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This commit is contained in:
Naveen Sundar Govindarajulu 2017-01-15 18:54:56 -05:00
parent 598f9b3dff
commit f3ddd342c6
22 changed files with 710 additions and 175 deletions
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13
.idea/libraries/Maven__com_diogonunes_JCDP_2_0_1.xml Normal file
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@ -0,0 +1,13 @@
<component name="libraryTable">
<library name="Maven: com.diogonunes:JCDP:2.0.1">
<CLASSES>
<root url="jar://$MAVEN_REPOSITORY$/com/diogonunes/JCDP/2.0.1/JCDP-2.0.1.jar!/" />
</CLASSES>
<JAVADOC>
<root url="jar://$MAVEN_REPOSITORY$/com/diogonunes/JCDP/2.0.1/JCDP-2.0.1-javadoc.jar!/" />
</JAVADOC>
<SOURCES>
<root url="jar://$MAVEN_REPOSITORY$/com/diogonunes/JCDP/2.0.1/JCDP-2.0.1-sources.jar!/" />
</SOURCES>
</library>
</component>

13
.idea/libraries/Maven__org_fusesource_jansi_jansi_1_11.xml Normal file
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@ -0,0 +1,13 @@
<component name="libraryTable">
<library name="Maven: org.fusesource.jansi:jansi:1.11">
<CLASSES>
<root url="jar://$MAVEN_REPOSITORY$/org/fusesource/jansi/jansi/1.11/jansi-1.11.jar!/" />
</CLASSES>
<JAVADOC>
<root url="jar://$MAVEN_REPOSITORY$/org/fusesource/jansi/jansi/1.11/jansi-1.11-javadoc.jar!/" />
</JAVADOC>
<SOURCES>
<root url="jar://$MAVEN_REPOSITORY$/org/fusesource/jansi/jansi/1.11/jansi-1.11-sources.jar!/" />
</SOURCES>
</library>
</component>

6
.idea/vcs.xml Normal file
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@ -0,0 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="" vcs="Git" />
</component>
</project>

5
pom.xml
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@ -24,6 +24,11 @@
<scope>test</scope>
</dependency>
<dependency>
<groupId>com.diogonunes</groupId>
<artifactId>JCDP</artifactId>
<version>2.0.1</version>
</dependency>
<dependency>
<groupId>us.bpsm</groupId>
<artifactId>edn-java</artifactId>

36
snark-20120808r02/snark-interface.lisp
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@ -40,6 +40,7 @@
(snark:prove-supported t)
(snark:use-hyperresolution t)
(snark:use-paramodulation t)
(snark:allow-skolem-symbols-in-answers nil))
(defun row-formula (name))
@ -135,6 +136,9 @@
"")))))
(defun get-answer-string (proof)
(string-downcase (princ-to-string (@! (rest (snark:answer proof))))))
(defun prove-from-axioms-and-get-answers (all-axioms f vars
&key
(time-limit 5)
@ -157,9 +161,39 @@
(let ((proof (snark:prove (!@ f) :answer (!@ (cons 'ans vars)) )))
(if (equalp :PROOF-FOUND proof)
(string-downcase (princ-to-string (@! (rest (snark:answer proof) ))))
(get-answer-string proof)
"")))))
(defun prove-from-axioms-and-get-multiple-answers (all-axioms f vars
&key
(time-limit 5)
(verbose nil)
sortal-setup-fn)
(let ((axioms (remove-duplicates all-axioms :test #'equalp)))
(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)))
(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)
))
(mapcar #'!@ axioms))
(let ((proof (snark:prove (!@ f) :answer (!@ (cons 'ans vars)) )))
(if (equalp :PROOF-FOUND proof)
(princ-to-string (cons (get-answer-string proof) (call)))
"")))))
(defun call ()
(let ((proof (snark:closure)))
(if (equalp :PROOF-FOUND proof)
(cons (get-answer-string proof) (call))
())))
(defun proved? (ans) (first ans))
(defun used-premises (ans) (second ans))

52
src/main/java/edu/rpi/rair/DepthFirstPlanner.java
View file

@ -14,10 +14,26 @@ import java.util.stream.Collectors;
public class DepthFirstPlanner implements Planner {
private static final int MAX_DEPTH = 4;
@Override
public Optional<Set<Plan>> plan(Set<Formula> background, Set<Action> actions, State start, State goal) {
return planInternal(Sets.newSet(), 0, background, actions, start, goal);
}
private Optional<Set<Plan>> planInternal(Set<Pair<State, Action>> history, int currentDepth, Set<Formula> background, Set<Action> actions, State start, State goal) {
if(currentDepth>=MAX_DEPTH){
return Optional.empty();
}
if (Operations.satisfies(background, start, goal)) {
//Already satisfied. Do nothing. Return a set with an empty plan.
return Optional.of(Sets.with(Plan.newEmptyPlan(goal, background)));
@ -29,29 +45,38 @@ public class DepthFirstPlanner implements Planner {
for (Action action : actions) {
Optional<Pair<State, Action>> nextStateActionPair = Operations.apply(background, action, start);
Optional<Set<Pair<State, Action>>> nextStateActionPairs = Operations.apply(background, action, start);
if (nextStateActionPair.isPresent()) {
if (nextStateActionPairs.isPresent()) {
Optional<Set<Plan>> planOpt = plan(background, actions, nextStateActionPair.get().first(), goal);
for (Pair<State, Action> stateActionPair : nextStateActionPairs.get()) {
if (planOpt.isPresent()) {
atleastOnePlanFound = true;
Set<Plan> nextPlans = planOpt.get();
State nextSate = nextStateActionPair.get().first();
Action instantiatedAction = nextStateActionPair.get().second();
Optional<Set<Plan>> planOpt = planInternal(history, currentDepth+1, background, actions, stateActionPair.first(), goal);
Set<Plan> augmentedPlans = nextPlans.stream().
map(plan -> plan.getPlanByStartingWith(instantiatedAction, nextSate)).
collect(Collectors.toSet());
if (planOpt.isPresent()) {
allPlans.addAll(augmentedPlans);
//TODO: store different plans and return the best plan.
atleastOnePlanFound = true;
Set<Plan> nextPlans = planOpt.get();
State nextSate = stateActionPair.first();
Action instantiatedAction = stateActionPair.second();
Set<Plan> augmentedPlans = nextPlans.stream().
map(plan -> plan.getPlanByStartingWith(instantiatedAction, nextSate)).
collect(Collectors.toSet());
allPlans.addAll(augmentedPlans);
//TODO: store different plans and return the best plan.
}
}
}
}
if (atleastOnePlanFound) {
@ -67,4 +92,5 @@ public class DepthFirstPlanner implements Planner {
}
}

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

@ -1,5 +1,7 @@
package edu.rpi.rair;
import java.util.concurrent.atomic.AtomicInteger;
/**
* Created by naveensundarg on 1/14/17.
*/
@ -7,18 +9,36 @@ public class Goal {
private final State goalState;
private final int priority;
private final String name;
private static final AtomicInteger nameCounter;
static {
nameCounter = new AtomicInteger(0);
}
private Goal(State goalState, int priority) {
this.goalState = goalState;
this.priority = priority;
this.name = "G" + nameCounter.incrementAndGet();
}
private Goal(State goalState, int priority, String name) {
this.goalState = goalState;
this.priority = priority;
this.name = name;
}
public static Goal makeGoal(State goalState, int priority){
return new Goal(goalState, priority);
}
public static Goal makeGoal(State goalState, int priority, String name){
return new Goal(goalState, priority, name);
}
public State getGoalState() {
return goalState;
}
@ -27,11 +47,16 @@ public class Goal {
return priority;
}
public String getName() {
return name;
}
@Override
public String toString() {
return "Goal{" +
"goalState=" + goalState +
", priority=" + priority +
", name='" + name + '\'' +
'}';
}

4
src/main/java/edu/rpi/rair/GoalTracker.java
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@ -14,6 +14,9 @@ import java.util.Set;
public class GoalTracker {
private final Set<Formula> background;
private State currentState;
private final Set<Goal> currentGoals;
@ -32,6 +35,7 @@ public class GoalTracker {
public boolean adoptGoal(Goal goal) {
Optional<Set<Plan>> possiblePlans = planner.plan(background, actions, currentState, goal.getGoalState());
if (!possiblePlans.isPresent()) {

107
src/main/java/edu/rpi/rair/Operations.java
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@ -3,9 +3,11 @@ package edu.rpi.rair;
import com.naveensundarg.shadow.prover.core.Prover;
import com.naveensundarg.shadow.prover.core.SnarkWrapper;
import com.naveensundarg.shadow.prover.representations.formula.And;
import com.naveensundarg.shadow.prover.representations.formula.BiConditional;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.representations.value.Value;
import com.naveensundarg.shadow.prover.representations.value.Variable;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.ImmutablePair;
import com.naveensundarg.shadow.prover.utils.Pair;
import com.naveensundarg.shadow.prover.utils.Sets;
@ -14,6 +16,7 @@ import java.util.List;
import java.util.Map;
import java.util.Optional;
import java.util.Set;
import java.util.concurrent.*;
import java.util.stream.Collectors;
import static edu.rpi.rair.State.FALSE;
@ -23,6 +26,7 @@ import static edu.rpi.rair.State.FALSE;
*/
public class Operations {
private static boolean DEEP_EQUIVALENCE = false;
private static Prover prover;
static{
@ -31,38 +35,125 @@ public class Operations {
public static synchronized Optional<Map<Variable, Value>> proveAndGetBindings(Set<Formula> givens, Formula goal, List<Variable> variables){
return prover.proveAndGetBindings(givens, goal, variables);
Future<Optional<Map<Variable, Value>>> future = new FutureTask<>(()->{
return prover.proveAndGetBindings(givens, goal, variables);
});
Optional<Map<Variable, Value>> answer;
try{
answer = future.get(1, TimeUnit.SECONDS);
} catch (InterruptedException | ExecutionException | TimeoutException e) {
answer = Optional.empty();
}
return answer;
}
public static Optional<Pair<State,Action>> apply(Set<Formula> background, Action action, State state){
Prover prover = new SnarkWrapper();
public static synchronized Optional<Set<Map<Variable, Value>>> proveAndGetMultipleBindings(Set<Formula> givens, Formula goal, List<Variable> variables){
return prover.proveAndGetMultipleBindings(givens, goal, variables);
/* Future<Optional<Set<Map<Variable, Value>>>> future = new FutureTask<>(()-> prover.proveAndGetMultipleBindings(givens, goal, variables));
Optional<Set<Map<Variable, Value>>> answer;
try{
answer = future.get(50, TimeUnit.SECONDS);
} catch (InterruptedException | ExecutionException | TimeoutException e ) {
answer = Optional.empty();
}
return answer;
*/
}
public static Optional<Set<Pair<State,Action>>> apply(Set<Formula> background, Action action, State state){
Set<Formula> givens = Sets.union(background, state.getFormulae());
Optional<Map<Variable, Value>> bingdingsOpt = proveAndGetBindings(givens, action.getPrecondition(), action.openVars());
Optional<Set<Map<Variable, Value>>> bindingsOpt = proveAndGetMultipleBindings(givens, action.getPrecondition(), action.openVars());
State newState;
if(!bingdingsOpt.isPresent()){
if(!bindingsOpt.isPresent()){
return Optional.empty();
}
Set<Pair<State,Action>> nexts = Sets.newSet();
for(Map<Variable, Value> binding: bindingsOpt.get()){
if(binding.values().stream().anyMatch(x-> x instanceof Variable)){
continue;
}
Set<Formula> instantiatedDeletions = action.instantiateDeletions(binding);
Set<Formula> formulaeToRemove = state.getFormulae().stream().
filter(f-> instantiatedDeletions.stream().anyMatch(d-> equivalent(background, f,d))).collect(Collectors.toSet());
Set<Formula> newFormulae = state.getFormulae();
newFormulae = Sets.union(newFormulae, action.instantiateAdditions(bingdingsOpt.get()));
newFormulae = Sets.union(newFormulae, action.instantiateAdditions(binding));
newFormulae = Sets.difference(newFormulae, formulaeToRemove);
newFormulae = Sets.difference(newFormulae, action.instantiateDeletions(bingdingsOpt.get()));
newState = State.initializeWith(newFormulae);
return Optional.of(ImmutablePair.from(newState, action.instantiate(bingdingsOpt.get())));
nexts.add(ImmutablePair.from(newState, action.instantiate(binding)));
}
if(nexts.isEmpty()){
Map<Variable, Value> emptyBinding = CollectionUtils.newMap();
Set<Formula> instantiatedDeletions = action.instantiateDeletions(emptyBinding);
Set<Formula> formulaeToRemove = state.getFormulae().stream().
filter(f-> instantiatedDeletions.stream().anyMatch(d-> equivalent(background, f,d))).collect(Collectors.toSet());
Set<Formula> newFormulae = state.getFormulae();
newFormulae = Sets.union(newFormulae, action.instantiateAdditions(emptyBinding));
newFormulae = Sets.difference(newFormulae, formulaeToRemove);
newState = State.initializeWith(newFormulae);
nexts.add(ImmutablePair.from(newState, action.instantiate(emptyBinding)));
}
return Optional.of(nexts);
}
public static boolean equivalent(Set<Formula> background, Formula f1, Formula f2){
if(!DEEP_EQUIVALENCE){
return f1.equals(f2);
}
BiConditional biConditional = new BiConditional(f1, f2);
return prover.prove(background,biConditional).isPresent();
}
public static boolean satisfies(Set<Formula> background, State state, State goal){

96
src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java Normal file
View file

@ -0,0 +1,96 @@
package edu.rpi.rair.utils;
import com.naveensundarg.shadow.prover.representations.formula.Formula;
import com.naveensundarg.shadow.prover.utils.CollectionUtils;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.Goal;
import edu.rpi.rair.State;
import us.bpsm.edn.Keyword;
import us.bpsm.edn.parser.Parseable;
import us.bpsm.edn.parser.Parser;
import us.bpsm.edn.parser.Parsers;
import us.bpsm.edn.parser.Token;
import java.io.ByteArrayInputStream;
import java.io.InputStream;
import java.io.InputStreamReader;
import java.util.*;
/**
* Created by naveensundarg on 1/13/17.
*/
public class GoalTrackingProblem {
private final PlanningProblem planningProblem;
private final Set<Goal> goals;
private final Map<String, Goal> goalNameMap;
private static final Keyword DEFINITIONS = Keyword.newKeyword("definitions");
private static final Keyword GOALS = Keyword.newKeyword("goals");
private static final Keyword PRIORITY = Keyword.newKeyword("priority");
private static final Keyword STATE = Keyword.newKeyword("state");
public GoalTrackingProblem(PlanningProblem planningProblem, Set<Goal> goals) {
this.planningProblem = planningProblem;
this.goals = goals;
this.goalNameMap = CollectionUtils.newMap();
for(Goal g: goals){
goalNameMap.put(g.getName(), g);
}
}
public static List<GoalTrackingProblem> readFromFile(InputStream inputStream) throws Reader.ParsingException {
Parseable parseable = Parsers.newParseable(new InputStreamReader(inputStream));
Parser parser = Parsers.newParser(Parsers.defaultConfiguration());
List<GoalTrackingProblem> goalTrackingProblems = CollectionUtils.newEmptyList();
Object nextValue = parser.nextValue(parseable);
Set<Goal> goals = CollectionUtils.newEmptySet();
while (!nextValue.equals(Token.END_OF_INPUT)) {
Map<?, ?> goalTrackingProblemSpec = (Map<?, ?>) nextValue;
PlanningProblem planningProblem = PlanningProblem.readFromObject(goalTrackingProblemSpec.get(DEFINITIONS));
Map<?, ?> goalSpecs = (Map<?,?>) goalTrackingProblemSpec.get(GOALS);
for(Map.Entry<?,?> entry : goalSpecs.entrySet()){
String name = entry.getKey().toString();
Map<?, ?> goalSpec = (Map<?,?>)entry.getValue();
int priority = Math.toIntExact((Long) goalSpec.get(PRIORITY));
Set<Formula> stateFormulae = PlanningProblem.readFrom((List<?>) goalSpec.get(STATE));
goals.add(Goal.makeGoal(State.initializeWith(stateFormulae), priority, name));
}
goalTrackingProblems.add(new GoalTrackingProblem(planningProblem, goals));
nextValue = parser.nextValue(parseable);
}
return goalTrackingProblems;
}
public PlanningProblem getPlanningProblem() {
return planningProblem;
}
public Set<Goal> getGoals() {
return goals;
}
public Goal getGoalNamed(String goalName) {
return goalNameMap.get(goalName);
}
}

99
src/main/java/edu/rpi/rair/utils/PlanningProblem.java
View file

@ -81,52 +81,7 @@ public class PlanningProblem {
while (!nextValue.equals(Token.END_OF_INPUT)) {
Map<?, ?> planningProblemSpec = (Map<?, ?>) nextValue;
Set<Formula> background = readFrom((List<?>) planningProblemSpec.get(BACKGROUND));
Set<Formula> start = readFrom((List<?>) planningProblemSpec.get(START));
Set<Formula> goal = readFrom((List<?>) planningProblemSpec.get(GOAL));
List<?> actionDefinitions = (List<?>) planningProblemSpec.get(ACTION);
String name = planningProblemSpec.get(NAME).toString();
Set<Action> actions = readActionsFrom(actionDefinitions);
Map<String, Action> actionMap = CollectionUtils.newMap();
actions.stream().forEach(action->{
actionMap.put(action.getName(), action);
});
if(planningProblemSpec.containsKey(EXPECTED_PLANS)){
List<?> plans = (List<?>) planningProblemSpec.get(EXPECTED_PLANS);
Set<List<Action>> expectedActions = plans.stream().map(plan->{
List<?> instantActionList = (List<?>) plan;
List<Action> actionsList = instantActionList.stream().map(x -> {
try {
return readInstantiatedAction(actionMap, x);
} catch (Reader.ParsingException e) {
return null;
}
}).collect(Collectors.toList());
if(actionsList.stream().anyMatch(Objects::isNull)){
return null;
} else {
return actionsList;
}
}).collect(Collectors.toSet());
planningProblems.add(new PlanningProblem(name, background, State.initializeWith(start),
State.initializeWith(goal), actions, expectedActions));
} else {
planningProblems.add(new PlanningProblem(name, background, State.initializeWith(start),
State.initializeWith(goal), actions));
}
planningProblems.add(readFromObject(nextValue));
@ -137,6 +92,56 @@ public class PlanningProblem {
}
public static PlanningProblem readFromObject(Object nextValue) throws Reader.ParsingException {
Map<?, ?> planningProblemSpec = (Map<?,?>)nextValue;
Set<Formula> background = readFrom((List<?>) planningProblemSpec.get(BACKGROUND));
Set<Formula> start = readFrom((List<?>) planningProblemSpec.get(START));
Set<Formula> goal = readFrom((List<?>) planningProblemSpec.get(GOAL));
List<?> actionDefinitions = (List<?>) planningProblemSpec.get(ACTION);
String name = planningProblemSpec.get(NAME).toString();
Set<Action> actions = readActionsFrom(actionDefinitions);
Map<String, Action> actionMap = CollectionUtils.newMap();
actions.stream().forEach(action->{
actionMap.put(action.getName(), action);
});
if(planningProblemSpec.containsKey(EXPECTED_PLANS)){
List<?> plans = (List<?>) planningProblemSpec.get(EXPECTED_PLANS);
Set<List<Action>> expectedActions = plans.stream().map(plan->{
List<?> instantActionList = (List<?>) plan;
List<Action> actionsList = instantActionList.stream().map(x -> {
try {
return readInstantiatedAction(actionMap, x);
} catch (Reader.ParsingException e) {
return null;
}
}).collect(Collectors.toList());
if(actionsList.stream().anyMatch(Objects::isNull)){
return null;
} else {
return actionsList;
}
}).collect(Collectors.toSet());
return new PlanningProblem(name, background, State.initializeWith(start),
State.initializeWith(goal), actions, expectedActions);
} else {
return new PlanningProblem(name, background, State.initializeWith(start),
State.initializeWith(goal), actions);
}
}
private static Action readInstantiatedAction(Map<String, Action> actionMap, Object instantiatedActionSpec) throws Reader.ParsingException {
@ -222,7 +227,7 @@ public class PlanningProblem {
}
private static Set<Formula> readFrom(List<?> objects) throws Reader.ParsingException {
public static Set<Formula> readFrom(List<?> objects) throws Reader.ParsingException {
Set<Formula> formulae = objects.stream().map(x -> {
try {

55
src/main/java/edu/rpi/rair/utils/RunDemo.java Normal file
View file

@ -0,0 +1,55 @@
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.GoalTracker;
import edu.rpi.rair.Planner;
import java.util.List;
/**
* Created by naveensundarg on 1/15/17.
*/
public class RunDemo {
public static void main(String[] args) throws Reader.ParsingException {
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_tracking_tests.clj")));
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
GoalTracker goalTracker = new GoalTracker(goalTrackingProblem.getPlanningProblem().getBackground(),
goalTrackingProblem.getPlanningProblem().getStart(),
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"));
}
}

132
src/main/resources/edu/rpi/rair/completeness_problems.clj
View file

@ -1,12 +1,12 @@
{:name "test 1"
:background [P]
:start [Q]
:goal [R]
{:name "test 1"
:background [p]
:start [q]
:goal [r]
:actions
[(define-action a1 ()
{:preconditions [(or Q R)]
:additions [R]
:deletions [Q]})]
[(define-action a1 ()
{:preconditions [(or q r)]
:additions [r]
:deletions [q]})]
:expected-plans ([a1])
}
@ -15,13 +15,13 @@
{:name "simple killing"
:background []
:start [(forall ?x (Alive ?x))]
:goal [(forall ?x (Dead ?x))]
:start [(forall ?x (alive ?x))]
:goal [(forall ?x (dead ?x))]
:actions
[(define-action kill ()
{:preconditions [(Alive ?x)]
:additions [(Dead ?x)]
:deletions [(Alive ?x)]})]
{:preconditions [(alive ?x)]
:additions [(dead ?x)]
:deletions [(alive ?x)]})]
:expected-plans ([kill])
@ -111,62 +111,74 @@
[drink eat work])}
{:name "bidding problem"
:background []
:start [(bid 0)]
:goal [(bid 5)]
{:name "demo 1"
:background [
(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)))]
:goal [(interrogates commander prisoner)]
:actions
[(define-action post-new-bid (?number)
{:preconditions [(bid ?number)]
:additions [(bid ($$sum 1 ?number))]
:deletions [(bid ?number)]})]
[(define-action open-door [?room]
{:preconditions [(not (open (door ?room)))]
:additions [(open (door ?room))]
:deletions [(not (open (door ?room)))]})
:expected-plans ([(post-new-bid 0)
(post-new-bid 1)
(post-new-bid 2)
(post-new-bid 3)
(post-new-bid 4)])}
{:name "Moving Between Rooms"
:background [ (not (= room1 room2))]
:start [(In self room1)
(In commander room2)
(In prisoner room1)
(Open (door room2))
(not (Open (door room1))) ]
:goal [(In prisoner room2)]
:actions
[(define-action open-door [?room]
{:preconditions [(not (Open (door ?room)))]
:additions [(Open (door ?room))]
:deletions [(not (Open (door ?room)))]})
(define-action accompany[?person ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room1)
(in self ?room1)
(open (door ?room1))
(open (door ?room2))]
(define-action move-thing-from-to [?thing ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
:additions [(in ?person ?room2)
(in self ?room2)]
:deletions [(in ?person ?room1)
(in self ?room1)]})
: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))]
(define-action request-move [?person ?room2 ?room1]
{:preconditions [(not (= ?room1 ?room2))
(in ?person ?room2)
(not (= ?person prisoner))
(open (door ?room1))
(open (door ?room2))]
:additions [(In ?thing ?room2)
(In ?self ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})]
:additions [(in ?person ?room1)]
:deletions [(in ?person ?room2)]})
:expected-plans ([(open-door room1)
(accompany-from-to prisoner room1 room2)]
(define-action get-interrogated [?room]
{:preconditions [(in commander ?room)
(in prisoner ?room)]
:additions [(interrogates commander prisoner)]
:deletions []})
]
:expected-plans (
[(open-door room1)
(move-thing-from-to prisoner room1 room2)])
(request-move commander room2 room1)
(get-interrogated room1)
]
[(open-door room1)
(accompany prisoner room1 room2)
(get-interrogated room2)
]
)
}

14
src/main/resources/edu/rpi/rair/debug.clj
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@ -1 +1,15 @@
{:name "bidding problem"
:background []
:start [(bid 0)]
:goal [(bid 5)]
:actions
[(define-action post-new-bid (?number)
{:preconditions [(bid ?number)]
:additions [(bid ($$sum 1 ?number))]
:deletions [(bid ?number)]})]
:expected-plans ([(post-new-bid 0)
(post-new-bid 1)
(post-new-bid 2)
(post-new-bid 3)
(post-new-bid 4)])}

77
src/main/resources/edu/rpi/rair/goal_tracking_tests.clj
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@ -1,30 +1,63 @@
{:name "Sim"
:background []
:start [(In self room1)
(In commander room2)
(In prisoner room1)
(Open (door room2))
(not (Open (door room1))) ]
{: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)))]})
:actions [(define-action open-door [?room]
{:preconditions [(not (Open (door ?room)))]
:additions [(Open (door ?room))]
:deletions [(not (Open (door ?room)))]})
(define-action move-thing-from-to [?thing ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
: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))]
:additions [(In ?thing ?room2)
(In ?self ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})
(define-action accompany-from-to [?thing ?room1 ?room2]
{:preconditions [(In self ?room1)
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
(define-action interrogate [?A ?B]
{:preconditions [(In ?room ?A)
(In ?room ?B)]
:additions [(In ?thing ?room2)
(In ?self ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})]
:additions [(Interrogates ?A ?B)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})]
}
:expected-plans ([(open-door room1)
(accompany-from-to prisoner room1 room2)])
:goals {G1 {:priority 1
:state [(not (Open (door room1)))]}
G2 {:priority 1
:state [(In prisoner room1)]}
G3 {:priority 1
:state [(forall [?room]
(if (In prisoner ?room)
(In self ?room)))]
}
}
}

4
src/test/java/edu/rpi/rair/DepthFirstPlannerTest.java
View file

@ -33,8 +33,8 @@ public class DepthFirstPlannerTest {
Planner depthFirstPlanner = new DepthFirstPlanner();
PlanningProblem planningProblem = planningProblemList.get(2);
System.out.println(depthFirstPlanner.plan(planningProblem.getBackground(), planningProblem.getActions(), planningProblem.getStart(), planningProblem.getGoal()));
PlanningProblem planningProblem = planningProblemList.get(5);
depthFirstPlanner.plan(planningProblem.getBackground(), planningProblem.getActions(), planningProblem.getStart(), planningProblem.getGoal()).get().forEach(System.out::println);
}
@DataProvider

56
src/test/java/edu/rpi/rair/GoalTrackerTest.java Normal file
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@ -0,0 +1,56 @@
package edu.rpi.rair;
import com.diogonunes.jcdp.color.ColoredPrinter;
import com.diogonunes.jcdp.color.api.Ansi;
import com.naveensundarg.shadow.prover.utils.Reader;
import edu.rpi.rair.utils.GoalTrackingProblem;
import java.util.List;
import static org.testng.Assert.*;
/**
* Created by naveensundarg on 1/15/17.
*/
public class GoalTrackerTest {
public static void main(String[] args) throws Reader.ParsingException {
List<GoalTrackingProblem> goalTrackingProblemList = (GoalTrackingProblem.readFromFile(Planner.class.getResourceAsStream("goal_tracking_tests.clj")));
GoalTrackingProblem goalTrackingProblem = goalTrackingProblemList.get(0);
GoalTracker goalTracker = new GoalTracker(goalTrackingProblem.getPlanningProblem().getBackground(),
goalTrackingProblem.getPlanningProblem().getStart(),
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"));
}
}

14
target/classes/edu/rpi/rair/debug.clj
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@ -1 +1,15 @@
{:name "bidding problem"
:background []
:start [(bid 0)]
:goal [(bid 5)]
:actions
[(define-action post-new-bid (?number)
{:preconditions [(bid ?number)]
:additions [(bid ($$sum 1 ?number))]
:deletions [(bid ?number)]})]
:expected-plans ([(post-new-bid 0)
(post-new-bid 1)
(post-new-bid 2)
(post-new-bid 3)
(post-new-bid 4)])}

77
target/classes/edu/rpi/rair/goal_tracking_tests.clj
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@ -1,30 +1,63 @@
{:name "Sim"
:background []
:start [(In self room1)
(In commander room2)
(In prisoner room1)
(Open (door room2))
(not (Open (door room1))) ]
{: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)))]})
:actions [(define-action open-door [?room]
{:preconditions [(not (Open (door ?room)))]
:additions [(Open (door ?room))]
:deletions [(not (Open (door ?room)))]})
(define-action move-thing-from-to [?thing ?room1 ?room2]
{:preconditions [(not (= ?room1 ?room2))
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
: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))]
:additions [(In ?thing ?room2)
(In ?self ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})
(define-action accompany-from-to [?thing ?room1 ?room2]
{:preconditions [(In self ?room1)
(In ?thing ?room1)
(Open (door ?room1))
(Open (door ?room2))]
(define-action interrogate [?A ?B]
{:preconditions [(In ?room ?A)
(In ?room ?B)]
:additions [(In ?thing ?room2)
(In ?self ?room2)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})]
:additions [(Interrogates ?A ?B)]
:deletions [(In ?thing ?room1)
(In self ?room1)]})]
}
:expected-plans ([(open-door room1)
(accompany-from-to prisoner room1 room2)])
:goals {G1 {:priority 1
:state [(not (Open (door room1)))]}
G2 {:priority 1
:state [(In prisoner room1)]}
G3 {:priority 1
:state [(forall [?room]
(if (In prisoner ?room)
(In self ?room)))]
}
}
}

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