def gen_heuristic_test(dom,
prob,
search_class,
heuristic_class,
h_values_plan,
plan_length=None):
parser = Parser("")
parser.domInput = dom
parser.probInput = prob
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = heuristic_class(task)
plan = search_class(task, heuristic)
if plan_length:
assert len(plan) == plan_length
# run through plan and validate heuristic value
# the true_h_values are taken from fast downward with astar and lm cut
# heuristic
computed_h_values = list(_gen_h_values(task.initial_state, plan,
heuristic))
assert h_values_plan == computed_h_values
def _ground(problem):
logging.info("Grounding start: {}".format(problem.name))
task = grounding.ground(problem)
logging.info("Grounding end: {}".format(problem.name))
logging.info("{} Variables created".format(len(task.facts)))
logging.info("{} Operators created".format(len(task.operators)))
return task
def _ground(problem: Problem) -> Task:
""" Ground the problem"""
_log.debug("Grounding start: {0}".format(problem.name))
task = grounding.ground(problem)
_log.debug("Grounding end: {0}".format(problem.name))
_log.debug("{0} Variables created".format(len(task.facts)))
_log.debug("{0} Operators created".format(len(task.operators)))
return task
def test_hAdd_blocksworld_initial_state():
parser = Parser("")
parser.domInput = blocks_dom
parser.probInput = blocks_problem_1
domain = parser.parse_domain(False)
problem = parser.parse_problem(domain, False)
task = grounding.ground(problem)
heuristic = hAddHeuristic(task)
h_val = heuristic(make_root_node(task.initial_state))
assert h_val, False == 6.0
def test_ground():
"""
predicate which does not occur in any operator: "car_color"
-> does it occurs in a variable?
-> does it occur in an operator?
"""
task = grounding.ground(standard_problem)
assert not any(var.startswith("car_color") for var in task.facts)
for operators in task.operators:
assert not any(pre.startswith("car_color") for pre in operators.preconditions)
assert not any(add.startswith("car_color") for add in operators.add_effects)
assert not any(dee.startswith("car_color") for dee in operators.del_effects)
def __init__(self, problem):
self.problem = problem
self.task = ground(self.problem)
self.operators = {to_tuple(op.name): op for op in self.task.operators}
def test_regression():
parser = Parser("")
def parse_problem(domain, problem):
parser.domInput = domain
parser.probInput = problem
domain = parser.parse_domain(False)
return parser.parse_problem(domain, False)
prob_05 = """
;; See domain file for description of this test.
(define (problem regression-test-05)
(:domain regression-test)
(:objects y - object)
(:init)
(:goal (the-predicate x y)))
"""
dom_05 = """
;; Expected behaviour: plan of length one found
;; Observed behaviour (r265): plan of length zero found
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants x - object)
(:action theaction
:parameters (?x - object)
:precondition (and)
:effect (the-predicate x ?x)
)
)
"""
prob_06 = """
;; See domain file for description of this test.
(define (problem regression-test-06)
(:domain regression-test)
(:objects y - object)
(:init)
(:goal (the-predicate y y)))
"""
dom_06 = """
;; Expected behaviour: planner proves that no plan exists
;; Observed behaviour (r265): plan of length one found
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants x - object)
(:action theaction
:parameters (?x - object)
:precondition (and)
:effect (the-predicate x ?x)
)
)
"""
# problem / domain 07 contains a different action compared
# to the actions of domain 5 & 6
prob_07 = prob_06
dom_07 = """
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants y - object)
(:action theaction
:parameters (?x - object)
:precondition (and)
:effect (the-predicate y ?x)
)
)
"""
# action of problem / domain 8 differs only in the variable name compared
# to the actions of problem 5 and 6: After grounding there should be no
# difference between the grounded actions
prob_08 = prob_05
dom_08 = """
(define (domain regression-test)
(:requirements :typing) ;; work around problem in regression test #4.
(:predicates (the-predicate ?v1 ?v2 - object))
(:constants x - object)
(:action theaction
:parameters (?z - object)
:precondition (and)
:effect (the-predicate x ?z)
)
)
"""
parsed_problem5 = parse_problem(dom_05, prob_05)
parsed_problem6 = parse_problem(dom_06, prob_06)
parsed_problem7 = parse_problem(dom_07, prob_07)
parsed_problem8 = parse_problem(dom_08, prob_08)
# coded input:
type_object = Type("object", None)
types = {"object": type_object}
predicates = {
"the_predicate": Predicate(
"the-predicate", [("v1", type_object), ("v2", type_object)]
)
}
constants = {"x": type_object}
actions = {
"theaction": get_action(
"theaction",
[("?x", [type_object])],
[],
[Predicate("the-predicate", [("x", type_object), ("?x", type_object)])],
[],
)
}
domain = Domain("regression-test", types, predicates, actions, constants)
problem5 = Problem(
"regression-test-05",
domain,
{"y": type_object},
[],
[Predicate("the-predicate", [("x", type_object), ("y", type_object)])],
)
problem6 = Problem(
"regression-test-06",
domain,
{"y": type_object},
[],
[Predicate("the-predicate", [("y", type_object), ("y", type_object)])],
)
parsed_task5 = grounding.ground(parsed_problem5)
coded_task5 = grounding.ground(problem5)
parsed_task6 = grounding.ground(parsed_problem6)
coded_task6 = grounding.ground(problem6)
parsed_task7 = grounding.ground(parsed_problem7)
parsed_task8 = grounding.ground(parsed_problem8)
expected = [
(parsed_task5.operators, coded_task5.operators, True),
(parsed_task6.operators, coded_task6.operators, True),
(parsed_task5.operators, coded_task6.operators, False),
(parsed_task5.operators, parsed_task7.operators, False),
(parsed_task5.operators, parsed_task8.operators, True),
]
for operator1, operator2, expected_result in expected:
assert compare_operators(operator1, operator2) == expected_result
def test_operators():
# action with signature with 2 types
action_drive_vehicle = get_action(
"DRIVE-VEHICLE",
[
("vehicle", [types["car"], types["truck"]]),
("orig", [types["city"]]),
("dest", [types["city"]]),
],
[predicate_veh_orig],
[predicate_veh_dest],
[predicate_veh_orig],
)
# action with predicate in add & delete list
action_add_delete = get_action(
"STAY",
[("car", [types["car"]]), ("in", [types["city"]])],
[predicate_in],
[predicate_in],
[predicate_in],
)
# action with constant input
action_constant = get_action(
"CONSTANT-ACTION",
[("my_car", [types["my_car"]]), ("city", [types["city"]])],
[],
[
Predicate(
"in", [("basel", [types["city"]]), ("switzerland", [types["country"]])]
)
],
[],
)
# action with only delete effects
action_only_delete = get_action(
"LEAVE",
[("car", [types["car"]]), ("in", [types["city"]])],
[predicate_in],
[],
[predicate_in],
)
# action with delete effect which does not occur in precondition
action_delete = get_action(
"DELETE",
[("car", [types["car"]]), ("orig", [types["city"]]), ("dest", [types["city"]])],
[],
[predicate_car_orig],
[predicate_car_dest],
)
type_map = grounding._create_type_map(objects)
grounded_initial_state = grounding._get_partial_state(initial_state)
grounded_drive_car = list(
grounding._ground_action(action_drive_car, type_map, [], grounded_initial_state)
)
grounded_drive_vehicle = list(
grounding._ground_action(
action_drive_vehicle, type_map, [], grounded_initial_state
)
)
grounded_add_delete = list(
grounding._ground_action(
action_add_delete, type_map, [], grounded_initial_state
)
)
grounded_only_delete = list(
grounding._ground_action(
action_only_delete, type_map, [], grounded_initial_state
)
)
grounded_delete = list(
grounding._ground_action(action_delete, type_map, [], grounded_initial_state)
)
domain = Domain(
"test_domain",
types,
{
"in": Predicate(
"in", [("city", types["city"]), ("country", types["country"])]
)
},
{"action-constant": action_constant},
{"my_car": types["car"]},
)
problem = Problem("test_problem", domain, objects, initial_state, goal_state)
task = grounding.ground(problem)
expected = [
("(DRIVE-CAR red_car freiburg basel)", grounded_drive_car),
("(DRIVE-VEHICLE blue_truck freiburg basel)", grounded_drive_vehicle),
("(STAY red_car freiburg)", grounded_add_delete),
("(LEAVE red_car freiburg)", grounded_only_delete),
("(DELETE red_car freiburg basel)", grounded_delete),
]
for operator, grounded_operators in expected:
assert any(op.name == operator for op in grounded_operators)
