def setUp(self):
super().setUp()
# eat has precondition Have(cake) and bake has precondition ~Have(cake)
# which are logical inverses, so eat & bake should be mutex at every
# level of the planning graph where both actions appear
self.competing_needs_actions = [self.eat_action, self.bake_action]
# competing needs tests -- build two copies of the planning graph: one where
# A, B, and C are pairwise mutex, and another where they are not
A, B, C = expr('FakeFluent_A'), expr('FakeFluent_B'), expr(
'FakeFluent_C')
self.fake_competing_needs_actions = [
make_node(
Action(expr('FakeAction(A)'), [set([A]), set()],
[set([A]), set()])),
make_node(
Action(expr('FakeAction(B)'), [set([B]), set()],
[set([B]), set()])),
make_node(
Action(expr('FakeAction(C)'), [set([C]), set()],
[set([C]), set()]))
]
competing_layer = LiteralLayer([A, B, C], ActionLayer())
for a1, a2 in combinations([A, B, C], 2):
competing_layer.set_mutex(a1, a2)
self.competing_action_layer = ActionLayer(competing_layer.parent_layer,
competing_layer, False, True)
for action in self.fake_competing_needs_actions:
self.competing_action_layer.add(action)
competing_layer |= action.effects
competing_layer.add_outbound_edges(action, action.preconditions)
self.competing_action_layer.add_inbound_edges(
action, action.preconditions)
self.competing_action_layer.add_outbound_edges(
action, action.effects)
not_competing_layer = LiteralLayer([A, B, C], ActionLayer())
self.not_competing_action_layer = ActionLayer(
not_competing_layer.parent_layer, not_competing_layer, False, True)
for action in self.fake_competing_needs_actions:
self.not_competing_action_layer.add(action)
not_competing_layer |= action.effects
not_competing_layer.add_outbound_edges(action,
action.preconditions)
self.not_competing_action_layer.add_inbound_edges(
action, action.preconditions)
self.not_competing_action_layer.add_outbound_edges(
action, action.effects)
class BaseMutexTest(unittest.TestCase):
def setUp(self):
self.cake_problem = have_cake()
self.cake_pg = PlanningGraph(self.cake_problem,
self.cake_problem.initial,
serialize=False).fill()
self.eat_action, self.bake_action = [
a for a in self.cake_pg._actionNodes if not a.no_op
]
no_ops = [a for a in self.cake_pg._actionNodes if a.no_op]
self.null_action = make_node(
Action(expr('Null()'), [set(), set()], [set(), set()]))
# some independent nodes for testing mutexes
at_here = expr('At(here)')
at_there = expr('At(there)')
self.pos_literals = [at_here, at_there]
self.neg_literals = [~x for x in self.pos_literals]
self.literal_layer = LiteralLayer(
self.pos_literals + self.neg_literals, ActionLayer())
self.literal_layer.update_mutexes()
# independent actions for testing mutex
self.actions = [
make_node(
Action(expr('Go(here)'), [set(), set()],
[set([at_here]), set()])),
make_node(
Action(expr('Go(there)'), [set(), set()],
[set([at_there]), set()]))
]
self.no_ops = [
make_node(x)
for x in chain(*(makeNoOp(l) for l in self.pos_literals))
]
self.action_layer = ActionLayer(self.no_ops + self.actions,
self.literal_layer)
self.action_layer.update_mutexes()
for action in self.no_ops + self.actions:
self.action_layer.add_inbound_edges(action, action.preconditions)
self.action_layer.add_outbound_edges(action, action.effects)
def setUp(self):
self.cake_problem = have_cake()
self.cake_pg = PlanningGraph(self.cake_problem,
self.cake_problem.initial,
serialize=False).fill()
eat_action, bake_action = [
a for a in self.cake_pg._actionNodes if not a.no_op
]
no_ops = [a for a in self.cake_pg._actionNodes if a.no_op]
# bake has the effect Have(Cake) which is the logical negation of the effect
# ~Have(cake) from the persistence action ~NoOp::Have(cake)
self.inconsistent_effects_actions = [bake_action, no_ops[3]]
# the persistence action ~NoOp::Have(cake) has the effect ~Have(cake), which is
# the logical negation of Have(cake) -- the precondition for the Eat(cake) action
self.interference_actions = [eat_action, no_ops[3]]
# eat has precondition Have(cake) and bake has precondition ~Have(cake)
# which are logical inverses, so eat & bake should be mutex at every
# level of the planning graph where both actions appear
self.competing_needs_actions = [eat_action, bake_action]
self.ac_problem = air_cargo_p1()
self.ac_pg_serial = PlanningGraph(self.ac_problem,
self.ac_problem.initial).fill()
# In(C1, P2) and In(C2, P1) have inconsistent support when they first appear in
# the air cargo problem,
self.inconsistent_support_literals = [
expr("In(C1, P2)"), expr("In(C2, P1)")
]
# some independent nodes for testing mutexes
at_here = expr('At(here)')
at_there = expr('At(there)')
self.pos_literals = [at_here, at_there]
self.neg_literals = [~x for x in self.pos_literals]
self.literal_layer = LiteralLayer(
self.pos_literals + self.neg_literals, ActionLayer())
self.literal_layer.update_mutexes()
# independent actions for testing mutex
self.actions = [
make_node(
Action(expr('Go(here)'), [set(), set()],
[set([at_here]), set()])),
make_node(
Action(expr('Go(there)'), [set(), set()],
[set([at_there]), set()]))
]
self.no_ops = [
make_node(x)
for x in chain(*(makeNoOp(l) for l in self.pos_literals))
]
self.action_layer = ActionLayer(self.no_ops + self.actions,
self.literal_layer)
self.action_layer.update_mutexes()
for action in self.no_ops + self.actions:
self.action_layer.add_inbound_edges(action, action.preconditions)
self.action_layer.add_outbound_edges(action, action.effects)
# competing needs tests -- build two copies of the planning graph: one where
# A, B, and C are pairwise mutex, and another where they are not
A, B, C = expr('A'), expr('B'), expr('C')
self.fake_competing_needs_actions = [
make_node(
Action(expr('FakeAction(A)'), [set([A]), set()],
[set([A]), set()])),
make_node(
Action(expr('FakeAction(B)'), [set([B]), set()],
[set([B]), set()])),
make_node(
Action(expr('FakeAction(C)'), [set([C]), set()],
[set([C]), set()]))
]
competing_layer = LiteralLayer([A, B, C], ActionLayer())
for a1, a2 in combinations([A, B, C], 2):
competing_layer.set_mutex(a1, a2)
self.competing_action_layer = ActionLayer(competing_layer.parent_layer,
competing_layer, False, True)
for action in self.fake_competing_needs_actions:
self.competing_action_layer.add(action)
competing_layer |= action.effects
competing_layer.add_outbound_edges(action, action.preconditions)
self.competing_action_layer.add_inbound_edges(
action, action.preconditions)
self.competing_action_layer.add_outbound_edges(
action, action.effects)
not_competing_layer = LiteralLayer([A, B, C], ActionLayer())
self.not_competing_action_layer = ActionLayer(
not_competing_layer.parent_layer, not_competing_layer, False, True)
for action in self.fake_competing_needs_actions:
self.not_competing_action_layer.add(action)
not_competing_layer |= action.effects
not_competing_layer.add_outbound_edges(action,
action.preconditions)
self.not_competing_action_layer.add_inbound_edges(
action, action.preconditions)
self.not_competing_action_layer.add_outbound_edges(
action, action.effects)
class TestPlanningGraphMutex(unittest.TestCase):
def setUp(self):
self.cake_problem = have_cake()
self.cake_pg = PlanningGraph(self.cake_problem,
self.cake_problem.initial,
serialize=False).fill()
eat_action, bake_action = [
a for a in self.cake_pg._actionNodes if not a.no_op
]
no_ops = [a for a in self.cake_pg._actionNodes if a.no_op]
# bake has the effect Have(Cake) which is the logical negation of the effect
# ~Have(cake) from the persistence action ~NoOp::Have(cake)
self.inconsistent_effects_actions = [bake_action, no_ops[3]]
# the persistence action ~NoOp::Have(cake) has the effect ~Have(cake), which is
# the logical negation of Have(cake) -- the precondition for the Eat(cake) action
self.interference_actions = [eat_action, no_ops[3]]
# eat has precondition Have(cake) and bake has precondition ~Have(cake)
# which are logical inverses, so eat & bake should be mutex at every
# level of the planning graph where both actions appear
self.competing_needs_actions = [eat_action, bake_action]
self.ac_problem = air_cargo_p1()
self.ac_pg_serial = PlanningGraph(self.ac_problem,
self.ac_problem.initial).fill()
# In(C1, P2) and In(C2, P1) have inconsistent support when they first appear in
# the air cargo problem,
self.inconsistent_support_literals = [
expr("In(C1, P2)"), expr("In(C2, P1)")
]
# some independent nodes for testing mutexes
at_here = expr('At(here)')
at_there = expr('At(there)')
self.pos_literals = [at_here, at_there]
self.neg_literals = [~x for x in self.pos_literals]
self.literal_layer = LiteralLayer(
self.pos_literals + self.neg_literals, ActionLayer())
self.literal_layer.update_mutexes()
# independent actions for testing mutex
self.actions = [
make_node(
Action(expr('Go(here)'), [set(), set()],
[set([at_here]), set()])),
make_node(
Action(expr('Go(there)'), [set(), set()],
[set([at_there]), set()]))
]
self.no_ops = [
make_node(x)
for x in chain(*(makeNoOp(l) for l in self.pos_literals))
]
self.action_layer = ActionLayer(self.no_ops + self.actions,
self.literal_layer)
self.action_layer.update_mutexes()
for action in self.no_ops + self.actions:
self.action_layer.add_inbound_edges(action, action.preconditions)
self.action_layer.add_outbound_edges(action, action.effects)
# competing needs tests -- build two copies of the planning graph: one where
# A, B, and C are pairwise mutex, and another where they are not
A, B, C = expr('A'), expr('B'), expr('C')
self.fake_competing_needs_actions = [
make_node(
Action(expr('FakeAction(A)'), [set([A]), set()],
[set([A]), set()])),
make_node(
Action(expr('FakeAction(B)'), [set([B]), set()],
[set([B]), set()])),
make_node(
Action(expr('FakeAction(C)'), [set([C]), set()],
[set([C]), set()]))
]
competing_layer = LiteralLayer([A, B, C], ActionLayer())
for a1, a2 in combinations([A, B, C], 2):
competing_layer.set_mutex(a1, a2)
self.competing_action_layer = ActionLayer(competing_layer.parent_layer,
competing_layer, False, True)
for action in self.fake_competing_needs_actions:
self.competing_action_layer.add(action)
competing_layer |= action.effects
competing_layer.add_outbound_edges(action, action.preconditions)
self.competing_action_layer.add_inbound_edges(
action, action.preconditions)
self.competing_action_layer.add_outbound_edges(
action, action.effects)
not_competing_layer = LiteralLayer([A, B, C], ActionLayer())
self.not_competing_action_layer = ActionLayer(
not_competing_layer.parent_layer, not_competing_layer, False, True)
for action in self.fake_competing_needs_actions:
self.not_competing_action_layer.add(action)
not_competing_layer |= action.effects
not_competing_layer.add_outbound_edges(action,
action.preconditions)
self.not_competing_action_layer.add_inbound_edges(
action, action.preconditions)
self.not_competing_action_layer.add_outbound_edges(
action, action.effects)
def test_inconsistent_effects_mutex(self):
acts = [self.actions[0], self.no_ops[0]]
self.assertFalse(
self.action_layer._inconsistent_effects(*acts),
"'{!s}' and '{!s}' should NOT be mutually exclusive by inconsistent effects"
.format(*acts))
acts = [self.actions[0], self.no_ops[1]]
self.assertTrue(
self.action_layer._inconsistent_effects(*acts),
"'{!s}' and '{!s}' should NOT be mutually exclusive by inconsistent effects"
.format(*acts))
# inconsistent effects mutexes are static -- they should appear in the last layer of the planning graph
for idx, layer in enumerate(self.cake_pg.action_layers):
if set(self.inconsistent_effects_actions) <= layer:
self.assertTrue(
layer.is_mutex(*self.inconsistent_effects_actions),
("Actions {} and {} were not mutex in layer {} of the planning graph"
).format(self.inconsistent_effects_actions[0],
self.inconsistent_effects_actions[1], idx))
def test_interference_mutex(self):
acts = [self.actions[0], self.actions[1]]
self.assertFalse(
self.action_layer._interference(*acts),
"'{!s}' and '{!s}' should NOT be mutually exclusive by interference"
.format(*acts))
acts = [self.actions[0], self.no_ops[1]]
self.assertTrue(
self.action_layer._interference(*acts),
"'{!s}' and '{!s}' should NOT be mutually exclusive by interference"
.format(*acts))
# interference mutexes are static -- they should appear in the last layer of the planning graph
for idx, layer in enumerate(self.cake_pg.action_layers):
if set(self.interference_actions) <= layer:
self.assertTrue(layer.is_mutex(*self.interference_actions), (
"Actions {} and {} were not mutex in layer {} of the planning graph"
).format(self.interference_actions[0],
self.interference_actions[1], idx))
def test_competing_needs_mutex(self):
acts = [self.no_ops[0], self.no_ops[2]]
self.assertFalse(
self.action_layer._competing_needs(*acts),
"'{!s}' and '{!s}' should NOT be mutually exclusive by competing needs"
.format(*acts))
acts = [self.no_ops[0], self.no_ops[1]]
self.assertTrue(
self.action_layer._competing_needs(*acts),
"'{!s}' and '{!s}' should be mutually exclusive by competing needs"
.format(*acts))
for acts in combinations(self.fake_competing_needs_actions, 2):
self.assertFalse(
self.not_competing_action_layer._competing_needs(*acts),
("'{!s}' and '{!s}' should NOT be mutually exclusive by competing needs unless "
+
"every pair of actions is mutex in the parent layer").format(
*acts))
for acts in combinations(self.fake_competing_needs_actions, 2):
self.assertTrue(
self.competing_action_layer._competing_needs(*acts),
("'{!s}' and '{!s}' should be mutually exclusive by competing needs if every "
+
"pair of actions is mutex in the parent layer").format(*acts))
# competing needs mutexes are dynamic -- they only appear in some levels of the planning graph
for idx, layer in enumerate(self.cake_pg.action_layers):
if set(self.competing_needs_actions) <= layer:
self.assertTrue(layer.is_mutex(
*self.competing_needs_actions
), ("Actions {} and {} were not mutex in layer {} of the planning graph"
).format(self.competing_needs_actions[0],
self.competing_needs_actions[1], idx))
def test_negation_mutex(self):
lits = [self.pos_literals[0], self.neg_literals[0]]
self.assertTrue(
self.literal_layer._negation(*lits),
"The literals '{}' and '{}' should be mutually exclusive by negation"
.format(*lits))
lits = [self.pos_literals[0], self.neg_literals[1]]
self.assertFalse(
self.literal_layer._negation(*lits),
"The literals '{}' and '{}' should NOT be mutually exclusive by negation"
.format(*lits))
# Negation mutexes are static, so they should appear in every layer of the planning graph
self.assertTrue(
all(self.cake_pg.literal_layers[-1].is_mutex(l, ~l)
for l in self.cake_problem.state_map),
"One or more literal was not marked as mutex with its negation in the last layer of the planning graph"
)
def test_inconsistent_support_mutex(self):
# inconsistent support mutexes are dynamic -- they should not remain mutex at the last layer
self.assertTrue(
self.ac_pg_serial.literal_layers[2]._inconsistent_support(
*self.inconsistent_support_literals),
"The literals '{}' and '{}' should be mutually exclusive by inconsistent support in the second layer"
.format(*self.inconsistent_support_literals))
self.assertFalse(
self.ac_pg_serial.literal_layers[-1]._inconsistent_support(
*self.inconsistent_support_literals),
"The literals '{}' and '{}' should NOT be mutually exclusive by inconsistent support in the last layer"
.format(*self.inconsistent_support_literals))