public void TestPlanner10Actions1Path()
{
// Test if we can plan successfuly when our start state and our world state are two steps apart
// And we have two actions and one possible way of getting to our goal
GameObject g = new GameObject();
Planner p = g.AddComponent <Planner>();
p.useBroadcastActions = false;
p.world = new StateList();
p.world.SetState("Score", 1.0f);
p.goal = new StateList();
p.goal.SetState("Score", 11.0f);
// Each action gets us a little bit closer to the goal score
//p.possibleActions = new SimpleAction[10];
for (int i = 0; i < 10; ++i)
{
SimpleAction act = g.AddComponent <SimpleAction>();
act.preconditions.SetState("Score", i + 1);
act.postconditions.SetState("Score", i + 2);
}
// We should give up and return no path
p.DoPlanning();
Queue <Action> plan = p.plan;
Assert.AreEqual(10, plan.Count);
}
public void TestPlanner2Actions1Path()
{
// Test if we can plan successfuly when our start state and our world state are two steps apart
// And we have two actions and one possible way of getting to our goal
GameObject g = new GameObject();
Planner p = g.AddComponent <Planner>();
p.useBroadcastActions = false; // We don't want to pick up any actions from the scene
p.world = new StateList();
p.world.SetState("Score", 0.0f);
p.goal = new StateList();
p.goal.SetState("Score", 2.0f);
// Each action gets us a little bit closer to the goal score
SimpleAction[] temp = new SimpleAction[2];
for (int i = 0; i < 2; ++i)
{
SimpleAction s = g.AddComponent <SimpleAction>();
s.preconditions.SetState("Score", i);
s.postconditions.SetState("Score", i + 1);
temp[i] = s;
}
// We should give up and return no path
p.DoPlanning();
Queue <Action> plan = p.plan;
Assert.AreEqual(2, plan.Count);
}
public void TestPlanner3Actions2Paths()
{
// Test if we can plan successfuly when our start state and our world state are one step apart
// And we have three actions and two possible ways of getting to our goal
GameObject g = new GameObject();
Planner p = g.AddComponent <Planner>();
p.useBroadcastActions = false; // We don't want to pick up any actions from the scene
p.world = new StateList();
p.world.SetState("Alarm", 4.0f);
p.goal = new StateList();
p.goal.SetState("Alarm", 6.0f);
SimpleAction[] temp = new SimpleAction[3];
temp[0] = g.AddComponent <SimpleAction>();
temp[0].preconditions.SetState("Alarm", 4.0f);
temp[0].postconditions.SetState("Alarm", 1.0f);
temp[1] = g.AddComponent <SimpleAction>();
temp[1].preconditions.SetState("Alarm", 1.0f);
temp[1].postconditions.SetState("Alarm", 6.0f);
temp[2] = g.AddComponent <SimpleAction>();
temp[2].preconditions.SetState("Alarm", 4.0f);
temp[2].postconditions.SetState("Alarm", 6.0f);
// p.possibleActions = temp;
p.DoPlanning();
Queue <Action> plan = p.plan;
Assert.AreEqual(1, plan.Count);
}
public void TestPlanner1Action1Path()
{
// Test if we can plan successfuly when our start state and our world state are one step apart
// And we have exactly one action that is the one we need
GameObject g = new GameObject();
Planner p = g.AddComponent <Planner>();
p.useBroadcastActions = false; // We don't want to pick up any actions from the scene
p.world = new StateList();
p.world.SetState("Gamma", 4.0f);
p.goal = new StateList();
p.goal.SetState("Gamma", 6.0f);
SimpleAction[] temp = new SimpleAction[1];
temp[0] = g.AddComponent <SimpleAction>();
temp[0].preconditions.SetState("Gamma", 4.0f);
temp[0].postconditions.SetState("Gamma", 6.0f);
// p.possibleActions = temp;
p.DoPlanning();
Queue <Action> plan = p.plan;
Assert.AreEqual(1, plan.Count);
}
public void TestPlannerEndlessLoop()
{
// Test if we can plan successfuly when we can't actually form a path
// But each step looks like it could get us a bit closer
GameObject g = new GameObject();
Planner p = g.AddComponent <Planner>();
p.useBroadcastActions = false; // We don't want to pick up any actions from the scene
p.world = new StateList();
p.world.SetState("Fire", 0.0f);
p.world.SetState("Blood", 5.0f);
p.goal = new StateList();
p.goal.SetState("Fire", 5.0f);
p.goal.SetState("Blood", 5.0f);
// Fire -> Blood
SimpleAction[] temp = new SimpleAction[2];
temp[0] = g.AddComponent <SimpleAction>();
temp[0].preconditions.SetState("Fire", 5.0f);
temp[0].postconditions.SetState("Fire", 0.0f);
temp[0].postconditions.SetState("Blood", 5.0f);
// Blood -> Fire
temp[1] = g.AddComponent <SimpleAction>();
temp[1].preconditions.SetState("Blood", 5.0f);
temp[1].postconditions.SetState("Fire", 5.0f);
temp[1].postconditions.SetState("Blood", 0.0f);
// We should give up and return no path
p.DoPlanning();
Queue <Action> plan = p.plan;
Assert.AreEqual(0, plan.Count);
}
public void TestPlannerRGB()
{
// Flip three levers to the on position when you can only some ways
GameObject g = new GameObject();
Planner p = g.AddComponent <Planner>();
p.useBroadcastActions = false;
p.world = new StateList();
p.world.SetState("Red", 0.0f);
p.world.SetState("Green", 0.0f);
p.world.SetState("Blue", 0.0f);
p.goal = new StateList();
p.goal.SetState("Red", 1.0f);
p.goal.SetState("Green", 1.0f);
p.goal.SetState("Blue", 1.0f);
SimpleAction[] temp = new SimpleAction[12];
for (int i = 0; i < 12; ++i)
{
temp[i] = g.AddComponent <SimpleAction>();
}
// Each action can flip two at a time
#region actions
// Turn on red and green
temp[0].preconditions.SetState("Red", 0.0f);
temp[0].preconditions.SetState("Green", 0.0f);
temp[0].postconditions.SetState("Red", 1.0f);
temp[0].postconditions.SetState("Green", 1.0f);
// Turn off red and green
temp[1].preconditions.SetState("Red", 1.0f);
temp[1].preconditions.SetState("Green", 1.0f);
temp[1].postconditions.SetState("Red", 0.0f);
temp[1].postconditions.SetState("Green", 0.0f);
// Turn on red and off green
temp[2].preconditions.SetState("Red", 0.0f);
temp[2].preconditions.SetState("Green", 1.0f);
temp[2].postconditions.SetState("Red", 1.0f);
temp[2].postconditions.SetState("Green", 0.0f);
// Turn off red and on green
temp[3].preconditions.SetState("Red", 1.0f);
temp[3].preconditions.SetState("Green", 0.0f);
temp[3].postconditions.SetState("Red", 0.0f);
temp[3].postconditions.SetState("Green", 1.0f);
// Turn on red and blue
temp[4].preconditions.SetState("Red", 0.0f);
temp[4].preconditions.SetState("Blue", 0.0f);
temp[4].postconditions.SetState("Red", 1.0f);
temp[4].postconditions.SetState("Blue", 1.0f);
// Turn off red and Blue
temp[5].preconditions.SetState("Red", 1.0f);
temp[5].preconditions.SetState("Blue", 1.0f);
temp[5].postconditions.SetState("Red", 0.0f);
temp[5].postconditions.SetState("Blue", 0.0f);
// Turn on red and off Blue
temp[6].preconditions.SetState("Red", 0.0f);
temp[6].preconditions.SetState("Blue", 1.0f);
temp[6].postconditions.SetState("Red", 1.0f);
temp[6].postconditions.SetState("Blue", 0.0f);
// Turn off red and on Blue
temp[7].preconditions.SetState("Red", 1.0f);
temp[7].preconditions.SetState("Blue", 0.0f);
temp[7].postconditions.SetState("Red", 0.0f);
temp[7].postconditions.SetState("Blue", 1.0f);
// Turn on Green and blue
temp[8].preconditions.SetState("Green", 0.0f);
temp[8].preconditions.SetState("Blue", 0.0f);
temp[8].postconditions.SetState("Green", 1.0f);
temp[8].postconditions.SetState("Blue", 1.0f);
// Turn off Green and Blue
temp[9].preconditions.SetState("Green", 1.0f);
temp[9].preconditions.SetState("Blue", 1.0f);
temp[9].postconditions.SetState("Green", 0.0f);
temp[9].postconditions.SetState("Blue", 0.0f);
// Turn on only Blue
temp[10].preconditions.SetState("Blue", 1.0f);
temp[10].postconditions.SetState("Blue", 0.0f);
// Turn off only Green
temp[11].preconditions.SetState("Green", 1.0f);
temp[11].postconditions.SetState("Green", 0.0f);
#endregion
p.DoPlanning();
Queue <Action> plan = p.plan;
Assert.AreEqual(3, plan.Count);
}
