def test_sudoku(self):
try:
handler = DesktopHandler(ClingoDesktopService(self.getPath()))
inp = ASPInputProgram()
for i in range(9):
for j in range(9):
if (self.inputMatrix[i][j] != 0):
inp.add_object_input(
Cell(i, j, self.inputMatrix[i][j]))
inp.add_files_path(os.path.join(
"..", "..", "..", "..", "test-resources", "asp", "sudoku"))
handler.add_program(inp)
mc = MyCallback()
handler.start_async(mc)
mc.await()
out = mc.get_output()
# out = handler.startSync()
self.assertIsNotNone(out)
self.assertTrue(isinstance(out, Output),
"Error, result object is not Output")
self.assertIsNone(
out.get_errors(), "Found error in the Plan\n" + str(out.get_errors()))
if (len(out.get_answer_sets()) == 0):
return
ans = out.get_answer_sets()[0]
for obj in ans.get_atoms():
self.inputMatrix[obj.get_row()][obj.get_column()
] = obj.get_value()
tmp = ""
for i in range(9):
for j in range(9):
tmp += str(self.inputMatrix[i][j]) + " "
print(tmp)
tmp = ""
except Exception as e:
self.fail("Exception " + str(e))
def test_sudoku(self):
try:
handler = DesktopHandler(DLVDesktopService(self.getPath()))
inp = ASPInputProgram()
for i in range(9):
for j in range(9):
if self.inputMatrix[i][j] != 0:
inp.add_object_input(Cell(i, j,
self.inputMatrix[i][j]))
inp.add_files_path(
os.path.join("..", "..", "..", "..", "test-resources", "asp",
"sudoku"))
handler.add_program(inp)
mc = MyCallback()
handler.start_async(mc)
mc. await ()
out = mc.get_output()
# out = handler.startSync()
self.assertIsNotNone(out)
self.assertTrue(isinstance(out, Output),
"Error, result object is not Output")
self.assertTrue(out.get_errors() == "",
"Found error:\n" + str(out.get_errors()))
self.assertTrue(len(out.get_answer_sets()) != 0)
ans = out.get_answer_sets()[0]
for obj in ans.get_atoms():
self.inputMatrix[obj.get_row()][
obj.get_column()] = obj.get_value()
tmp = ""
for i in range(9):
for j in range(9):
tmp += str(self.inputMatrix[i][j]) + " "
print(tmp)
tmp = ""
except Exception as e:
self.fail("Exception " + str(e))
def __init__(self):
if os.name == 'nt':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/DLV2.exe")))
elif os.uname().sysname == 'Darwin':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2.mac_7")))
else:
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2-linux-64_6")))
self.__inputProgram = ASPInputProgram()
self.__inputProgram.add_files_path(os.path.join(resource_path, "map.dlv2"))
self.__handler.add_program(self.__inputProgram)
def __init__(self):
self.__countLogs = 0 # count for debug
self.__dir = None # log directory for debug
self.__lastPositionsEnemy = {} # check all last position of enemy
self.__bombs = ListBomb() # list of bomb already placed
try:
if os.name == 'nt':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/DLV2.exe")))
elif os.uname().sysname == 'Darwin':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2.mac_7")))
else:
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2-linux-64_6")))
self.__fixedInputProgram = ASPInputProgram()
self.__variableInputProgram = None
self.__fixedInputProgram.add_files_path(os.path.join(resource_path, "enemyRules.dlv2"))
self.__handler.add_program(self.__fixedInputProgram)
except Exception as e:
print(str(e))
def core(self, results_sizes, base_path):
print("Testing " + str(len(results_sizes)) + " files for " + base_path)
for i in range(1, len(results_sizes) + 1):
try:
plan = None
handler = DesktopHandler(SPDDesktopService())
input_program_domain = PDDLInputProgram(PDDLProgramType.DOMAIN)
input_program_domain.add_files_path(base_path + "domain.pddl")
inputProgramProblem = PDDLInputProgram(PDDLProgramType.PROBLEM)
if i < 10:
problem = base_path + "p" + "0" + str(i) + ".pddl"
else:
problem = base_path + "p" + str(i) + ".pddl"
self.assertTrue(os.path.isfile(problem),
"File not found: " + problem)
inputProgramProblem.add_files_path(problem)
handler.add_program(input_program_domain)
handler.add_program(inputProgramProblem)
PDDLMapper.get_instance().register_class(PickUp)
self.assertIsNone(plan)
mc = MyCallback()
handler.start_async(mc)
mc. await ()
plan = mc.get_output()
self.assertIsNotNone(plan)
tmp = ""
for action in plan.get_actions():
tmp = tmp + action.get_name() + ","
print(tmp)
if results_sizes[i - 1] != 0:
self.assertTrue(
not plan.get_errors(), "Found error in the Plan " +
problem + "\n" + plan.get_errors())
self.assertEqual(results_sizes[i - 1], len(plan.get_actions()))
for obj in plan.get_actions_objects():
if isinstance(obj, PickUp):
print(obj.get_block())
time.sleep(0.5)
except Exception as e:
self.fail("Exception " + str(e))
[0, 0, 9, 6, 0, 0, 5, 0, 0], [0, 0, 5, 3, 0, 0, 9, 0, 0],
[0, 1, 0, 0, 8, 0, 0, 0, 2], [6, 0, 0, 0, 0, 4, 0, 0, 0],
[3, 0, 0, 0, 0, 0, 0, 1, 0], [0, 4, 1, 0, 0, 0, 0, 0, 7],
[0, 0, 7, 0, 0, 0, 3, 0, 0]]
# inputMatrix = [ [ 5, 0, 0, 0, 0, 0, 0, 8, 0 ],
# [ 0, 3, 0, 7, 0, 0, 0, 9, 0 ],
# [ 0, 0, 0, 4, 0, 2, 6, 0, 0 ],
# [ 6, 2, 0, 8, 0, 0, 3, 0, 0 ],
# [ 0, 9, 5, 0, 0, 0, 7, 1, 0 ],
# [ 0, 0, 1, 0, 0, 5, 0, 2, 6 ],
# [ 0, 0, 8, 5, 0, 3, 0, 0, 0 ],
# [ 0, 5, 0, 0, 0, 9, 0, 4, 0 ],
# [ 0, 1, 0, 0, 0, 0, 0, 0, 8 ] ]
handler = DesktopHandler(
DLVDesktopService("app/src/test/resources/asp/executables/dlv.mingw.exe"))
inp = ASPInputProgram()
for i in range(9):
for j in range(9):
# print(str(inputMatrix[i][j]) + " ", end="")
if (inputMatrix[i][j] != 0):
inp.add_object_input(Cell(i, j, inputMatrix[i][j]))
# print()
inp.add_files_path("app/src/test/resources/asp/sudoku")
handler.add_program(inp)
# opt = OptionDescriptor()
lock = CountDownLatch(1)
w, h = 9, 9;
inputMatrix = [ [ 1, 0, 0, 0, 0, 7, 0, 9, 0 ],
[ 0, 3, 0, 0, 2, 0, 0, 0, 8 ],
[ 0, 0, 9, 6, 0, 0, 5, 0, 0 ],
[ 0, 0, 5, 3, 0, 0, 9, 0, 0 ],
[ 0, 1, 0, 0, 8, 0, 0, 0, 2 ],
[ 6, 0, 0, 0, 0, 4, 0, 0, 0 ],
[ 3, 0, 0, 0, 0, 0, 0, 1, 0 ],
[ 0, 4, 1, 0, 0, 0, 0, 0, 7 ],
[ 0, 0, 7, 0, 0, 0, 3, 0, 0 ] ]
handler = DesktopHandler(DLVDesktopService("app/src/test/resources/asp/executables/dlv.x86-64-linux-elf-static.bin"))
inp = ASPInputProgram()
for i in range(9):
for j in range(9):
# print(str(inputMatrix[i][j]) + " ", end="")
if (inputMatrix[i][j] != 0):
inp.add_object_input(Cell(i,j,inputMatrix[i][j]))
# print()
inp.add_files_path("app/src/test/resources/asp/sudoku")
handler.add_program(inp)
class AI: def __init__(self) -> None: # Instantiate the Handler. self.handler = DesktopHandler(DLV2DesktopService(os.path.join(dirname, "dlv2.exe"))) # Register input facts to provide to DLV2. ASPMapper.get_instance().register_class(MatrixCellPredicate) ASPMapper.get_instance().register_class(ShapePredicate) ASPMapper.get_instance().register_class(InCellPredicate) def instantiateProgram(self) -> None: # Instantiate the ASP program. self.inputProgram = ASPInputProgram() # Define the program's rules. logicProgram = open(os.path.join(dirname, "newShapeRules.lp"), "r") self.rules = logicProgram.read() logicProgram.close() # Add rules to the program self._addRules() def getOptimalPlace(self, matrix: list, shapes: list): self.instantiateProgram() matrixPredicates = [] for i in range(len(matrix)): for j in range(len(matrix)): if (matrix[i][j]): matrixPredicates.append(MatrixCellPredicate(i, j)) shapePredicate = ShapePredicate(0, shapes[0]) #DEBUG #self.printArray(matrixPredicates) #self.printArray(shapePredicate) # Add predicates to the program self.inputProgram.add_objects_input(matrixPredicates) self.inputProgram.add_object_input(shapePredicate) # Add program to the handler self.handler.add_program(self.inputProgram) print(self.inputProgram) # Spawn DLV synchronously and get the output output = self.handler.start_sync() optimalPlacement = [] optimalAnswerSets = output.get_optimal_answer_sets() #print(len(optimalAnswerSets)) for answerSet in output.get_optimal_answer_sets(): #print(answerSet.get_weights()) for atom in answerSet.get_atoms(): # Filter out inCellPredicates. The answer set contains facts, outCellPredicates etc. We are only interested in inCellPredicates. if isinstance(atom, InCellPredicate): optimalPlacement.append((atom.get_index(), atom.get_coordX(), atom.get_coordY())) self.inputProgram.clear_all() self.handler.remove_all() return optimalPlacement def getOptimalPlacement(self, matrix: list, shapes: list): """ Returns the optimal placement for a single `ShapeAggregate`, given the input matrix status. Returns `None` if the AS is empty (no solution). """ # Instantiate program. self.instantiateProgram() matrixPredicates = [] for i in range(len(matrix)): for j in range(len(matrix)): if (matrix[i][j]): matrixPredicates.append(MatrixCellPredicate(i, j)) shapePredicate = [] for x in range(len(shapes)): shapePredicate.append(ShapePredicate(x, shapes[x][0])) #self.printArray(matrixPredicates) #self.printArray(shapePredicate) # Add predicates to the program self.inputProgram.add_objects_input(matrixPredicates) self.inputProgram.add_objects_input(shapePredicate) # Add program to the handler self.handler.add_program(self.inputProgram) print(self.inputProgram) # Spawn DLV synchronously and get the output output = self.handler.start_sync() optimalPlacement = [] optimalAnswerSets = output.get_optimal_answer_sets() for answerSet in output.get_optimal_answer_sets(): #print(answerSet.get_weights()) for atom in answerSet.get_atoms(): # Filter out inCellPredicates. The answer set contains facts, outCellPredicates etc. We are only interested in inCellPredicates. if isinstance(atom, InCellPredicate): optimalPlacement.append((atom.get_index(), atom.get_coordX(), atom.get_coordY())) self.inputProgram.clear_all() self.handler.remove_all() return optimalPlacement def getOptimalPlacements(self, matrix, shapeAggregates): pass def _addRules(self) -> None: self.rules = re.sub(r'\s?\n\t+', '', self.rules) self.inputProgram.add_program(self.rules) def _reset(self) -> None: # Remove the program from the handler self.handler.remove_all() # Remove rules and facts from the program self.inputProgram.clear_all() # Add rules back self._addRules() def printArray(self, arr: list) -> None: for el in arr: print(el)
class DLVSolution:
def __init__(self):
self.__countLogs = 0 # count for debug
self.__dir = None # log directory for debug
self.__lastPositionsEnemy = {} # check all last position of enemy
self.__bombs = ListBomb() # list of bomb already placed
try:
if os.name == 'nt':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/DLV2.exe")))
elif os.uname().sysname == 'Darwin':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2.mac_7")))
else:
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2-linux-64_6")))
self.__fixedInputProgram = ASPInputProgram()
self.__variableInputProgram = None
self.__fixedInputProgram.add_files_path(os.path.join(resource_path, "enemyRules.dlv2"))
self.__handler.add_program(self.__fixedInputProgram)
except Exception as e:
print(str(e))
# DEBUG
def __log_program(self) -> None:
if not os.path.exists(logs_path):
os.mkdir(f"{logs_path}")
if self.__countLogs == 0:
timestamp = datetime.datetime.now()
self.__dir = f"{timestamp.hour}-{timestamp.minute}-{timestamp.second}"
os.mkdir(f"{logs_path}/{self.__dir}")
with open(f"{logs_path}/{self.__dir}/BomberFriend-{self.__countLogs}.log", "w") as f:
f.write(f"Variable: \n"
f"{self.__variableInputProgram.get_programs()} \n\n\n"
f"Fixed:\n"
f"{self.__fixedInputProgram.get_files_paths()}")
self.__countLogs += 1
# END DEBUG
def recallASP(self) -> None:
try:
print("RECALL ASP")
#
# print(f" ENEMY: {gameInstance.getEnemy()} \n "
# f"PLAYER: {gameInstance.getPlayer()}")
# self.__nMovements += 1 # increase movements
size = gameInstance.getSize()
self.__variableInputProgram = ASPInputProgram()
# input matrix as facts
for i in range(size):
for j in range(size):
typeNumber = gameInstance.getElement(i, j)
p = InputPointType(i, j, typeNumber)
self.__variableInputProgram.add_object_input(p) # point(I, J, ELEMENT_TYPE)
# compute neighbors values ai
e = gameInstance.getEnemy()
p = gameInstance.getPlayer()
listAdjacent = computeNeighbors(e.get_i(), e.get_j())
for adjacent in listAdjacent:
if not gameInstance.outBorders(adjacent.get_i(), adjacent.get_j()):
distance = getDistanceEP(adjacent, p)
d = Distance(adjacent.get_i(), adjacent.get_j(), distance)
print(f"Distance: {d} --> {distance}")
self.__variableInputProgram.add_object_input(d)
# adding last position
if len(self.__lastPositionsEnemy) != 0:
for enemy in self.__lastPositionsEnemy:
self.__variableInputProgram.add_program(
f"lastPositionEnemy({enemy.get_i()}, {enemy.get_j()}, {self.__lastPositionsEnemy[enemy]}).")
# adding bombs ai
for bomb in self.__bombs:
self.__variableInputProgram.add_object_input(bomb)
index = self.__handler.add_program(self.__variableInputProgram)
answerSets = self.__handler.start_sync()
self.__log_program()
print("#######################################")
print(answerSets.get_answer_sets_string())
for answerSet in answerSets.get_optimal_answer_sets():
print(answerSet)
for obj in answerSet.get_atoms():
if isinstance(obj, Path):
moveEnemyFromPath(obj, self.__lastPositionsEnemy)
elif isinstance(obj, InputBomb):
addBombEnemy(self.__bombs, obj)
elif isinstance(obj, EnemyBomb):
gameInstance.plantBomb(obj.get_i(), obj.get_j())
bomb = InputBomb(obj.get_i(), obj.get_j())
addBombEnemy(self.__bombs, bomb)
elif isinstance(obj, BreakBomb):
gameInstance.plantBomb(obj.get_i(), obj.get_j())
bomb = InputBomb(obj.get_i(), obj.get_j())
addBombEnemy(self.__bombs, bomb)
elif isinstance(obj, AdjacentPlayerAndEnemy):
self.__lastPositionsEnemy.clear() # clear last enemy position because enemy find player
print("#######################################")
self.__handler.remove_program_from_id(index)
except Exception as e:
print(str(e))
class MatrixBuilder:
def __init__(self):
if os.name == 'nt':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/DLV2.exe")))
elif os.uname().sysname == 'Darwin':
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2.mac_7")))
else:
self.__handler = DesktopHandler(
DLV2DesktopService(os.path.join(resource_path, "../../lib/dlv2-linux-64_6")))
self.__inputProgram = ASPInputProgram()
self.__inputProgram.add_files_path(os.path.join(resource_path, "map.dlv2"))
self.__handler.add_program(self.__inputProgram)
def build(self) -> list[list[int]]:
global MAP_SIZE
worldMap = [[0 for _ in range(MAP_SIZE)] for _ in range(MAP_SIZE)]
try:
for i in range(MAP_SIZE): # adding size matrix
self.__inputProgram.add_program(f"n({i}).")
for i in range(int(MAP_SIZE / 2)): # adding numbers of wall
self.__inputProgram.add_program(f"wallId({i}).")
self.__inputProgram.add_program(f"minWood({MAP_SIZE}).")
self.__inputProgram.add_program(f"maxWood({MAP_SIZE * 2}).")
Starting().start()
answerSets = self.__handler.start_sync()
print("~~~~~~~~~~~~~~~~~~~~~~ MATRIX ~~~~~~~~~~~~~~~~~~~~~~")
if len(answerSets.get_answer_sets()) == 0:
raise Exception
for answerSet in answerSets.get_answer_sets():
print(answerSet)
for obj in answerSet.get_atoms():
if isinstance(obj, InputPointType):
worldMap[obj.get_i()][obj.get_j()] = obj.get_t()
for row in worldMap:
print(row)
print("~~~~~~~~~~~~~~~~~~~~~~ END MATRIX ~~~~~~~~~~~~~~~~~~~~~~")
self.__handler.remove_all()
except Exception as e:
MAP_SIZE = 16
worldMap = [[1, 0, 0, 0, 3, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 3, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0],
[4, 0, 0, 0, 0, 0, 4, 4, 0, 3, 0, 0, 0, 0, 0, 0],
[0, 0, 4, 0, 3, 3, 3, 3, 3, 3, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0],
[4, 0, 0, 0, 3, 0, 4, 0, 0, 0, 0, 0, 0, 4, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 3, 0, 0, 4, 0, 0, 3, 0, 0, 0, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 3, 0, 0, 4, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 3, 3, 3, 4, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 4, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 3, 3, 3, 3, 0, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 3, 0, 0, 0, 0, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 4, 4, 4, 0, 0, 0, 0],
[0, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
[2, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]]
finally:
global done
done = True
return worldMap
class PickUp(Predicate):
predicate_name = "pick-up"
def __init__(self, block=None):
super(PickUp, self).__init__([("block")])
self.block = block
def get_block(self):
return self.block
def set_block(self, block):
self.block = block
handler = DesktopHandler(SPDDesktopService())
inputProgramDomain = PDDLInputProgram(PDDLProgramType.DOMAIN)
inputProgramDomain.add_files_path(
"app/src/test/resources/pddl/blocksworld/domain.pddl")
inputProgramProblem = PDDLInputProgram(PDDLProgramType.PROBLEM)
inputProgramProblem.add_files_path(
"app/src/test/resources/pddl/blocksworld/p35.pddl")
handler.add_program(inputProgramDomain)
handler.add_program(inputProgramProblem)
PDDLMapper.get_instance().register_class(PickUp)
w, h = 9, 9;
inputMatrix = [ [ 1, 0, 0, 0, 0, 7, 0, 9, 0 ],
[ 0, 3, 0, 0, 2, 0, 0, 0, 8 ],
[ 0, 0, 9, 6, 0, 0, 5, 0, 0 ],
[ 0, 0, 5, 3, 0, 0, 9, 0, 0 ],
[ 0, 1, 0, 0, 8, 0, 0, 0, 2 ],
[ 6, 0, 0, 0, 0, 4, 0, 0, 0 ],
[ 3, 0, 0, 0, 0, 0, 0, 1, 0 ],
[ 0, 4, 1, 0, 0, 0, 0, 0, 7 ],
[ 0, 0, 7, 0, 0, 0, 3, 0, 0 ] ]
handler = DesktopHandler(ClingoDesktopService("app/src/test/resources/asp/executables/clingo64.exe"))
inp = ASPInputProgram()
for i in range(9):
for j in range(9):
# print(str(inputMatrix[i][j]) + " ", end="")
if (inputMatrix[i][j] != 0):
inp.add_object_input(Cell(i,j,inputMatrix[i][j]))
# print()
inp.add_files_path("app/src/test/resources/asp/sudoku")
handler.add_program(inp)
def run(csv_file, solvers_dir, input_file, option_file):
FileManager.write_to_file(csv_file, 'a', input_file, True, True)
for solver in Solver.get_solvers():
if not FileManager.solver_present(solvers_dir,
solver.value + '.solver'):
continue
answer_sets = []
input_program = ASPInputProgram()
handler = DesktopHandler(solver.get_service(solvers_dir))
option_id = handler.add_option(
OptionDescriptor(solver.get_output_option()))
if option_file is not None and option_file != "" and option_file.lower(
) != "-no-option-file":
for _filter in FileManager.read_filters(option_file, solver):
handler.add_option(OptionDescriptor(' ' + _filter))
handler.add_program(input_program)
input_program.add_files_path(input_file)
sorted_output = OutputManager.process_raw_output(
solver.value,
handler.start_sync().get_answer_sets_string())
handler.remove_option_from_id(option_id)
start_time = time.time()
for answer_set in handler.start_sync().get_answer_sets():
answer_sets.append(answer_set.get_atoms())
end_time = time.time()
FileManager.write_to_file(
csv_file, 'a', solver.value + ':' + str(end_time - start_time),
None, True)
if answer_sets:
for answer_set in answer_sets:
tmp = ' '.join(sort_facts(answer_set))
if tmp not in sorted_output:
print('ERROR! Original ' + solver.value +
' output does not contain:\n' + tmp + '\n')
print('END')
def core(self, results_sizes, base_path):
print("Testing " + str(len(results_sizes)) + " files for " + base_path)
for i in range(1, len(results_sizes) + 1):
try:
plan = None
handler = DesktopHandler(SPDDesktopService())
input_program_domain = PDDLInputProgram(PDDLProgramType.DOMAIN)
input_program_domain.add_files_path(base_path + "domain.pddl")
inputProgramProblem = PDDLInputProgram(PDDLProgramType.PROBLEM)
if i < 10:
problem = base_path + "p" + "0" + str(i) + ".pddl"
else:
problem = base_path + "p" + str(i) + ".pddl"
self.assertTrue(os.path.isfile(problem),
"File not found: " + problem)
inputProgramProblem.add_files_path(problem)
handler.add_program(input_program_domain)
handler.add_program(inputProgramProblem)
PDDLMapper.get_instance().register_class(PickUp)
self.assertIsNone(plan)
mc = MyCallback()
handler.start_async(mc)
mc.await()
plan = mc.get_output()
self.assertIsNotNone(plan)
tmp = ""
for action in plan.get_actions():
tmp = tmp + action.get_name() + ","
print(tmp)
if results_sizes[i - 1] != 0:
self.assertTrue(not plan.get_errors(
), "Found error in the Plan " + problem + "\n" + plan.get_errors())
self.assertEqual(results_sizes[i - 1], len(plan.get_actions()))
for obj in plan.get_actions_objects():
if isinstance(obj, PickUp):
print(obj.get_block())
time.sleep(0.5)
except Exception as e:
self.fail("Exception " + str(e))