working version of the muri demo

src/main/java/edu/rpi/rair/Goal.java

@@ -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;
+        if (Double.compare(goal.priority, priority) != 0) return false;
-        return goalState.equals(goal.goalState);
+        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();
+        int result;
-        result = 31 * result + priority;
+        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;
     }
 }

src/main/java/edu/rpi/rair/GoalTracker.java

@@ -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();
+                    double conflictSum = conflictingGoals.stream().mapToDouble(Goal::getPriority).sum();
-                    int gap = goal.getPriority() - conflictSum;
+                    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;
+    }
 }

src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java

@@ -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));

src/main/java/edu/rpi/rair/utils/RunDemo.java

@@ -3,18 +3,25 @@ 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 {
 
+    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();
+        Goal g1 = goalTrackingProblem.getGoalNamed("G1");
-
+        Goal g2 = goalTrackingProblem.getGoalNamed("G2");
-
+        Goal g3 = goalTrackingProblem.getGoalNamed("G3");
-        cp.setForegroundColor(Ansi.FColor.WHITE);
+        Goal g4 = goalTrackingProblem.getGoalNamed("G4");
-        cp.setBackgroundColor(Ansi.BColor.BLUE);   //setting format
+        Goal g5 = goalTrackingProblem.getGoalNamed("G5");
-        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"));
 
+        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();
+    }
 }

src/main/resources/edu/rpi/rair/completeness_problems.clj

@@ -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)))]
@@ -135,6 +137,7 @@
                                   :deletions     [(not (open (door ?room)))]})
 
 
+
                   (define-action accompany [?person ?room1 ?room2]
                                  {:preconditions [(not (= ?room1 ?room2))
                                                   (in ?person ?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)
+                    (move prisoner room1 room2)
-                    (get-interrogated room1)
+                    (get-interrogated room2)]
-                    ]
 
                    [(open-door room1)
                     (accompany prisoner room1 room2)
-                    (get-interrogated room2)
+                    (get-interrogated room2)])}
-                    ]
-
-                   )
-
- }
 
 

src/main/resources/edu/rpi/rair/goal_tracking_tests.clj

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

src/test/java/edu/rpi/rair/GoalTrackerTest.java

@@ -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

target/classes/edu/rpi/rair/goal_tracking_tests.clj

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