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https://github.com/RAIRLab/Spectra.git
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working version of the muri demo
This commit is contained in:
Naveen Sundar Govindarajulu
parent
f3ddd342c6
commit
c9201bc0b2
11 changed files with 290 additions and 155 deletions
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@ -8,31 +8,31 @@ import java.util.concurrent.atomic.AtomicInteger;
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public class Goal {
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private final State goalState;
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private final int priority;
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private final double priority;
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private final String name;
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private static final AtomicInteger nameCounter;
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static {
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nameCounter = new AtomicInteger(0);
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}
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private Goal(State goalState, int priority) {
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private Goal(State goalState, double priority) {
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this.goalState = goalState;
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this.priority = priority;
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this.name = "G" + nameCounter.incrementAndGet();
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}
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private Goal(State goalState, int priority, String name) {
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private Goal(State goalState, double priority, String name) {
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this.goalState = goalState;
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this.priority = priority;
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this.name = name;
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}
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public static Goal makeGoal(State goalState, int priority){
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public static Goal makeGoal(State goalState, double priority){
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return new Goal(goalState, priority);
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}
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public static Goal makeGoal(State goalState, int priority, String name){
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public static Goal makeGoal(State goalState, double priority, String name){
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return new Goal(goalState, priority, name);
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@ -43,7 +43,7 @@ public class Goal {
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return goalState;
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}
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public int getPriority() {
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public double getPriority() {
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return priority;
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}
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@ -67,14 +67,19 @@ public class Goal {
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Goal goal = (Goal) o;
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if (priority != goal.priority) return false;
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return goalState.equals(goal.goalState);
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if (Double.compare(goal.priority, priority) != 0) return false;
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if (goalState != null ? !goalState.equals(goal.goalState) : goal.goalState != null) return false;
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return name != null ? name.equals(goal.name) : goal.name == null;
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}
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@Override
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public int hashCode() {
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int result = goalState.hashCode();
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result = 31 * result + priority;
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int result;
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long temp;
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result = goalState != null ? goalState.hashCode() : 0;
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temp = Double.doubleToLongBits(priority);
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result = 31 * result + (int) (temp ^ (temp >>> 32));
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result = 31 * result + (name != null ? name.hashCode() : 0);
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return result;
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}
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}
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@ -32,7 +32,7 @@ public class GoalTracker {
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}
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public boolean adoptGoal(Goal goal) {
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public Optional<Plan> adoptGoal(Goal goal) {
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@ -40,7 +40,7 @@ public class GoalTracker {
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if (!possiblePlans.isPresent()) {
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return false;
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return Optional.empty();
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} else if (possiblePlans.get().isEmpty()) {
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@ -50,14 +50,16 @@ public class GoalTracker {
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Set<Plan> plans = possiblePlans.get();
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Optional<Plan> noConflictPlan = plans.stream().filter(plan -> plan.noConflicts(currentGoals)).findAny();
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if (plans.stream().anyMatch(plan -> plan.noConflicts(currentGoals))) {
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if (noConflictPlan.isPresent()) {
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/*
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* If there is any plan without any goal conflicts, then adopt the goal.
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*/
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currentGoals.add(goal);
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return true;
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return noConflictPlan;
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} else {
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@ -70,32 +72,34 @@ public class GoalTracker {
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*/
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boolean feasiblePlanExists = false;
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int bestPriorityGap = 0;
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double bestPriorityGap = 0;
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Set<Goal> bestRemovalCandidates = null;
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Plan feasiblePlan = null;
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for (Plan plan : plans) {
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Set<Goal> conflictingGoals = plan.getConflictingGoals(currentGoals);
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int conflictSum = conflictingGoals.stream().mapToInt(Goal::getPriority).sum();
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int gap = goal.getPriority() - conflictSum;
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double conflictSum = conflictingGoals.stream().mapToDouble(Goal::getPriority).sum();
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double gap = goal.getPriority() - conflictSum;
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if(gap > 0 && gap > bestPriorityGap ){
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feasiblePlanExists = true;
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bestPriorityGap = gap;
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feasiblePlan = plan;
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bestRemovalCandidates= conflictingGoals;
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}
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}
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if(feasiblePlanExists){
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if(feasiblePlan!=null){
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currentGoals.removeAll(bestRemovalCandidates);
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currentGoals.add(goal);
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return true;
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return Optional.of(feasiblePlan);
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}
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else {
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return false;
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return Optional.empty();
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}
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@ -107,5 +111,7 @@ public class GoalTracker {
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}
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public Set<Goal> getCurrentGoals() {
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return currentGoals;
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}
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}
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@ -66,7 +66,7 @@ public class GoalTrackingProblem {
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String name = entry.getKey().toString();
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Map<?, ?> goalSpec = (Map<?,?>)entry.getValue();
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int priority = Math.toIntExact((Long) goalSpec.get(PRIORITY));
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double priority = ((Double) goalSpec.get(PRIORITY));
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Set<Formula> stateFormulae = PlanningProblem.readFrom((List<?>) goalSpec.get(STATE));
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goals.add(Goal.makeGoal(State.initializeWith(stateFormulae), priority, name));
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@ -3,17 +3,24 @@ package edu.rpi.rair.utils;
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import com.diogonunes.jcdp.color.ColoredPrinter;
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import com.diogonunes.jcdp.color.api.Ansi;
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import com.naveensundarg.shadow.prover.utils.Reader;
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import edu.rpi.rair.Goal;
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import edu.rpi.rair.GoalTracker;
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import edu.rpi.rair.Plan;
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import edu.rpi.rair.Planner;
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import java.util.List;
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import java.util.Optional;
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import java.util.stream.Collectors;
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/**
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* Created by naveensundarg on 1/15/17.
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*/
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public class RunDemo {
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public static void main(String[] args) throws Reader.ParsingException {
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static ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
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public static void main(String[] args) throws Reader.ParsingException {
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List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_tracking_tests.clj")));
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@ -25,31 +32,104 @@ public class RunDemo {
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goalTrackingProblem.getPlanningProblem().getActions());
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ColoredPrinter cp = new ColoredPrinter.Builder(1, false).build();
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cp.setForegroundColor(Ansi.FColor.WHITE);
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cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
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cp.println("Adding goal G1");
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cp.clear();
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boolean res1 = goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G1"));
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cp.setForegroundColor(Ansi.FColor.WHITE);
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cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
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cp.println("Adding goal G2");
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cp.clear();
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goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G2"));
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cp.setForegroundColor(Ansi.FColor.WHITE);
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cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
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cp.println("Adding goal G3");
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cp.clear();
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goalTracker.adoptGoal(goalTrackingProblem.getGoalNamed("G3"));
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Goal g1 = goalTrackingProblem.getGoalNamed("G1");
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Goal g2 = goalTrackingProblem.getGoalNamed("G2");
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Goal g3 = goalTrackingProblem.getGoalNamed("G3");
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Goal g4 = goalTrackingProblem.getGoalNamed("G4");
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Goal g5 = goalTrackingProblem.getGoalNamed("G5");
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tryAndAddGoal(g1, goalTracker);
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tryAndAddGoal(g2, goalTracker);
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tryAndAddGoal(g3, goalTracker);
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tryAndAddGoal(g4, goalTracker);
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tryAndAddGoal(g5, goalTracker);
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}
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static void tryAndAddGoal(Goal g, GoalTracker goalTracker) {
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System.out.println("========================");
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printInfo("Trying to Add Goal:", g.getName());
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Optional<Plan> possibleGoalPlan = goalTracker.adoptGoal(g);
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if (possibleGoalPlan.isPresent()) {
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printSuccess("Successfully added:" , g.getName());
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printDebug1("Current Goals:" , goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
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Plan plan = possibleGoalPlan.get();
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printDebug2("Plan:" , plan.getActions().isEmpty()? "No plan needed. Already satisfied." : plan.getActions().toString() );
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} else {
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printFailure("Could not add " + g.getName());
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printDebug1("Current Goals: " , goalTracker.getCurrentGoals().stream().map(Goal::getName).collect(Collectors.toSet()).toString());
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}
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}
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static void printInfo(String header, String message) {
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cp.setForegroundColor(Ansi.FColor.WHITE);
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cp.setBackgroundColor(Ansi.BColor.BLUE); //setting format
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cp.print(header);
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cp.clear();
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cp.print(" ");
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cp.setAttribute(Ansi.Attribute.BOLD);
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cp.print(message);
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cp.println("");
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cp.clear();
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}
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static void printSuccess(String header, String message) {
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cp.setForegroundColor(Ansi.FColor.BLACK);
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cp.setBackgroundColor(Ansi.BColor.GREEN); //setting format
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cp.print(header);
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cp.clear();
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cp.print(" ");
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cp.setAttribute(Ansi.Attribute.BOLD);
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cp.print(message);
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cp.println("");
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cp.clear();
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}
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static void printDebug1(String header, String message) {
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cp.setForegroundColor(Ansi.FColor.BLACK);
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cp.setBackgroundColor(Ansi.BColor.YELLOW); //setting format
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cp.print(header);
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cp.clear();
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cp.print(" ");
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cp.setAttribute(Ansi.Attribute.BOLD);
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cp.print(message);
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cp.println("");
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cp.clear();
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}
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static void printDebug2(String header, String message) {
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cp.setForegroundColor(Ansi.FColor.BLACK);
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cp.setBackgroundColor(Ansi.BColor.MAGENTA); //setting format
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cp.print(header);
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cp.clear();
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cp.print(" ");
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cp.setAttribute(Ansi.Attribute.BOLD);
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cp.print(message);
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cp.println("");
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cp.clear();
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}
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static void printFailure(String message) {
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cp.setForegroundColor(Ansi.FColor.WHITE);
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cp.setBackgroundColor(Ansi.BColor.RED); //setting format
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cp.print(message);
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cp.clear();
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cp.println("");
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cp.clear();
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}
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}
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