1)
(move commander room2 room1)
(get-interrogated room1)]
[(open-door room1)
(request-move commander room2 room1)
(get-interrogated room1)
]
(move prisoner room1 room2)
(get-interrogated room2)]
[(open-door room1)
(accompany prisoner room1 room2)
(get-interrogated room2)
]
)
}
(get-interrogated room2)])}

118
src/main/resources/edu/rpi/rair/goal_tracking_tests.clj
View file

@ -1,62 +1,84 @@
{:definitions
{:name "Moving Between Rooms"
:background [(not (= room1 room2))
(forall [?x] (iff (Locked ?x) (not (Open ?x))))
(forall [?x ?y ?z] (if (and (In ?x ?y) (not (= ?z ?y)))
(not (In ?x ?z))))]
:start [(In self room1)
(In commander room2)
(In prisoner room1)
(Open (door room2))
(not (Open (door room1)))]
:goal []
:actions
[(define-action open-door [?room]
{:preconditions [(not (Open (door ?room)))]
:additions [(Open (door ?room))]
:deletions [(not (Open (door ?room)))]})
{:name "demo 1"
:background [
(forall [?x ?room1 ?room2]
(if (not (= ?room1 ?room2))
(if (in ?x ?room1) (not (in ?x ?room2))) ))
(not (= room1 room2))
(not (= prisoner commander))
(not (= self prisoner))
(not (= self commander))
(person prisoner)
(person commander)
]
:start [(in self room1)
(in commander room2)
(in prisoner room1)
(open (door room2))
(not (open (door room1)))]
(define-action move-thing-from-to [?thing ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
:goal []
:additions [(In ?thing ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})
(define-action accompany-from-to [?thing ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(In self ?room1)
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
:actions
[(define-action open-door [?room]
{:preconditions [(not (open (door ?room)))]
:additions [(open (door ?room))]
:deletions [(not (open (door ?room)))]})
:additions [(In ?thing ?room2)
(In ?self ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})
(define-action interrogate [?A ?B]
{:preconditions [(In ?room ?A)
(In ?room ?B)]
:additions [(Interrogates ?A ?B)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})]
(define-action accompany [?person ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room1)
(in self ?room1)
(open (door ?room1))
(open (door ?room2))]
:additions [(in ?person ?room2)
(in self ?room2)]
:deletions [(in ?person ?room1)
(in self ?room1)]})
(define-action move [?person ?room2 ?room1]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room2)
(open (door ?room1))
(open (door ?room2))]
:additions [(in ?person ?room1)]
:deletions [(in ?person ?room2)]})
(define-action get-interrogated [?room]
{:preconditions [(in commander ?room)
(in prisoner ?room)]
:additions [(interrogates commander prisoner)]
:deletions []})
]
}
:goals {G1 {:priority 1
:state [(not (Open (door room1)))]}
:goals {G1 {:priority 1.0
:state [(not (open (door room1)))]}
G2 {:priority 1
:state [(In prisoner room1)]}
G2 {:priority 1.0
:state [(in prisoner room1)]}
G3 {:priority 1
G3 {:priority 1.0
:state [(forall [?room]
(if (In prisoner ?room)
(In self ?room)))]
}
(if (in prisoner ?room)
(in self ?room)))]}
G4 {:priority 2.0
:state [(interrogates commander prisoner)]}
G5 {:priority 1.0
:state [(in prisoner room2)
(in self room2)]}
}

1
src/test/java/edu/rpi/rair/GoalTrackerTest.java
View file

@ -35,7 +35,6 @@ public class GoalTrackerTest {
cp.println("Adding goal G1");
cp.clear();
boolean res1 = goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1"));
cp.setForegroundColor(Ansi.FColor.WHITE);
cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format

118
target/classes/edu/rpi/rair/goal_tracking_tests.clj
View file

@ -1,62 +1,84 @@
{:definitions
{:name "Moving Between Rooms"
:background [(not (= room1 room2))
(forall [?x] (iff (Locked ?x) (not (Open ?x))))
(forall [?x ?y ?z] (if (and (In ?x ?y) (not (= ?z ?y)))
(not (In ?x ?z))))]
:start [(In self room1)
(In commander room2)
(In prisoner room1)
(Open (door room2))
(not (Open (door room1)))]
:goal []
:actions
[(define-action open-door [?room]
{:preconditions [(not (Open (door ?room)))]
:additions [(Open (door ?room))]
:deletions [(not (Open (door ?room)))]})
{:name "demo 1"
:background [
(forall [?x ?room1 ?room2]
(if (not (= ?room1 ?room2))
(if (in ?x ?room1) (not (in ?x ?room2))) ))
(not (= room1 room2))
(not (= prisoner commander))
(not (= self prisoner))
(not (= self commander))
(person prisoner)
(person commander)
]
:start [(in self room1)
(in commander room2)
(in prisoner room1)
(open (door room2))
(not (open (door room1)))]
(define-action move-thing-from-to [?thing ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
:goal []
:additions [(In ?thing ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})
(define-action accompany-from-to [?thing ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(In self ?room1)
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
:actions
[(define-action open-door [?room]
{:preconditions [(not (open (door ?room)))]
:additions [(open (door ?room))]
:deletions [(not (open (door ?room)))]})
:additions [(In ?thing ?room2)
(In ?self ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})
(define-action interrogate [?A ?B]
{:preconditions [(In ?room ?A)
(In ?room ?B)]
:additions [(Interrogates ?A ?B)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})]
(define-action accompany [?person ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room1)
(in self ?room1)
(open (door ?room1))
(open (door ?room2))]
:additions [(in ?person ?room2)
(in self ?room2)]
:deletions [(in ?person ?room1)
(in self ?room1)]})
(define-action move [?person ?room2 ?room1]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room2)
(open (door ?room1))
(open (door ?room2))]
:additions [(in ?person ?room1)]
:deletions [(in ?person ?room2)]})
(define-action get-interrogated [?room]
{:preconditions [(in commander ?room)
(in prisoner ?room)]
:additions [(interrogates commander prisoner)]
:deletions []})
]
}
:goals {G1 {:priority 1
:state [(not (Open (door room1)))]}
:goals {G1 {:priority 1.0
:state [(not (open (door room1)))]}
G2 {:priority 1
:state [(In prisoner room1)]}
G2 {:priority 1.0
:state [(in prisoner room1)]}
G3 {:priority 1
G3 {:priority 1.0
:state [(forall [?room]
(if (In prisoner ?room)
(In self ?room)))]
}
(if (in prisoner ?room)
(in self ?room)))]}
G4 {:priority 2.0
:state [(interrogates commander prisoner)]}
G5 {:priority 1.0
:state [(in prisoner room2)
(in self room2)]}
}

BIN
target/classes/edu/rpi/rair/utils/GoalTrackingProblem.class
View file

Binary file not shown.

BIN
target/classes/edu/rpi/rair/utils/RunDemo.class
View file

Binary file not shown.

BIN
target/test-classes/edu/rpi/rair/GoalTrackerTest.class
View file

Binary file not shown.