diff --git a/.idea/libraries/Maven__com_diogonunes_JCDP_2_0_1.xml b/.idea/libraries/Maven__com_diogonunes_JCDP_2_0_1.xml
new file mode 100644
index 0000000..574defc
--- /dev/null
+++ b/.idea/libraries/Maven__com_diogonunes_JCDP_2_0_1.xml
@@ -0,0 +1,13 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/libraries/Maven__org_fusesource_jansi_jansi_1_11.xml b/.idea/libraries/Maven__org_fusesource_jansi_jansi_1_11.xml
new file mode 100644
index 0000000..2ab51a7
--- /dev/null
+++ b/.idea/libraries/Maven__org_fusesource_jansi_jansi_1_11.xml
@@ -0,0 +1,13 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000..35eb1dd
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/pom.xml b/pom.xml
index d7191e8..ebdc119 100644
--- a/pom.xml
+++ b/pom.xml
@@ -24,6 +24,11 @@
test
+
+ com.diogonunes
+ JCDP
+ 2.0.1
+
us.bpsm
edn-java
diff --git a/snark-20120808r02/snark-interface.lisp b/snark-20120808r02/snark-interface.lisp
index 8771762..6149fb0 100644
--- a/snark-20120808r02/snark-interface.lisp
+++ b/snark-20120808r02/snark-interface.lisp
@@ -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))
diff --git a/src/main/java/edu/rpi/rair/DepthFirstPlanner.java b/src/main/java/edu/rpi/rair/DepthFirstPlanner.java
index 97c4639..fa32817 100644
--- a/src/main/java/edu/rpi/rair/DepthFirstPlanner.java
+++ b/src/main/java/edu/rpi/rair/DepthFirstPlanner.java
@@ -14,10 +14,26 @@ import java.util.stream.Collectors;
public class DepthFirstPlanner implements Planner {
+ private static final int MAX_DEPTH = 4;
+
+
@Override
public Optional> plan(Set background, Set actions, State start, State goal) {
+ return planInternal(Sets.newSet(), 0, background, actions, start, goal);
+
+
+ }
+
+
+
+ private Optional> planInternal(Set> history, int currentDepth, Set background, Set 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> nextStateActionPair = Operations.apply(background, action, start);
+ Optional>> nextStateActionPairs = Operations.apply(background, action, start);
- if (nextStateActionPair.isPresent()) {
+ if (nextStateActionPairs.isPresent()) {
- Optional> planOpt = plan(background, actions, nextStateActionPair.get().first(), goal);
+ for (Pair stateActionPair : nextStateActionPairs.get()) {
- if (planOpt.isPresent()) {
- atleastOnePlanFound = true;
- Set nextPlans = planOpt.get();
- State nextSate = nextStateActionPair.get().first();
- Action instantiatedAction = nextStateActionPair.get().second();
+ Optional> planOpt = planInternal(history, currentDepth+1, background, actions, stateActionPair.first(), goal);
- Set 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 nextPlans = planOpt.get();
+
+ State nextSate = stateActionPair.first();
+ Action instantiatedAction = stateActionPair.second();
+
+ Set 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 {
}
+
}
diff --git a/src/main/java/edu/rpi/rair/Goal.java b/src/main/java/edu/rpi/rair/Goal.java
index f8cdd50..bc4c36e 100644
--- a/src/main/java/edu/rpi/rair/Goal.java
+++ b/src/main/java/edu/rpi/rair/Goal.java
@@ -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 + '\'' +
'}';
}
diff --git a/src/main/java/edu/rpi/rair/GoalTracker.java b/src/main/java/edu/rpi/rair/GoalTracker.java
index 8bd84a5..e979c8f 100644
--- a/src/main/java/edu/rpi/rair/GoalTracker.java
+++ b/src/main/java/edu/rpi/rair/GoalTracker.java
@@ -14,6 +14,9 @@ import java.util.Set;
public class GoalTracker {
+
+
+
private final Set background;
private State currentState;
private final Set currentGoals;
@@ -32,6 +35,7 @@ public class GoalTracker {
public boolean adoptGoal(Goal goal) {
+
Optional> possiblePlans = planner.plan(background, actions, currentState, goal.getGoalState());
if (!possiblePlans.isPresent()) {
diff --git a/src/main/java/edu/rpi/rair/Operations.java b/src/main/java/edu/rpi/rair/Operations.java
index 326d4a7..81575cf 100644
--- a/src/main/java/edu/rpi/rair/Operations.java
+++ b/src/main/java/edu/rpi/rair/Operations.java
@@ -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> proveAndGetBindings(Set givens, Formula goal, List variables){
- return prover.proveAndGetBindings(givens, goal, variables);
+ Future>> future = new FutureTask<>(()->{
+ return prover.proveAndGetBindings(givens, goal, variables);
+
+
+ });
+
+ Optional> answer;
+
+ try{
+
+ answer = future.get(1, TimeUnit.SECONDS);
+ } catch (InterruptedException | ExecutionException | TimeoutException e) {
+ answer = Optional.empty();
+ }
+
+ return answer;
}
- public static Optional> apply(Set background, Action action, State state){
- Prover prover = new SnarkWrapper();
+ public static synchronized Optional>> proveAndGetMultipleBindings(Set givens, Formula goal, List variables){
+
+ return prover.proveAndGetMultipleBindings(givens, goal, variables);
+
+ /* Future>>> future = new FutureTask<>(()-> prover.proveAndGetMultipleBindings(givens, goal, variables));
+
+ Optional>> answer;
+
+ try{
+
+ answer = future.get(50, TimeUnit.SECONDS);
+ } catch (InterruptedException | ExecutionException | TimeoutException e ) {
+ answer = Optional.empty();
+ }
+ return answer;
+
+*/
+ }
+
+ public static Optional>> apply(Set background, Action action, State state){
+
Set givens = Sets.union(background, state.getFormulae());
- Optional> bingdingsOpt = proveAndGetBindings(givens, action.getPrecondition(), action.openVars());
+ Optional>> bindingsOpt = proveAndGetMultipleBindings(givens, action.getPrecondition(), action.openVars());
State newState;
- if(!bingdingsOpt.isPresent()){
+ if(!bindingsOpt.isPresent()){
return Optional.empty();
}
+
+ Set> nexts = Sets.newSet();
+ for(Map binding: bindingsOpt.get()){
+
+ if(binding.values().stream().anyMatch(x-> x instanceof Variable)){
+
+ continue;
+ }
+
+ Set instantiatedDeletions = action.instantiateDeletions(binding);
+
+ Set formulaeToRemove = state.getFormulae().stream().
+ filter(f-> instantiatedDeletions.stream().anyMatch(d-> equivalent(background, f,d))).collect(Collectors.toSet());
+
Set 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 emptyBinding = CollectionUtils.newMap();
+ Set instantiatedDeletions = action.instantiateDeletions(emptyBinding);
+
+ Set formulaeToRemove = state.getFormulae().stream().
+ filter(f-> instantiatedDeletions.stream().anyMatch(d-> equivalent(background, f,d))).collect(Collectors.toSet());
+
+ Set 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 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 background, State state, State goal){
diff --git a/src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java b/src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java
new file mode 100644
index 0000000..94104b7
--- /dev/null
+++ b/src/main/java/edu/rpi/rair/utils/GoalTrackingProblem.java
@@ -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 goals;
+ private final Map 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 goals) {
+ this.planningProblem = planningProblem;
+ this.goals = goals;
+ this.goalNameMap = CollectionUtils.newMap();
+
+ for(Goal g: goals){
+ goalNameMap.put(g.getName(), g);
+ }
+
+
+ }
+
+ public static List readFromFile(InputStream inputStream) throws Reader.ParsingException {
+
+ Parseable parseable = Parsers.newParseable(new InputStreamReader(inputStream));
+ Parser parser = Parsers.newParser(Parsers.defaultConfiguration());
+
+ List goalTrackingProblems = CollectionUtils.newEmptyList();
+
+ Object nextValue = parser.nextValue(parseable);
+
+ Set 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 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 getGoals() {
+ return goals;
+ }
+
+ public Goal getGoalNamed(String goalName) {
+ return goalNameMap.get(goalName);
+ }
+}
diff --git a/src/main/java/edu/rpi/rair/utils/PlanningProblem.java b/src/main/java/edu/rpi/rair/utils/PlanningProblem.java
index b598cd2..d806dbd 100644
--- a/src/main/java/edu/rpi/rair/utils/PlanningProblem.java
+++ b/src/main/java/edu/rpi/rair/utils/PlanningProblem.java
@@ -81,52 +81,7 @@ public class PlanningProblem {
while (!nextValue.equals(Token.END_OF_INPUT)) {
- Map planningProblemSpec = (Map) nextValue;
-
- Set background = readFrom((List) planningProblemSpec.get(BACKGROUND));
- Set start = readFrom((List) planningProblemSpec.get(START));
- Set goal = readFrom((List) planningProblemSpec.get(GOAL));
-
- List actionDefinitions = (List) planningProblemSpec.get(ACTION);
-
- String name = planningProblemSpec.get(NAME).toString();
- Set actions = readActionsFrom(actionDefinitions);
- Map 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> expectedActions = plans.stream().map(plan->{
-
- List instantActionList = (List) plan;
-
- List 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 background = readFrom((List) planningProblemSpec.get(BACKGROUND));
+ Set start = readFrom((List) planningProblemSpec.get(START));
+
+
+ Set goal = readFrom((List) planningProblemSpec.get(GOAL));
+
+ List actionDefinitions = (List) planningProblemSpec.get(ACTION);
+
+ String name = planningProblemSpec.get(NAME).toString();
+ Set actions = readActionsFrom(actionDefinitions);
+ Map 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> expectedActions = plans.stream().map(plan->{
+
+ List instantActionList = (List) plan;
+
+ List 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 actionMap, Object instantiatedActionSpec) throws Reader.ParsingException {
@@ -222,7 +227,7 @@ public class PlanningProblem {
}
- private static Set readFrom(List objects) throws Reader.ParsingException {
+ public static Set readFrom(List objects) throws Reader.ParsingException {
Set formulae = objects.stream().map(x -> {
try {
diff --git a/src/main/java/edu/rpi/rair/utils/RunDemo.java b/src/main/java/edu/rpi/rair/utils/RunDemo.java
new file mode 100644
index 0000000..082cb1c
--- /dev/null
+++ b/src/main/java/edu/rpi/rair/utils/RunDemo.java
@@ -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 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"));
+
+
+
+ }
+
+}
diff --git a/src/main/resources/edu/rpi/rair/completeness_problems.clj b/src/main/resources/edu/rpi/rair/completeness_problems.clj
index cc8d55a..b006894 100644
--- a/src/main/resources/edu/rpi/rair/completeness_problems.clj
+++ b/src/main/resources/edu/rpi/rair/completeness_problems.clj
@@ -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)
+ ]
+
+ )
}
+
diff --git a/src/main/resources/edu/rpi/rair/debug.clj b/src/main/resources/edu/rpi/rair/debug.clj
index 8b13789..09ad17e 100644
--- a/src/main/resources/edu/rpi/rair/debug.clj
+++ b/src/main/resources/edu/rpi/rair/debug.clj
@@ -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)])}
diff --git a/src/main/resources/edu/rpi/rair/goal_tracking_tests.clj b/src/main/resources/edu/rpi/rair/goal_tracking_tests.clj
index 1715e5b..1cbd653 100644
--- a/src/main/resources/edu/rpi/rair/goal_tracking_tests.clj
+++ b/src/main/resources/edu/rpi/rair/goal_tracking_tests.clj
@@ -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)))]
+ }
+
+ }
}
\ No newline at end of file
diff --git a/src/test/java/edu/rpi/rair/DepthFirstPlannerTest.java b/src/test/java/edu/rpi/rair/DepthFirstPlannerTest.java
index 51ec9e5..1586553 100644
--- a/src/test/java/edu/rpi/rair/DepthFirstPlannerTest.java
+++ b/src/test/java/edu/rpi/rair/DepthFirstPlannerTest.java
@@ -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
diff --git a/src/test/java/edu/rpi/rair/GoalTrackerTest.java b/src/test/java/edu/rpi/rair/GoalTrackerTest.java
new file mode 100644
index 0000000..fb352dc
--- /dev/null
+++ b/src/test/java/edu/rpi/rair/GoalTrackerTest.java
@@ -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 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"));
+
+
+
+ }
+}
\ No newline at end of file
diff --git a/target/classes/edu/rpi/rair/debug.clj b/target/classes/edu/rpi/rair/debug.clj
index 8b13789..09ad17e 100644
--- a/target/classes/edu/rpi/rair/debug.clj
+++ b/target/classes/edu/rpi/rair/debug.clj
@@ -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)])}
diff --git a/target/classes/edu/rpi/rair/goal_tracking_tests.clj b/target/classes/edu/rpi/rair/goal_tracking_tests.clj
index 1715e5b..1cbd653 100644
--- a/target/classes/edu/rpi/rair/goal_tracking_tests.clj
+++ b/target/classes/edu/rpi/rair/goal_tracking_tests.clj
@@ -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)))]
+ }
+
+ }
}
\ No newline at end of file
diff --git a/target/classes/edu/rpi/rair/utils/GoalTrackingProblem.class b/target/classes/edu/rpi/rair/utils/GoalTrackingProblem.class
new file mode 100644
index 0000000..d5e015a
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diff --git a/target/classes/edu/rpi/rair/utils/RunDemo.class b/target/classes/edu/rpi/rair/utils/RunDemo.class
new file mode 100644
index 0000000..70a58f9
Binary files /dev/null and b/target/classes/edu/rpi/rair/utils/RunDemo.class differ
diff --git a/target/test-classes/edu/rpi/rair/GoalTrackerTest.class b/target/test-classes/edu/rpi/rair/GoalTrackerTest.class
new file mode 100644
index 0000000..f18090a
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