def test_type_map1():
"""type map: maps each type to a list of objects"""
type_object = Type("object", None)
type_vehicle = Type("vehicle", type_object)
type_car = Type("car", type_vehicle)
type_truck = Type("truck", type_vehicle)
type_city = Type("city", type_object)
objects = {
"red_car": type_car,
"green_car": type_car,
"blue_truck": type_truck,
"motorbike": type_vehicle,
"freiburg": type_city,
"basel": type_city
}
type_map = grounding._create_type_map(objects)
expected = [("red_car", type_map[type_car]),
("green_car", type_map[type_car]),
("blue_truck", type_map[type_truck]),
("red_car", type_map[type_vehicle]),
("green_car", type_map[type_vehicle]),
("blue_truck", type_map[type_vehicle]),
("motorbike", type_map[type_vehicle]),
("freiburg", type_map[type_city]),
("basel", type_map[type_city]),
("green_car", type_map[type_object]),
("motorbike", type_map[type_object]),
("basel", type_map[type_object])]
for object, object_list in expected:
yield in_object_set, object, object_list
def test_statics2():
type_object = Type("object", None)
predicate_a = Predicate("a", [])
predicate_b = Predicate("b", [])
the_action = get_action("the-action", [], [predicate_a], [predicate_b], [])
statics = grounding._get_statics([predicate_a, predicate_b], [the_action])
assert predicate_a.name in statics and predicate_b.name not in statics
def test_statics1():
"""
A static predicate is a predicate, which doesn't occur in an effect of an
action.
"""
type_object = Type("object", None)
type_car = Type("car", type_vehicle)
type_city = Type("city", type_object)
type_country = Type("country", type_object)
types = {
"object": type_object,
"car": type_car,
"city": type_city,
"country": type_country,
}
predicate_orig = Predicate("at", [("car", types["car"]),
("dest", types["city"])])
predicate_dest = Predicate("at", [("car", types["car"]),
("orig", types["city"])])
predicate_in = Predicate("in", [("city", types["city"]),
("country", types["country"])])
action_drive_car = get_action(
"DRIVE-CAR",
[
("car", [types["car"]]),
("loc-orig", [types["city"]]),
("loc-dest", [types["city"]]),
],
[predicate_orig],
[predicate_dest],
[predicate_orig],
)
assert "in" in grounding._get_statics([predicate_in], [action_drive_car])
assert "dest" not in grounding._get_statics([predicate_dest],
[action_drive_car])
assert "orig" not in grounding._get_statics([predicate_orig],
[action_drive_car])
def test_statics1():
"""
A static predicate is a predicate, which doesn't occur in an effect of an
action.
"""
type_object = Type("object", None)
type_car = Type("car", type_vehicle)
type_city = Type("city", type_object)
type_country = Type("country", type_object)
types = {
"object": type_object,
"car": type_car,
"city": type_city,
"country": type_country
}
predicate_orig = Predicate("at", [("car", types["car"]),
("dest", types["city"])])
predicate_dest = Predicate("at", [("car", types["car"]),
("orig", types["city"])])
predicate_in = Predicate("in", [("city", types["city"]),
("country", types["country"])])
action_drive_car = get_action("DRIVE-CAR", [("car", [types["car"]]),
("loc-orig", [types["city"]]),
("loc-dest", [types["city"]])],
[predicate_orig], [predicate_dest],
[predicate_orig])
expected = [
("in", grounding._get_statics([predicate_in],
[action_drive_car]), True),
("dest", grounding._get_statics([predicate_dest],
[action_drive_car]), False),
("orig", grounding._get_statics([predicate_orig],
[action_drive_car]), False)
]
for pre, statics, element in expected:
yield in_statics, pre, statics, element
def test_type():
test = Type("test", "parent")
assert str(test) == repr(test)
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_type_map2():
type_object = Type("object", None)
objects = {"object1": type_object}
type_map = grounding._create_type_map(objects)
assert "object1" in type_map[type_object]
from task import Operator
def get_action(name, signature, precondition, addlist, dellist):
effect = Effect()
effect.addlist = set(addlist)
effect.dellist = set(dellist)
return Action(name, signature, precondition, effect)
"""
test domain and problem
"""
# types:
type_object = Type("object", None)
type_vehicle = Type("vehicle", type_object)
type_car = Type("car", type_vehicle)
type_truck = Type("truck", type_vehicle)
type_city = Type("city", type_object)
type_country = Type("country", type_object)
type_my_car = Type("my_car", type_vehicle)
type_color = Type("color", type_object)
types = {
"object": type_object,
"vehicle": type_vehicle,
"car": type_car,
"truck": type_truck,
"city": type_city,
"country": type_country,