public void EventRevisorHistoryTest()
{
MediationTreeNode child = BuildTree();
List <MediationTreeNode> history = EventRevisor.GetWorldHistory(child, tree);
Assert.AreEqual(history[0].ID, 0);
Assert.AreEqual(history.Count, 7);
}
public void EventRevisorProblemPairTest()
{
MediationTreeNode child = BuildTree();
Mediation.Utilities.Tuple <Domain, Problem> pair = EventRevisor.GetEventRevisionPair(child, tree);
Plan newPlan = FastDownward.Plan(pair.First, pair.Second);
Assert.AreNotEqual(newPlan.Steps.Count, 0);
}
public void EventRevisorKnowledgeTest()
{
MediationTreeNode child = BuildTree();
List <Mediation.Utilities.Tuple <Operator, State> > history = EventRevisor.GetWorldKnowledge("snake", child, tree);
Assert.AreEqual(history[0].First, null);
Assert.AreEqual(history[0].Second.Predicates.FindAll(x => x.Name.Equals("at") && x.TermAt(0).Equals(new Term("boss", true))).Count, 1);
Assert.AreEqual(history[0].Second.Predicates.FindAll(x => x.Name.Equals("at") && x.TermAt(0).Equals(new Term("snake", true))).Count, 5);
Assert.AreEqual(history.Count, 7);
}
public void EventRevisorObservedActionTest()
{
MediationTreeNode child = BuildTree();
List <MediationTreeNode> history = EventRevisor.GetWorldHistory(child, tree);
List <Mediation.Utilities.Tuple <Operator, State> > knowledge = new List <Mediation.Utilities.Tuple <Operator, State> >();
foreach (MediationTreeNode node in history)
{
if (node.Incoming != null)
{
knowledge.Add(new Mediation.Utilities.Tuple <Operator, State>(node.Incoming.Action as Operator, new State()));
}
}
Operator template = EventRevisor.GetObservedActionTemplate(1, knowledge[1].First);
Assert.AreEqual(template.Name, "move-location*snake*gear*elevator");
Problem newProb = testProblem.Clone() as Problem;
Domain newDom = testDomain.Clone() as Domain;
newProb.Name = "rob";
newProb.Initial.Add(new Predicate("state-depth", new List <ITerm> {
new Term("depth0", true)
}, true));
newProb.Objects.AddRange(new List <IObject> {
new Obj("depth0", "integer"), new Obj("depth1", "integer"), new Obj("depth2", "integer"), new Obj("depth3", "integer"), new Obj("depth4", "integer"), new Obj("depth5", "integer")
});
newDom.AddTypePair("integer", "number");
newDom.Predicates.Add(new Predicate("state-depth", new List <ITerm> {
new Term("?integer", "", "number")
}, true));
newDom.Operators = new List <IOperator>();
for (int i = 0; i < knowledge.Count - 1; i++)
{
newDom.Operators.Add(EventRevisor.GetObservedActionTemplate(i, knowledge[i].First));
}
foreach (Operator op in testDomain.Operators)
{
Operator newOp = op.Clone() as Operator;
newOp.Preconditions.Add(new Predicate("state-depth", new List <ITerm> {
new Term("depth5", true)
}, true));
newDom.Operators.Add(newOp);
}
Plan newPlan = FastDownward.Plan(newDom, newProb);
Assert.AreNotEqual(newPlan.Steps.Count, 0);
}
