Some more tweaks

snark-20120808r02/snark-interface.lisp

@@ -66,14 +66,14 @@
     (setup-snark :time-limit time-limit :verbose verbose)
     (if sortal-setup-fn (funcall sortal-setup-fn))
     (let* ((n-a (make-hash-table :test #'equalp))
-           (a-n (make-hash-table :test #'equalp)))
+           (a-n (make-hash-table :test #'equalp))
+	 )
       (mapcar (lambda (axiom)
                 (let ((name (gensym)))
                   (setf (gethash (princ-to-string axiom) a-n) name)
                   (setf (gethash (princ-to-string name) n-a) axiom))) axioms)
       (mapcar (lambda (axiom)
-                (snark::assert axiom :name  (gethash (princ-to-string axiom) a-n)
+                (snark::assert axiom))
-                               ))
               (mapcar #'!@ axioms))
       (if (equalp :PROOF-FOUND (snark:prove (!@ f)))
           (list t (remove nil
@@ -101,8 +101,7 @@
                   (setf (gethash (princ-to-string axiom) a-n) name)
                   (setf (gethash (princ-to-string name) n-a) axiom))) axioms)
       (mapcar (lambda (axiom)
-                (snark::assert axiom :name  (gethash (princ-to-string axiom) a-n)
+                (snark::assert axiom))
-                               ))
               (mapcar #'!@ axioms))
       (if (equalp :PROOF-FOUND (snark:prove (!@ f)))
           "YES"
@@ -126,8 +125,7 @@
                   (setf (gethash (princ-to-string axiom) a-n) name)
                   (setf (gethash (princ-to-string name) n-a) axiom))) axioms)
       (mapcar (lambda (axiom)
-                (snark::assert axiom :name  (gethash (princ-to-string axiom) a-n)
+                (snark::assert axiom))
-                               ))
               (mapcar #'!@ axioms))
       
       (let ((proof (snark:prove (!@ f) :answer (!@ (list 'ans var)) ))) 
@@ -154,8 +152,7 @@
                   (setf (gethash (princ-to-string axiom) a-n) name)
                   (setf (gethash (princ-to-string name) n-a) axiom))) axioms)
       (mapcar (lambda (axiom)
-                (snark::assert axiom :name  (gethash (princ-to-string axiom) a-n)
+                (snark::assert axiom))
-                               ))
               (mapcar #'!@ axioms))
       
       (let ((proof (snark:prove (!@ f) :answer (!@ (cons 'ans vars)) ))) 
@@ -179,8 +176,7 @@
                   (setf (gethash (princ-to-string axiom) a-n) name)
                   (setf (gethash (princ-to-string name) n-a) axiom))) axioms)
       (mapcar (lambda (axiom)
-                (snark::assert axiom :name  (gethash (princ-to-string axiom) a-n)
+                (snark::assert axiom))
-                               ))
               (mapcar #'!@ axioms))
       
       (let ((proof (snark:prove (!@ f) :answer (!@ (cons 'ans vars)) ))) 

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

@@ -22,7 +22,7 @@ public class RunDemo {
     public static void main(String[] args) throws Reader.ParsingException {
 
 
-        List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_tracking_tests.clj")));
+        List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_2.clj")));
 
 
         GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
@@ -31,18 +31,25 @@ public class RunDemo {
                 goalTrackingProblem.getPlanningProblem().getStart(),
                 goalTrackingProblem.getPlanningProblem().getActions());
 
+        long start = System.currentTimeMillis();
 
         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);
+        long end = System.currentTimeMillis();
-        tryAndAddGoal(g5, goalTracker);
+
+        cp.println("--------------------------");
+        cp.setForegroundColor(Ansi.FColor.CYAN);
+
+        cp.print("Time Taken:");
+        cp.clear();
+        cp.print(" ");
+        cp.setAttribute(Ansi.Attribute.BOLD);
+        cp.print((end-start)/1000 + "s");
+
 
 
     }

src/main/resources/edu/rpi/rair/goal_management_1.clj

@@ -57,6 +57,13 @@
                                   :additions     [(interrogates commander prisoner)]
 
                                   :deletions     []})
+
+                  (define-action stay-put [?x ?y]
+                                 {:preconditions [(sameroom ?x ?y)]
+
+                                 :additions     [(sameroom ?x ?y)]
+
+                                 :deletions     []})
                   ]
 }
 

src/main/resources/edu/rpi/rair/goal_management_2.clj

@@ -1,21 +1,23 @@
 {:definitions
- {:name           "demo 1"
+ {:name           "test"
- :background     [
+ :background     []
-                  (forall [?x ?room1 ?room2]
+ :start          [
-                          (if (not (= ?room1 ?room2))
+                   (forall [?x ?room1 ?room2] (implies (and (not (= ?room1 ?room2)) (in ?x ?room1)) (not (in ?x ?room2))))
-                            (if (in ?x ?room1) (not (in ?x ?room2))) ))
+                   (not (= room1 room2))
-                  (not (= room1 room2))
+                   (not (= prisoner commander))
-                  (not (= prisoner commander))
+                   (not (= self prisoner))
-                  (not (= self prisoner))
+                   (not (= self commander))
-                  (not (= self commander))
+                   (person prisoner)
-                  (person prisoner)
+                   (person commander)
-                  (person commander)
+                    (in self room1)
-                  ]
- :start          [(in self room1)
                   (in commander room2)
                   (in prisoner room1)
                   (open (door room2))
-                  (not (open (door room1)))]
+                  (not (open (door room1)))
+
+                  (forall [?x ?y ?room] (implies (and (and (in ?x ?room) (in ?y ?room)) (not (= ?x ?y))) (sameroom ?x ?y)))
+                  (forall [?x ?y] (exists ?room (implies (sameroom ?x ?y) (and (in ?x ?room) (in ?y ?room)) )) )
+                  ]
 
  :goal           []
 
@@ -28,8 +30,7 @@
 
 
                   (define-action accompany [?person ?room1 ?room2]
-                                 {:preconditions [(not (= ?room1 ?room2))
+                                 {:preconditions [(in ?person ?room1)
-                                                  (in ?person ?room1)
                                                   (in self ?room1)
                                                   (open (door ?room1))
                                                   (open (door ?room2))]
@@ -41,8 +42,7 @@
                                                   (in self ?room1)]})
 
                   (define-action move [?person ?room2 ?room1]
-                                 {:preconditions [(not (= ?room1 ?room2))
+                                 {:preconditions [(in ?person ?room2)
-                                                  (in ?person ?room2)
                                                   (open (door ?room1))
                                                   (open (door ?room2))]
 
@@ -57,24 +57,15 @@
                                   :additions     [(interrogates commander prisoner)]
 
                                   :deletions     []})
+
+
                   ]
 }
 
-  :goals      {G1 {:priority 6.0
+  :goals      {G1 {:priority 1.0
-                   :state    [(not (open (door room1)))]}
+                   :state    [(sameroom self prisoner)]}
 
-               G2 {:priority 6.0
+               G2 {:priority 2.0
-                   :state    [(in prisoner room1)]}
+                   :state    [(in prisoner room2)]}
-
+ }
-               G3 {:priority 6.0
+ }
-                   :state    [(forall [?room]
-                                      (if (in prisoner ?room)
-                                        (in self ?room)))]}
-               G4  {:priority 3.0
-                   :state [(in prisoner room2)
-                           (in self room2)]}
-               G5 {:priority 2.0
-
-                   :state [(interrogates commander prisoner)]}}
-
- }

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

@@ -17,7 +17,7 @@ public class GoalTrackerTest {
 
     public static void main(String[] args) throws Reader.ParsingException {
 
-        List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_tracking_tests.clj")));
+        List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_management_1.clj")));
 
 
         GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);