def add_start_state(start_state):
'''
Add the current state of the agent to ASP program
'''
start_state = "%AAA\n" + "state_at((" + str(int(
start_state[0])) + ", " + str(int(
start_state[1])) + "), 1).\n" + "%BBB\n"
helper.append_to_file(start_state, cf.CLINGOFILE)
def generate_pos(hypothesis, previous_state, next_state, action, wall_list,
cell_range):
'''
Generate a pos in the exploration phase
Output: #pos({state_after((3,6))}, {state_after((4,6)), ...}, {state_before((3,6)). action(non). }).
'''
walls = add_surrounding_walls(int(previous_state[0]),
int(previous_state[1]), wall_list)
state_after_str = "state_after((" + str(int(next_state[0])) + "," + str(
int(next_state[1])) + "))"
state_before_str = "state_before((" + str(int(
previous_state[0])) + "," + str(int(previous_state[1])) + "))."
action_str = "action(" + action + ")."
all_walls = get_seen_walls(cf.CLINGOFILE)
# If the agent moved to a cell other than adjacent, there must be a link
link_detected, exclusions = get_exclusions(previous_state, next_state)
all_exclusions = exclusions
sub_exclusion = ""
inclusion = ""
if link_detected:
predict_x, predict_y, link = get_link(previous_state, next_state,
action)
if link_detected and (not cf.ALREADY_LINK):
helper.append_to_file(link + "\n", cf.CLINGOFILE)
helper.append_to_file(link + "\n", cf.LASFILE)
cf.ALREADY_LINK = link
inclusion, sub_exclusion = get_inc_exc(hypothesis, state_before_str,
state_after_str, action_str,
all_walls, cell_range,
cf.ALREADY_LINK)
if sub_exclusion != "":
all_exclusions = all_exclusions + "," + sub_exclusion
if link_detected:
# TODO double-check if the exclusions for pos1 is fine
pos1 = "#pos({" + "state_after(({},{}))".format(
predict_x, predict_y
) + "}, {" "}, {" + state_before_str + action_str + walls + "})."
pos2 = "#pos({" + inclusion + "}, {" + all_exclusions + "}, {" + "state_before(({},{})).".format(
predict_x, predict_y) + action_str + walls + "})."
helper.append_to_file(pos1 + "\n", cf.LASFILE)
helper.append_to_file(pos2 + "\n", cf.LASFILE)
return pos1, pos2, link
pos = "#pos({" + inclusion + "}, {" + all_exclusions + "}, {" + state_before_str + action_str + walls + "})."
helper.append_to_file(pos + "\n", cf.LASFILE)
return pos, None, None
def add_goal_state(goal_state):
'''
Add goal spec to ASP program
'''
goal_state = "state_at((" + str(int(goal_state[0])) + ", " + str(
int(goal_state[1])) + "), T),"
goal = "finished(T):- goal(T2), time(T), T >= T2.\n goal(T):- " + goal_state + " not finished(T-1).\n" + \
"goalMet:- goal(T).\n:- not goalMet.\n"
helper.append_to_file(goal, cf.CLINGOFILE)
def make_lp_base(cell_range):
'''
Collect all info necessary to run clingo and send them to "cf.CLINGOFILE"
'''
actions = "1{action(down, T); action(up, T); action(right, T); action(left, T)}1 :- time(T), not finished(T).\n"
show = "#show state_at/2.\n #show action/2.\n"
time = "%CCC\n" + "time(0.." + str(cf.TIME_RANGE) + ").\n" + "%DDD\n"
minimize = "#minimize{1, X, T: action(X,T)}.\n"
kb = actions + show + time + cell_range + minimize + cf.ADJACENT
helper.append_to_file(kb, cf.CLINGOFILE)
def update_time_range(agent_position, t):
'''
Update planning starting point based on the location of the agent
'''
# Replace everything between "CCC" and "DDD" in clingo file with a new agent position
t = "%CCC\n" + "time(" + str(t) + ".." + str(
cf.TIME_RANGE) + ").\n" + "%DDD\n"
flag = False
with open(cf.CLINGOFILE) as f:
for line in f:
if line == "%CCC\n":
flag = True
if flag == False:
with open("temp.lp", "a") as newfile:
newfile.write(line)
if line == "%DDD\n":
flag = False
os.rename("temp.lp", cf.CLINGOFILE)
helper.append_to_file(t, cf.CLINGOFILE)
def update_agent_position(agent_position, t):
'''
Update planning starting point based on the location of the agent
'''
# Replace everything between "AAA" and "BBB" in clingo file with a new agent position
start_state = "%AAA\n" + "state_at((" + str(int(
agent_position[0])) + ", " + str(int(
agent_position[1])) + "), " + str(t) + ").\n" + "%BBB\n"
flag = False
with open(cf.CLINGOFILE) as f:
for line in f:
if line == "%AAA\n":
flag = True
if flag == False:
with open("temp.lp", "a") as newfile:
newfile.write(line)
if line == "%BBB\n":
flag = False
os.rename("temp.lp", cf.CLINGOFILE)
helper.append_to_file(start_state, cf.CLINGOFILE)
def check_ILASP_cover(hypothesis, pos, height, width, link):
'''
Check hypothesis needs to be refined
'''
if pos == None:
return True
helper.silentremove(cf.BASE_DIR, cf.CHECK_LAS)
output_las = os.path.join(cf.BASE_DIR, cf.CHECK_LAS)
if link:
helper.append_to_file(link, output_las)
helper.append_to_file(hypothesis, output_las)
helper.append_to_file(pos, output_las)
copy_las_base(height, width, output_las)
remove_mode(output_las)
print("checking ILASP necessity...")
hypothesis = run_ILASP(output_las)
if hypothesis == "":
return True
else:
return False
def add_hypothesis(hypothesis_asp):
'''
Add learnt hypothese to ASP program
'''
helper.append_to_file("%START\n", cf.CLINGOFILE)
helper.append_to_file(hypothesis_asp, cf.CLINGOFILE)
helper.append_to_file("%END\n", cf.CLINGOFILE)
def add_new_walls(previous_state, wall_list, file):
'''
Check the surrounding and see if there is any new walls
Output: Boolean to tell whether a new wall has been added to B
'''
x = int(previous_state[0])
y = int(previous_state[1])
if (((x + 1, y) in wall_list) and (is_wall_in_background(
(x + 1, y), file) == False)):
wall = "\nwall({}).\n".format((x + 1, y))
helper.append_to_file(wall, file)
if (((x, y + 1) in wall_list) and (is_wall_in_background(
(x, y + 1), file) == False)):
wall = "\nwall({}).\n".format((x, y + 1))
helper.append_to_file(wall, file)
if (((x - 1, y) in wall_list) and (is_wall_in_background(
(x - 1, y), file) == False)):
wall = "\nwall({}).\n".format((x - 1, y))
helper.append_to_file(wall, file)
if (((x, y - 1) in wall_list) and (is_wall_in_background(
(x, y - 1), file) == False)):
wall = "\nwall({}).\n".format((x, y - 1))
helper.append_to_file(wall, file)
def update_h(hypothesis):
'''
Update planning starting point based on the location of the agent
'''
# Replace everything between "START" and "END" in clingo file with a new H
flag = False
with open(cf.CLINGOFILE) as f:
for line in f:
if line == "%START\n":
flag = True
if flag == False:
with open("temp.lp", "a") as newfile:
newfile.write(line)
if line == "%END\n":
flag = False
os.rename("temp.lp", cf.CLINGOFILE)
helper.append_to_file("%START\n", cf.CLINGOFILE)
helper.append_to_file(hypothesis, cf.CLINGOFILE)
helper.append_to_file("%END\n", cf.CLINGOFILE)
def test_append_to_file(self):
helper.append_to_file("hello", self.__class__.created_file)
size = os.stat(self.__class__.created_file).st_size
self.assertEqual(size, 5)
def test_silentmove(self):
helper.create_file(BASE_DIR, self.__class__.filename)
helper.append_to_file("hello", self.__class__.created_file)
helper.silentremove(BASE_DIR, self.__class__.filename)
self.assertTrue(os.stat(self.__class__.created_file).st_size == 0)
def get_inc_exc(hypothesis,
state_before,
state_after,
action,
walls,
cell_range,
link=None):
helper.silentremove(cf.BASE_DIR, cf.GROUNDING)
helper.append_to_file(hypothesis, cf.GROUNDING_DIR)
helper.append_to_file(state_before + "\n", cf.GROUNDING_DIR)
helper.append_to_file(action + "\n", cf.GROUNDING_DIR)
helper.append_to_file(cf.ADJACENT, cf.GROUNDING_DIR)
helper.append_to_file(cell_range, cf.GROUNDING_DIR)
show = "#show state_after/1.\n"
helper.append_to_file(show, cf.GROUNDING_DIR)
if link:
helper.append_to_file(link, cf.GROUNDING_DIR)
for wall in walls:
wall = "wall(" + str(wall) + ").\n"
helper.append_to_file(wall, cf.GROUNDING_DIR)
answer_sets = abduction.run_clingo(cf.GROUNDING_DIR)
# The current hypothesis DOES predict the agent is there other than state_after,
# then they are exclusions
exclusions = ""
for sa in answer_sets:
if (state_after != sa):
exclusions = exclusions + sa + ","
# The current hypothesis DOES NOT predict the agent is there other than state_after,
# then it is inclusion
inclusion = ""
if (state_after not in answer_sets):
inclusion = inclusion + state_after
if exclusions != "":
return inclusion, exclusions[0:-1]
else:
return inclusion, exclusions
