def setUp(self):
self.p = have_cake()
self.pg = PlanningGraph(self.p, self.p.initial)
# some independent nodes for testing mutex
self.na1 = PgNode_a(
Action(expr('Go(here)'), [[], []], [[expr('At(here)')], []]))
self.na2 = PgNode_a(
Action(expr('Go(there)'), [[], []], [[expr('At(there)')], []]))
self.na3 = PgNode_a(
Action(expr('Noop(At(there))'), [[expr('At(there)')], []],
[[expr('At(there)')], []]))
self.na4 = PgNode_a(
Action(expr('Noop(At(here))'), [[expr('At(here)')], []],
[[expr('At(here)')], []]))
self.na5 = PgNode_a(
Action(expr('Reverse(At(here))'), [[expr('At(here)')], []],
[[], [expr('At(here)')]]))
self.ns1 = PgNode_s(expr('At(here)'), True)
self.ns2 = PgNode_s(expr('At(there)'), True)
self.ns3 = PgNode_s(expr('At(here)'), False)
self.ns4 = PgNode_s(expr('At(there)'), False)
self.na1.children.add(self.ns1)
self.ns1.parents.add(self.na1)
self.na2.children.add(self.ns2)
self.ns2.parents.add(self.na2)
self.na1.parents.add(self.ns3)
self.na2.parents.add(self.ns4)
def test_inconsistent_support_mutex(self):
self.assertFalse(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Independent node paths should NOT be inconsistent-support mutex")
mutexify(self.na1, self.na2)
self.assertTrue(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Mutex parent actions should result in inconsistent-support mutex")
self.na6 = PgNode_a(
Action(expr('Go(everywhere)'), [[], []],
[[expr('At(here)'), expr('At(there)')], []]))
self.na6.children.add(self.ns1)
self.ns1.parents.add(self.na6)
self.na6.children.add(self.ns2)
self.ns2.parents.add(self.na6)
self.na6.parents.add(self.ns3)
self.na6.parents.add(self.ns4)
mutexify(self.na1, self.na6)
mutexify(self.na2, self.na6)
self.assertFalse(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"If one parent action can achieve both states, should NOT be inconsistent-support mutex, even if parent actions are themselves mutex"
)
def test_show(self):
# validate show() helpers
n = PgNode_s("Have(Cake)", False)
self.assertEqual(n.__str__(), "s*~Have(Cake){0pr 0ch 0mx}")
act1 = Action(expr('Eat(Cake)'), [[expr('Have(Cake)')], []],
[[expr('Eaten(Cake)')], [expr('Have(Cake)')]])
n = PgNode_a(act1)
self.assertEqual(n.__str__(), "a*Eat(Cake,){0pr 0ch 0mx}")
[precond_pos, precond_neg],
[effect_add, effect_rem])
precond_pos = []
precond_neg = [expr("Have(Cake)")]
effect_add = [expr("Have(Cake)")]
effect_rem = []
bake_action = Action(expr("Bake(Cake)"),
[precond_pos, precond_neg],
[effect_add, effect_rem])
return [eat_action, bake_action]
actions = get_actions()
a_node_1 = PgNode_a(actions[0])
a_node_2 = PgNode_a(actions[0])
a_node_3 = PgNode_a(actions[0])
s_node_1 = PgNode_s("eaten", True)
s_node_2 = PgNode_s("eaten", True)
s_node_3 = PgNode_s("eaten", True)
a_nodes = set()
s_nodes = set()
print(len(a_nodes), len(s_nodes))
a_node_3.children.add(s_node_3)
s_node_3.parents.add(a_node_3)
class TestPlanningGraphMutex(unittest.TestCase):
def setUp(self):
self.p = have_cake()
self.pg = PlanningGraph(self.p, self.p.initial)
# some independent nodes for testing mutex
self.na1 = PgNode_a(
Action(expr('Go(here)'), [[], []], [[expr('At(here)')], []]))
self.na2 = PgNode_a(
Action(expr('Go(there)'), [[], []], [[expr('At(there)')], []]))
self.na3 = PgNode_a(
Action(expr('Noop(At(there))'), [[expr('At(there)')], []],
[[expr('At(there)')], []]))
self.na4 = PgNode_a(
Action(expr('Noop(At(here))'), [[expr('At(here)')], []],
[[expr('At(here)')], []]))
self.na5 = PgNode_a(
Action(expr('Reverse(At(here))'), [[expr('At(here)')], []],
[[], [expr('At(here)')]]))
self.ns1 = PgNode_s(expr('At(here)'), True)
self.ns2 = PgNode_s(expr('At(there)'), True)
self.ns3 = PgNode_s(expr('At(here)'), False)
self.ns4 = PgNode_s(expr('At(there)'), False)
self.na1.children.add(self.ns1)
self.ns1.parents.add(self.na1)
self.na2.children.add(self.ns2)
self.ns2.parents.add(self.na2)
self.na1.parents.add(self.ns3)
self.na2.parents.add(self.ns4)
def test_serialize_mutex(self):
self.assertTrue(
PlanningGraph.serialize_actions(self.pg, self.na1, self.na2),
"Two persistence action nodes not marked as mutex")
self.assertFalse(
PlanningGraph.serialize_actions(self.pg, self.na3, self.na4),
"Two No-Ops were marked mutex")
self.assertFalse(
PlanningGraph.serialize_actions(self.pg, self.na1, self.na3),
"No-op and persistence action incorrectly marked as mutex")
def test_inconsistent_effects_mutex(self):
self.assertTrue(
PlanningGraph.inconsistent_effects_mutex(self.pg, self.na4,
self.na5),
"Canceling effects not marked as mutex")
self.assertFalse(
PlanningGraph.inconsistent_effects_mutex(self.pg, self.na1,
self.na2),
"Non-Canceling effects incorrectly marked as mutex")
def test_interference_mutex(self):
self.assertTrue(
PlanningGraph.interference_mutex(self.pg, self.na4, self.na5),
"Precondition from one node opposite of effect of other node should be mutex"
)
self.assertTrue(
PlanningGraph.interference_mutex(self.pg, self.na5, self.na4),
"Precondition from one node opposite of effect of other node should be mutex"
)
self.assertFalse(
PlanningGraph.interference_mutex(self.pg, self.na1, self.na2),
"Non-interfering incorrectly marked mutex")
def test_competing_needs_mutex(self):
self.assertFalse(
PlanningGraph.competing_needs_mutex(self.pg, self.na1, self.na2),
"Non-competing action nodes incorrectly marked as mutex")
self.na1.show()
mutexify(self.ns3, self.ns4)
self.assertTrue(
PlanningGraph.competing_needs_mutex(self.pg, self.na1, self.na2),
"Opposite preconditions from two action nodes not marked as mutex")
def test_negation_mutex(self):
self.assertTrue(
PlanningGraph.negation_mutex(self.pg, self.ns1, self.ns3),
"Opposite literal nodes not found to be Negation mutex")
self.assertFalse(
PlanningGraph.negation_mutex(self.pg, self.ns1, self.ns2),
"Same literal nodes found to be Negation mutex")
def test_inconsistent_support_mutex(self):
self.assertFalse(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Independent node paths should NOT be inconsistent-support mutex")
mutexify(self.na1, self.na2)
self.assertTrue(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"Mutex parent actions should result in inconsistent-support mutex")
self.na6 = PgNode_a(
Action(expr('Go(everywhere)'), [[], []],
[[expr('At(here)'), expr('At(there)')], []]))
self.na6.children.add(self.ns1)
self.ns1.parents.add(self.na6)
self.na6.children.add(self.ns2)
self.ns2.parents.add(self.na6)
self.na6.parents.add(self.ns3)
self.na6.parents.add(self.ns4)
mutexify(self.na1, self.na6)
mutexify(self.na2, self.na6)
self.assertFalse(
PlanningGraph.inconsistent_support_mutex(self.pg, self.ns1,
self.ns2),
"If one parent action can achieve both states, should NOT be inconsistent-support mutex, even if parent actions are themselves mutex"
)
